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author | px4dev <px4@purgatory.org> | 2013-07-24 22:51:27 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-07-24 22:51:27 -0700 |
commit | d57d12818a3c79cc992ff70e765734e7145603d0 (patch) | |
tree | 3bcb7e737acbe24e1ddf198a6f75ca24181bf211 | |
parent | 31ded04c80f68bd071840770d49eb93d2d9c9fe2 (diff) | |
download | px4-firmware-d57d12818a3c79cc992ff70e765734e7145603d0.tar.gz px4-firmware-d57d12818a3c79cc992ff70e765734e7145603d0.tar.bz2 px4-firmware-d57d12818a3c79cc992ff70e765734e7145603d0.zip |
Revert "Disable interrupts during ms5611 SPI transactions to prevent interruption by sensor drivers polling other sensors from interrupt context."
This reverts commit 31ded04c80f68bd071840770d49eb93d2d9c9fe2.
-rw-r--r-- | src/drivers/ms5611/ms5611.cpp | 148 | ||||
-rw-r--r-- | src/drivers/ms5611/ms5611_spi.cpp | 28 |
2 files changed, 94 insertions, 82 deletions
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 122cf0cec..d9268c0b3 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -111,9 +111,8 @@ protected: ms5611::prom_s _prom; - struct hrt_call _baro_call; - - unsigned _call_baro_interval; + struct work_s _work; + unsigned _measure_ticks; unsigned _num_reports; volatile unsigned _next_report; @@ -144,12 +143,12 @@ protected: * @note This function is called at open and error time. It might make sense * to make it more aggressive about resetting the bus in case of errors. */ - void start(); + void start_cycle(); /** * Stop the automatic measurement state machine. */ - void stop(); + void stop_cycle(); /** * Perform a poll cycle; collect from the previous measurement @@ -167,11 +166,12 @@ protected: void cycle(); /** - * Static trampoline; XXX is this needed? + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. * * @param arg Instance pointer for the driver that is polling. */ - void cycle_trampoline(void *arg); + static void cycle_trampoline(void *arg); /** * Issue a measurement command for the current state. @@ -184,7 +184,6 @@ protected: * Collect the result of the most recent measurement. */ virtual int collect(); - }; /* @@ -196,7 +195,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : CDev("MS5611", BARO_DEVICE_PATH), _interface(interface), _prom(prom_buf.s), - _call_baro_interval(0), + _measure_ticks(0), _num_reports(0), _next_report(0), _oldest_report(0), @@ -213,13 +212,14 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : _comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")), _buffer_overflows(perf_alloc(PC_COUNT, "ms5611_buffer_overflows")) { - + // work_cancel in stop_cycle called from the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); } MS5611::~MS5611() { /* make sure we are truly inactive */ - stop(); + stop_cycle(); /* free any existing reports */ if (_reports != nullptr) @@ -277,7 +277,7 @@ MS5611::read(struct file *filp, char *buffer, size_t buflen) return -ENOSPC; /* if automatic measurement is enabled */ - if (_call_baro_interval > 0) { + if (_measure_ticks > 0) { /* * While there is space in the caller's buffer, and reports, copy them. @@ -298,13 +298,41 @@ MS5611::read(struct file *filp, char *buffer, size_t buflen) /* manual measurement - run one conversion */ /* XXX really it'd be nice to lock against other readers here */ - _measure_phase = 0; - _oldest_report = _next_report = 0; - measure(); + do { + _measure_phase = 0; + _oldest_report = _next_report = 0; + + /* do temperature first */ + if (OK != measure()) { + ret = -EIO; + break; + } + + usleep(MS5611_CONVERSION_INTERVAL); + + if (OK != collect()) { + ret = -EIO; + break; + } + + /* now do a pressure measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } - /* state machine will have generated a report, copy it out */ - memcpy(buffer, _reports, sizeof(*_reports)); - ret = sizeof(*_reports); + usleep(MS5611_CONVERSION_INTERVAL); + + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + memcpy(buffer, _reports, sizeof(*_reports)); + ret = sizeof(*_reports); + + } while (0); return ret; } @@ -319,8 +347,8 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) /* switching to manual polling */ case SENSOR_POLLRATE_MANUAL: - stop(); - _call_baro_interval = 0; + stop_cycle(); + _measure_ticks = 0; return OK; /* external signalling not supported */ @@ -334,15 +362,14 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: { /* do we need to start internal polling? */ - bool want_start = (_call_baro_interval == 0); - - /* set interval to minimum legal value */ - _baro_call.period = _call_baro_interval = MS5611_CONVERSION_INTERVAL; + bool want_start = (_measure_ticks == 0); + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(MS5611_CONVERSION_INTERVAL); /* if we need to start the poll state machine, do it */ if (want_start) - start(); + start_cycle(); return OK; } @@ -350,18 +377,21 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ - bool want_start = (_call_baro_interval == 0); + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); /* check against maximum rate */ - if (1000000/arg < MS5611_CONVERSION_INTERVAL) + if (ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL)) return -EINVAL; - /* update interval */ - _baro_call.period = _call_baro_interval = 1000000/arg; + /* update interval for next measurement */ + _measure_ticks = ticks; /* if we need to start the poll state machine, do it */ if (want_start) - start(); + start_cycle(); return OK; } @@ -369,10 +399,10 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) } case SENSORIOCGPOLLRATE: - if (_call_baro_interval == 0) + if (_measure_ticks == 0) return SENSOR_POLLRATE_MANUAL; - return (1000 / _call_baro_interval); + return (1000 / _measure_ticks); case SENSORIOCSQUEUEDEPTH: { /* add one to account for the sentinel in the ring */ @@ -389,11 +419,11 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) return -ENOMEM; /* reset the measurement state machine with the new buffer, free the old */ - stop(); + stop_cycle(); delete[] _reports; _num_reports = arg; _reports = buf; - start(); + start_cycle(); return OK; } @@ -427,32 +457,30 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) } void -MS5611::start() +MS5611::start_cycle() { - /* make sure we are stopped first */ - stop(); - /* reset the report ring */ - _oldest_report = _next_report = 0; - /* reset to first measure phase */ + /* reset the report ring and state machine */ + _collect_phase = false; _measure_phase = 0; + _oldest_report = _next_report = 0; /* schedule a cycle to start things */ - hrt_call_every(&_baro_call, 1000, _call_baro_interval, (hrt_callout)&MS5611::cycle_trampoline, this); + work_queue(HPWORK, &_work, (worker_t)&MS5611::cycle_trampoline, this, 1); } void -MS5611::stop() +MS5611::stop_cycle() { - hrt_cancel(&_baro_call); + work_cancel(HPWORK, &_work); } void MS5611::cycle_trampoline(void *arg) { - MS5611 *dev = (MS5611 *)arg; + MS5611 *dev = reinterpret_cast<MS5611 *>(arg); - cycle(); + dev->cycle(); } void @@ -476,7 +504,7 @@ MS5611::cycle() //log("collection error %d", ret); } /* reset the collection state machine and try again */ - start(); + start_cycle(); return; } @@ -489,16 +517,14 @@ MS5611::cycle() * doing pressure measurements at something close to the desired rate. */ if ((_measure_phase != 0) && - (_call_baro_interval > USEC2TICK(MS5611_CONVERSION_INTERVAL))) { - - // XXX maybe do something appropriate as well + (_measure_ticks > USEC2TICK(MS5611_CONVERSION_INTERVAL))) { -// /* schedule a fresh cycle call when we are ready to measure again */ -// work_queue(HPWORK, -// &_work, -// (worker_t)&MS5611::cycle_trampoline, -// this, -// _measure_ticks - USEC2TICK(MS5611_CONVERSION_INTERVAL)); + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&MS5611::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(MS5611_CONVERSION_INTERVAL)); return; } @@ -509,12 +535,19 @@ MS5611::cycle() if (ret != OK) { //log("measure error %d", ret); /* reset the collection state machine and try again */ - start(); + start_cycle(); return; } /* next phase is collection */ _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&MS5611::cycle_trampoline, + this, + USEC2TICK(MS5611_CONVERSION_INTERVAL)); } int @@ -663,14 +696,13 @@ MS5611::collect() return OK; } - void MS5611::print_info() { perf_print_counter(_sample_perf); perf_print_counter(_comms_errors); perf_print_counter(_buffer_overflows); - printf("poll interval: %u ticks\n", _call_baro_interval); + printf("poll interval: %u ticks\n", _measure_ticks); printf("report queue: %u (%u/%u @ %p)\n", _num_reports, _oldest_report, _next_report, _reports); printf("TEMP: %d\n", _TEMP); diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp index 1ea698922..156832a61 100644 --- a/src/drivers/ms5611/ms5611_spi.cpp +++ b/src/drivers/ms5611/ms5611_spi.cpp @@ -103,14 +103,6 @@ private: * @param reg The register to read. */ uint16_t _reg16(unsigned reg); - - /** - * Wrapper around transfer() that prevents interrupt-context transfers - * from pre-empting us. The sensor may (does) share a bus with sensors - * that are polled from interrupt context (or we may be pre-empted) - * so we need to guarantee that transfers complete without interruption. - */ - int _transfer(uint8_t *send, uint8_t *recv, unsigned len); }; device::Device * @@ -169,7 +161,7 @@ MS5611_SPI::read(unsigned offset, void *data, unsigned count) /* read the most recent measurement */ buf[0] = 0 | DIR_WRITE; - int ret = _transfer(&buf[0], &buf[0], sizeof(buf)); + int ret = transfer(&buf[0], &buf[0], sizeof(buf)); if (ret == OK) { /* fetch the raw value */ @@ -214,7 +206,7 @@ MS5611_SPI::_reset() { uint8_t cmd = ADDR_RESET_CMD | DIR_WRITE; - return _transfer(&cmd, nullptr, 1); + return transfer(&cmd, nullptr, 1); } int @@ -222,7 +214,7 @@ MS5611_SPI::_measure(unsigned addr) { uint8_t cmd = addr | DIR_WRITE; - return _transfer(&cmd, nullptr, 1); + return transfer(&cmd, nullptr, 1); } @@ -252,21 +244,9 @@ MS5611_SPI::_reg16(unsigned reg) cmd[0] = reg | DIR_READ; - _transfer(cmd, cmd, sizeof(cmd)); + transfer(cmd, cmd, sizeof(cmd)); return (uint16_t)(cmd[1] << 8) | cmd[2]; } -int -MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len) -{ - irqstate_t flags = irqsave(); - - int ret = transfer(send, recv, len); - - irqrestore(flags); - - return ret; -} - #endif /* PX4_SPIDEV_BARO */ |