git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6175 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 106 insertions, 97 deletions

diff --git a/os/hal/include/i2c.h b/os/hal/include/i2c.h
index b70767609..dfae26e64 100644
--- a/os/hal/include/i2c.h
+++ b/os/hal/include/i2c.h
@@ -93,6 +93,32 @@ typedef enum {
 /*===========================================================================*/

 

 /**

+ * @brief   Wakes up the waiting thread notifying no errors.

+ *

+ * @param[in] i2cp      pointer to the @p I2CDriver object

+ *

+ * @notapi

+ */

+#define _i2c_wakeup_isr(i2cp) do {                                          \

+  osalSysLockFromISR();                                                     \

+  osalThreadResumeI(&(i2cp)->thread, MSG_OK);                               \

+  osalSysUnlockFromISR();                                                   \

+} while(0)

+

+/**

+ * @brief   Wakes up the waiting thread notifying errors.

+ *

+ * @param[in] i2cp      pointer to the @p I2CDriver object

+ *

+ * @notapi

+ */

+#define _i2c_wakeup_error_isr(i2cp) do {                                    \

+  osalSysLockFromISR();                                                     \

+  osalThreadResumeI(&(i2cp)->thread, MSG_RESET);                            \

+  osalSysUnlockFromISR();                                                   \

+} while(0)

+

+/**

  * @brief   Wrap i2cMasterTransmitTimeout function with TIME_INFINITE timeout.

  * @api

  */

diff --git a/os/hal/osal/chibios/osal.h b/os/hal/osal/chibios/osal.h
index 4114ddfc9..d3d2e2b40 100644
--- a/os/hal/osal/chibios/osal.h
+++ b/os/hal/osal/chibios/osal.h
@@ -383,7 +383,6 @@ static inline void osalSysUnlockFromISR(void) {
   chSysUnlockFromISR();

 }

 

-#if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__)

 /**

  * @brief   Polled delay.

  * @note    The real delay is always few cycles in excess of the specified

@@ -393,6 +392,7 @@ static inline void osalSysUnlockFromISR(void) {
  *

  * @xclass

  */

+#if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__)

 static inline void osalSysPolledDelayX(rtcnt_t cycles) {

 

   chSysPolledDelayX(cycles);

@@ -510,7 +510,32 @@ static inline void osalThreadSleep(systime_t time) {
  */

 static inline msg_t osalThreadSuspendS(thread_reference_t *trp) {

 

-  return osalThreadSuspendS(trp);

+  return chThreadSuspendS(trp);

+}

+

+/**

+ * @brief   Sends the current thread sleeping and sets a reference variable.

+ * @note    This function must reschedule, it can only be called from thread

+ *          context.

+ *

+ * @param[in] trp       a pointer to a thread reference object

+ * @param[in] timeout   the timeout in system ticks, the special values are

+ *                      handled as follow:

+ *                      - @a TIME_INFINITE the thread enters an infinite sleep

+ *                        state.

+ *                      - @a TIME_IMMEDIATE the thread is not enqueued and

+ *                        the function returns @p MSG_TIMEOUT as if a timeout

+ *                        occurred.

+ *                      .

+ * @return              The wake up message.

+ * @retval MSG_TIMEOUT  if the operation timed out.

+ *

+ * @sclass

+ */

+static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp,

+                                              systime_t timeout) {

+

+  return chThreadSuspendTimeoutS(trp, timeout);

 }

 

 /**

diff --git a/os/hal/platforms/STM32/I2Cv2/i2c_lld.c b/os/hal/platforms/STM32/I2Cv2/i2c_lld.c
index 5cdebd052..eb5b67d47 100644
--- a/os/hal/platforms/STM32/I2Cv2/i2c_lld.c
+++ b/os/hal/platforms/STM32/I2Cv2/i2c_lld.c
@@ -93,25 +93,6 @@ I2CDriver I2CD2;
 /*===========================================================================*/

 

 /**

- * @brief   Wakes up the waiting thread.

- *

- * @param[in] i2cp      pointer to the @p I2CDriver object

- * @param[in] msg       wakeup message

- *

- * @notapi

- */

-#define wakeup_isr(i2cp, msg) {                                             \

-  osalSysLockFromISR();                                                     \

-  if ((i2cp)->thread != NULL) {                                             \

-    thread_t *tp = (i2cp)->thread;                                          \

-    (i2cp)->thread = NULL;                                                  \

-    tp->p_u.rdymsg = (msg);                                                 \

-    chSchReadyI(tp);                                                        \

-  }                                                                         \

-  osalSysUnlockFromISR();                                                   \

-}

-

-/**

  * @brief   Aborts an I2C transaction.

  *

  * @param[in] i2cp      pointer to the @p I2CDriver object

@@ -135,27 +116,6 @@ static void i2c_lld_abort_operation(I2CDriver *i2cp) {
 }

 

 /**

- * @brief   Handling of stalled I2C transactions.

