[paparazzi-commits] [5349] removed a race condition in the timeout detection of the overo_link

[antoine drouin]

Revision: 5349
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5349
Author:   poine
Date:     2010-08-12 21:36:29 +0000 (Thu, 12 Aug 2010)
Log Message:
-----------
removed a race condition in the timeout detection of the overo_link

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_arch.h
    paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.c
    paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.h

Modified: paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_arch.h 
2010-08-12 20:28:00 UTC (rev 5348)
+++ paparazzi3/trunk/sw/airborne/lisa/arch/stm32/lisa_overo_link_arch.h 
2010-08-12 21:36:29 UTC (rev 5349)
@@ -5,11 +5,11 @@
 
 
 #define OveroLinkEvent(_data_received_handler, _crc_failed_handler) {  \
-    if (overo_link.status == DATA_AVAILABLE) {                   /* set by DMA 
interrupt */ \
+    if (overo_link.status == DATA_AVAILABLE) {        /* set by DMA interrupt 
*/ \
       while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE)==RESET);    \
       while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) ==RESET);    \
       while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_BSY) ==SET);      \
-      overo_link.timeout = 0;                                          \
+      overo_link.timeout_cnt = 0;                                      \
       if((SPI_I2S_GetFlagStatus(SPI1, SPI_FLAG_CRCERR)) == RESET) {    \
        LED_ON(OVERO_LINK_LED_OK);                                      \
        LED_OFF(OVERO_LINK_LED_KO);                                     \
@@ -32,6 +32,11 @@
       overo_link_arch_prepare_next_transfert();                                
\
       overo_link.crc_error = FALSE;                                    \
     }                                                                  \
+    if (overo_link.timeout &&                       /* if we've had a timeout  
       */ \
+       !GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_4)) { /* and we're not selected 
anymore */ \
+      overo_link_arch_prepare_next_transfert();                                
\
+      overo_link.timeout = FALSE;                                      \
+    }                                                                  \
   }
 
 

Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.c 2010-08-12 20:28:00 UTC 
(rev 5348)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.c 2010-08-12 21:36:29 UTC 
(rev 5349)
@@ -4,10 +4,11 @@
 
 void overo_link_init(void) {
   overo_link.status = IDLE;
-  overo_link.timeout = OVERO_LINK_TIMEOUT-1;
+  overo_link.timeout_cnt = OVERO_LINK_TIMEOUT-1;
   overo_link.msg_cnt = 0;
   overo_link.crc_err_cnt = 0;
   overo_link.crc_error = FALSE;
+  overo_link.timeout = FALSE;
   overo_link_arch_init();
 }
 

Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.h
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.h 2010-08-12 20:28:00 UTC 
(rev 5348)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.h 2010-08-12 21:36:29 UTC 
(rev 5349)
@@ -21,8 +21,10 @@
     struct OVERO_LINK_MSG_DOWN msg;
     uint8_t array[sizeof(union AutopilotMessage)];
   } down;
+  uint8_t timeout_cnt;
+  /* flags used to reset hardware */
+  uint8_t crc_error;
   uint8_t timeout;
-  uint8_t crc_error;
 };
 
 extern struct LisaOveroLink overo_link;
@@ -36,21 +38,44 @@
 
 #include "lisa_overo_link_arch.h"
 
+#if 0  /* that doesn't work yet */
 #define OveroLinkPeriodic(_timeout_handler) {                          \
-    if (overo_link.timeout < OVERO_LINK_TIMEOUT)                       \
-      overo_link.timeout++;                                            \
+    if (overo_link.timeout_cnt < OVERO_LINK_TIMEOUT)                   \
+      overo_link.timeout_cnt++;                                                
\
     else {                                                             \
       if (overo_link.status != LOST && overo_link.status != DATA_AVAILABLE ) { 
\
+       SPI_Cmd(SPI1, DISABLE);                                         \
        overo_link.status = LOST;                                       \
        LED_OFF(OVERO_LINK_LED_OK);                                     \
        LED_ON(OVERO_LINK_LED_KO);                                      \
+       overo_link.timeout = TRUE;                                      \
        _timeout_handler();                                             \
       }                                                                        
\
     }                                                                  \
   }
+#else   /* this one does */
+#define OveroLinkPeriodic(_timeout_handler) {                          \
+    if (overo_link.timeout_cnt < OVERO_LINK_TIMEOUT)                   \
+      overo_link.timeout_cnt++;                                                
\
+    else {                                                             \
+      __disable_irq();                                                 \
+      if (overo_link.status != LOST && overo_link.status != DATA_AVAILABLE ) { 
\
+       overo_link.status = LOST;                                       \
+       __enable_irq();                                                 \
+       LED_OFF(OVERO_LINK_LED_OK);                                     \
+       LED_ON(OVERO_LINK_LED_KO);                                      \
+       _timeout_handler();                                             \
+      }                                                                        
\
+      __enable_irq();                                                  \
+    }                                                                  \
+  }
+#endif
 
 
 
+
+
+
 /*
  *
  * Passing telemetry through Overo Link