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output modules simplify locking for mixer reset and load

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- fixes the deadlock in px4io ioctl mixer reset
   - px4io Run() locks (CDev semaphore)
   - mixer load goes through px4io ioctl MIXERIOCRESET which calls MixingOutput::resetMixerThreadSafe()
   - MixingOutput::resetMixerThreadSafe() stores a Command::Type::resetMixer command in an atomic variable, schedules a work queue cycle, then sleep spins until the command is cleared
   - the execution of the cycle eventually calls back into PX4IO::updateOutputs(), which tries to lock (and waits forever)
This commit is contained in:
Daniel Agar
2022-04-19 08:52:17 +02:00
committed by Beat Küng
parent 5d95cc001f
commit 5e05d98fe2
11 changed files with 72 additions and 172 deletions
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src/drivers/pca9685_pwm_out/main.cpp
+9 -8
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -49,6 +49,8 @@
#include "PCA9685.h"
#include <px4_platform_common/sem.hpp>
#define PCA9685_DEFAULT_IICBUS 1
#define PCA9685_DEFAULT_ADDRESS (0x40)
@@ -374,6 +376,8 @@ bool PCA9685Wrapper::updateOutputs(bool stop_motors, uint16_t *outputs, unsigned
void PCA9685Wrapper::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@@ -464,21 +468,20 @@ void PCA9685Wrapper::Run()
int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
{
int ret = OK;
SmartLock lock_guard(_lock);
lock();
int ret = OK;
switch (cmd) {
case MIXERIOCRESET:
_mixing_output.resetMixerThreadSafe();
_mixing_output.resetMixer();
break;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strlen(buf);
ret = _mixing_output.loadMixerThreadSafe(buf, buflen);
ret = _mixing_output.loadMixer(buf, buflen);
break;
}
@@ -501,8 +504,6 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
break;
}
unlock();
if (ret == -ENOTTY) {
ret = CDev::ioctl(filep, cmd, arg);
}