/**************************************************************************************************
* @fn HalGpioResetSet
*
*
* @brief Set Reset.
*
* @param
*
* @return STATUS
**************************************************************************************************/
int HalGpioResetSet(uint8 state)
{
char tmpStr[128];
if(state == 0)
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Reset set low. [Thread %u]\n", __FUNCTION__, (unsigned int) pthread_self());
time_printf(tmpStr);
}
if (ERROR == write(gpioResetFd, "0", 1))
{
perror(resetGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s, is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, resetGpioCfg.gpio.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_GPIO_VAL_WRITE_SET_LOW;
return NPI_LNX_FAILURE;
}
}
else
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Reset set high. [Thread %u]\n", __FUNCTION__, (unsigned int) pthread_self());
time_printf(tmpStr);
}
if(ERROR == write(gpioResetFd, "1", 1))
{
perror(resetGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s, is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, resetGpioCfg.gpio.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_GPIO_VAL_WRITE_SET_HIGH;
return NPI_LNX_FAILURE;
}
}
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Reset called with state = %d\n", __FUNCTION__, state);
time_printf(tmpStr);
}
return NPI_LNX_SUCCESS;
}
/**************************************************************************************************
* @fn HalI2cInit
*
* @brief Initialize I2C Service
*
* @param None
*
* @return STATUS
**************************************************************************************************/
int HalI2cInit(const char *devpath)
{
char tmpStr[128];
// If the device is open, attempt to close it first.
if (i2cDevFd >= 0)
{
/* The device is open, attempt to close it first */
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Closing %s...\n", __FUNCTION__, devpath);
time_printf(tmpStr);
}
close(i2cDevFd);
}
/* open the device */
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Opening %s...\n", __FUNCTION__, devpath);
time_printf(tmpStr);
}
i2cDevFd = open(devpath, O_RDWR | O_NONBLOCK);
if(i2cDevFd<0)
{
fprintf(stderr, "Error: Could not open file "
"%s: %s, already used?\n", devpath, strerror(errno));
npi_ipc_errno = NPI_LNX_ERROR_HAL_I2C_INIT_FAILED_TO_OPEN_DEVICE;
return NPI_LNX_FAILURE;
}
if(ioctl(i2cDevFd, I2C_SLAVE, RNP_I2C_ADDRESS) < 0)
{
fprintf(stderr,
"Error: Could not set address to 0x%02x: %s\n",
RNP_I2C_ADDRESS, strerror(errno));
close(i2cDevFd);
npi_ipc_errno = NPI_LNX_ERROR_HAL_I2C_INIT_FAILED_TO_SET_ADDRESS;
return NPI_LNX_FAILURE;
}
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Open I2C Driver: %s for Address 0x%.2x ...\n", __FUNCTION__, devpath, RNP_I2C_ADDRESS);
time_printf(tmpStr);
}
return NPI_LNX_SUCCESS;
}
/**************************************************************************************************
* @fn NPI_I2C_ResetSlave
*
* @brief do the HW synchronization between the host and the RNP
*
* input parameters
*
* @param none
*
* output parameters
*
* None.
*
* @return STATUS
**************************************************************************************************
*/
int NPI_I2C_ResetSlave(void)
{
int ret = NPI_LNX_SUCCESS;
char tmpStr[128];
snprintf(tmpStr, sizeof(tmpStr), "[%s] -------------------- START RESET SLAVE -------------------\n", __FUNCTION__);
time_printf(tmpStr);
ret = HalGpioReset();
snprintf(tmpStr, sizeof(tmpStr), "[%s] Wait 1.2s for RNP to initialize after a Reset... This may change in the future, check for RTI_ResetInd()...\n", __FUNCTION__);
time_printf(tmpStr);
usleep(1200000); //wait 1.2s for RNP to initialize
snprintf(tmpStr, sizeof(tmpStr), "[%s] ---------------------- END RESET SLAVE -------------------\n", __FUNCTION__);
time_printf(tmpStr);
return ret;
}
/**************************************************************************************************
* @fn HalGpioMrdySet
*
*
* @brief Set MRDY.
