void BPL_FreeMessageBufferFromIsr(unsigned char* pBuffer)
{
// make sure the returned pointer is in range
if ( pBuffer < LOW_BUFFER_ADDRESS
|| pBuffer > HIGH_BUFFER_ADDRESS )
{
PrintString("Free Buffer Corruption\r\n");
SetBufferPoolFailureBit();
}
signed portBASE_TYPE HigherPriorityTaskWoken;
// params are: queue handle, ptr to item to queue, tick to wait if full
// the queue can't be full unless there is a bug, so don't wait on full
if( pdTRUE != xQueueSendFromISR(QueueHandles[FREE_QINDEX],
&pBuffer,
&HigherPriorityTaskWoken) )
{
PrintString("Unable to add buffer to Free Queue\r\n");
SetBufferPoolFailureBit();
}
#if 0
/* this should never be true when freeing a message buffer */
if ( HigherPriorityTaskWoken == pdTRUE )
{
portYIELD();
}
#endif
}
void USART1_IRQHandler(void) {
static uint8_t buffer[64];
static int index = 0;
uint8_t dat;
if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) {
dat = USART_ReceiveData(USART1);
USART_ClearITPendingBit(USART2, USART_IT_RXNE);
if (dat == '\r' || dat == '\n') {
uint8_t *msg;
portBASE_TYPE xHigherPriorityTaskWoken;
buffer[index++] = 0;
msg = __uartDebugCreateMessage(buffer, index);
if (pdTRUE == xQueueSendFromISR(__uartDebugQueue, &msg, &xHigherPriorityTaskWoken)) {
if (xHigherPriorityTaskWoken) {
portYIELD();
}
}
index = 0;
} else {
buffer[index++] = dat;
}
}
}
/* send a message to a specific queue from an isr
* routing requires 25 us
* putting a message into a queue (in interrupt context) requires 28 us
* this requires 1/2 the time of using route
*/
void SendMessageToQueueFromIsr(unsigned char Qindex, tMessage* pMsg)
{
signed portBASE_TYPE HigherPriorityTaskWoken;
if ( Qindex == FREE_QINDEX )
{
SendToFreeQueueIsr(pMsg);
}
else if ( errQUEUE_FULL == xQueueSendFromISR(QueueHandles[Qindex],
pMsg,
&HigherPriorityTaskWoken))
{
PrintQueueNameIsFull(Qindex);
SendToFreeQueueIsr(pMsg);
}
#if 0
/* This is not used
*
* we don't want to task switch when in sleep mode
* The ISR will exit sleep mode and then the RTOS will run
*
*/
if ( HigherPriorityTaskWoken == pdTRUE )
{
portYIELD();
}
#endif
}
void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void )
{
/* Clear the timer interrupt. */
IFS0bits.T1IF = 0;
if( xTaskIncrementTick() != pdFALSE ) {
portYIELD();
}
}
/**
* This function will be called when new message arrives from UART1 (when UART line idle interrupt happens)
*/
void UART1_MsgAvailable_Callback(void) {
static signed portBASE_TYPE xHigherPriorityTaskWoken;
xSemaphoreGiveFromISR( xUART1ReadSemaphore, &xHigherPriorityTaskWoken );
if( xHigherPriorityTaskWoken == pdTRUE) {
portYIELD();
}
}
void __attribute__((used)) EXTI13_Callback(void) {
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(sensorsDataReady, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken)
{
portYIELD();
}
}
static void interruptCallback()
{
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
//To unlock RadioTask
xSemaphoreGiveFromISR(dataRdy, &xHigherPriorityTaskWoken);
if(xHigherPriorityTaskWoken)
portYIELD();
}
void __attribute__((__interrupt__, auto_psv)) _T1Interrupt( void )
{
/* Clear the timer interrupt. */
IFS0bits.T1IF = 0;
vTaskIncrementTick();
#if configUSE_PREEMPTION == 1
portYIELD();
#endif
}
/*
* Button INT0 interrupt handler
*/
void EINT3_IRQHandler(void){
static signed portBASE_TYPE xHigherPriorityTaskWoken;
LPC_GPIOINT->IO2IntClr |= (1<<10); //kasuje flagę prerwania
xSemaphoreGiveFromISR(xButton_pushed_Semaphore, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken == pdTRUE){
portYIELD();
}
}
void sensorsBmi088Bmp388DataAvailableCallback(void)
{
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
imuIntTimestamp = usecTimestamp();
xSemaphoreGiveFromISR(sensorsDataReady, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken)
{
portYIELD();
}
}
static uint16_t sync_irq(void) {
sync_word_time = TBR;
if (state == RX) {
portBASE_TYPE yield;
if (xSemaphoreGiveFromISR(rx_sem, &yield) == pdTRUE) {
#if configUSE_PREEMPTION
if (yield) {
portYIELD();
}
#endif
}
return 1;
}
return 0;
}
__interrupt void vCOM0_ISR( void )
{
volatile unsigned char ucByte, ucStatus;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
/* What caused the interrupt? */
ucStatus = SCI0SR1;
if( ucStatus & serOVERRUN_INTERRUPT )
{
/* The interrupt was caused by an overrun. Clear the error by reading
the data register. */
ucByte = SCI0DRL;
}
if( ucStatus & serRX_INTERRUPT )
{
/* The interrupt was caused by a character being received.
