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HAL_ChibiOS: cleanup shared DMA code

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This commit is contained in:
Andrew Tridgell 2019-02-11 08:01:12 +11:00
parent dd8115c9b4
commit ca221e7e7a
1 changed files with 25 additions and 43 deletions
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68
libraries/AP_HAL_ChibiOS/shared_dma.cpp
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@ -114,11 +114,11 @@ void Shared_DMA::lock_core(void)
(stream_id2 < SHARED_DMA_MAX_STREAM_ID && locks[stream_id2].obj == nullptr)) { (stream_id2 < SHARED_DMA_MAX_STREAM_ID && locks[stream_id2].obj == nullptr)) {
// allocate the DMA channels and put our deallocation function in place // allocate the DMA channels and put our deallocation function in place
allocate(this); allocate(this);
if (stream_id1 != SHARED_DMA_NONE) { if (stream_id1 < SHARED_DMA_MAX_STREAM_ID) {
locks[stream_id1].deallocate = deallocate; locks[stream_id1].deallocate = deallocate;
locks[stream_id1].obj = this; locks[stream_id1].obj = this;
} }
if (stream_id2 != SHARED_DMA_NONE) { if (stream_id2 < SHARED_DMA_MAX_STREAM_ID) {
locks[stream_id2].deallocate = deallocate; locks[stream_id2].deallocate = deallocate;
locks[stream_id2].obj = this; locks[stream_id2].obj = this;
} }
@ -133,42 +133,32 @@ void Shared_DMA::lock_core(void)
// lock the DMA channels, blocking method // lock the DMA channels, blocking method
void Shared_DMA::lock(void) void Shared_DMA::lock(void)
{ {
if (stream_id1 != SHARED_DMA_NONE) { lock_stream(stream_id1);
lock_stream(stream_id1); lock_stream(stream_id2);
}
if (stream_id2 != SHARED_DMA_NONE) {
lock_stream(stream_id2);
}
lock_core(); lock_core();
} }
// lock the DMA channels, non-blocking // lock the DMA channels, non-blocking
bool Shared_DMA::lock_nonblock(void) bool Shared_DMA::lock_nonblock(void)
{ {
if (stream_id1 != SHARED_DMA_NONE) { if (!lock_stream_nonblocking(stream_id1)) {
if (!lock_stream_nonblocking(stream_id1)) { chSysDisable();
chSysDisable(); if (locks[stream_id1].obj != nullptr && locks[stream_id1].obj != this) {
if (locks[stream_id1].obj != nullptr && locks[stream_id1].obj != this) { locks[stream_id1].obj->contention = true;
locks[stream_id1].obj->contention = true;
}
chSysEnable();
contention = true;
return false;
} }
chSysEnable();
contention = true;
return false;
} }
if (stream_id2 != SHARED_DMA_NONE) { if (!lock_stream_nonblocking(stream_id2)) {
if (!lock_stream_nonblocking(stream_id2)) { unlock_stream(stream_id1);
if (stream_id1 != SHARED_DMA_NONE) { chSysDisable();
unlock_stream(stream_id1); if (locks[stream_id2].obj != nullptr && locks[stream_id2].obj != this) {
} locks[stream_id2].obj->contention = true;
chSysDisable();
if (locks[stream_id2].obj != nullptr && locks[stream_id2].obj != this) {
locks[stream_id2].obj->contention = true;
}
chSysEnable();
contention = true;
return false;
} }
chSysEnable();
contention = true;
return false;
} }
lock_core(); lock_core();
return true; return true;
@ -178,12 +168,8 @@ bool Shared_DMA::lock_nonblock(void)
void Shared_DMA::unlock(void) void Shared_DMA::unlock(void)
{ {
osalDbgAssert(have_lock, "must have lock"); osalDbgAssert(have_lock, "must have lock");
if (stream_id2 != SHARED_DMA_NONE) { unlock_stream(stream_id2);
unlock_stream(stream_id2); unlock_stream(stream_id1);
}
if (stream_id1 != SHARED_DMA_NONE) {
unlock_stream(stream_id1);
}
have_lock = false; have_lock = false;
} }
@ -191,11 +177,11 @@ void Shared_DMA::unlock(void)
void Shared_DMA::unlock_from_lockzone(void) void Shared_DMA::unlock_from_lockzone(void)
{ {
osalDbgAssert(have_lock, "must have lock"); osalDbgAssert(have_lock, "must have lock");
if (stream_id2 != SHARED_DMA_NONE) { if (stream_id2 < SHARED_DMA_MAX_STREAM_ID) {
unlock_stream_from_IRQ(stream_id2); unlock_stream_from_IRQ(stream_id2);
chSchRescheduleS(); chSchRescheduleS();
} }
if (stream_id1 != SHARED_DMA_NONE) { if (stream_id1 < SHARED_DMA_MAX_STREAM_ID) {
unlock_stream_from_IRQ(stream_id1); unlock_stream_from_IRQ(stream_id1);
chSchRescheduleS(); chSchRescheduleS();
} }
@ -206,12 +192,8 @@ void Shared_DMA::unlock_from_lockzone(void)
void Shared_DMA::unlock_from_IRQ(void) void Shared_DMA::unlock_from_IRQ(void)
{ {
osalDbgAssert(have_lock, "must have lock"); osalDbgAssert(have_lock, "must have lock");
if (stream_id2 != SHARED_DMA_NONE) { unlock_stream_from_IRQ(stream_id2);
unlock_stream_from_IRQ(stream_id2); unlock_stream_from_IRQ(stream_id1);
}
if (stream_id1 != SHARED_DMA_NONE) {
unlock_stream_from_IRQ(stream_id1);
}
have_lock = false; have_lock = false;
} }