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artf4156: Replaced synchronization primitives with C++11 equivalents

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Change-Id: I90da739347e875efda2a29dd5484b6dda3cd4753
This commit is contained in:
Tyler Veness
2015-06-25 01:54:20 -07:00
committed by James Kuszmaul
parent 7f5ee01d3e
commit 3f59f3472a
61 changed files with 1293 additions and 768 deletions
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101
hal/lib/Athena/Digital.cpp
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@@ -4,11 +4,12 @@
#include "Port.h"
#include "HAL/HAL.hpp"
#include "ChipObject.h"
#include "HAL/cpp/Synchronized.hpp"
#include "HAL/cpp/Resource.hpp"
#include "HAL/cpp/priority_mutex.h"
#include "NetworkCommunication/LoadOut.h"
#include <stdio.h>
#include <math.h>
#include <mutex>
#include "i2clib/i2c-lib.h"
#include "spilib/spi-lib.h"
@@ -53,11 +54,14 @@ struct DigitalPort {
};
// XXX: Set these back to static once we figure out the memory clobbering issue
MUTEX_ID digitalDIOSemaphore = NULL;
MUTEX_ID digitalRelaySemaphore = NULL;
MUTEX_ID digitalPwmSemaphore = NULL;
MUTEX_ID digitalI2COnBoardSemaphore = NULL;
MUTEX_ID digitalI2CMXPSemaphore = NULL;
// Create a mutex to protect changes to the digital output values
priority_recursive_mutex digitalDIOMutex;
// Create a mutex to protect changes to the relay values
priority_recursive_mutex digitalRelayMutex;
// Create a mutex to protect changes to the DO PWM config
priority_recursive_mutex digitalPwmMutex;
priority_recursive_mutex digitalI2COnBoardMutex;
priority_recursive_mutex digitalI2CMXPMutex;
tDIO* digitalSystem = NULL;
tRelay* relaySystem = NULL;
@@ -78,8 +82,8 @@ int32_t m_spiCS1Handle = 0;
int32_t m_spiCS2Handle = 0;
int32_t m_spiCS3Handle = 0;
int32_t m_spiMXPHandle = 0;
MUTEX_ID spiOnboardSemaphore = NULL;
MUTEX_ID spiMXPSemaphore = NULL;
priority_recursive_mutex spiOnboardSemaphore;
priority_recursive_mutex spiMXPSemaphore;
tSPI *spiSystem;
/**
@@ -88,18 +92,6 @@ tSPI *spiSystem;
void initializeDigital(int32_t *status) {
if (digitalSystemsInitialized) return;
// Create a semaphore to protect changes to the digital output values
digitalDIOSemaphore = initializeMutexRecursive();
// Create a semaphore to protect changes to the relay values
digitalRelaySemaphore = initializeMutexRecursive();
// Create a semaphore to protect changes to the DO PWM config
digitalPwmSemaphore = initializeMutexRecursive();
digitalI2COnBoardSemaphore = initializeMutexRecursive();
digitalI2CMXPSemaphore = initializeMutexRecursive();
Resource::CreateResourceObject(&DIOChannels, tDIO::kNumSystems * kDigitalPins);
Resource::CreateResourceObject(&DO_PWMGenerators, tDIO::kNumPWMDutyCycleAElements + tDIO::kNumPWMDutyCycleBElements);
Resource::CreateResourceObject(&PWMChannels, tPWM::kNumSystems * kPwmPins);
@@ -292,7 +284,7 @@ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
float rawDutyCycle = 256.0 * dutyCycle;
if (rawDutyCycle > 255.5) rawDutyCycle = 255.5;
{
Synchronized sync(digitalPwmSemaphore);
std::unique_lock<priority_recursive_mutex> sync(digitalPwmMutex);
uint8_t pwmPeriodPower = digitalSystem->readPWMPeriodPower(status);
if (pwmPeriodPower < 4) {
// The resolution of the duty cycle drops close to the highest frequencies.