Read the received byte. */
ucByte = SCI0DRL;
/* Post the character onto the queue of received characters - noting
whether or not this wakes a task. */
xQueueSendFromISR( xRxedChars, ( void * ) &ucByte, &xHigherPriorityTaskWoken );
}
if( ( ucStatus & serTX_INTERRUPT ) && ( SCI0CR2_SCTIE ) )
{
/* The interrupt was caused by a character being transmitted. */
if( xQueueReceiveFromISR( xCharsForTx, ( void * ) &ucByte, &xHigherPriorityTaskWoken ) == pdTRUE )
{
/* Clear the SCRF bit. */
SCI0DRL = ucByte;
}
else
{
/* Disable transmit interrupt */
SCI0CR2_SCTIE = 0;
}
}
if( xHigherPriorityTaskWoken )
{
portYIELD();
}
}
/// Callback when EP2_IN is active
bool EP2_IN_callback() override
{
configASSERT(txPending);
int woken = 0;
if (TxHelper()) {
txBuf->signal_condition_from_isr();
}
if (woken)
{
#ifdef TARGET_LPC1768
portYIELD();
#elif defined(TARGET_LPC2368)
/** @todo(balazs.racz): need to find a way to yield on ARM7. The builtin
* portYIELD_FROM_ISR assumes that we have entered the ISR with context
* saving, which we didn't. */
#else
#error define how to yield on your CPU.
#endif
}
return true;
}
IRAM void uart0_rx_handler(void)
{
// TODO: Handle UART1, see reg 0x3ff20020, bit2, bit0 represents uart1 and uart0 respectively
if (!UART(UART0).INT_STATUS & UART_INT_STATUS_RXFIFO_FULL) {
return;
}
// printf(" [%08x (%d)]\n", READ_PERI_REG(UART_INT_ST(UART0)), READ_PERI_REG(UART_STATUS(UART0)) & (UART_RXFIFO_CNT << UART_RXFIFO_CNT_S));
if (UART(UART0).INT_STATUS & UART_INT_STATUS_RXFIFO_FULL) {
UART(UART0).INT_CLEAR = UART_INT_CLEAR_RXFIFO_FULL;
if (UART(UART0).STATUS & (UART_STATUS_RXFIFO_COUNT_M << UART_STATUS_RXFIFO_COUNT_S)) {
long int xHigherPriorityTaskWoken;
_xt_isr_mask(1 << INUM_UART);
_xt_clear_ints(1<<INUM_UART);
xSemaphoreGiveFromISR(uart0_sem, &xHigherPriorityTaskWoken);
if(xHigherPriorityTaskWoken) {
portYIELD();
}
}
} else {
printf("Error: unexpected uart irq, INT_STATUS 0x%02x\n", UART(UART0).INT_STATUS);
}
}
/* This is too slow to use */
unsigned char* BPL_AllocMessageBufferFromISR(void)
{
unsigned char * pBuffer = NULL;
signed portBASE_TYPE HigherPriorityTaskWoken;
// params are: queue handle, ptr to the msg buffer, ticks to wait
if( pdTRUE != xQueueReceiveFromISR(QueueHandles[FREE_QINDEX],
&pBuffer,
&HigherPriorityTaskWoken ))
{
PrintString2("@ Alloc Buf frm Isr", CR);
SetBufferPoolFailureBit();
}
if ( HigherPriorityTaskWoken == pdTRUE )
{
portYIELD();
}
return pBuffer;
}
/**
* XBH server thread
*/
static void xbh_srv_task(void *arg){/*{{{*/
struct sockaddr_in listen_addr;
struct sockaddr_in clnt_addr;
int srv_sock = -1, clnt_sock = -1;
socklen_t clnt_addr_sz;
int retval;
xbhsrv_state state = XBHSRV_ACCEPT;
//Setup socket and listen/*{{{*/
memset(&listen_addr, 0, sizeof(listen_addr));
listen_addr.sin_family = AF_INET;
listen_addr.sin_port = htons(TCP_XBH_PORT);
listen_addr.sin_addr.s_addr = htonl(INADDR_ANY);
srv_sock = socket(PF_INET,SOCK_STREAM,0);