*
* @param
*
* @return STATUS
**************************************************************************************************/
int HalGpioMrdySet(uint8 state)
{
char tmpStr[128];
if(state == 0)
{
// debug_printf("[%u][GPIO] MRDY set to low\n", (unsigned int) pthread_self());
if (ERROR == write(gpioMrdyFd, "0", 1))
{
perror(mrdyGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s, is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, mrdyGpioCfg.gpio.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_MRDY_GPIO_VAL_WRITE_SET_LOW;
return NPI_LNX_FAILURE;
}
}
else
{
// debug_printf("[%u][GPIO] MRDY set to High\n", (unsigned int) pthread_self());
if(ERROR == write(gpioMrdyFd, "1", 1))
{
perror(mrdyGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s, is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, mrdyGpioCfg.gpio.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_MRDY_GPIO_VAL_WRITE_SET_HIGH;
return NPI_LNX_FAILURE;
}
}
return NPI_LNX_SUCCESS;
}
/**************************************************************************************************
* @fn HalGpioReset
*
*
* @brief Set MRDY.
*
* @param None
*
* @return STATUS
**************************************************************************************************/
int HalGpioReset(void)
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
time_printf("[%s] Reset High\n", __FUNCTION__);
}
if(ERROR == write(gpioResetFd, "1", 1))
{
perror(resetGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
time_printf("[%s] can't write in %s , is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, resetGpioCfg.gpio.value);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_GPIO_VAL_WRITE_SET_HIGH;
return NPI_LNX_FAILURE;
}
if (__BIG_DEBUG_ACTIVE == TRUE)
{
time_printf("[%s] Reset Low, [Thread: %u]\n", __FUNCTION__, (unsigned int) pthread_self());
}
if(ERROR == write(gpioResetFd, "0", 1))
{
perror(resetGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
time_printf("[%s] can't write in %s , is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, resetGpioCfg.gpio.value);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_GPIO_VAL_WRITE_SET_LOW;
return NPI_LNX_FAILURE;
}
//Add A Delay here:
// Reset Should last at least 1us from datasheet, set it to 500us.
usleep(500);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
time_printf("[%s] Reset High, [Thread: %u]\n", __FUNCTION__, (unsigned int) pthread_self());
}
if(ERROR == write(gpioResetFd, "1", 1))
{
perror(resetGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
time_printf("[%s] can't write in %s , is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, resetGpioCfg.gpio.value);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_GPIO_VAL_WRITE_SET_HIGH;
return NPI_LNX_FAILURE;
}
return NPI_LNX_SUCCESS;
}
/**************************************************************************************************
* @fn HalI2cClose
*
* @brief Close I2C Service
*
* @param None
*
* @return STATUS
**************************************************************************************************/
int HalI2cClose(void)
{
char tmpStr[128];
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Closing I2C file descriptor\n", __FUNCTION__);
time_printf(tmpStr);
}
if (-1 ==close(i2cDevFd))
{
fprintf(stderr, "Error: Could not Close I2C device file, reason: %s,\n", strerror(errno));
npi_ipc_errno = NPI_LNX_ERROR_HAL_I2C_CLOSE_GENERIC;
return NPI_LNX_FAILURE;
}
else
return NPI_LNX_SUCCESS;
}
/**************************************************************************************************
* @fn HalGpioSrdyCheck
*
*
* @brief Check SRDY Clear.
*
* @param state - Active or Inactive
*
* @return STATUS if error, otherwise boolean TRUE/FALSE if state is matching
**************************************************************************************************/
int HalGpioSrdyCheck(uint8 state)
{
char srdy=2;
lseek(gpioSrdyFd,0,SEEK_SET);
if(ERROR == read(gpioSrdyFd,&srdy, 1))
{
perror(srdyGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
time_printf("[%s] can't write in %s , is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, srdyGpioCfg.gpio.value);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_SRDY_GPIO_VAL_READ_FAILED;
return NPI_LNX_FAILURE;
}
// LOG_DEBUG("[%u][GPIO]===>check SRDY: %c [%d] (%c) \n", (unsigned int) pthread_self(), srdy, srdy, atoi(&srdy));
return (state == ((srdy == '1') ? 1 : 0));
}
/**************************************************************************************************
* @fn HalGpioMrdyCheck
*
*
* @brief Check MRDY Clear.
