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Code Issues Releases Activity

LP-529 [F3] [I2C] Move i2c bus unlocking down to irq, to save one context switch and make bus available for use by other drivers sooner.

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This commit is contained in:
Vladimir Zidar 2017-06-14 16:05:52 +02:00
parent a00af53710
commit b0fa0edb64
6 changed files with 72 additions and 67 deletions
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4
flight/pios/common/pios_mpu6000.c
View File

@ -570,9 +570,9 @@ static int32_t PIOS_MPU6000_I2C_GetReg(uint8_t address)
return data;
}
static bool PIOS_MPU6000_I2C_Read_Completed()
static bool PIOS_MPU6000_I2C_Read_Completed(enum pios_i2c_transfer_result result)
{
return PIOS_MPU6000_HandleData(gyro_read_timestamp);
return (result == PIOS_I2C_TRANSFER_OK) ? PIOS_MPU6000_HandleData(gyro_read_timestamp) : false;
}
static bool PIOS_MPU6000_I2C_ReadSensor(bool *woken)

12
flight/pios/inc/pios_i2c.h
View File

@ -73,7 +73,17 @@ enum pios_i2c_error_count {
PIOS_I2C_ERROR_COUNT_NUMELEM,
};
typedef bool (*pios_i2c_callback)();
enum pios_i2c_transfer_result {
PIOS_I2C_TRANSFER_OK = 0,
PIOS_I2C_TRANSFER_BUSY = -2,
PIOS_I2C_TRANSFER_BUS_ERROR = -1,
PIOS_I2C_TRANSFER_NACK = -3,
PIOS_I2C_TRANSFER_TIMEOUT = -4,
PIOS_I2C_TRANSFER_UNSPECIFIED_ERROR = -5,
PIOS_I2C_TRANSFER_DEVICE_ERROR = -6,
};
typedef bool (*pios_i2c_callback)(enum pios_i2c_transfer_result result);
/* Public Functions */
extern int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[], uint32_t num_txns);

2
flight/pios/inc/pios_i2c_priv.h
View File

@ -73,6 +73,8 @@ struct pios_i2c_adapter {
uint8_t *active_byte;
uint8_t *last_byte;
enum pios_i2c_transfer_result *transfer_result;
};
int32_t PIOS_I2C_Init(uint32_t *i2c_id, const struct pios_i2c_adapter_cfg *cfg);

11
flight/pios/stm32f10x/pios_i2c.c
View File

@ -980,7 +980,7 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;
if (!PIOS_I2C_validate(i2c_adapter)) {
return -1;
return PIOS_I2C_TRANSFER_DEVICE_ERROR;
}
PIOS_DEBUG_Assert(txn_list);
@ -993,9 +993,10 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
portTickType timeout;
timeout = i2c_adapter->cfg->transfer_timeout_ms / portTICK_RATE_MS;
if (xSemaphoreTake(i2c_adapter->sem_busy, timeout) == pdFALSE) {
return -2;
return PIOS_I2C_TRANSFER_BUSY;
}
#else
#error PIOS_I2C_Transfer is broken for use without FreeRTOS
uint32_t timeout = 0xfff;
while (i2c_adapter->busy && --timeout) {
;
@ -1071,9 +1072,9 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
}
#endif /* USE_FREERTOS */
return !semaphore_success ? -2 :
i2c_adapter->bus_error ? -1 :
0;
return !semaphore_success ? PIOS_I2C_TRANSFER_TIMEOUT :
i2c_adapter->bus_error ? PIOS_I2C_TRANSFER_BUS_ERROR :
PIOS_I2C_TRANSFER_OK;
}