LOOP_ERRMSG(srv_sock < 0, "Could not create socket\n");
retval = bind(srv_sock, (struct sockaddr *)&listen_addr, (socklen_t)sizeof(listen_addr));
LOOP_ERRMSG(retval != 0, "Could not bind socket to address\n");
retval = listen(srv_sock, 0);
LOOP_ERRMSG(retval != 0, "Could not listen on socket\n");
/*}}}*/
while(true){
//If socket closed, go back to accepting another connection
if(send(clnt_sock, NULL, 0, 0) < 0){
state = XBHSRV_ACCEPT;
}
switch(state){
case XBHSRV_ACCEPT:
clnt_addr_sz = sizeof(clnt_addr);
clnt_sock = accept(srv_sock, (struct sockaddr *)&clnt_addr, &clnt_addr_sz);
LOOP_ERRMSG(clnt_sock < 0, "Failed to accept connection\n");
uart_printf("New connection from %hd.%hd.%hd.%hd, port = %d\n",
((uint8_t *)&clnt_addr.sin_addr.s_addr)[0],
((uint8_t *)&clnt_addr.sin_addr.s_addr)[1],
((uint8_t *)&clnt_addr.sin_addr.s_addr)[2],
((uint8_t *)&clnt_addr.sin_addr.s_addr)[3],
clnt_addr.sin_port);
state = XBHSRV_CMD;
break;
case XBHSRV_CMD:
{
ssize_t len = recv_cmd(clnt_sock, xbh_cmd, XBH_PACKET_SIZE_MAX);
if (len < 0){
goto cmd_err;
}
#if 0
// Reset if reset cmd received
if(!memcmp(xbh_cmd, XBH_CMD[XBH_CMD_rsr], len)){
xbh_reset();
}
#endif
struct xbh_srv_to_hndlr_msg tx_msg;
tx_msg.cmd_buf = xbh_cmd;
tx_msg.len = len;
xQueueSend(xbh_srv_to_hndlr_q_handle, &tx_msg, portMAX_DELAY);
portYIELD();
state = XBHSRV_WAIT;
break;
cmd_err:
close(clnt_sock);
state = XBHSRV_ACCEPT;
break;
}
case XBHSRV_WAIT:
{
static TickType_t last_sent = 0;
// Check for xbh handle completion and issue reply to PC
struct xbh_hndlr_to_srv_msg rx_msg;
if(xQueueReceive(xbh_hndlr_to_srv_q_handle, &rx_msg, 1) == pdTRUE){
if(rx_msg.type == XBH_HNDLR_DONE){
size_t len = rx_msg.len;
// Prepend length to buffer
len2hex(len, reply_buf);
len += CMDLEN_SZ;
sendall(clnt_sock, reply_buf, len, 0);
state = XBHSRV_CMD;
}
last_sent = xTaskGetTickCount();
//If last keepalive greater than 1k ticks ago, send
//keepalive
}else if (xTaskGetTickCount() - last_sent > 1000){
memcpy(wait_buf+CMDLEN_SZ, XBH_CMD[XBH_CMD_kao], XBH_COMMAND_LEN);
len2hex(XBH_COMMAND_LEN, wait_buf);
int retval = sendall(clnt_sock, wait_buf, XBH_COMMAND_LEN+CMDLEN_SZ, 0);
if (retval < 0) xbh_reset();
last_sent = xTaskGetTickCount();
}
// Unneeded, just reset if connection terminated. Ugly, but should work
// If enabling, add GEN(rsr) to XBH_CMD
#if 0
//Check for RST from pc
struct timeval tv;
fd_set read_fds;
int nready = 0;
memset(&tv, 0, sizeof(tv));
FD_SET(clnt_sock, &read_fds);
nready = select(clnt_sock+1, &read_fds, NULL, NULL, &tv);
if(nready < 0){
goto wait_err;
}
if(nready == 1){
ssize_t len = recv_cmd(clnt_sock, wait_buf, XBH_WAITBUF_MAX);
if(len < 0){
goto wait_err;
}else if(!memcmp(wait_buf, XBH_CMD[XBH_CMD_rsr], len)){
xbh_reset();
}
}
break;
wait_err:
close(clnt_sock);
state = XBHSRV_ACCEPT;
break;
#endif
}
}
#if DEBUG_STACK
DEBUG_OUT("Stack Usage: %s: %d\n", __PRETTY_FUNCTION__, uxTaskGetStackHighWaterMark(NULL));
#endif
}
}/*}}}*/
