fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

IO: Move to semaphore abstraction

Browse Source
This commit is contained in:
Lorenz Meier 2015-09-20 00:28:24 +02:00
parent 039b72788c
commit aba2d007df
1 changed files with 14 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
src/drivers/px4io/px4io_serial.cpp
View File

@ -116,10 +116,10 @@ private:
volatile unsigned _rx_dma_status;
/** bus-ownership lock */
sem_t _bus_semaphore;
px4_sem_t _bus_semaphore;
/** client-waiting lock/signal */
sem_t _completion_semaphore;
px4_sem_t _completion_semaphore;
/**
* Start the transaction with IO and wait for it to complete.
@ -177,8 +177,8 @@ PX4IO_serial::PX4IO_serial() :
_tx_dma(nullptr),
_rx_dma(nullptr),
_rx_dma_status(_dma_status_inactive),
_bus_semaphore(SEM_INITIALIZER(0)),
_completion_semaphore(SEM_INITIALIZER(0)),
_bus_semaphore(px4_sem_initIALIZER(0)),
_completion_semaphore(px4_sem_initIALIZER(0)),
_pc_txns(perf_alloc(PC_ELAPSED, "io_txns ")),
_pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")),
_pc_retries(perf_alloc(PC_COUNT, "io_retries ")),
@ -219,8 +219,8 @@ PX4IO_serial::~PX4IO_serial()
stm32_unconfiggpio(PX4IO_SERIAL_RX_GPIO);
/* and kill our semaphores */
sem_destroy(&_completion_semaphore);
sem_destroy(&_bus_semaphore);
px4_sem_destroy(&_completion_semaphore);
px4_sem_destroy(&_bus_semaphore);
perf_free(_pc_txns);
perf_free(_pc_dmasetup);
@ -280,8 +280,8 @@ PX4IO_serial::init()
rCR1 = USART_CR1_RE | USART_CR1_TE | USART_CR1_UE | USART_CR1_IDLEIE;
/* create semaphores */
sem_init(&_completion_semaphore, 0, 0);
sem_init(&_bus_semaphore, 0, 1);
px4_sem_init(&_completion_semaphore, 0, 0);
px4_sem_init(&_bus_semaphore, 0, 1);
/* XXX this could try talking to IO */
@ -366,7 +366,7 @@ PX4IO_serial::write(unsigned address, void *data, unsigned count)
return -EINVAL;
}
sem_wait(&_bus_semaphore);
px4_sem_wait(&_bus_semaphore);
int result;
@ -403,7 +403,7 @@ PX4IO_serial::write(unsigned address, void *data, unsigned count)
perf_count(_pc_retries);
}
sem_post(&_bus_semaphore);
px4_sem_post(&_bus_semaphore);
if (result == OK) {
result = count;
@ -423,7 +423,7 @@ PX4IO_serial::read(unsigned address, void *data, unsigned count)
return -EINVAL;
}
sem_wait(&_bus_semaphore);
px4_sem_wait(&_bus_semaphore);
int result;
@ -468,7 +468,7 @@ PX4IO_serial::read(unsigned address, void *data, unsigned count)
perf_count(_pc_retries);
}
sem_post(&_bus_semaphore);
px4_sem_post(&_bus_semaphore);
if (result == OK) {
result = count;
@ -551,7 +551,7 @@ PX4IO_serial::_wait_complete()
int ret;
for (;;) {
ret = sem_timedwait(&_completion_semaphore, &abstime);
ret = px4_sem_timedwait(&_completion_semaphore, &abstime);
if (ret == OK) {
/* check for DMA errors */
@ -627,7 +627,7 @@ PX4IO_serial::_do_rx_dma_callback(unsigned status)
rCR3 &= ~(USART_CR3_DMAT | USART_CR3_DMAR);
/* complete now */
sem_post(&_completion_semaphore);
px4_sem_post(&_completion_semaphore);
}
}