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HAL_ChibiOS: hold write lock for unbuffered writes

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This commit is contained in:
Andrew Tridgell 2018-01-23 06:18:28 +11:00
parent ad26ca4a27
commit 3dacbd1b36
1 changed files with 21 additions and 6 deletions
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27
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
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@ -210,9 +210,11 @@ void UARTDriver::dma_tx_deallocate(void)
void UARTDriver::tx_complete(void* self, uint32_t flags) void UARTDriver::tx_complete(void* self, uint32_t flags)
{ {
UARTDriver* uart_drv = (UARTDriver*)self; UARTDriver* uart_drv = (UARTDriver*)self;
uart_drv->dma_handle->unlock_from_IRQ(); if (!uart_drv->tx_bounce_buf_ready) {
uart_drv->_last_write_completed_us = AP_HAL::micros(); uart_drv->dma_handle->unlock_from_IRQ();
uart_drv->tx_bounce_buf_ready = true; uart_drv->_last_write_completed_us = AP_HAL::micros();
uart_drv->tx_bounce_buf_ready = true;
}
} }
@ -401,6 +403,9 @@ size_t UARTDriver::write(const uint8_t *buffer, size_t size)
size_t ret = _writebuf.write(buffer, size); size_t ret = _writebuf.write(buffer, size);
if (unbuffered_writes) { if (unbuffered_writes) {
if (ret != size) {
hal.console->printf("ret=%d size=%d\n", (int)ret, (int)size);
}
write_pending_bytes(); write_pending_bytes();
} }
chMtxUnlock(&_write_mutex); chMtxUnlock(&_write_mutex);
@ -431,6 +436,9 @@ void UARTDriver::write_pending_bytes_DMA(uint32_t n)
if (!tx_bounce_buf_ready && txdma) { if (!tx_bounce_buf_ready && txdma) {
if (!(txdma->stream->CR & STM32_DMA_CR_EN)) { if (!(txdma->stream->CR & STM32_DMA_CR_EN)) {
if (txdma->stream->NDTR == 0) { if (txdma->stream->NDTR == 0) {
hal.console->printf("ISR complete %u took %u\n",
AP_HAL::millis(),
AP_HAL::micros() - _last_write_started_us);
tx_bounce_buf_ready = true; tx_bounce_buf_ready = true;
_last_write_completed_us = AP_HAL::micros(); _last_write_completed_us = AP_HAL::micros();
dma_handle->unlock(); dma_handle->unlock();
@ -459,6 +467,7 @@ void UARTDriver::write_pending_bytes_DMA(uint32_t n)
dmamode |= STM32_DMA_CR_PL(0); dmamode |= STM32_DMA_CR_PL(0);
dmaStreamSetMode(txdma, dmamode | STM32_DMA_CR_DIR_M2P | dmaStreamSetMode(txdma, dmamode | STM32_DMA_CR_DIR_M2P |
STM32_DMA_CR_MINC | STM32_DMA_CR_TCIE); STM32_DMA_CR_MINC | STM32_DMA_CR_TCIE);
_last_write_started_us = AP_HAL::micros();
dmaStreamEnable(txdma); dmaStreamEnable(txdma);
} }
@ -608,10 +617,16 @@ void UARTDriver::_timer_tick(void)
} }
} }
if (!unbuffered_writes) { if (unbuffered_writes) {
// now send pending bytes. If we are doing "unbuffered" writes // now send pending bytes. If we are doing "unbuffered" writes
// then the send happens as soon as the bytes are provided by // then the send normally happens as soon as the bytes are
// the write() call, and no writes are done in the timer tick // provided by the write() call, but if the write is larger
// than the DMA buffer size then there can be extra bytes to
// send here, and they must be sent with the write lock held
chMtxLock(&_write_mutex);
write_pending_bytes();
chMtxUnlock(&_write_mutex);
} else {
write_pending_bytes(); write_pending_bytes();
} }