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Merge pull request 'rework lock handling in rtd handler' (#424) from tweaks_rtd_locks into develop
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Reviewed-on: #424
This commit is contained in:
Robin Müller 2023-03-03 15:21:57 +01:00
commit 70e1d41a08
2 changed files with 48 additions and 39 deletions
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82
linux/devices/Max31865RtdPolling.cpp
View File

@ -56,19 +56,28 @@ bool Max31865RtdPolling::rtdIsActive(uint8_t idx) {
return false;
}
bool Max31865RtdPolling::periodicInitHandling() {
ReturnValue_t Max31865RtdPolling::periodicInitHandling() {
using namespace MAX31865;
ReturnValue_t result = returnvalue::OK;
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
return false;
bool mustPerformInitHandling = false;
bool doWriteLowThreshold = false;
bool doWriteHighThreshold = false;
{
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
continue;
}
mustPerformInitHandling =
(rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut();
doWriteHighThreshold = rtd->writeHighThreshold;
doWriteLowThreshold = rtd->writeLowThreshold;
}
if ((rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut()) {
if (mustPerformInitHandling) {
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
// or hardware specific issue where the CS needs to be pulled high and then low again
// between transfers
@ -77,13 +86,13 @@ bool Max31865RtdPolling::periodicInitHandling() {
handleSpiError(rtd, result, "writeCfgReg");
continue;
}
if (rtd->writeLowThreshold) {
if (doWriteLowThreshold) {
result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeLowThreshold");
}
}
if (rtd->writeHighThreshold) {
if (doWriteHighThreshold) {
result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeHighThreshold");
@ -93,23 +102,12 @@ bool Max31865RtdPolling::periodicInitHandling() {
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "clearFaultStatus");
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
rtd->db.configured = true;
rtd->db.active = true;
}
}
bool someRtdUsable = false;
for (auto& rtd : rtds) {
if (rtd == nullptr) {
continue;
}
if (rtdIsActive(rtd->idx)) {
#if OBSW_RTD_AUTO_MODE == 0
result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
#endif
someRtdUsable = true;
}
}
return someRtdUsable;
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
@ -119,12 +117,8 @@ ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
if (rtd == nullptr) {
continue;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
if (rtdIsActive(rtd->idx)) {
updateActiveRtdsArray();
if (activeRtdsArray[rtd->idx]) {
ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "writeCfgReg");
@ -144,12 +138,8 @@ ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
if (rtd == nullptr) {
continue;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
if (rtdIsActive(rtd->idx)) {
updateActiveRtdsArray();
if (activeRtdsArray[rtd->idx]) {
// Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
// or hardware specific issue where the CS needs to be pulled high and then low again
// between transfers
@ -166,6 +156,7 @@ ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
handleSpiError(rtd, result, "readRtdVal");
continue;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (faultBitSet) {
rtd->db.faultBitSet = faultBitSet;
}
@ -212,6 +203,10 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
if (cookie == nullptr) {
return returnvalue::FAILED;
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
if (rtdCookie == nullptr) {
return returnvalue::FAILED;
}
// Empty command.. don't fail for now
if (sendLen < 1) {
return returnvalue::OK;
@ -221,7 +216,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
uint8_t cmdRaw = sendData[0];
if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) {
sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl;
@ -312,15 +306,15 @@ ReturnValue_t Max31865RtdPolling::requestReceiveMessage(CookieIF* cookie, size_t
ReturnValue_t Max31865RtdPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) {
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
if (rtdCookie == nullptr) {
return returnvalue::FAILED;
}
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
// TODO: Emit warning
return returnvalue::FAILED;
}
auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
if (rtdCookie == nullptr) {
return returnvalue::FAILED;
}
uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
size_t serLen = 0;
auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
@ -461,6 +455,18 @@ ReturnValue_t Max31865RtdPolling::readNFromReg(SpiCookie* cookie, uint8_t reg, s
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::updateActiveRtdsArray() {
MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (mg.getLockResult() != returnvalue::OK) {
sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
return returnvalue::FAILED;
}
for (const auto& rtd : rtds) {
activeRtdsArray[rtd->idx] = rtdIsActive(rtd->idx);
}
return returnvalue::OK;
}
ReturnValue_t Max31865RtdPolling::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
const char* ctx) {
cookie->db.spiErrorCount.value += 1;

5
linux/devices/Max31865RtdPolling.h
View File

@ -47,6 +47,7 @@ class Max31865RtdPolling : public SystemObject,
private:
std::vector<Max31865ReaderCookie*> rtds;
std::array<uint8_t, 4> cmdBuf = {};
std::array<bool, 12> activeRtdsArray{};
size_t dbLen = 0;
MutexIF* readerLock;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
@ -59,7 +60,7 @@ class Max31865RtdPolling : public SystemObject,
uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT;
MutexIF* csLock = nullptr;
bool periodicInitHandling();
ReturnValue_t periodicInitHandling();
ReturnValue_t periodicReadReqHandling();
ReturnValue_t periodicReadHandling();
@ -84,6 +85,8 @@ class Max31865RtdPolling : public SystemObject,
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t updateActiveRtdsArray();
ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
};