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Honor Micro hal and new Nuttx Loging API

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This commit is contained in:
David Sidrane
2016-12-21 08:34:20 +01:00
committed by Lorenz Meier
parent ddb9bc3242
commit d8580d39b9
1 changed files with 16 additions and 13 deletions
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src/drivers/stm32/drv_hrt.c
+16 -13
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@@ -62,14 +62,16 @@
#include <board_config.h> #include <board_config.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include "chip.h"
#include "up_internal.h"
#include "up_arch.h"
#include "stm32.h"
#include "stm32_gpio.h" #include "stm32_gpio.h"
#include "stm32_tim.h" #include "stm32_tim.h"
#ifdef CONFIG_DEBUG_HRT
# define hrtinfo _info
#else
# define hrtinfo(x...)
#endif
#ifdef HRT_TIMER #ifdef HRT_TIMER
/* HRT configuration */ /* HRT configuration */
@@ -865,7 +867,7 @@ hrt_call_enter(struct hrt_call *entry)
if ((call == NULL) || (entry->deadline < call->deadline)) { if ((call == NULL) || (entry->deadline < call->deadline)) {
sq_addfirst(&entry->link, &callout_queue); sq_addfirst(&entry->link, &callout_queue);
//lldbg("call enter at head, reschedule\n"); hrtinfo("call enter at head, reschedule\n");
/* we changed the next deadline, reschedule the timer event */ /* we changed the next deadline, reschedule the timer event */
hrt_call_reschedule(); hrt_call_reschedule();
@@ -874,14 +876,14 @@ hrt_call_enter(struct hrt_call *entry)
next = (struct hrt_call *)sq_next(&call->link); next = (struct hrt_call *)sq_next(&call->link);
if ((next == NULL) || (entry->deadline < next->deadline)) { if ((next == NULL) || (entry->deadline < next->deadline)) {
//lldbg("call enter after head\n"); hrtinfo("call enter after head\n");
sq_addafter(&call->link, &entry->link, &callout_queue); sq_addafter(&call->link, &entry->link, &callout_queue);
break; break;
} }
} while ((call = next) != NULL); } while ((call = next) != NULL);
} }
//lldbg("scheduled\n"); hrtinfo("scheduled\n");
} }
static void static void
@@ -905,7 +907,7 @@ hrt_call_invoke(void)
} }
sq_rem(&call->link, &callout_queue); sq_rem(&call->link, &callout_queue);
//lldbg("call pop\n"); hrtinfo("call pop\n");
/* save the intended deadline for periodic calls */ /* save the intended deadline for periodic calls */
deadline = call->deadline; deadline = call->deadline;
@@ -915,7 +917,7 @@ hrt_call_invoke(void)
/* invoke the callout (if there is one) */ /* invoke the callout (if there is one) */
if (call->callout) { if (call->callout) {
//lldbg("call %p: %p(%p)\n", call, call->callout, call->arg); hrtinfo("call %p: %p(%p)\n", call, call->callout, call->arg);
call->callout(call->arg); call->callout(call->arg);
} }
@@ -958,19 +960,20 @@ hrt_call_reschedule()
* hrt_absolute_time runs at least once per timer period. * hrt_absolute_time runs at least once per timer period.
*/ */
if (next != NULL) { if (next != NULL) {
//lldbg("entry in queue\n"); hrtinfo("entry in queue\n");
if (next->deadline <= (now + HRT_INTERVAL_MIN)) { if (next->deadline <= (now + HRT_INTERVAL_MIN)) {
//lldbg("pre-expired\n"); hrtinfo("pre-expired\n");
/* set a minimal deadline so that we call ASAP */ /* set a minimal deadline so that we call ASAP */
deadline = now + HRT_INTERVAL_MIN; deadline = now + HRT_INTERVAL_MIN;
} else if (next->deadline < deadline) { } else if (next->deadline < deadline) {
//lldbg("due soon\n"); hrtinfo("due soon\n");
deadline = next->deadline; deadline = next->deadline;
} }
} }
//lldbg("schedule for %u at %u\n", (unsigned)(deadline & 0xffffffff), (unsigned)(now & 0xffffffff)); hrtinfo("schedule for %u at %u\n", (unsigned)(deadline & 0xffffffff), (unsigned)(now & 0xffffffff));
/* set the new compare value and remember it for latency tracking */ /* set the new compare value and remember it for latency tracking */
rCCR_HRT = latency_baseline = deadline & 0xffff; rCCR_HRT = latency_baseline = deadline & 0xffff;