- *

- * @param[in] i2cp      pointer to the @p I2CDriver object

- *

- * @notapi

- */

-static void i2c_lld_safety_timeout(void *p) {

-  I2CDriver *i2cp = (I2CDriver *)p;

-

-  osalSysLockFromISR();

-  if (i2cp->thread) {

-    thread_t *tp = i2cp->thread;

-    i2c_lld_abort_operation(i2cp);

-    i2cp->thread = NULL;

-    tp->p_u.rdymsg = MSG_TIMEOUT;

-    chSchReadyI(tp);

-  }

-  osalSysUnlockFromISR();

-}

-

-/**

  * @brief   I2C shared ISR code.

  *

  * @param[in] i2cp      pointer to the @p I2CDriver object

@@ -202,12 +162,11 @@ static void i2c_lld_serve_interrupt(I2CDriver *i2cp, uint32_t isr) {
     dmaStreamDisable(i2cp->dmatx);

     dmaStreamDisable(i2cp->dmarx);

 

-    if (i2cp->errors) {

-      wakeup_isr(i2cp, MSG_RESET);

-    }

-    else {

-      wakeup_isr(i2cp, MSG_OK);

-    }

+    /* The wake up message depends on the presence of errors.*/

+    if (i2cp->errors)

+      _i2c_wakeup_error_isr(i2cp);

+    else

+      _i2c_wakeup_isr(i2cp);

   }

 }

 

@@ -233,7 +192,7 @@ static void i2c_lld_serve_rx_end_irq(I2CDriver *i2cp, uint32_t flags) {
 

   dmaStreamDisable(i2cp->dmarx);

   dp->CR2 |= I2C_CR2_STOP;

-  wakeup_isr(i2cp, MSG_OK);

+  _i2c_wakeup_isr(i2cp);

 }

 

 /**

@@ -285,7 +244,7 @@ static void i2c_lld_serve_error_interrupt(I2CDriver *i2cp, uint32_t isr) {
 

   /* If some error has been identified then sends wakes the waiting thread.*/

   if (i2cp->errors != I2C_NO_ERROR)

-    wakeup_isr(i2cp, MSG_RESET);

+    _i2c_wakeup_error_isr(i2cp);

 }

 

 /*===========================================================================*/

@@ -612,33 +571,39 @@ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
                                      uint8_t *rxbuf, size_t rxbytes,

                                      systime_t timeout) {

   I2C_TypeDef *dp = i2cp->i2c;

-  virtual_timer_t vt;

   uint32_t addr_cr2 = addr & I2C_CR2_SADD;

+  systime_t start, end;

 

   osalDbgCheck((rxbytes > 0));

 

   /* Resetting error flags for this transfer.*/

   i2cp->errors = I2C_NO_ERROR;

 

-  /* Global timeout for the whole operation.*/

-  if (timeout != TIME_INFINITE)

-    chVTSetI(&vt, timeout, i2c_lld_safety_timeout, (void *)i2cp);

-

   /* Releases the lock from high level driver.*/

   osalSysUnlock();

 

-  /* Waits until BUSY flag is reset and the STOP from the previous operation

-     is completed, alternatively for a timeout condition.*/

-  while (dp->ISR & I2C_ISR_BUSY) {

+  /* Calculating the time window for the timeout on the busy bus condition.*/

+  start = osalOsGetSystemTimeX();

+  end = start + OSAL_MS2ST(STM32_I2C_BUSY_TIMEOUT);

+

+  /* Waits until BUSY flag is reset or, alternatively, for a timeout

+     condition.*/

+  while (true) {

     osalSysLock();

-    if ((timeout != TIME_INFINITE) && !chVTIsArmedI(&vt))

+

+    /* If the bus is not busy then the operation can continue, note, the

+       loop is exited in the locked state.*/

+    if (dp->ISR & I2C_ISR_BUSY)

+      break;

+

+    /* If the system time went outside the allowed window then a timeout

+       condition is returned.*/

+    if (!osalOsIsTimeWithinX(osalOsGetSystemTimeX(), start, end))

       return MSG_TIMEOUT;

+

     osalSysUnlock();

   }

 

-  /* This lock will be released in high level driver.*/

-  osalSysLock();

-

   /* Adjust slave address (master mode) for 7-bit address mode */

   if ((i2cp->config->cr2 & I2C_CR2_ADD10) == 0)

     addr_cr2 = (addr_cr2 & 0x7f) << 1;

@@ -658,22 +623,12 @@ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
   /* Enable RX DMA */

   dmaStreamEnable(i2cp->dmarx);

 

-  /* Atomic check on the timer in order to make sure that a timeout didn't

-     happen outside the critical zone.*/

-  if ((timeout != TIME_INFINITE) && !chVTIsArmedI(&vt))

-    return MSG_TIMEOUT;

-

   /* Starts the operation.*/

   dp->CR2 |= I2C_CR2_RD_WRN;

   dp->CR2 |= I2C_CR2_START;

 

