From fe680a8568d275732738b07166b8f8a950d1e282 Mon Sep 17 00:00:00 2001 From: Stefan Kerkmann Date: Sat, 18 Jun 2022 00:04:17 +0200 Subject: [Core] Split ChibiOS usart split driver in protocol and hardware driver part (#16669) --- platforms/chibios/drivers/serial.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'platforms/chibios/drivers/serial.c') diff --git a/platforms/chibios/drivers/serial.c b/platforms/chibios/drivers/serial.c index 0cff057d1d..e5f346ba33 100644 --- a/platforms/chibios/drivers/serial.c +++ b/platforms/chibios/drivers/serial.c @@ -233,7 +233,7 @@ static inline bool initiate_transaction(uint8_t sstd_index) { // check if the slave is present if (serial_read_pin()) { // slave failed to pull the line low, assume not present - dprintf("serial::NO_RESPONSE\n"); + serial_dprintf("serial::NO_RESPONSE\n"); chSysUnlock(); return false; } @@ -269,7 +269,7 @@ static inline bool initiate_transaction(uint8_t sstd_index) { serial_delay(); if ((checksum_computed) != (checksum_received)) { - dprintf("serial::FAIL[%u,%u,%u]\n", checksum_computed, checksum_received, sstd_index); + serial_dprintf("serial::FAIL[%u,%u,%u]\n", checksum_computed, checksum_received, sstd_index); serial_output(); serial_high(); -- cgit v1.2.3 From 2703ecc9e98819ab4d13bdb6da6e0d02ee840d86 Mon Sep 17 00:00:00 2001 From: Stefan Kerkmann Date: Tue, 21 Jun 2022 00:24:53 +0200 Subject: [BUG] Fix deadlocks on disconnected secondary half (#17423) --- platforms/chibios/drivers/serial.c | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) (limited to 'platforms/chibios/drivers/serial.c') diff --git a/platforms/chibios/drivers/serial.c b/platforms/chibios/drivers/serial.c index e5f346ba33..3fae5cd3a4 100644 --- a/platforms/chibios/drivers/serial.c +++ b/platforms/chibios/drivers/serial.c @@ -87,10 +87,7 @@ static THD_FUNCTION(Thread1, arg) { chRegSetThreadName("blinker"); while (true) { palWaitLineTimeout(SOFT_SERIAL_PIN, TIME_INFINITE); - - split_shared_memory_lock(); interrupt_handler(NULL); - split_shared_memory_unlock(); } } @@ -155,6 +152,7 @@ static void __attribute__((noinline)) serial_write_byte(uint8_t data) { // interrupt handle to be used by the slave device void interrupt_handler(void *arg) { + split_shared_memory_lock_autounlock(); chSysLockFromISR(); sync_send(); @@ -212,6 +210,8 @@ void interrupt_handler(void *arg) { static inline bool initiate_transaction(uint8_t sstd_index) { if (sstd_index > NUM_TOTAL_TRANSACTIONS) return false; + split_shared_memory_lock_autounlock(); + split_transaction_desc_t *trans = &split_transaction_table[sstd_index]; // TODO: remove extra delay between transactions @@ -292,8 +292,5 @@ static inline bool initiate_transaction(uint8_t sstd_index) { // // this code is very time dependent, so we need to disable interrupts bool soft_serial_transaction(int sstd_index) { - split_shared_memory_lock(); - bool result = initiate_transaction((uint8_t)sstd_index); - split_shared_memory_unlock(); - return result; + return initiate_transaction((uint8_t)sstd_index); } -- cgit v1.2.3 From 3f5dc472965e6a5b8efe60e33c7b6c2d18d92008 Mon Sep 17 00:00:00 2001 From: Stefan Kerkmann Date: Mon, 11 Jul 2022 15:17:05 +0200 Subject: [Core] Use polled waiting on ChibiOS platforms that support it (#17607) * Use polled waiting on platforms that support it Due to context switching overhead waiting a very short amount of time on a sleeping thread is often not accurate and in fact not usable for timing critical usage i.e. in a driver. Thus we use polled waiting for ranges in the us range on platforms that support it instead. The fallback is the thread sleeping mechanism. This includes: * ARM platforms with CYCCNT register (ARMv7, ARMv8) this is incremented at CPU clock frequency * GD32VF103 RISC-V port with CSR_MCYCLE register this is incremented at CPU clock frequency * RP2040 ARMv6 port which uses the integrated timer peripheral which is incremented with a fixed 1MHz frequency * Use wait_us() instead of chSysPolledDelayX ...as it is powered by busy waiting now. * Add chibios waiting methods test bench --- platforms/chibios/drivers/serial.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'platforms/chibios/drivers/serial.c') diff --git a/platforms/chibios/drivers/serial.c b/platforms/chibios/drivers/serial.c index 3fae5cd3a4..0dd8e71ae8 100644 --- a/platforms/chibios/drivers/serial.c +++ b/platforms/chibios/drivers/serial.c @@ -20,7 +20,8 @@ # error "chSysPolledDelayX method not supported on this platform" #else # undef wait_us -# define wait_us(x) chSysPolledDelayX(US2RTC(CPU_CLOCK, x)) +// Force usage of polled waiting - in case WAIT_US_TIMER is activated +# define wait_us(us) chSysPolledDelayX(US2RTC(REALTIME_COUNTER_CLOCK, us)) #endif #ifndef SELECT_SOFT_SERIAL_SPEED -- cgit v1.2.3