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AP_Notify: remove semaphores protecting pixels

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The semaphore-take-forevers were absolutely killing performance.

We can take some random pixel corruption to avoid vehicles crashing.
This commit is contained in:
Peter Barker 2017-05-01 21:11:08 +10:00 committed by Andrew Tridgell
parent 519a293af9
commit ce5739f1a0
4 changed files with 0 additions and 53 deletions
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26
libraries/AP_Notify/Display_SH1106_I2C.cpp
View File

@ -25,17 +25,10 @@ static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
Display_SH1106_I2C::Display_SH1106_I2C(AP_HAL::OwnPtr<AP_HAL::Device> dev) :
_dev(std::move(dev))
{
_displaybuffer_sem = hal.util->new_semaphore();
}
Display_SH1106_I2C::~Display_SH1106_I2C()
{
// note that a callback is registered below. here we delete the
// semaphore, in that callback we use it. That means - don't
// delete this Display backend if you've ever registered that
// callback! This delete is only here to not leak memory during
// the detection phase.
delete _displaybuffer_sem;
}
Display_SH1106_I2C *Display_SH1106_I2C::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev)
@ -124,17 +117,10 @@ void Display_SH1106_I2C::_timer()
command.page = 0xB0 | (i & 0x0F);
_dev->transfer((uint8_t *)&command, sizeof(command), nullptr, 0);
if (_displaybuffer_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
memcpy(&display_buffer.db[0], &_displaybuffer[i * SH1106_COLUMNS], SH1106_COLUMNS/2);
_displaybuffer_sem->give();
_dev->transfer((uint8_t *)&display_buffer, SH1106_COLUMNS/2 + 1, nullptr, 0);
}
if (_displaybuffer_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
memcpy(&display_buffer.db[0], &_displaybuffer[i * SH1106_COLUMNS + SH1106_COLUMNS/2 ], SH1106_COLUMNS/2);
_displaybuffer_sem->give();
_dev->transfer((uint8_t *)&display_buffer, SH1106_COLUMNS/2 + 1, nullptr, 0);
}
}
}
@ -145,11 +131,7 @@ void Display_SH1106_I2C::set_pixel(uint16_t x, uint16_t y)
return;
}
// set pixel in buffer
if (!_displaybuffer_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
_displaybuffer[x + (y / 8 * SH1106_COLUMNS)] |= 1 << (y % 8);
_displaybuffer_sem->give();
}
void Display_SH1106_I2C::clear_pixel(uint16_t x, uint16_t y)
@ -158,19 +140,11 @@ void Display_SH1106_I2C::clear_pixel(uint16_t x, uint16_t y)
if ((x >= SH1106_COLUMNS) || (y >= SH1106_ROWS)) {
return;
}
if (!_displaybuffer_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
// clear pixel in buffer
_displaybuffer[x + (y / 8 * SH1106_COLUMNS)] &= ~(1 << (y % 8));
_displaybuffer_sem->give();
}
void Display_SH1106_I2C::clear_screen()
{
if (!_displaybuffer_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
memset(_displaybuffer, 0, SH1106_COLUMNS * SH1106_ROWS_PER_PAGE);
_displaybuffer_sem->give();
}

1
libraries/AP_Notify/Display_SH1106_I2C.h
View File

@ -32,7 +32,6 @@ private:
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
uint8_t _displaybuffer[SH1106_COLUMNS * SH1106_ROWS_PER_PAGE];
AP_HAL::Semaphore *_displaybuffer_sem;
bool _need_hw_update;
};

25
libraries/AP_Notify/Display_SSD1306_I2C.cpp
View File

@ -25,17 +25,10 @@ static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
Display_SSD1306_I2C::Display_SSD1306_I2C(AP_HAL::OwnPtr<AP_HAL::Device> dev) :
_dev(std::move(dev))
{
_displaybuffer_sem = hal.util->new_semaphore();
}
Display_SSD1306_I2C::~Display_SSD1306_I2C()
{
// note that a callback is registered below. here we delete the
// semaphore, in that callback we use it. That means - don't
// delete this Display backend if you've ever registered that
// callback! This delete is only here to not leak memory during
// the detection phase.
delete _displaybuffer_sem;
}
@ -130,17 +123,11 @@ void Display_SSD1306_I2C::_timer()
command.cmd[4] = i;
_dev->transfer((uint8_t *)&command, sizeof(command), nullptr, 0);
if (_displaybuffer_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
memcpy(&display_buffer.db[0], &_displaybuffer[i * SSD1306_COLUMNS], SSD1306_COLUMNS/2);
_displaybuffer_sem->give();
_dev->transfer((uint8_t *)&display_buffer, SSD1306_COLUMNS/2 + 1, nullptr, 0);
}
if (_displaybuffer_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
memcpy(&display_buffer.db[0], &_displaybuffer[i * SSD1306_COLUMNS + SSD1306_COLUMNS/2 ], SSD1306_COLUMNS/2);
_displaybuffer_sem->give();
_dev->transfer((uint8_t *)&display_buffer, SSD1306_COLUMNS/2 + 1, nullptr, 0);
}
}
}
@ -150,12 +137,8 @@ void Display_SSD1306_I2C::set_pixel(uint16_t x, uint16_t y)
if ((x >= SSD1306_COLUMNS) || (y >= SSD1306_ROWS)) {
return;
}
if (!_displaybuffer_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
// set pixel in buffer
_displaybuffer[x + (y / 8 * SSD1306_COLUMNS)] |= 1 << (y % 8);
_displaybuffer_sem->give();
}
void Display_SSD1306_I2C::clear_pixel(uint16_t x, uint16_t y)
@ -164,19 +147,11 @@ void Display_SSD1306_I2C::clear_pixel(uint16_t x, uint16_t y)
if ((x >= SSD1306_COLUMNS) || (y >= SSD1306_ROWS)) {
return;
}
if (!_displaybuffer_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
// clear pixel in buffer
_displaybuffer[x + (y / 8 * SSD1306_COLUMNS)] &= ~(1 << (y % 8));
_displaybuffer_sem->give();
}
void Display_SSD1306_I2C::clear_screen()
{
if (!_displaybuffer_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
memset(_displaybuffer, 0, SSD1306_COLUMNS * SSD1306_ROWS_PER_PAGE);
_displaybuffer_sem->give();
}

1
libraries/AP_Notify/Display_SSD1306_I2C.h
View File

@ -32,6 +32,5 @@ private:
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
uint8_t _displaybuffer[SSD1306_COLUMNS * SSD1306_ROWS_PER_PAGE];
AP_HAL::Semaphore *_displaybuffer_sem;
bool _need_hw_update;
};