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AP_HAL_Linux: create one thread per spi bus rather than device 

Do not create one thread per chardev (i.e. bus + kernel's chip select).
Since the shared resources are actually the bus controller and the bus
lines, it makes sense to have 1 thread per bus, otherwise it will just
get locked again on the mutex in the kernel side.
This commit is contained in:
Lucas De Marchi 2018-08-09 13:20:37 -07:00 committed by Lucas De Marchi
parent cf4fb09881
commit 2c6dd64c67
1 changed files with 43 additions and 35 deletions
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78
libraries/AP_HAL_Linux/SPIDevice.cpp
View File

@ -149,12 +149,15 @@ SPIDesc SPIDeviceManager::_device[] = {
#define LINUX_SPI_DEVICE_NUM_DEVICES ARRAY_SIZE(SPIDeviceManager::_device)
#endif
#define MAX_SUBDEVS 6
const uint8_t SPIDeviceManager::_n_device_desc = LINUX_SPI_DEVICE_NUM_DEVICES;
/* Private struct to maintain for each bus */
class SPIBus : public TimerPollable::WrapperCb {
public:
SPIBus(uint16_t bus_);
~SPIBus();
/*
@ -164,21 +167,26 @@ public:
void start_cb() override;
void end_cb() override;
bool open(uint16_t bus, uint16_t subdev);
void open(uint16_t subdev);
PollerThread thread;
Semaphore sem;
int fd = -1;
int fd[MAX_SUBDEVS];
uint16_t bus;
uint16_t subdev;
int16_t last_mode = -1;
uint8_t ref;
};
SPIBus::SPIBus(uint16_t bus_)
: bus(bus_)
{
memset(fd, -1, sizeof(fd));
}
SPIBus::~SPIBus()
{
if (fd >= 0) {
::close(fd);
for (unsigned i = 0; i < MAX_SUBDEVS; i++) {
::close(fd[i]);
}
}
@ -193,25 +201,21 @@ void SPIBus::end_cb()
}
int SPIBus::open(uint16_t bus_, uint16_t subdev_)
void SPIBus::open(uint16_t subdev)
{
char path[sizeof("/dev/spidevXXXXX.XXXXX")];
if (fd > 0) {
return -EBUSY;
/* Already open by another device */
if (fd[subdev] >= 0) {
return;
}
snprintf(path, sizeof(path), "/dev/spidev%u.%u", bus_, subdev_);
fd = ::open(path, O_RDWR | O_CLOEXEC);
if (fd < 0) {
snprintf(path, sizeof(path), "/dev/spidev%u.%u", bus, subdev);
fd[subdev] = ::open(path, O_RDWR | O_CLOEXEC);
if (fd[subdev] < 0) {
AP_HAL::panic("SPI: unable to open SPI bus %s: %s",
path, strerror(errno));
}
bus = bus_;
subdev = subdev_;
return fd;
}
@ -261,8 +265,9 @@ bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
{
struct spi_ioc_transfer msgs[2] = { };
unsigned nmsgs = 0;
int fd = _bus.fd[_desc.subdev];
assert(_bus.fd >= 0);
assert(fd >= 0);
if (send && send_len != 0) {
msgs[nmsgs].tx_buf = (uint64_t) send;
@ -301,33 +306,33 @@ bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
an extra syscall per transfer.
