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Code Issues Releases Activity

OP-4 Flight/Telemetry Make objectTransaction() fully reentrant

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@547 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-04-25 18:34:03 +00:00 committed by vassilis
parent 8f5ecf399d
commit aaef72955e
2 changed files with 20 additions and 10 deletions
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4
flight/OpenPilot/System/openpilot.c
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@ -149,9 +149,9 @@ void OpenPilotInit()
/* Initialize modules */
TelemetryInitialize();
//ExampleModPeriodicInitialize();
ExampleModPeriodicInitialize();
//ExampleModThreadInitialize();
ExampleModEventInitialize();
//ExampleModEventInitialize();
GpsInitialize();
}

26
flight/OpenPilot/UAVTalk/uavtalk.c
View File

@ -46,6 +46,7 @@ typedef enum {STATE_SYNC, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxSta
// Private variables
static UAVTalkOutputStream outStream;
static xSemaphoreHandle lock;
static xSemaphoreHandle transLock;
static xSemaphoreHandle respSema;
static UAVObjHandle respObj;
static uint16_t respInstId;
@ -71,6 +72,7 @@ int32_t UAVTalkInitialize(UAVTalkOutputStream outputStream)
{
outStream = outputStream;
lock = xSemaphoreCreateRecursiveMutex();
transLock = xSemaphoreCreateRecursiveMutex();
vSemaphoreCreateBinary(respSema);
xSemaphoreTake(respSema, 0); // reset to zero
UAVTalkResetStats();
@ -159,37 +161,45 @@ static int32_t objectTransaction(UAVObjHandle obj, uint16_t instId, uint8_t type
{
int32_t respReceived;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Send object depending on if a response is needed
if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ)
{
xSemaphoreTake(respSema, 0); // non blocking call to make sure the value is zero (binary sema)
sendObject(obj, instId, type);
// Get transaction lock (will block if a transaction is pending)
xSemaphoreTakeRecursive(transLock, portMAX_DELAY);
// Send object
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
respObj = obj;
respInstId = instId;
xSemaphoreGiveRecursive(lock); // need to release lock since the next call will block until a response is received
respReceived = xSemaphoreTake(respSema, timeoutMs/portTICK_RATE_MS); // lock on object until a response is received (or timeout)
sendObject(obj, instId, type);
xSemaphoreGiveRecursive(lock);
// Wait for response (or timeout)
respReceived = xSemaphoreTake(respSema, timeoutMs/portTICK_RATE_MS);
// Check if a response was received
if (respReceived == pdFALSE)
{
// Cancel transaction
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
xSemaphoreTake(respSema, 0); // non blocking call to make sure the value is reset to zero (binary sema)
respObj = 0;
xSemaphoreGiveRecursive(lock);
xSemaphoreGiveRecursive(transLock);
return -1;
}
else
{
xSemaphoreGiveRecursive(transLock);
return 0;
}
}
else if (type == TYPE_OBJ)
{
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
sendObject(obj, instId, TYPE_OBJ);
xSemaphoreGiveRecursive(lock);
return 0;
}
else
{
xSemaphoreGiveRecursive(lock);
return -1;
}
}