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HAL_PX4: work around a bus locking issue on Pixracer

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Pixracer has FRAM on the same bus as the ms5611 and the FRAM ramtron
driver does not use the same locking mechanism as other px4 SPI
drivers. We need to disable interrupts during FRAM transfers to ensure
we don't get FRAM corruption
This commit is contained in:
Andrew Tridgell 2016-02-23 16:32:19 +11:00 committed by Randy Mackay
parent 64acaa1c2c
commit eb6848b8c2
2 changed files with 42 additions and 6 deletions
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33
libraries/AP_HAL_PX4/Storage.cpp
View File

@ -51,9 +51,11 @@ uint32_t PX4Storage::_mtd_signature(void)
if (lseek(mtd_fd, MTD_SIGNATURE_OFFSET, SEEK_SET) != MTD_SIGNATURE_OFFSET) {
hal.scheduler->panic("Failed to seek in " MTD_PARAMS_FILE);
}
bus_lock(true);
if (read(mtd_fd, &v, sizeof(v)) != sizeof(v)) {
hal.scheduler->panic("Failed to read signature from " MTD_PARAMS_FILE);
}
bus_lock(false);
close(mtd_fd);
return v;
}
@ -71,9 +73,11 @@ void PX4Storage::_mtd_write_signature(void)
if (lseek(mtd_fd, MTD_SIGNATURE_OFFSET, SEEK_SET) != MTD_SIGNATURE_OFFSET) {
hal.scheduler->panic("Failed to seek in " MTD_PARAMS_FILE);
}
bus_lock(true);
if (write(mtd_fd, &v, sizeof(v)) != sizeof(v)) {
hal.scheduler->panic("Failed to write signature in " MTD_PARAMS_FILE);
}
bus_lock(false);
close(mtd_fd);
}
@ -103,10 +107,12 @@ void PX4Storage::_upgrade_to_mtd(void)
}
close(old_fd);
ssize_t ret;
bus_lock(true);
if ((ret=::write(mtd_fd, _buffer, sizeof(_buffer))) != sizeof(_buffer)) {
::printf("mtd write of %u bytes returned %d errno=%d\n", sizeof(_buffer), ret, errno);
hal.scheduler->panic("Unable to write MTD for upgrade");
}
bus_lock(false);
close(mtd_fd);
#if STORAGE_RENAME_OLD_FILE
rename(OLD_STORAGE_FILE, OLD_STORAGE_FILE_BAK);
@ -156,7 +162,9 @@ void PX4Storage::_storage_open(void)
}
const uint16_t chunk_size = 128;
for (uint16_t ofs=0; ofs<sizeof(_buffer); ofs += chunk_size) {
bus_lock(true);
ssize_t ret = read(fd, &_buffer[ofs], chunk_size);
bus_lock(false);
if (ret != chunk_size) {
::printf("storage read of %u bytes at %u to %p failed - got %d errno=%d\n",
(unsigned)sizeof(_buffer), (unsigned)ofs, &_buffer[ofs], (int)ret, (int)errno);
@ -205,6 +213,26 @@ void PX4Storage::write_block(uint16_t loc, const void *src, size_t n)
}
}
void PX4Storage::bus_lock(bool lock)
{
#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
/*
this is needed on Pixracer where the ms5611 may be on the same
bus as FRAM, and the NuttX ramtron driver does not go via the
PX4 spi bus abstraction. The ramtron driver relies on
SPI_LOCK(). We need to prevent the ms5611 reads which happen in
interrupt context from interfering with the FRAM operations. As
the px4 spi bus abstraction just uses interrupt blocking as the
locking mechanism we need to block interrupts here as well.
*/
if (lock) {
irq_state = irqsave();
} else {
irqrestore(irq_state);
}
#endif
}
void PX4Storage::_timer_tick(void)
{
if (!_initialised || _dirty_mask == 0) {
@ -254,7 +282,10 @@ void PX4Storage::_timer_tick(void)
*/
if (lseek(_fd, i<<PX4_STORAGE_LINE_SHIFT, SEEK_SET) == (i<<PX4_STORAGE_LINE_SHIFT)) {
_dirty_mask &= ~write_mask;
if (write(_fd, &_buffer[i<<PX4_STORAGE_LINE_SHIFT], n<<PX4_STORAGE_LINE_SHIFT) != n<<PX4_STORAGE_LINE_SHIFT) {
bus_lock(true);
ssize_t ret = write(_fd, &_buffer[i<<PX4_STORAGE_LINE_SHIFT], n<<PX4_STORAGE_LINE_SHIFT);
bus_lock(false);
if (ret != n<<PX4_STORAGE_LINE_SHIFT) {
// write error - likely EINTR
_dirty_mask |= write_mask;
close(_fd);

5
libraries/AP_HAL_PX4/Storage.h
View File

@ -37,6 +37,11 @@ private:
void _upgrade_to_mtd(void);
uint32_t _mtd_signature(void);
void _mtd_write_signature(void);
#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
irqstate_t irq_state;
#endif
void bus_lock(bool lock);
};
#endif // __AP_HAL_PX4_STORAGE_H__