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Code Issues Releases Activity

RFM22B: Moved ISR processing thread into the rfm22b driver.

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This commit is contained in:
Brian Webb 2012-09-11 20:34:26 -07:00
parent 432a6dfd00
commit 6623c55846
2 changed files with 46 additions and 25 deletions
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11
flight/Modules/Radio/radio.c
View File

@ -441,11 +441,9 @@ static void StatusHandler(PHStatusPacketHandle status, int8_t rssi, int8_t afc)
*/
static void radioStatusTask(void *parameters)
{
static portTickType lastSysTime;
PHStatusPacket status_packet;
while (1) {
lastSysTime = xTaskGetTickCount();
while (1) {
PipXStatusData pipxStatus;
uint32_t pairID;
@ -524,12 +522,7 @@ static void radioStatusTask(void *parameters)
}
}
portTickType timeSinceUpdate;
do {
PIOS_RFM22_processPendingISR(5);
timeSinceUpdate = xTaskGetTickCount() - lastSysTime;
}
while(timeSinceUpdate < STATS_UPDATE_PERIOD_MS / portTICK_RATE_MS);
vTaskDelay(STATS_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}

60
flight/PiOS/Common/pios_rfm22b.c
View File

@ -56,7 +56,9 @@
#include <pios_rfm22b_priv.h>
/* Local Defines */
#define STACK_SIZE_BYTES 200
#define STACK_SIZE_BYTES 200
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define ISR_TIMEOUT 5 // ms
// RTC timer is running at 625Hz (1.6ms or 5 ticks == 8ms).
// A 256 byte message at 56kbps should take less than 40ms
@ -163,6 +165,9 @@ struct pios_rfm22b_dev {
uint32_t deviceID;
// The task handle
xTaskHandle taskHandle;
// ISR pending
xSemaphoreHandle isrPending;
@ -175,6 +180,10 @@ struct pios_rfm22b_dev {
// The supervisor countdown timer.
uint16_t supv_timer;
uint16_t resets;
// Stats
uint32_t rfm32_errors;
uint32_t rfm32_irqs_processed;
};
uint32_t random32 = 0x459ab8d8;
@ -206,6 +215,7 @@ static const uint8_t OUT_FF[64] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
/* Local function forwared declarations */
static void PIOS_RFM22B_Supervisor(uint32_t ppm_id);
static void PIOS_RFM22B_Task(void *parameters);
static void rfm22_processInt(void);
static void rfm22_setTxMode(uint8_t mode);
@ -509,6 +519,14 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
DEBUG_PRINTF(2, "RF frequency: %dHz\n\r", rfm22_getNominalCarrierFrequency());
DEBUG_PRINTF(2, "RF TX power: %d\n\r", rfm22_getTxPower());
// Register the watchdog timer for the radio driver task
#ifdef PIOS_WDG_RFM22B
PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B);
#endif /* PIOS_WDG_RFM22B */
// Start the driver task. This task controls the radio state machine and removed all of the IO from the IRQ handler.
xTaskCreate(PIOS_RFM22B_Task, (signed char *)"PIOS_RFM22B_Task", STACK_SIZE_BYTES, (void*)rfm22b_dev, TASK_PRIORITY, &(rfm22b_dev->taskHandle));
// Setup a real-time clock callback to kickstart the radio if a transfer lock sup.
if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_Supervisor, *rfm22b_id)) {
PIOS_DEBUG_Assert(0);
@ -545,6 +563,30 @@ static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
}
/**
* The task that controls the radio state machine.
*/
static void PIOS_RFM22B_Task(void *parameters)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
bool valid = PIOS_RFM22B_validate(rfm22b_dev);
PIOS_Assert(valid);
while(1)
{
#ifdef PIOS_WDG_RFM22B
// Update the watchdog timer
//PIOS_WDG_UpdateFlag(PIOS_WDG_RFM22B);
#endif /* PIOS_WDG_RFM22B */
// Process any pending interrrupt
if ( xSemaphoreTake(g_rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE ) {
rfm22b_dev->rfm32_irqs_processed++;
rfm22_processInt();
}
}
}
static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
{
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
@ -767,9 +809,6 @@ static uint8_t rfm22_read_noclaim(uint8_t addr)
// ************************************
// external interrupt
uint32_t rfm32_errors;
uint32_t rfm32_irqs_processed;
void PIOS_RFM22_EXT_Int(void)
{
bool valid = PIOS_RFM22B_validate(g_rfm22b_dev);
@ -779,23 +818,12 @@ void PIOS_RFM22_EXT_Int(void)
if (!exec_using_spi) {
if (xSemaphoreGiveFromISR(g_rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) {
// Something went fairly seriously wrong
rfm32_errors++;
g_rfm22b_dev->rfm32_errors++;
}
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken);
}
}
void PIOS_RFM22_processPendingISR(uint32_t wait_ms)
{
bool valid = PIOS_RFM22B_validate(g_rfm22b_dev);
PIOS_Assert(valid);
if ( xSemaphoreTake(g_rfm22b_dev->isrPending, wait_ms / portTICK_RATE_MS) == pdTRUE ) {
rfm32_irqs_processed++;
rfm22_processInt();
}
}
// ************************************
// set/get the current tx power setting