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AP_HAL_Linux: Implement threaded SPI

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This commit is contained in:
Lucas De Marchi 2016-07-26 17:10:18 -03:00
parent ea0595c7ac
commit 8541d5339d
2 changed files with 55 additions and 5 deletions
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51
libraries/AP_HAL_Linux/SPIDevice.cpp
View File

@ -32,6 +32,10 @@
#include <AP_HAL/utility/OwnPtr.h> #include <AP_HAL/utility/OwnPtr.h>
#include "GPIO.h" #include "GPIO.h"
#include "PollerThread.h"
#include "Scheduler.h"
#include "Semaphores.h"
#include "Thread.h"
#include "Util.h" #include "Util.h"
namespace Linux { namespace Linux {
@ -134,12 +138,20 @@ const uint8_t SPIDeviceManager::_n_device_desc = LINUX_SPI_DEVICE_NUM_DEVICES;
/* Private struct to maintain for each bus */ /* Private struct to maintain for each bus */
class SPIBus { class SPIBus : public TimerPollable::WrapperCb {
public: public:
~SPIBus(); ~SPIBus();
/*
* TimerPollable::WrapperCb methods to take
* and release semaphore while calling the callback
*/
void start_cb() override;
void end_cb() override;
int open(uint16_t bus_, uint16_t kernel_cs_); int open(uint16_t bus_, uint16_t kernel_cs_);
PollerThread thread;
Semaphore sem; Semaphore sem;
int fd = -1; int fd = -1;
uint16_t bus; uint16_t bus;
@ -154,6 +166,16 @@ SPIBus::~SPIBus()
} }
} }
void SPIBus::start_cb()
{
sem.take(HAL_SEMAPHORE_BLOCK_FOREVER);
}
void SPIBus::end_cb()
{
sem.give();
}
int SPIBus::open(uint16_t bus_, uint16_t kernel_cs_) int SPIBus::open(uint16_t bus_, uint16_t kernel_cs_)
{ {
@ -336,6 +358,33 @@ int SPIDevice::get_fd()
return _bus.fd; return _bus.fd;
} }
AP_HAL::Device::PeriodicHandle SPIDevice::register_periodic_callback(
uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
TimerPollable *p = _bus.thread.add_timer(cb, &_bus, period_usec);
if (!p) {
AP_HAL::panic("Could not create periodic callback");
}
if (!_bus.thread.is_started()) {
char name[16];
snprintf(name, sizeof(name), "ap-spi-%u", _bus.bus);
_bus.thread.set_stack_size(AP_LINUX_SENSORS_STACK_SIZE);
_bus.thread.start(name, AP_LINUX_SENSORS_SCHED_POLICY,
AP_LINUX_SENSORS_SCHED_PRIO);
}
return static_cast<AP_HAL::Device::PeriodicHandle>(p);
}
bool SPIDevice::adjust_periodic_callback(
AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
{
return _bus.thread.adjust_timer(static_cast<TimerPollable*>(h), period_usec);
}
AP_HAL::OwnPtr<AP_HAL::SPIDevice> AP_HAL::OwnPtr<AP_HAL::SPIDevice>
SPIDeviceManager::get_device(const char *name) SPIDeviceManager::get_device(const char *name)
{ {

9
libraries/AP_HAL_Linux/SPIDevice.h
View File

@ -52,10 +52,11 @@ public:
/* See AP_HAL::Device::register_periodic_callback() */ /* See AP_HAL::Device::register_periodic_callback() */
AP_HAL::Device::PeriodicHandle register_periodic_callback( AP_HAL::Device::PeriodicHandle register_periodic_callback(
uint32_t period_usec, AP_HAL::Device::PeriodicCb) override uint32_t period_usec, AP_HAL::Device::PeriodicCb) override;
{
return nullptr; /* See AP_HAL::Device::adjust_periodic_callback() */
} bool adjust_periodic_callback(
AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) override;
/* See AP_HAL::Device::get_fd() */ /* See AP_HAL::Device::get_fd() */
int get_fd() override; int get_fd() override;