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Code Issues Releases Activity

Make the overo transaction occur based on the rising edge of the NSS line.

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This fixes most of the frame sync problems.  However, it's a bit hacky as
there is currently hardware information inside a module.
This commit is contained in:
James Cotton 2012-02-14 10:37:08 -06:00
parent fea4accb07
commit f04c58b0f4
1 changed files with 67 additions and 14 deletions
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81
flight/Modules/OveroSync/overosync.c
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@ -79,6 +79,54 @@ struct overosync {
struct overosync *overosync;
static void PIOS_OVERO_IRQHandler();
static const struct pios_exti_cfg pios_exti_overo_cfg __exti_config = {
.vector = PIOS_OVERO_IRQHandler,
.line = EXTI_Line15,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI15_10_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line15, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
};
/**
* On the rising edge of NSS schedule a new transaction. This cannot be
* done by the DMA complete because there is 150 us between that and the
* Overo deasserting the CS line. We don't want to spin that long in an
* isr
*/
int32_t failed_overo_start;
void PIOS_OVERO_IRQHandler()
{
// transmitData must not block to get semaphore for when we get out of
// frame and transaction is still running here
if(transmitData() == -1)
failed_overo_start++;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
@ -91,6 +139,7 @@ int32_t OveroSyncInitialize(void)
OveroSyncStatsInitialize();
PIOS_EXTI_Init(&pios_exti_overo_cfg);
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
@ -155,7 +204,6 @@ static void registerObject(UAVObjHandle obj)
UAVObjConnectQueue(obj, queue, eventMask);
}
int32_t overosync_transfers = 0;
/**
* Telemetry transmit task, regular priority
@ -176,8 +224,6 @@ static void overoSyncTask(void *parameters)
overosync->failed_objects = 0;
overosync->received_objects = 0;
transmitData();
portTickType lastUpdateTime = xTaskGetTickCount();
portTickType updateTime;
@ -187,9 +233,6 @@ static void overoSyncTask(void *parameters)
if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
// Process event. This calls transmitData
UAVTalkSendObject(uavTalkCon, ev.obj, ev.instId, false, 0);
//if(overosync->transaction_done)
// transmitData();
updateTime = xTaskGetTickCount();
if(((portTickType) (updateTime - lastUpdateTime)) > 1000) {
@ -211,6 +254,7 @@ static void overoSyncTask(void *parameters)
}
int32_t transactionsDone = 0;
int32_t reschedule_failed = 0;
static void transmitDataDone(bool crc_ok, uint8_t crc_val)
{
uint8_t *rx_buffer;
@ -226,8 +270,6 @@ static void transmitDataDone(bool crc_ok, uint8_t crc_val)
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
overosync->transaction_done = true;
transmitData();
// Parse the data from overo
for (uint32_t i = 0; rx_buffer[0] != 0 && i < sizeof(rx_buffer) ; i++)
@ -273,13 +315,26 @@ static int32_t packData(uint8_t * data, int32_t length)
return length;
}
int32_t failed_buffer_lock;
static int32_t transmitData()
{
uint8_t *tx_buffer, *rx_buffer;
static signed portBASE_TYPE xHigherPriorityTaskWoken;
// Get this lock first so we don't swap buffers and then fail
// to start
if (xSemaphoreTake(overosync->transaction_lock, 0) == pdFALSE)
return -1;
transactionsStarted++;
// Get lock to manipulate buffers
/*if(xSemaphoreTake(overosync->buffer_lock, 1) == pdFALSE)
return -1;*/
if(xSemaphoreTake(overosync->buffer_lock, 0) == pdFALSE) {
xSemaphoreGiveFromISR(overosync->transaction_lock, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
failed_buffer_lock++;
return -1;
}
overosync->transaction_done = false;
@ -296,10 +351,8 @@ static int32_t transmitData()
sizeof(overosync->transactions[overosync->loading_transaction_id].tx_buffer));
overosync->write_pointer = 0;
//xSemaphoreGive(overosync->buffer_lock);
xSemaphoreTake(overosync->transaction_lock, portMAX_DELAY);
transactionsStarted++;
xSemaphoreGiveFromISR(overosync->buffer_lock, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
return PIOS_SPI_TransferBlock(pios_spi_overo_id, (uint8_t *) tx_buffer, (uint8_t *) rx_buffer, sizeof(overosync->transactions[overosync->active_transaction_id].tx_buffer), &transmitDataDone);
}