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drivers/distance_sensor/broadcom/afbrs50: minimize IRQ_LOCK()/IRQ_UNLOCK() calls

This commit is contained in:
Daniel Agar 2021-06-29 12:20:07 -04:00
parent 62546350f1
commit 0aa14deb5d
2 changed files with 16 additions and 14 deletions
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24
src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.c
View File

@ -138,16 +138,16 @@ status_t S2PI_SetBaudRate(uint32_t baudRate_Bps)
status_t S2PI_CaptureGpioControl(void)
{
/* Check if something is ongoing. */
IRQ_LOCK();
irqstate_t irqstate_flags = px4_enter_critical_section();
status_t status = s2pi_.Status;
if (status != STATUS_IDLE) {
IRQ_UNLOCK();
px4_leave_critical_section(irqstate_flags);
return status;
}
s2pi_.Status = STATUS_S2PI_GPIO_MODE;
IRQ_UNLOCK();
px4_leave_critical_section(irqstate_flags);
// GPIO mode (output push pull)
px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_SET(s2pi_.GPIOs[S2PI_CLK]));
@ -167,16 +167,16 @@ status_t S2PI_CaptureGpioControl(void)
status_t S2PI_ReleaseGpioControl(void)
{
/* Check if something is ongoing. */
IRQ_LOCK();
irqstate_t irqstate_flags = px4_enter_critical_section();
status_t status = s2pi_.Status;
if (status != STATUS_S2PI_GPIO_MODE) {
IRQ_UNLOCK();
px4_leave_critical_section(irqstate_flags);
return status;
}
s2pi_.Status = STATUS_IDLE;
IRQ_UNLOCK();
px4_leave_critical_section(irqstate_flags);
// SPI alternate
stm32_configgpio(s2pi_.GPIOs[S2PI_CLK]);
@ -254,16 +254,16 @@ status_t S2PI_ReadGpioPin(s2pi_slave_t slave, s2pi_pin_t pin, uint32_t *value)
status_t S2PI_CycleCsPin(s2pi_slave_t slave)
{
/* Check the driver status. */
IRQ_LOCK();
irqstate_t irqstate_flags = px4_enter_critical_section();
status_t status = s2pi_.Status;
if (status != STATUS_IDLE) {
IRQ_UNLOCK();
px4_leave_critical_section(irqstate_flags);
return status;
}
s2pi_.Status = STATUS_BUSY;
IRQ_UNLOCK();
px4_leave_critical_section(irqstate_flags);
px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 0);
px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 1);
@ -339,11 +339,11 @@ status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8
}
/* Check the driver status, lock if idle. */
IRQ_LOCK();
irqstate_t irqstate_flags = px4_enter_critical_section();
status_t status = s2pi_.Status;
if (status != STATUS_IDLE) {
IRQ_UNLOCK();
px4_leave_critical_section(irqstate_flags);
return status;
}
@ -358,7 +358,7 @@ status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8
s2pi_.spi_frame_size = frameSize;
work_queue(HPWORK, &broadcom_s2pi_transfer_work, broadcom_s2pi_transfer_callout, NULL, 0);
IRQ_UNLOCK();
px4_leave_critical_section(irqstate_flags);
return STATUS_OK;
}

6
src/drivers/distance_sensor/broadcom/afbrs50/argus_hal_test.c
View File

@ -46,6 +46,8 @@
#include "platform/argus_nvm.h"
#include "platform/argus_irq.h"
#include <px4_platform_common/micro_hal.h>
/*******************************************************************************
* Definitions
******************************************************************************/
@ -466,9 +468,9 @@ static status_t SpiConnectionTest(s2pi_slave_t slave)
*****************************************************************************/
static void DataReadyCallback(void *param)
{
IRQ_LOCK();
irqstate_t irqstate_flags = px4_enter_critical_section();
*((bool *) param) = true;
IRQ_UNLOCK();
px4_leave_critical_section(irqstate_flags);
}
/*!***************************************************************************