rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-01 09:24:10 +01:00
Code Issues Releases Activity

Merge branch 'exti_end_switching_isr' into next

Browse Source
This commit is contained in:
James Cotton 2012-09-28 00:41:08 -05:00
commit 8979c00fba
11 changed files with 199 additions and 62 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
flight/PiOS/Common/pios_bma180.c
View File

@ -434,7 +434,7 @@ int32_t PIOS_BMA180_Test()
* @brief IRQ Handler. Read data from the BMA180 FIFO and push onto a local fifo.
*/
int32_t bma180_irqs = 0;
void PIOS_BMA180_IRQHandler(void)
bool PIOS_BMA180_IRQHandler(void)
{
bma180_irqs++;
@ -471,6 +471,7 @@ void PIOS_BMA180_IRQHandler(void)
fifoBuf_putData(&dev->fifo, (uint8_t *) &data, sizeof(data));
return false;
}
#endif /* PIOS_INCLUDE_BMA180 */

6
flight/PiOS/Common/pios_hmc5883.c
View File

@ -391,9 +391,11 @@ int32_t PIOS_HMC5883_Test(void)
/**
* @brief IRQ Handler
*/
void PIOS_HMC5883_IRQHandler(void)
bool PIOS_HMC5883_IRQHandler(void)
{
pios_hmc5883_data_ready = true;
pios_hmc5883_data_ready = true
return false;
}
#endif /* PIOS_INCLUDE_HMC5883 */

7
flight/PiOS/Common/pios_l3gd20.c
View File

@ -353,7 +353,7 @@ uint8_t PIOS_L3GD20_Test(void)
/**
* @brief IRQ Handler. Read all the data from onboard buffer
*/
void PIOS_L3GD20_IRQHandler(void)
bool PIOS_L3GD20_IRQHandler(void)
{
l3gd20_irq++;
@ -375,7 +375,10 @@ void PIOS_L3GD20_IRQHandler(void)
memcpy((uint8_t *) &(data.gyro_x), &rec[1], 6);
data.temperature = PIOS_L3GD20_GetReg(PIOS_L3GD20_OUT_TEMP);
xQueueSend(dev->queue, (void *) &data, 0);
portBASE_TYPE xHigherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
return xHigherPriorityTaskWoken == pdTRUE;
}
#endif /* L3GD20 */

19
flight/PiOS/Common/pios_mpu6000.c
View File

@ -400,21 +400,21 @@ uint32_t mpu6000_interval_us;
uint32_t mpu6000_time_us;
uint32_t mpu6000_transfer_size;
void PIOS_MPU6000_IRQHandler(void)
bool PIOS_MPU6000_IRQHandler(void)
{
static uint32_t timeval;
mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval);
timeval = PIOS_DELAY_GetRaw();
if(!mpu6000_configured)
return;
return false;
mpu6000_count = PIOS_MPU6000_FifoDepth();
if(mpu6000_count < sizeof(struct pios_mpu6000_data))
return;
return false;
if(PIOS_MPU6000_ClaimBus() != 0)
return;
return false;
uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
@ -422,7 +422,7 @@ void PIOS_MPU6000_IRQHandler(void)
if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBus();
mpu6000_fails++;
return;
return false;
}
PIOS_MPU6000_ReleaseBus();
@ -433,12 +433,12 @@ void PIOS_MPU6000_IRQHandler(void)
if (mpu6000_count >= (sizeof(data) * 2)) {
mpu6000_fifo_backup++;
if(PIOS_MPU6000_ClaimBus() != 0)
return;
return false;
if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBus();
mpu6000_fails++;
return;
return false;
}
PIOS_MPU6000_ReleaseBus();
@ -459,11 +459,14 @@ void PIOS_MPU6000_IRQHandler(void)
data.gyro_z = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
#endif
xQueueSend(dev->queue, (void *) &data, 0);
portBASE_TYPE xHigherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
mpu6000_irq++;
mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
return xHigherPriorityTaskWoken == pdTRUE;
}
#endif

108
flight/PiOS/STM32F10x/pios_exti.c
View File

@ -149,7 +149,7 @@ out_fail:
return -1;
}
static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
{
uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
@ -158,69 +158,133 @@ static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
cfg_index == PIOS_EXTI_INVALID) {
/* Unconfigured interrupt just fired! */
return;
return false;
}
struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
cfg->vector();
return cfg->vector();
}
/* Bind Interrupt Handlers */
#define PIOS_EXTI_HANDLE_LINE(line) \
#ifdef PIOS_INCLUDE_FREERTOS
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
}
#else
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
PIOS_EXTI_generic_irq_handler(line); \
}
#endif
/* Bind Interrupt Handlers */
static void PIOS_EXTI_0_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(0);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
static void PIOS_EXTI_1_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(1);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
static void PIOS_EXTI_2_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(2);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
static void PIOS_EXTI_3_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(3);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
static void PIOS_EXTI_4_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(4);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
static void PIOS_EXTI_9_5_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(5);
PIOS_EXTI_HANDLE_LINE(6);
PIOS_EXTI_HANDLE_LINE(7);
PIOS_EXTI_HANDLE_LINE(8);
PIOS_EXTI_HANDLE_LINE(9);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
static void PIOS_EXTI_15_10_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(10);
PIOS_EXTI_HANDLE_LINE(11);
PIOS_EXTI_HANDLE_LINE(12);
PIOS_EXTI_HANDLE_LINE(13);
PIOS_EXTI_HANDLE_LINE(14);
PIOS_EXTI_HANDLE_LINE(15);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken; // dummy variable
#endif
PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));