86
flight/pios/stm32f30x/pios_i2c.c
View File

@ -135,7 +135,6 @@ static void i2c_adapter_process_auto(struct pios_i2c_adapter *i2c_adapter, bool
static void i2c_adapter_inject_event(struct pios_i2c_adapter *i2c_adapter, enum i2c_adapter_event event, bool *woken);
static void i2c_adapter_fsm_init(struct pios_i2c_adapter *i2c_adapter);
static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter);
static bool i2c_adapter_callback_handler(struct pios_i2c_adapter *i2c_adapter, bool *woken);
#if defined(PIOS_I2C_DIAGNOSTICS)
static void i2c_adapter_log_fault(struct pios_i2c_adapter *i2c_adapter, enum pios_i2c_error_type type);
@ -234,9 +233,18 @@ static void go_stopped(struct pios_i2c_adapter *i2c_adapter, bool *woken)
{
I2C_ITConfig(i2c_adapter->cfg->regs, I2C_IT_ERRI | I2C_IT_TCI | I2C_IT_NACKI | I2C_IT_RXI | I2C_IT_STOPI | I2C_IT_TXI, DISABLE);
if (i2c_adapter->callback) {
i2c_adapter_callback_handler(i2c_adapter, woken);
} else {
enum pios_i2c_transfer_result result =
i2c_adapter->bus_error ? PIOS_I2C_TRANSFER_BUS_ERROR :
i2c_adapter->nack ? PIOS_I2C_TRANSFER_NACK :
PIOS_I2C_TRANSFER_OK;
if (i2c_adapter->transfer_result) {
*(i2c_adapter->transfer_result) = result;
}
pios_i2c_callback cb = i2c_adapter->callback;
if(!cb) { /* No callback? Signal that we are done */
#ifdef PIOS_INCLUDE_FREERTOS
signed portBASE_TYPE pxHigherPriorityTaskWoken = pdFALSE;
if (xSemaphoreGiveFromISR(i2c_adapter->sem_ready, &pxHigherPriorityTaskWoken) != pdTRUE) {
@ -249,6 +257,23 @@ static void go_stopped(struct pios_i2c_adapter *i2c_adapter, bool *woken)
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
#ifdef PIOS_INCLUDE_FREERTOS
/* Unlock the bus */
signed portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(i2c_adapter->sem_busy, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken == pdTRUE) {
*woken = true;
}
#else
PIOS_IRQ_Disable();
i2c_adapter->busy = 0;
PIOS_IRQ_Enable();
#endif /* PIOS_INCLUDE_FREERTOS */
if(cb && cb(result)) { /* User provided callback? Do it, but with bus unlocked */
*woken = true;
}
}
static void go_starting(struct pios_i2c_adapter *i2c_adapter, __attribute__((unused)) bool *woken)
@ -609,7 +634,8 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
{
// FIXME: only supports transfer sizes up to 255 bytes
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;
enum pios_i2c_transfer_result result = PIOS_I2C_TRANSFER_UNSPECIFIED_ERROR;
bool valid = PIOS_I2C_validate(i2c_adapter);
PIOS_Assert(valid)
@ -624,13 +650,13 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
portTickType timeout;
timeout = i2c_adapter->cfg->transfer_timeout_ms / portTICK_RATE_MS;
if (xSemaphoreTake(i2c_adapter->sem_busy, timeout) == pdFALSE) {
return -2;
return PIOS_I2C_TRANSFER_BUSY;
}
#else
PIOS_IRQ_Disable();
if (i2c_adapter->busy) {
PIOS_IRQ_Enable();
return -2;
return PIOS_I2C_TRANSFER_BUSY;
}
i2c_adapter->busy = 1;
PIOS_IRQ_Enable();
@ -638,6 +664,7 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
PIOS_DEBUG_Assert(i2c_adapter->curr_state == I2C_STATE_STOPPED);
i2c_adapter->transfer_result = &result;
i2c_adapter->last_txn = &txn_list[num_txns - 1];
i2c_adapter->active_txn = &txn_list[0];
i2c_adapter->bus_error = false;
@ -659,30 +686,22 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
xSemaphoreGive(i2c_adapter->sem_ready);
#endif /* PIOS_INCLUDE_FREERTOS */
#ifdef PIOS_INCLUDE_FREERTOS
/* Unlock the bus */
xSemaphoreGive(i2c_adapter->sem_busy);
/* After this point, the bus is already unlocked from ISR
* Touching i2c_adapter is not allowed */
#if defined(PIOS_I2C_DIAGNOSTICS)
if (!semaphore_success) {
i2c_timeout_counter++;
result = PIOS_I2C_TRANSFER_TIMEOUT;
}
#endif
#else
PIOS_IRQ_Disable();
i2c_adapter->busy = 0;
PIOS_IRQ_Enable();
#endif /* PIOS_INCLUDE_FREERTOS */
return !semaphore_success ? -2 :
i2c_adapter->bus_error ? -1 :
i2c_adapter->nack ? -3 :
0;
return result;
}
static int32_t PIOS_I2C_Transfer_Callback_Internal(struct pios_i2c_adapter *i2c_adapter, const struct pios_i2c_txn txn_list[], uint32_t num_txns, pios_i2c_callback callback)
{
PIOS_DEBUG_Assert(i2c_adapter->curr_state == I2C_STATE_STOPPED);
i2c_adapter->transfer_result = 0;
i2c_adapter->last_txn = &txn_list[num_txns - 1];
i2c_adapter->active_txn = &txn_list[0];
i2c_adapter->bus_error = false;
@ -773,33 +792,6 @@ int32_t PIOS_I2C_Transfer_CallbackFromISR(uint32_t i2c_id, const struct pios_i2c
return PIOS_I2C_Transfer_Callback_Internal(i2c_adapter, txn_list, num_txns, callback);
}
static bool i2c_adapter_callback_handler(struct pios_i2c_adapter *i2c_adapter, bool *woken)
{
#ifdef PIOS_INCLUDE_FREERTOS
/* Unlock the bus */
signed portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(i2c_adapter->sem_busy, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken == pdTRUE) {
*woken = true;
}
#else
PIOS_IRQ_Disable();
i2c_adapter->busy = 0;
PIOS_IRQ_Enable();
#endif /* PIOS_INCLUDE_FREERTOS */
// Execute user supplied function
if (i2c_adapter->callback()) {
*woken = true;
}
return !i2c_adapter->bus_error;
}
void PIOS_I2C_EV_IRQ_Handler(uint32_t i2c_id)
{
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;