*
* @param state - Active or Inactive
*
* @return None
**************************************************************************************************/
int HalGpioMrdyCheck(uint8 state)
{
char mrdy=2, tmpStr[128];
lseek(gpioMrdyFd,0,SEEK_SET);
if(ERROR == read(gpioMrdyFd,&mrdy, 1))
{
perror(mrdyGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s, is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, mrdyGpioCfg.gpio.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_MRDY_GPIO_VAL_READ;
return NPI_LNX_FAILURE;
}
// debug_printf("[%u][GPIO]===>check MRDY: %c (%c) \n", (unsigned int) pthread_self(), mrdy, mrdy);
return (state == ((mrdy == '1') ? 1 : 0));
}
void print_header(int argc,
char *const *argv)
{
char hostname[3000];
gethostname(hostname, 1024);
time_t now;
time(&now);
struct tm *ttm = localtime(&now);
time_printf("benchmark-lifting.run (git-%s)\n", GIT_SHA1);
time_printf("%s %04d-%02d-%02d %02d:%02d\n", hostname, ttm->tm_year + 1900,
ttm->tm_mon + 1, ttm->tm_mday, ttm->tm_hour, ttm->tm_min);
time_printf("Compile-time parameters:\n");
time_printf(" EPSILON: %e\n", EPSILON);
char cmdline[5000] = {0};
for (int i = 0; i < argc; i++)
sprintf(cmdline + strlen(cmdline), "%s ", argv[i]);
time_printf("Command line arguments:\n");
time_printf(" %s\n", cmdline);
}
/**************************************************************************************************
* @fn HalGpioResetInit
*
*
* @brief Initialise RESET GPIO.
*
* @param gpioCfg - Reset pin configuration parameters
*
* @return STATUS
**************************************************************************************************/
int HalGpioResetInit(halGpioCfg_t *gpioCfg)
{
char tmpStr[512];
memcpy(resetGpioCfg.gpio.value,
gpioCfg->gpio.value,
strlen(gpioCfg->gpio.value));
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] resetGpioCfg.gpio.value = '%s'\n", __FUNCTION__, resetGpioCfg.gpio.value);
time_printf(tmpStr);
}
memcpy(resetGpioCfg.gpio.direction,
gpioCfg->gpio.direction,
strlen(gpioCfg->gpio.direction));
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] resetGpioCfg.gpio.direction = '%s'\n", __FUNCTION__, resetGpioCfg.gpio.direction);
time_printf(tmpStr);
}
resetGpioCfg.gpio.active_high_low = gpioCfg->gpio.active_high_low;
if ( ( gpioCfg->levelshifter.value) &&
( gpioCfg->levelshifter.active_high_low) &&
( gpioCfg->levelshifter.direction))
{
memcpy(resetGpioCfg.levelshifter.value,
gpioCfg->levelshifter.value,
strlen(gpioCfg->levelshifter.value));
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] resetGpioCfg.levelshifter.value = '%s'\n", __FUNCTION__, resetGpioCfg.levelshifter.value);
time_printf(tmpStr);
}
memcpy(resetGpioCfg.levelshifter.direction,
gpioCfg->levelshifter.direction,
strlen(gpioCfg->levelshifter.direction));
resetGpioCfg.levelshifter.active_high_low = gpioCfg->levelshifter.active_high_low;
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] resetGpioCfg.levelshifter.direction = '%s'\n", __FUNCTION__, resetGpioCfg.levelshifter.direction);
time_printf(tmpStr);
}
//open the GPIO DIR file for the level shifter direction signal
gpioResetFd = open(resetGpioCfg.levelshifter.direction, O_RDWR);
if(gpioResetFd == 0)
{
perror(resetGpioCfg.levelshifter.direction);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] %s open failed\n", __FUNCTION__, resetGpioCfg.levelshifter.direction);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_LVLSHFT_DIR_OPEN;
return NPI_LNX_FAILURE;
}
//Set the direction of the GPIO to output
if (ERROR == write(gpioResetFd, "out", 3))
{
perror(resetGpioCfg.levelshifter.direction);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s \n", __FUNCTION__, resetGpioCfg.levelshifter.direction);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_LVLSHFT_DIR_WRITE;
return NPI_LNX_FAILURE;
}
//close the DIR file
close(gpioResetFd);
//open the GPIO VALUE file for the level shifter direction signal
gpioResetFd = open(resetGpioCfg.levelshifter.value, O_RDWR);
if(gpioResetFd == 0)
{
perror(resetGpioCfg.levelshifter.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] %s open failed\n", __FUNCTION__, resetGpioCfg.levelshifter.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_LVLSHFT_VAL_OPEN;
return NPI_LNX_FAILURE;
}
//Set the value of the GPIO to 0 (level shifter direction from Host to CC2531)
if(ERROR == write(gpioResetFd, "1", 1))
{
perror(resetGpioCfg.levelshifter.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s\n", __FUNCTION__, resetGpioCfg.levelshifter.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_LVLSHFT_VAL_WRITE;
