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This commit is contained in:
Robin Müller
2023-03-02 15:32:12 +01:00
parent 7b539e2fa5
commit dfb1e88f55
10 changed files with 48 additions and 35 deletions
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34
linux/devices/AcsBoardPolling.cpp
View File

@ -105,7 +105,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::Adis1650XRequest*>(sendData);
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (req->mode != adis.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
adis.type = req->type;
@ -135,7 +135,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::GyroL3gRequest*>(sendData);
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (req->mode != gyro.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
@ -154,7 +154,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::MgmLis3Request*>(sendData);
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
@ -173,7 +173,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::MgmRm3100Request*>(sendData);
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
@ -218,7 +218,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
break;
}
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
if (state == InternalState::IDLE) {
state = InternalState::BUSY;
semaphore->release();
@ -238,7 +238,7 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b
if (spiCookie == nullptr) {
return returnvalue::FAILED;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
auto handleAdisReply = [&](GyroAdis& gyro) {
std::memcpy(&gyro.readerReply, &gyro.ownReply, sizeof(acs::Adis1650XReply));
*buffer = reinterpret_cast<uint8_t*>(&gyro.readerReply);
@ -297,7 +297,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
acs::SimpleSensorMode mode;
bool gyroPerformStartup;
{
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = l3g.mode;
gyroPerformStartup = l3g.performStartup;
}
@ -320,7 +320,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::OK;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
// Cross check configuration as verification that communication is working
for (uint8_t idx = 0; idx < 5; idx++) {
if (rawReply[idx + 1] != l3g.sensorCfg[idx]) {
@ -345,7 +345,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
l3g.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
// The regular read function always returns the full sensor config as well. Use that
// to verify communications.
for (uint8_t idx = 0; idx < 5; idx++) {
@ -444,7 +444,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
bool cdHasTimedOut = false;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = gyro.mode;
cdHasTimedOut = gyro.countdown.hasTimedOut();
mustPerformStartup = gyro.performStartup;
@ -478,7 +478,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.ownReply.cfgWasSet = true;
gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
@ -525,7 +525,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
return;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
gyro.ownReply.dataWasSet = true;
gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
@ -545,7 +545,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
acs::SimpleSensorMode mode;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = mgm.mode;
mustPerformStartup = mgm.performStartup;
}
@ -605,7 +605,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
return;
}
{
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mgm.ownReply.dataWasSet = true;
mgm.ownReply.sensitivity = mgmLis3::getSensitivityFactor(mgmLis3::getSensitivity(mgm.cfg[1]));
mgm.ownReply.mgmValuesRaw[0] =
@ -627,7 +627,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
mgm.replyResult = result;
return;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mgm.ownReply.temperatureWasSet = true;
mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1];
}
@ -638,7 +638,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
acs::SimpleSensorMode mode;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
mode = mgm.mode;
mustPerformStartup = mgm.performStartup;
}
@ -712,7 +712,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
mgm.replyResult = result;
return;
}
MutexGuard mg(ipcLock);
MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
for (uint8_t idx = 0; idx < 3; idx++) {
// Hardcoded, but note that the gain depends on the cycle count
// value which is configurable!

3
linux/devices/AcsBoardPolling.h
View File

@ -22,6 +22,9 @@ class AcsBoardPolling : public SystemObject,
private:
enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
MutexIF* ipcLock;
static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t LOCK_TIMEOUT = 20;
static constexpr char LOCK_CTX[] = "AcsBoardPolling";
SemaphoreIF* semaphore;
std::array<uint8_t, 32> cmdBuf;