104
flight/PiOS/STM32F4xx/pios_exti.c
View File

@ -149,7 +149,7 @@ out_fail:
return -1;
}
static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
{
uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
@ -158,69 +158,133 @@ static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
cfg_index == PIOS_EXTI_INVALID) {
/* Unconfigured interrupt just fired! */
return;
return false;
}
struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
cfg->vector();
return cfg->vector();
}
/* Bind Interrupt Handlers */
#define PIOS_EXTI_HANDLE_LINE(line) \
#ifdef PIOS_INCLUDE_FREERTOS
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
}
#else
#define PIOS_EXTI_HANDLE_LINE(line, woken) \
if (EXTI_GetITStatus(EXTI_Line##line) != RESET) { \
EXTI_ClearITPendingBit(EXTI_Line##line); \
PIOS_EXTI_generic_irq_handler(line); \
}
#endif
static void PIOS_EXTI_0_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(0);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
static void PIOS_EXTI_1_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(1);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
static void PIOS_EXTI_2_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(2);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
static void PIOS_EXTI_3_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(3);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
static void PIOS_EXTI_4_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(4);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
static void PIOS_EXTI_9_5_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(5);
PIOS_EXTI_HANDLE_LINE(6);
PIOS_EXTI_HANDLE_LINE(7);
PIOS_EXTI_HANDLE_LINE(8);
PIOS_EXTI_HANDLE_LINE(9);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
static void PIOS_EXTI_15_10_irq_handler (void)
{
PIOS_EXTI_HANDLE_LINE(10);
PIOS_EXTI_HANDLE_LINE(11);
PIOS_EXTI_HANDLE_LINE(12);
PIOS_EXTI_HANDLE_LINE(13);
PIOS_EXTI_HANDLE_LINE(14);
PIOS_EXTI_HANDLE_LINE(15);
#ifdef PIOS_INCLUDE_FREERTOS
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
#else
bool xHigherPriorityTaskWoken;
#endif
PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
#ifdef PIOS_INCLUDE_FREERTOS
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
#endif
}
void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));

2
flight/PiOS/inc/pios_bma180.h
View File

@ -103,7 +103,7 @@ extern float PIOS_BMA180_GetScale();
extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer);
extern int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data);
extern int32_t PIOS_BMA180_Test();
extern void PIOS_BMA180_IRQHandler();
extern bool PIOS_BMA180_IRQHandler();
#endif /* PIOS_BMA180_H */

2
flight/PiOS/inc/pios_exti.h
View File

@ -36,7 +36,7 @@
#include <pios_stm32.h>
struct pios_exti_cfg {
void (* vector)(void);
bool (* vector)(void);
uint32_t line; /* use EXTI_LineN macros */
struct stm32_gpio pin;
struct stm32_irq irq;

2
flight/PiOS/inc/pios_hmc5883.h
View File

@ -107,7 +107,7 @@ extern bool PIOS_HMC5883_NewDataAvailable(void);
extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
extern int32_t PIOS_HMC5883_Test(void);
extern void PIOS_HMC5883_IRQHandler();
bool void PIOS_HMC5883_IRQHandler();
#endif /* PIOS_HMC5883_H */
/**

2
flight/PiOS/inc/pios_l3gd20.h
View File

@ -141,7 +141,7 @@ extern int32_t PIOS_L3GD20_SetRange(enum pios_l3gd20_range range);
extern float PIOS_L3GD20_GetScale();
extern int32_t PIOS_L3GD20_ReadID();
extern uint8_t PIOS_L3GD20_Test();
extern void PIOS_L3GD20_IRQHandler();
bool void PIOS_L3GD20_IRQHandler();
#endif /* PIOS_L3GD20_H */

2
flight/PiOS/inc/pios_mpu6000.h
View File

@ -156,7 +156,7 @@ extern int32_t PIOS_MPU6000_ReadID();
extern uint8_t PIOS_MPU6000_Test();
extern float PIOS_MPU6000_GetScale();
extern float PIOS_MPU6000_GetAccelScale();
extern void PIOS_MPU6000_IRQHandler(void);
extern bool PIOS_MPU6000_IRQHandler(void);
#endif /* PIOS_MPU6000_H */