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Renamed spiGetSemaphore() to spiGetMutex() (#170)

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This commit is contained in:
Tyler Veness
2016-07-12 15:11:41 -07:00
committed by Peter Johnson
parent 3fade171f9
commit 1b1ee7f9f3
3 changed files with 25 additions and 27 deletions
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50
hal/lib/athena/SPI.cpp
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@@ -25,8 +25,8 @@ static int32_t m_spiCS1Handle = 0;
static int32_t m_spiCS2Handle = 0;
static int32_t m_spiCS3Handle = 0;
static int32_t m_spiMXPHandle = 0;
static priority_recursive_mutex spiOnboardSemaphore;
static priority_recursive_mutex spiMXPSemaphore;
static priority_recursive_mutex spiOnboardMutex;
static priority_recursive_mutex spiMXPMutex;
static tSPI* spiSystem;
static HAL_DigitalHandle spiMXPDigitalHandle1 = HAL_kInvalidHandle;
@@ -40,11 +40,11 @@ static HAL_DigitalHandle spiMXPDigitalHandle4 = HAL_kInvalidHandle;
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @return The semaphore for the SPI port.
*/
static priority_recursive_mutex& spiGetSemaphore(int32_t port) {
static priority_recursive_mutex& spiGetMutex(int32_t port) {
if (port < 4)
return spiOnboardSemaphore;
return spiOnboardMutex;
else
return spiMXPSemaphore;
return spiMXPMutex;
}
extern "C" {
@@ -152,7 +152,7 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
*/
int32_t HAL_TransactionSPI(int32_t port, uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
return spilib_writeread(
HAL_GetSPIHandle(port), reinterpret_cast<const char*>(dataToSend),
reinterpret_cast<char*>(dataReceived), static_cast<int32_t>(size));
@@ -169,7 +169,7 @@ int32_t HAL_TransactionSPI(int32_t port, uint8_t* dataToSend,
* @return The number of bytes written. -1 for an error
*/
int32_t HAL_WriteSPI(int32_t port, uint8_t* dataToSend, int32_t sendSize) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
return spilib_write(HAL_GetSPIHandle(port),
reinterpret_cast<const char*>(dataToSend),
static_cast<int32_t>(sendSize));
@@ -189,7 +189,7 @@ int32_t HAL_WriteSPI(int32_t port, uint8_t* dataToSend, int32_t sendSize) {
* @return Number of bytes read. -1 for error.
*/
int32_t HAL_ReadSPI(int32_t port, uint8_t* buffer, int32_t count) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
return spilib_read(HAL_GetSPIHandle(port), reinterpret_cast<char*>(buffer),
static_cast<int32_t>(count));
}
@@ -200,7 +200,7 @@ int32_t HAL_ReadSPI(int32_t port, uint8_t* buffer, int32_t count) {
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_CloseSPI(int32_t port) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
if (spiAccumulators[port]) {
int32_t status = 0;
HAL_FreeSPIAccumulator(port, &status);
@@ -223,7 +223,7 @@ void HAL_CloseSPI(int32_t port) {
* @param speed The speed in Hz (0-1MHz)
*/
void HAL_SetSPISpeed(int32_t port, int32_t speed) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
spilib_setspeed(HAL_GetSPIHandle(port), speed);
}
@@ -239,7 +239,7 @@ void HAL_SetSPISpeed(int32_t port, int32_t speed) {
*/
void HAL_SetSPIOpts(int32_t port, HAL_Bool msb_first,
HAL_Bool sample_on_trailing, HAL_Bool clk_idle_high) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
spilib_setopts(HAL_GetSPIHandle(port), (int)msb_first,
(int)sample_on_trailing, (int)clk_idle_high);
}
@@ -250,7 +250,7 @@ void HAL_SetSPIOpts(int32_t port, HAL_Bool msb_first,
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SetSPIChipSelectActiveHigh(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
spiSystem->readChipSelectActiveHigh_Hdr(status) | (1 << port), status);
@@ -265,7 +265,7 @@ void HAL_SetSPIChipSelectActiveHigh(int32_t port, int32_t* status) {
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void HAL_SetSPIChipSelectActiveLow(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
spiSystem->readChipSelectActiveHigh_Hdr(status) & ~(1 << port), status);