@@ -326,7 +318,7 @@ void setRelayForward(void* digital_port_pointer, bool on, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkRelayChannel(port);
{
Synchronized sync(digitalRelaySemaphore);
std::unique_lock<priority_recursive_mutex> sync(digitalRelayMutex);
uint8_t forwardRelays = relaySystem->readValue_Forward(status);
if (on)
forwardRelays |= 1 << port->port.pin;
@@ -345,7 +337,7 @@ void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkRelayChannel(port);
{
Synchronized sync(digitalRelaySemaphore);
std::unique_lock<priority_recursive_mutex> sync(digitalRelayMutex);
uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
if (on)
reverseRelays |= 1 << port->port.pin;
@@ -392,7 +384,7 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
}
{
Synchronized sync(digitalDIOSemaphore);
std::unique_lock<priority_recursive_mutex> sync(digitalDIOMutex);
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
@@ -476,7 +468,7 @@ void setDIO(void* digital_port_pointer, short value, int32_t *status) {
value = 1;
}
{
Synchronized sync(digitalDIOSemaphore);
std::unique_lock<priority_recursive_mutex> sync(digitalDIOMutex);
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if(port->port.pin < kNumHeaders) {
@@ -1113,8 +1105,6 @@ uint16_t getLoopTiming(int32_t *status) {
void spiInitialize(uint8_t port, int32_t *status) {
if(spiSystem == NULL)
spiSystem = tSPI::create(status);
if(spiGetSemaphore(port) == NULL)
spiSetSemaphore(port, initializeMutexRecursive());
if(spiGetHandle(port) !=0 ) return;
switch(port){
case 0:
@@ -1157,7 +1147,7 @@ void spiInitialize(uint8_t port, int32_t *status) {
*/
int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived, uint8_t size)
{
Synchronized sync(spiGetSemaphore(port));
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_writeread(spiGetHandle(port), (const char*) dataToSend, (char*) dataReceived, (int32_t) size);
}
@@ -1173,7 +1163,7 @@ int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived,
*/
int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize)
{
Synchronized sync(spiGetSemaphore(port));
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_write(spiGetHandle(port), (const char*) dataToSend, (int32_t) sendSize);
}
@@ -1191,7 +1181,7 @@ int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize)
*/
int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count)
{
Synchronized sync(spiGetSemaphore(port));
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_read(spiGetHandle(port), (char*) buffer, (int32_t) count);
}
@@ -1201,7 +1191,7 @@ int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count)
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void spiClose(uint8_t port) {
Synchronized sync(spiGetSemaphore(port));
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
spilib_close(spiGetHandle(port));
spiSetHandle(port, 0);
return;
@@ -1214,7 +1204,7 @@ void spiClose(uint8_t port) {
* @param speed The speed in Hz (0-1MHz)
*/
void spiSetSpeed(uint8_t port, uint32_t speed) {
Synchronized sync(spiGetSemaphore(port));
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
spilib_setspeed(spiGetHandle(port), speed);
}
@@ -1227,7 +1217,7 @@ void spiSetSpeed(uint8_t port, uint32_t speed) {
* @param clk_idle_high True to set the clock to active low, False to set the clock active high
*/
void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idle_high) {
Synchronized sync(spiGetSemaphore(port));
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
spilib_setopts(spiGetHandle(port), msb_first, sample_on_trailing, clk_idle_high);
}
@@ -1237,7 +1227,7 @@ void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idl
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status){
Synchronized sync(spiGetSemaphore(port));
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
if(port < 4)
{
spiSystem->writeChipSelectActiveHigh_Hdr(spiSystem->readChipSelectActiveHigh_Hdr(status) | (1<<port), status);
@@ -1254,7 +1244,7 @@ void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status){
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void spiSetChipSelectActiveLow(uint8_t port, int32_t *status){
Synchronized sync(spiGetSemaphore(port));
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
if(port < 4)
{
spiSystem->writeChipSelectActiveHigh_Hdr(spiSystem->readChipSelectActiveHigh_Hdr(status) & ~(1<<port), status);
@@ -1272,7 +1262,7 @@ void spiSetChipSelectActiveLow(uint8_t port, int32_t *status){
* @return The stored handle for the SPI port. 0 represents no stored handle.