24
flight/pios/stm32f4xx/pios_i2c.c
View File

@ -888,7 +888,7 @@ static bool i2c_adapter_callback_handler(struct pios_i2c_adapter *i2c_adapter, s
// Execute user supplied function
if (i2c_adapter->callback()) {
if (i2c_adapter->callback(PIOS_I2C_TRANSFER_OK)) {
*pxHigherPriorityTaskWoken = pdTRUE;
}
@ -1048,7 +1048,7 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;
if (!PIOS_I2C_validate(i2c_adapter)) {
return -1;
return PIOS_I2C_TRANSFER_DEVICE_ERROR;
}
PIOS_DEBUG_Assert(txn_list);
@ -1061,13 +1061,13 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
portTickType timeout;
timeout = i2c_adapter->cfg->transfer_timeout_ms / portTICK_RATE_MS;
if (xSemaphoreTake(i2c_adapter->sem_busy, timeout) == pdFALSE) {
return -2;
return PIOS_I2C_TRANSFER_BUSY;
}
#else
PIOS_IRQ_Disable();
if (i2c_adapter->busy) {
PIOS_IRQ_Enable();
return -2;
return PIOS_I2C_TRANSFER_BUSY;
}
i2c_adapter->busy = 1;
PIOS_IRQ_Enable();
@ -1134,10 +1134,10 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
PIOS_IRQ_Enable();
#endif /* USE_FREERTOS */
return !semaphore_success ? -2 :
i2c_adapter->bus_error ? -1 :
i2c_adapter->nack ? -3 :
0;
return !semaphore_success ? PIOS_I2C_TRANSFER_TIMEOUT :
i2c_adapter->bus_error ? PIOS_I2C_TRANSFER_BUS_ERROR :
i2c_adapter->nack ? PIOS_I2C_TRANSFER_NACK :
PIOS_I2C_TRANSFER_OK;
}
static int32_t PIOS_I2C_Transfer_Callback_Internal(struct pios_i2c_adapter *i2c_adapter, const struct pios_i2c_txn txn_list[], uint32_t num_txns, pios_i2c_callback callback)
@ -1182,13 +1182,13 @@ int32_t PIOS_I2C_Transfer_Callback(uint32_t i2c_id, const struct pios_i2c_txn tx
portTickType timeout;
timeout = i2c_adapter->cfg->transfer_timeout_ms / portTICK_RATE_MS;
if (xSemaphoreTake(i2c_adapter->sem_busy, timeout) == pdFALSE) {
return -2;
return PIOS_I2C_TRANSFER_BUSY;
}
#else
PIOS_IRQ_Disable();
if (i2c_adapter->busy) {
PIOS_IRQ_Enable();
return -2;
return PIOS_I2C_TRANSFER_BUSY;
}
i2c_adapter->busy = 1;
PIOS_IRQ_Enable();
@ -1220,13 +1220,13 @@ int32_t PIOS_I2C_Transfer_CallbackFromISR(uint32_t i2c_id, const struct pios_i2c
}
if (!locked) {
return -2;
return PIOS_I2C_TRANSFER_BUSY;
}
#else
PIOS_IRQ_Disable();
if (i2c_adapter->busy) {
PIOS_IRQ_Enable();
return -2;
return PIOS_I2C_TRANSFER_BUSY;
}
i2c_adapter->busy = 1;
PIOS_IRQ_Enable();