dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

WIP: afbrs50 try SPI_LOCK

This commit is contained in:
Daniel Agar 2021-07-01 10:59:51 -04:00
parent 0aa14deb5d
commit a37a589f15
No known key found for this signature in database
GPG Key ID: FD3CBA98017A69DE
2 changed files with 13 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/drivers/distance_sensor/broadcom/afbrs50/API/Src/irq.c
View File

@ -1,4 +1,4 @@
#include <nuttx/arch.h>
#include <nuttx/irq.h>
static volatile irqstate_t irqstate_flags;
@ -10,7 +10,9 @@ static volatile irqstate_t irqstate_flags;
*****************************************************************************/
void IRQ_UNLOCK(void)
{
leave_critical_section(irqstate_flags);
if (!up_interrupt_context()) {
leave_critical_section(irqstate_flags);
}
}
/*!***************************************************************************
@ -20,5 +22,7 @@ void IRQ_UNLOCK(void)
*****************************************************************************/
void IRQ_LOCK(void)
{
irqstate_flags = enter_critical_section();
if (!up_interrupt_context()) {
irqstate_flags = enter_critical_section();
}
}

9
src/drivers/distance_sensor/broadcom/afbrs50/API/Src/s2pi.c
View File

@ -308,12 +308,14 @@ status_t S2PI_CycleCsPin(s2pi_slave_t slave)
static void broadcom_s2pi_transfer_callout(void *arg)
{
SPI_LOCK(s2pi_.spidev, true);
perf_begin(s2pi_transfer_perf);
px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 0);
SPI_EXCHANGE(s2pi_.spidev, s2pi_.spi_tx_data, s2pi_.spi_rx_data, s2pi_.spi_frame_size);
s2pi_.Status = STATUS_IDLE;
px4_arch_gpiowrite(s2pi_.GPIOs[S2PI_CS], 1);
perf_end(s2pi_transfer_perf);
SPI_LOCK(s2pi_.spidev, false);
/* Invoke callback if there is one */
if (s2pi_.Callback != 0) {
@ -338,12 +340,13 @@ status_t S2PI_TransferFrame(s2pi_slave_t spi_slave, uint8_t const *txData, uint8
return ERROR_S2PI_INVALID_SLAVE;
}
SPI_LOCK(s2pi_.spidev, true);
/* Check the driver status, lock if idle. */
irqstate_t irqstate_flags = px4_enter_critical_section();
status_t status = s2pi_.Status;
if (status != STATUS_IDLE) {
px4_leave_critical_section(irqstate_flags);
SPI_LOCK(s2pi_.spidev, false);
return status;
}
@ -358,7 +361,7 @@ 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);
px4_leave_critical_section(irqstate_flags);
SPI_LOCK(s2pi_.spidev, false);
return STATUS_OK;
}