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DataFlash: make it safe to do DataFlash logging from timers

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this uses a non-blocking semaphore take if we are in a timer
process. Useful for logging failsafe events
This commit is contained in:
Andrew Tridgell 2013-03-02 17:42:06 +11:00
parent fc0b50dd82
commit 987cdaf3e1
4 changed files with 44 additions and 17 deletions
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28
libraries/DataFlash/DataFlash_APM1.cpp
View File

@ -64,6 +64,16 @@ extern const AP_HAL::HAL& hal;
#define DF_CHIP_ERASE_2 0x80
#define DF_CHIP_ERASE_3 0x9A
/*
try to take a semaphore safely from both in a timer and outside
*/
bool DataFlash_APM1::_sem_take(uint8_t timeout)
{
if (hal.scheduler->in_timerprocess()) {
return _spi_sem->take_nonblocking();
}
return _spi_sem->take(timeout);
}
// Public Methods //////////////////////////////////////////////////////////////
@ -102,7 +112,7 @@ void DataFlash_APM1::Init(void)
// This function is mainly to test the device
void DataFlash_APM1::ReadManufacturerID()
{
if (!_spi_sem->take(5))
if (!_sem_take(5))
return;
// activate dataflash command decoder
_spi->cs_assert();
@ -157,7 +167,7 @@ uint8_t DataFlash_APM1::ReadStatus()
inline
uint16_t DataFlash_APM1::PageSize()
{
if (!_spi_sem->take(5))
if (!_sem_take(5))
return 0;
uint16_t ret = 528-((ReadStatusReg()&0x01) << 4); // if first bit 1 trhen 512 else 528 bytes
@ -175,7 +185,7 @@ void DataFlash_APM1::WaitReady()
void DataFlash_APM1::PageToBuffer(uint8_t BufferNum, uint16_t PageAdr)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
// activate dataflash command decoder
@ -202,7 +212,7 @@ void DataFlash_APM1::PageToBuffer(uint8_t BufferNum, uint16_t PageAdr)
void DataFlash_APM1::BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
// activate dataflash command decoder
@ -234,7 +244,7 @@ void DataFlash_APM1::BlockWrite (uint8_t BufferNum, uint16_t IntPageAdr,
const void *pHeader, uint8_t hdr_size,
const void *pBuffer, uint16_t size)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
// activate dataflash command decoder
@ -262,7 +272,7 @@ void DataFlash_APM1::BlockWrite (uint8_t BufferNum, uint16_t IntPageAdr,
bool DataFlash_APM1::BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return false;
// activate dataflash command decoder
@ -292,7 +302,7 @@ bool DataFlash_APM1::BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBu
void DataFlash_APM1::PageErase (uint16_t PageAdr)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
// activate dataflash command decoder
@ -320,7 +330,7 @@ void DataFlash_APM1::PageErase (uint16_t PageAdr)
void DataFlash_APM1::BlockErase (uint16_t BlockAdr)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
// activate dataflash command decoder
@ -358,7 +368,7 @@ void DataFlash_APM1::BlockErase (uint16_t BlockAdr)
void DataFlash_APM1::ChipErase()
{
if (!_spi_sem->take(5))
if (!_sem_take(5))
return;
// activate dataflash command decoder

3
libraries/DataFlash/DataFlash_APM1.h
View File

@ -40,6 +40,9 @@ private:
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
// take a semaphore safely
bool _sem_take(uint8_t timeout);
public:
void Init();
void ReadManufacturerID();

27
libraries/DataFlash/DataFlash_APM2.cpp
View File

@ -64,6 +64,17 @@ extern const AP_HAL::HAL& hal;
#define DF_CHIP_ERASE_3 0x9A
/*
try to take a semaphore safely from both in a timer and outside
*/
bool DataFlash_APM2::_sem_take(uint8_t timeout)
{
if (hal.scheduler->in_timerprocess()) {
return _spi_sem->take_nonblocking();
}
return _spi_sem->take(timeout);
}
// Public Methods //////////////////////////////////////////////////////////////
void DataFlash_APM2::Init(void)
@ -92,7 +103,7 @@ void DataFlash_APM2::Init(void)
return; /* never reached */
}
if (!_spi_sem->take(5))
if (!_sem_take(5))
return;
// get page size: 512 or 528 (by default: 528)
df_PageSize=PageSize();
@ -182,7 +193,7 @@ void DataFlash_APM2::WaitReady()
void DataFlash_APM2::PageToBuffer(uint8_t BufferNum, uint16_t PageAdr)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
// activate dataflash command decoder
@ -213,7 +224,7 @@ void DataFlash_APM2::PageToBuffer(uint8_t BufferNum, uint16_t PageAdr)
void DataFlash_APM2::BufferToPage (uint8_t BufferNum, uint16_t PageAdr, uint8_t wait)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
// activate dataflash command decoder
_spi->cs_assert();
@ -245,7 +256,7 @@ void DataFlash_APM2::BlockWrite (uint8_t BufferNum, uint16_t IntPageAdr,
const void *pHeader, uint8_t hdr_size,
const void *pBuffer, uint16_t size)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
// activate dataflash command decoder
_spi->cs_assert();
@ -273,7 +284,7 @@ void DataFlash_APM2::BlockWrite (uint8_t BufferNum, uint16_t IntPageAdr,
bool DataFlash_APM2::BlockRead(uint8_t BufferNum, uint16_t IntPageAdr, void *pBuffer, uint16_t size)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return false;
// activate dataflash command decoder
@ -315,7 +326,7 @@ uint8_t DataFlash_APM2::BufferRead (uint8_t BufferNum, uint16_t IntPageAdr)
void DataFlash_APM2::PageErase (uint16_t PageAdr)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
// activate dataflash command decoder
_spi->cs_assert();
@ -344,7 +355,7 @@ void DataFlash_APM2::PageErase (uint16_t PageAdr)
// erase a block of 8 pages.
void DataFlash_APM2::BlockErase(uint16_t BlockAdr)
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
// activate dataflash command decoder
_spi->cs_assert();
@ -373,7 +384,7 @@ void DataFlash_APM2::BlockErase(uint16_t BlockAdr)
void DataFlash_APM2::ChipErase()
{
if (!_spi_sem->take(1))
if (!_sem_take(1))
return;
//serialDebug("Chip Erase\n");

3
libraries/DataFlash/DataFlash_APM2.h
View File

@ -38,6 +38,9 @@ private:
void BlockErase (uint16_t BlockAdr);
void ChipErase();
// take a semaphore safely
bool _sem_take(uint8_t timeout);
AP_HAL::SPIDeviceDriver* _spi;
AP_HAL::Semaphore* _spi_sem;