STM32: Fixed critical sections, removed clock interface for can driver

libuavcan_drivers/stm32/driver/include/uavcan_stm32/clock.hpp

@@ -17,11 +17,6 @@ namespace clock
  */
 void init();
 
-/**
- * For CAN timestamping.
- */
-uavcan::uint64_t getUtcUSecFromInterrupt();
-
 /**
  * For general usage.
  */
@@ -48,28 +43,17 @@ uavcan::uint32_t getUtcAjdustmentJumpCount();
 
 }
 
-/**
- * Clock interface for CAN driver.
- */
-class ICanTimestampingClock : public uavcan::ISystemClock
-{
-public:
-    virtual uavcan::uint64_t getUtcUSecFromInterrupt() const = 0;
-};
-
 /**
  * Trivial system clock implementation; can be redefined by the application.
  * Uses a simple 16-bit hardware timer for both UTC and monotonic clocks.
  */
-class SystemClock : public ICanTimestampingClock, uavcan::Noncopyable
+class SystemClock : public uavcan::ISystemClock, uavcan::Noncopyable
 {
     SystemClock() { }
 
 public:
     static SystemClock& instance();
 
-    virtual uavcan::uint64_t getUtcUSecFromInterrupt() const { return clock::getUtcUSecFromInterrupt(); }
-
     virtual uavcan::MonotonicTime getMonotonic()     const { return clock::getMonotonic(); }
     virtual uavcan::UtcTime getUtc()                 const { return clock::getUtc(); }
     virtual void adjustUtc(uavcan::UtcDuration adjustment) { clock::adjustUtc(adjustment); }

libuavcan_drivers/stm32/driver/src/internal.hpp

@@ -21,14 +21,8 @@
 #if UAVCAN_STM32_CHIBIOS
 
 # define UAVCAN_STM32_IRQ_HANDLER(id)  CH_IRQ_HANDLER(id)
-
+# define UAVCAN_STM32_IRQ_PROLOGUE()    CH_IRQ_PROLOGUE()
-# define UAVCAN_STM32_IRQ_PROLOGUE()    \
+# define UAVCAN_STM32_IRQ_EPILOGUE()    CH_IRQ_EPILOGUE()
-    CH_IRQ_PROLOGUE(); \
-    chSysLockFromIsr()
-
-# define UAVCAN_STM32_IRQ_EPILOGUE()    \
-    chSysUnlockFromIsr(); \
-    CH_IRQ_EPILOGUE()
 
 #else
 
@@ -93,4 +87,11 @@ struct CriticalSectionLock
     ~CriticalSectionLock() { chSysEnable(); }
 };
 
+namespace clock
+{
+
+uavcan::uint64_t getUtcUSecFromCanInterrupt();
+
+}
+
 }

libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp

@@ -23,7 +23,7 @@ CanIface* ifaces[UAVCAN_STM32_NUM_IFACES] =
 
 inline void handleTxInterrupt(uavcan::uint8_t iface_index)
 {
-    uavcan::uint64_t utc_usec = clock::getUtcUSecFromInterrupt();
+    uavcan::uint64_t utc_usec = clock::getUtcUSecFromCanInterrupt();
     if (utc_usec > 0)
     {
         utc_usec--;
@@ -41,7 +41,7 @@ inline void handleTxInterrupt(uavcan::uint8_t iface_index)
 
 inline void handleRxInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t fifo_index)
 {
-    uavcan::uint64_t utc_usec = clock::getUtcUSecFromInterrupt();
+    uavcan::uint64_t utc_usec = clock::getUtcUSecFromCanInterrupt();
     if (utc_usec > 0)
     {
         utc_usec--;

libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp

@@ -23,9 +23,6 @@
 # error "This UAVCAN_STM32_TIMER_NUMBER is not supported yet"
 #endif
 
-#define TIMX_IRQ_ENABLE()       TIMX->DIER = TIM_DIER_UIE
-#define TIMX_IRQ_DISABLE()      TIMX->DIER = 0
-
 namespace uavcan_stm32
 {
 namespace clock
@@ -85,13 +82,11 @@ void init()
 /**
  * Callable from any context
  */
-static uavcan::uint64_t sampleSpecifiedTime(const volatile uavcan::uint64_t* const value)
+static uavcan::uint64_t sampleFromCriticalSection(const volatile uavcan::uint64_t* const value)
 {
     assert(initialized);
     assert(TIMX->DIER & TIM_DIER_UIE);
 
-    TIMX_IRQ_DISABLE();
-
     volatile uavcan::uint64_t time = *value;
     volatile uavcan::uint32_t cnt = TIMX->CNT;
 
@@ -110,19 +105,21 @@ static uavcan::uint64_t sampleSpecifiedTime(const volatile uavcan::uint64_t* con
         time += USecPerOverflow;
     }
 
-    TIMX_IRQ_ENABLE();
-
     return time + cnt;
 }
 
-uavcan::uint64_t getUtcUSecFromInterrupt()
+uavcan::uint64_t getUtcUSecFromCanInterrupt()
 {
-    return utc_set ? sampleSpecifiedTime(&time_utc) : 0;
+    return utc_set ? sampleFromCriticalSection(&time_utc) : 0;
 }
 
 uavcan::MonotonicTime getMonotonic()
 {
-    const uavcan::uint64_t usec = sampleSpecifiedTime(&time_mono);
+    uavcan::uint64_t usec = 0;
+    {
+        CriticalSectionLock locker;
+        usec = sampleFromCriticalSection(&time_mono);
+    }
 #if !NDEBUG
     static uavcan::uint64_t prev_usec = 0;  // Self-test
     assert(prev_usec <= usec);
@@ -133,7 +130,16 @@ uavcan::MonotonicTime getMonotonic()
 
 uavcan::UtcTime getUtc()
 {
-    return utc_set ? uavcan::UtcTime::fromUSec(sampleSpecifiedTime(&time_utc)) : uavcan::UtcTime();
+    if (utc_set)
+    {
+        uavcan::uint64_t usec = 0;
+        {
+            CriticalSectionLock locker;
+            usec = sampleFromCriticalSection(&time_utc);
+        }
+        return uavcan::UtcTime::fromUSec(usec);
+    }
+    return uavcan::UtcTime();
 }
 
 void adjustUtc(uavcan::UtcDuration adjustment)
@@ -172,15 +178,13 @@ void adjustUtc(uavcan::UtcDuration adjustment)
         if (adjustment.isNegative() &&
             uavcan::uint64_t(adjustment.getAbs().toUSec()) > time_utc)
         {
-            TIMX_IRQ_DISABLE();
+            CriticalSectionLock locker;
             time_utc = 1;
-            TIMX_IRQ_ENABLE();
         }
         else
         {
-            TIMX_IRQ_DISABLE();
+            CriticalSectionLock locker;
             time_utc += adjustment.toUSec();
-            TIMX_IRQ_ENABLE();
         }
 
         if (utc_set)

libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp

@@ -30,7 +30,9 @@ void Event::signal()
 
 void Event::signalFromInterrupt()
 {
+    chSysLockFromIsr();
     sem_.signalI();
+    chSysUnlockFromIsr();
 }
 
 #endif