*/
uint8_t current_mode;
if (ioctl(_bus.fd, SPI_IOC_RD_MODE, &current_mode) < 0) {
if (ioctl(fd, SPI_IOC_RD_MODE, &current_mode) < 0) {
hal.console->printf("SPIDevice: error on getting mode fd=%d (%s)\n",
_bus.fd, strerror(errno));
fd, strerror(errno));
_bus.last_mode = -1;
} else if (current_mode != _bus.last_mode) {
hal.console->printf("SPIDevice: bus mode conflict fd=%d mode=%u/%u\n",
_bus.fd, (unsigned)_bus.last_mode, (unsigned)current_mode);
fd, (unsigned)_bus.last_mode, (unsigned)current_mode);
_bus.last_mode = -1;
}
}
if (_desc.mode != _bus.last_mode) {
r = ioctl(_bus.fd, SPI_IOC_WR_MODE, &_desc.mode);
r = ioctl(fd, SPI_IOC_WR_MODE, &_desc.mode);
if (r < 0) {
hal.console->printf("SPIDevice: error on setting mode fd=%d (%s)\n",
_bus.fd, strerror(errno));
fd, strerror(errno));
return false;
}
_bus.last_mode = _desc.mode;
}
_cs_assert();
r = ioctl(_bus.fd, SPI_IOC_MESSAGE(nmsgs), &msgs);
r = ioctl(fd, SPI_IOC_MESSAGE(nmsgs), &msgs);
_cs_release();
if (r == -1) {
hal.console->printf("SPIDevice: error transferring data fd=%d (%s)\n",
_bus.fd, strerror(errno));
fd, strerror(errno));
return false;
}
@ -338,8 +343,9 @@ bool SPIDevice::transfer_fullduplex(const uint8_t *send, uint8_t *recv,
uint32_t len)
{
struct spi_ioc_transfer msgs[1] = { };
int fd = _bus.fd[_desc.subdev];
assert(_bus.fd >= 0);
assert(fd >= 0);
if (!send || !recv || len == 0) {
return false;
@ -353,20 +359,20 @@ bool SPIDevice::transfer_fullduplex(const uint8_t *send, uint8_t *recv,
msgs[0].bits_per_word = _desc.bits_per_word;
msgs[0].cs_change = 0;
int r = ioctl(_bus.fd, SPI_IOC_WR_MODE, &_desc.mode);
int r = ioctl(fd, SPI_IOC_WR_MODE, &_desc.mode);
if (r < 0) {
hal.console->printf("SPIDevice: error on setting mode fd=%d (%s)\n",
_bus.fd, strerror(errno));
fd, strerror(errno));
return false;
}
_cs_assert();
r = ioctl(_bus.fd, SPI_IOC_MESSAGE(1), &msgs);
r = ioctl(fd, SPI_IOC_MESSAGE(1), &msgs);
_cs_release();
if (r == -1) {
hal.console->printf("SPIDevice: error transferring data fd=%d (%s)\n",
_bus.fd, strerror(errno));
fd, strerror(errno));
return false;
}
@ -442,17 +448,16 @@ SPIDeviceManager::get_device(const char *name)
return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(nullptr);
}
/* Find if bus is already open */
/* Find if bus already exists */
for (uint8_t i = 0, n = _buses.size(); i < n; i++) {
if (_buses[i]->bus == desc->bus &&
_buses[i]->subdev == desc->subdev) {
if (_buses[i]->bus == desc->bus) {
return _create_device(*_buses[i], *desc);
}
}
/* Bus not found for this device, create a new one */
AP_HAL::OwnPtr<SPIBus> b{new SPIBus()};
if (!b || b->open(desc->bus, desc->subdev) < 0) {
AP_HAL::OwnPtr<SPIBus> b{new SPIBus(desc->bus)};
if (!b) {
return nullptr;
}
@ -480,6 +485,9 @@ const char* SPIDeviceManager::get_device_name(uint8_t idx)
AP_HAL::OwnPtr<AP_HAL::SPIDevice>
SPIDeviceManager::_create_device(SPIBus &b, SPIDesc &desc) const
{
// Ensure bus is open
b.open(desc.subdev);
auto dev = AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(b, desc));
if (!dev) {
return nullptr;
@ -497,7 +505,7 @@ void SPIDeviceManager::_unregister(SPIBus &b)
}
for (auto it = _buses.begin(); it != _buses.end(); it++) {
if ((*it)->bus == b.bus && (*it)->subdev == b.subdev) {
if ((*it)->bus == b.bus) {
_buses.erase(it);
delete &b;
break;