AP_Notify: fixed threading in two notify backends

This commit is contained in:
Andrew Tridgell 2016-11-04 15:22:01 +11:00
parent 6e2fbf1988
commit a9cb03ad74
4 changed files with 43 additions and 29 deletions

View File

@ -49,14 +49,26 @@ bool Display_SSD1306_I2C::hw_init()
// give back i2c semaphore
_dev->get_semaphore()->give();
// clear display
hw_update();
_need_hw_update = true;
_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&Display_SSD1306_I2C::_timer, bool));
return true;
}
bool Display_SSD1306_I2C::hw_update()
{
_need_hw_update = true;
return true;
}
bool Display_SSD1306_I2C::_timer()
{
if (!_need_hw_update) {
return true;
}
_need_hw_update = false;
struct PACKED {
uint8_t reg;
uint8_t cmd[6];
@ -67,10 +79,6 @@ bool Display_SSD1306_I2C::hw_update()
uint8_t db[SSD1306_ROWS];
} display_buffer = { 0x40, {} };
if (!_dev || !_dev->get_semaphore()->take(5)) {
return false;
}
// write buffer to display
for (uint8_t i = 0; i < (SSD1306_COLUMNS / SSD1306_COLUMNS_PER_PAGE); i++) {
command.cmd[4] = i;
@ -81,9 +89,6 @@ bool Display_SSD1306_I2C::hw_update()
_dev->transfer((uint8_t *)&display_buffer, sizeof(display_buffer), nullptr, 0);
}
// give back i2c semaphore
_dev->get_semaphore()->give();
return true;
}

View File

@ -17,4 +17,6 @@ public:
private:
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
uint8_t _displaybuffer[SSD1306_ROWS * SSD1306_COLUMNS_PER_PAGE];
bool _need_hw_update;
bool _timer(void);
};

View File

@ -28,31 +28,35 @@ bool NavioLED_I2C::hw_init()
{
_dev = hal.i2c_mgr->get_device(1, PCA9685_ADDRESS);
// take i2c bus sempahore
if (!_dev || !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (!_dev) {
return false;
}
// enable the led
bool ret = true;
_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&NavioLED_I2C::_timer, bool));
// give back i2c semaphore
_dev->get_semaphore()->give();
return ret;
return true;
}
// set_rgb - set color as a combination of red, green and blue values
bool NavioLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
// exit immediately if we can't take the semaphore
if (!_dev || !_dev->get_semaphore()->take(5)) {
return false;
}
rgb.r = red;
rgb.g = green;
rgb.b = blue;
_need_update = true;
return true;
}
uint16_t red_adjusted = red * 0x10;
uint16_t green_adjusted = green * 0x10;
uint16_t blue_adjusted = blue * 0x10;
bool NavioLED_I2C::_timer(void)
{
if (!_need_update) {
return true;
}
_need_update = false;
uint16_t red_adjusted = rgb.r * 0x10;
uint16_t green_adjusted = rgb.g * 0x10;
uint16_t blue_adjusted = rgb.b * 0x10;
uint8_t blue_channel_lsb = blue_adjusted & 0xFF;
uint8_t blue_channel_msb = blue_adjusted >> 8;
@ -68,9 +72,7 @@ bool NavioLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
0x00, 0x00, green_channel_lsb, green_channel_msb,
0x00, 0x00, red_channel_lsb, red_channel_msb};
bool success = _dev->transfer(transaction, sizeof(transaction), nullptr, 0);
_dev->transfer(transaction, sizeof(transaction), nullptr, 0);
// give back i2c semaphore
_dev->get_semaphore()->give();
return success;
return true;
}

View File

@ -27,4 +27,9 @@ protected:
private:
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
bool _timer(void);
struct {
uint8_t r, g, b;
} rgb;
bool _need_update;
};