@@ -281,7 +281,7 @@ void HAL_SetSPIChipSelectActiveLow(int32_t port, int32_t* status) {
* @return The stored handle for the SPI port. 0 represents no stored handle.
*/
int32_t HAL_GetSPIHandle(int32_t port) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
switch (port) {
case 0:
return m_spiCS0Handle;
@@ -306,7 +306,7 @@ int32_t HAL_GetSPIHandle(int32_t port) {
* @param handle The value of the handle for the port.
*/
void HAL_SetSPIHandle(int32_t port, int32_t handle) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
switch (port) {
case 0:
m_spiCS0Handle = handle;
@@ -333,7 +333,7 @@ static void spiAccumulatorProcess(uint64_t currentTime, void* param) {
// perform SPI transaction
uint8_t resp_b[4];
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(accum->port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(accum->port));
spilib_writeread(
HAL_GetSPIHandle(accum->port), reinterpret_cast<const char*>(accum->cmd),
reinterpret_cast<char*>(resp_b), static_cast<int32_t>(accum->xfer_size));
@@ -401,7 +401,7 @@ void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
int32_t valid_value, int32_t data_shift,
int32_t data_size, HAL_Bool is_signed,
HAL_Bool big_endian, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
if (port > 4) return;
if (!spiAccumulators[port]) spiAccumulators[port] = new SPIAccumulator();
SPIAccumulator* accum = spiAccumulators[port];
@@ -441,7 +441,7 @@ void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
* Frees a SPI accumulator.
*/
void HAL_FreeSPIAccumulator(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
*status = NULL_PARAMETER;
@@ -457,7 +457,7 @@ void HAL_FreeSPIAccumulator(int32_t port, int32_t* status) {
* Resets the accumulator to zero.
*/
void HAL_ResetSPIAccumulator(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
*status = NULL_PARAMETER;
@@ -479,7 +479,7 @@ void HAL_ResetSPIAccumulator(int32_t port, int32_t* status) {
*/
void HAL_SetSPIAccumulatorCenter(int32_t port, int32_t center,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
*status = NULL_PARAMETER;
@@ -493,7 +493,7 @@ void HAL_SetSPIAccumulatorCenter(int32_t port, int32_t center,
*/
void HAL_SetSPIAccumulatorDeadband(int32_t port, int32_t deadband,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
*status = NULL_PARAMETER;
@@ -506,7 +506,7 @@ void HAL_SetSPIAccumulatorDeadband(int32_t port, int32_t deadband,
* Read the last value read by the accumulator engine.
*/
int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
*status = NULL_PARAMETER;
@@ -521,7 +521,7 @@ int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status) {
* @return The 64-bit value accumulated since the last Reset().
*/
int64_t HAL_GetSPIAccumulatorValue(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
*status = NULL_PARAMETER;
@@ -539,7 +539,7 @@ int64_t HAL_GetSPIAccumulatorValue(int32_t port, int32_t* status) {
* @return The number of times samples from the channel were accumulated.
*/
int64_t HAL_GetSPIAccumulatorCount(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
*status = NULL_PARAMETER;
@@ -572,7 +572,7 @@ double HAL_GetSPIAccumulatorAverage(int32_t port, int32_t* status) {
*/
void HAL_GetSPIAccumulatorOutput(int32_t port, int64_t* value, int64_t* count,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
if (!accum) {
*status = NULL_PARAMETER;

1
wpilibc/athena/include/CANJaguar.h
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@@ -16,7 +16,6 @@
#include "CANSpeedController.h"
#include "ErrorBase.h"
#include "FRC_NetworkCommunication/CANSessionMux.h"
#include "HAL/cpp/Semaphore.h"
#include "HAL/cpp/priority_mutex.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "MotorSafety.h"

1
wpilibc/athena/include/Preferences.h
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@@ -12,7 +12,6 @@
#include <vector>
#include "ErrorBase.h"
#include "HAL/cpp/Semaphore.h"
#include "Task.h"
#include "networktables/NetworkTable.h"
#include "tables/ITableListener.h"