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STM32: Fixed critical sections

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This commit is contained in:
Pavel Kirienko
2014-04-05 11:07:28 +04:00
parent c92573b840
commit c025df05fb
3 changed files with 25 additions and 25 deletions
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libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
+1 -1
View File
@@ -159,7 +159,7 @@ public:
void discardTimedOutTxMailboxes(uavcan::MonotonicTime current_time);
bool isTxBufferFull() const;
bool isRxBufferEmpty() const { return rx_queue_.getLength() == 0; }
bool isRxBufferEmpty() const;
virtual uavcan::uint64_t getErrorCount() const;
uavcan::uint8_t yieldLastHardwareErrorCode();
libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+13 -12
View File
@@ -23,13 +23,13 @@ CanIface* ifaces[UAVCAN_STM32_NUM_IFACES] =
inline void handleTxInterrupt(uavcan::uint8_t iface_index)
{
assert(iface_index < UAVCAN_STM32_NUM_IFACES);
uavcan::uint64_t utc_usec = clock::getUtcUSecFromCanInterrupt();
if (utc_usec > 0)
{
utc_usec--;
}
if (iface_index < UAVCAN_STM32_NUM_IFACES &&
ifaces[iface_index] != NULL)
if (ifaces[iface_index] != NULL)
{
ifaces[iface_index]->handleTxInterrupt(utc_usec);
}
@@ -41,13 +41,13 @@ inline void handleTxInterrupt(uavcan::uint8_t iface_index)
inline void handleRxInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t fifo_index)
{
assert(iface_index < UAVCAN_STM32_NUM_IFACES);
uavcan::uint64_t utc_usec = clock::getUtcUSecFromCanInterrupt();
if (utc_usec > 0)
{
utc_usec--;
}
if (iface_index < UAVCAN_STM32_NUM_IFACES &&
ifaces[iface_index] != NULL)
if (ifaces[iface_index] != NULL)
{
ifaces[iface_index]->handleRxInterrupt(fifo_index, utc_usec);
}
@@ -59,8 +59,8 @@ inline void handleRxInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t fifo_
inline void handleStatusInterrupt(uavcan::uint8_t iface_index)
{
if (iface_index < UAVCAN_STM32_NUM_IFACES &&
ifaces[iface_index] != NULL)
assert(iface_index < UAVCAN_STM32_NUM_IFACES);
if (ifaces[iface_index] != NULL)
{
ifaces[iface_index]->handleStatusInterrupt();
}
@@ -183,11 +183,6 @@ int CanIface::computeTimings(const uavcan::uint32_t target_bitrate, Timings& out
out_timings.sjw = 1;
out_timings.bs1 = bs1 - 1;
out_timings.bs2 = bs2 - 1;
UAVCAN_STM32_TRACE("CAN pclk=%lu bitrt=%lu presc=%u sjw=%u bs1=%u bs2=%u",
static_cast<unsigned long>(pclk), static_cast<unsigned long>(target_bitrate),
static_cast<unsigned>(out_timings.prescaler), static_cast<unsigned>(out_timings.sjw),
static_cast<unsigned>(out_timings.bs1), static_cast<unsigned>(out_timings.bs2));
return 0;
}
@@ -504,7 +499,13 @@ void CanIface::discardTimedOutTxMailboxes(uavcan::MonotonicTime current_time)
bool CanIface::isTxBufferFull() const
{
return (can_->TSR & CAN_TSR_TME) == 0;
return (can_->TSR & CAN_TSR_TME) == 0; // Interrupts enabled
}
bool CanIface::isRxBufferEmpty() const
{
CriticalSectionLock lock;
return rx_queue_.getLength() == 0;
}
uavcan::uint64_t CanIface::getErrorCount() const
libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
+11 -12
View File
@@ -47,21 +47,18 @@ const uavcan::int32_t MaxUtcSpeedCorrection = 500; // x / 65536
void init()
{
CriticalSectionLock lock;
if (initialized)
{
return;
}
initialized = true;
chSysDisable();
// Power-on and reset
TIMX_RCC_ENR |= TIMX_RCC_ENR_MASK;
TIMX_RCC_RSTR |= TIMX_RCC_RSTR_MASK;
TIMX_RCC_RSTR &= ~TIMX_RCC_RSTR_MASK;
chSysEnable();
// Enable IRQ
nvicEnableVector(TIMX_IRQn, UAVCAN_STM32_IRQ_PRIORITY_MASK);
@@ -175,16 +172,18 @@ void adjustUtc(uavcan::UtcDuration adjustment)
*/
if (adjustment.getAbs().toMSec() > 1 || !utc_set)
{
if (adjustment.isNegative() &&
uavcan::uint64_t(adjustment.getAbs().toUSec()) > time_utc)
const uavcan::int64_t adj_usec = adjustment.toUSec();
{
CriticalSectionLock locker;
time_utc = 1;
}
else
{
CriticalSectionLock locker;
time_utc += adjustment.toUSec();
if ((adj_usec < 0) && uavcan::uint64_t(-adj_usec) > time_utc)
{
time_utc = 1;
}
else
{
time_utc += adj_usec;
}
}
if (utc_set)