   /* Waits for the operation completion or a timeout.*/

-  i2cp->thread = chThdGetSelfX();

-  chSchGoSleepS(CH_STATE_SUSPENDED);

-  if ((timeout != TIME_INFINITE) && chVTIsArmedI(&vt))

-    chVTResetI(&vt);

-

-  return chThdGetSelfX()->p_u.rdymsg;

+  return osalThreadSuspendTimeoutS(&i2cp->thread, timeout);

 }

 

 /**

@@ -706,33 +661,39 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
                                       uint8_t *rxbuf, size_t rxbytes,

                                       systime_t timeout) {

   I2C_TypeDef *dp = i2cp->i2c;

-  virtual_timer_t vt;

   uint32_t addr_cr2 = addr & I2C_CR2_SADD;

+  systime_t start, end;

 

   osalDbgCheck(((rxbytes == 0) || ((rxbytes > 0) && (rxbuf != NULL))));

 

   /* Resetting error flags for this transfer.*/

   i2cp->errors = I2C_NO_ERROR;

 

-  /* Global timeout for the whole operation.*/

-  if (timeout != TIME_INFINITE)

-    chVTSetI(&vt, timeout, i2c_lld_safety_timeout, (void *)i2cp);

-

   /* Releases the lock from high level driver.*/

   osalSysUnlock();

 

-  /* Waits until BUSY flag is reset and the STOP from the previous operation

-     is completed, alternatively for a timeout condition.*/

-  while (dp->ISR & I2C_ISR_BUSY) {

+  /* Calculating the time window for the timeout on the busy bus condition.*/

+  start = osalOsGetSystemTimeX();

+  end = start + OSAL_MS2ST(STM32_I2C_BUSY_TIMEOUT);

+

+  /* Waits until BUSY flag is reset or, alternatively, for a timeout

+     condition.*/

+  while (true) {

     osalSysLock();

-    if ((timeout != TIME_INFINITE) && !chVTIsArmedI(&vt))

+

+    /* If the bus is not busy then the operation can continue, note, the

+       loop is exited in the locked state.*/

+    if (dp->ISR & I2C_ISR_BUSY)

+      break;

+

+    /* If the system time went outside the allowed window then a timeout

+       condition is returned.*/

+    if (!osalOsIsTimeWithinX(osalOsGetSystemTimeX(), start, end))

       return MSG_TIMEOUT;

+

     osalSysUnlock();

   }

 

-  /* This lock will be released in high level driver.*/

-  osalSysLock();

-

   /* Adjust slave address (master mode) for 7-bit address mode */

   if ((i2cp->config->cr2 & I2C_CR2_ADD10) == 0)

     addr_cr2 = (addr_cr2 & 0x7f) << 1;

@@ -757,11 +718,6 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
   /* Enable TX DMA */

   dmaStreamEnable(i2cp->dmatx);

 

-  /* Atomic check on the timer in order to make sure that a timeout didn't

-     happen outside the critical zone.*/

-  if ((timeout != TIME_INFINITE) && !chVTIsArmedI(&vt))

-    return MSG_TIMEOUT;

-

   /* Transmission complete interrupt enabled.*/

   dp->CR1 |= I2C_CR1_TCIE;

 

@@ -770,12 +726,7 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
   dp->CR2 |= I2C_CR2_START;

 

   /* Waits for the operation completion or a timeout.*/

-  i2cp->thread = chThdGetSelfX();

-  chSchGoSleepS(CH_STATE_SUSPENDED);

-  if ((timeout != TIME_INFINITE) && chVTIsArmedI(&vt))

-    chVTResetI(&vt);

-

-  return chThdGetSelfX()->p_u.rdymsg;

+  return osalThreadSuspendTimeoutS(&i2cp->thread, timeout);

 }

 

 #endif /* HAL_USE_I2C */

diff --git a/os/hal/platforms/STM32/I2Cv2/i2c_lld.h b/os/hal/platforms/STM32/I2Cv2/i2c_lld.h
index 7bde99a6f..a2687cbc8 100644
--- a/os/hal/platforms/STM32/I2Cv2/i2c_lld.h
+++ b/os/hal/platforms/STM32/I2Cv2/i2c_lld.h
@@ -78,6 +78,13 @@
 #endif

 

 /**

+ * @brief   I2C timeout on busy condition in milliseconds.

+ */

+#if !defined(STM32_I2C_BUSY_TIMEOUT) || defined(__DOXYGEN__)

+#define STM32_I2C_BUSY_TIMEOUT              50

+#endif

+

+/**

  * @brief   I2C1 interrupt priority level setting.

  */

 #if !defined(STM32_I2C_I2C1_IRQ_PRIORITY) || defined(__DOXYGEN__)

@@ -287,7 +294,7 @@ struct I2CDriver{
   /**

    * @brief   Thread waiting for I/O completion.

    */

-  thread_t                  *thread;

+  thread_reference_t        thread;

   /**

    * @brief     Current slave address without R/W bit.

    */