*/
int32_t spiGetHandle(uint8_t port){
Synchronized sync(spiGetSemaphore(port));
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
switch(port){
case 0:
return m_spiCS0Handle;
@@ -1296,7 +1286,7 @@ int32_t spiGetHandle(uint8_t port){
* @param handle The value of the handle for the port.
*/
void spiSetHandle(uint8_t port, int32_t handle){
Synchronized sync(spiGetSemaphore(port));
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
switch(port){
case 0:
m_spiCS0Handle = handle;
@@ -1322,28 +1312,15 @@ void spiSetHandle(uint8_t port, int32_t handle){
* Get the semaphore for a SPI port
*
* @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. NULL represents no stored semaphore.
* @return The semaphore for the SPI port.
*/
MUTEX_ID spiGetSemaphore(uint8_t port){
priority_recursive_mutex& spiGetSemaphore(uint8_t port) {
if(port < 4)
return spiOnboardSemaphore;
else
return spiMXPSemaphore;
}
/**
* Set the semaphore for a SPI port
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
* @param semaphore The semaphore for the SPI port.
*/
void spiSetSemaphore(uint8_t port, MUTEX_ID semaphore){
if (port < 4)
spiOnboardSemaphore = semaphore;
else
spiMXPSemaphore = semaphore;
}
/*
* Initialize the I2C port. Opens the port if necessary and saves the handle.
* If opening the MXP port, also sets up the pin functions appropriately
@@ -1358,9 +1335,9 @@ void i2CInitialize(uint8_t port, int32_t *status) {
return;
}
MUTEX_ID lock = port == 0 ? digitalI2COnBoardSemaphore:digitalI2CMXPSemaphore;
priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
{
Synchronized sync(lock);
std::unique_lock<priority_recursive_mutex> sync(lock);
if(port == 0) {
i2COnboardObjCount++;
if (i2COnBoardHandle > 0) return;
@@ -1405,10 +1382,10 @@ int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend,
return true;
}*/
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
MUTEX_ID lock = port == 0 ? digitalI2COnBoardSemaphore:digitalI2CMXPSemaphore;
priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
{
Synchronized sync(lock);
std::unique_lock<priority_recursive_mutex> sync(lock);
return i2clib_writeread(handle, deviceAddress, (const char*) dataToSend, (int32_t) sendSize, (char*) dataReceived, (int32_t) receiveSize);
}
}
@@ -1435,9 +1412,9 @@ int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, uint8
return true;
}*/
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
MUTEX_ID lock = port == 0 ? digitalI2COnBoardSemaphore:digitalI2CMXPSemaphore;
priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
{
Synchronized sync(lock);
std::unique_lock<priority_recursive_mutex> sync(lock);
return i2clib_write(handle, deviceAddress, (const char*) dataToSend, (int32_t) sendSize);
}
}
@@ -1472,9 +1449,9 @@ int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t co
return true;
}*/
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
MUTEX_ID lock = port == 0 ? digitalI2COnBoardSemaphore:digitalI2CMXPSemaphore;
priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
{
Synchronized sync(lock);
std::unique_lock<priority_recursive_mutex> sync(lock);
return i2clib_read(handle, deviceAddress, (char*) buffer, (int32_t) count);
}
@@ -1485,9 +1462,9 @@ void i2CClose(uint8_t port) {
//Set port out of range error here
return;
}
MUTEX_ID lock = port == 0 ? digitalI2COnBoardSemaphore:digitalI2CMXPSemaphore;
priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
{
Synchronized sync(lock);
std::unique_lock<priority_recursive_mutex> sync(lock);
if((port == 0 ? i2COnboardObjCount--:i2CMXPObjCount--) == 0) {
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
i2clib_close(handle);