return NPI_LNX_FAILURE;
}
//close the DIR file
close(gpioResetFd);
}
else
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Wrong Configuration File, one of the following Key value are missing for MRDY.Level Shifter definition: '\n", __FUNCTION__);
int strIndex = strlen(tmpStr);
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "value: \t\t%s\n", resetGpioCfg.gpio.value);
strIndex = strlen(tmpStr);
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "direction: \t%s\n", resetGpioCfg.gpio.direction);
strIndex = strlen(tmpStr);
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "active_high_low: %d\n", resetGpioCfg.gpio.active_high_low);
strIndex = strlen(tmpStr);
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "Level Shifter is optional, please check if you need it or not before continuing...\n");
}
}
//open the RESET GPIO DIR file
gpioResetFd = open(resetGpioCfg.gpio.direction, O_RDWR);
if(gpioResetFd == 0)
{
perror(resetGpioCfg.gpio.direction);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] %s open failed\n", __FUNCTION__, resetGpioCfg.gpio.direction);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_GPIO_DIR_OPEN;
return NPI_LNX_FAILURE;
}
//Set RESET GPIO as output
if(ERROR == write(gpioResetFd, "out", 3))
{
perror(resetGpioCfg.gpio.direction);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s\n", __FUNCTION__, resetGpioCfg.gpio.direction);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_GPIO_DIR_WRITE;
return NPI_LNX_FAILURE;
}
//close RESET DIR file
close(gpioResetFd);
//open the RESET GPIO VALUE file so it can be written to using the file handle later
gpioResetFd = open(resetGpioCfg.gpio.value, O_RDWR);
if(gpioResetFd == 0)
{
perror(resetGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] %s open failed\n", __FUNCTION__, resetGpioCfg.gpio.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_GPIO_VAL_OPEN;
return NPI_LNX_FAILURE;
}
//Set RESET GPIO to 1 as default
if(ERROR == write(gpioResetFd, "1", 3))
{
perror(resetGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s\n", __FUNCTION__, resetGpioCfg.gpio.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_RESET_GPIO_VAL_WRITE;
return NPI_LNX_FAILURE;
}
return NPI_LNX_SUCCESS;
}
/**************************************************************************************************
* @fn HalGpioSrdyInit
*
*
* @brief Initialise SRDY GPIO.
*
* @param gpioCfg - SRDY pin configuration parameters
*
* @return STATUS
**************************************************************************************************/
int HalGpioSrdyInit(halGpioCfg_t *gpioCfg)
{
char tmpStr[512];
memcpy(srdyGpioCfg.gpio.value,
gpioCfg->gpio.value,
strlen(gpioCfg->gpio.value));
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] srdyGpioCfg.gpio.value = '%s'\n", __FUNCTION__, srdyGpioCfg.gpio.value);
time_printf(tmpStr);
}
memcpy(srdyGpioCfg.gpio.direction,
gpioCfg->gpio.direction,
strlen(gpioCfg->gpio.direction));
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] srdyGpioCfg.gpio.direction = '%s'\n", __FUNCTION__, srdyGpioCfg.gpio.direction);
time_printf(tmpStr);
}
srdyGpioCfg.gpio.active_high_low = gpioCfg->gpio.active_high_low;
memcpy(srdyGpioCfg.gpio.edge,
gpioCfg->gpio.edge,
strlen(gpioCfg->gpio.edge));
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] srdyGpioCfg.gpio.edge = '%s'\n", __FUNCTION__, srdyGpioCfg.gpio.edge);
time_printf(tmpStr);
}
if ( ( gpioCfg->levelshifter.value) &&
( gpioCfg->levelshifter.active_high_low) &&
( gpioCfg->levelshifter.direction))
{
memcpy(srdyGpioCfg.levelshifter.value,
gpioCfg->levelshifter.value,
strlen(gpioCfg->levelshifter.value));
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] srdyGpioCfg.levelshifter.value = '%s'\n", __FUNCTION__, srdyGpioCfg.levelshifter.value);
time_printf(tmpStr);
}
memcpy(srdyGpioCfg.levelshifter.direction,
gpioCfg->levelshifter.direction,
strlen(gpioCfg->levelshifter.direction));
srdyGpioCfg.levelshifter.active_high_low = gpioCfg->levelshifter.active_high_low;
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] srdyGpioCfg.levelshifter.direction = '%s'\n", __FUNCTION__, srdyGpioCfg.levelshifter.direction);
time_printf(tmpStr);
}
//open the GPIO DIR file for the level shifter direction signal
gpioSrdyFd = open(srdyGpioCfg.levelshifter.direction, O_RDWR);
if(gpioSrdyFd == 0)
{
perror(srdyGpioCfg.levelshifter.direction);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] %s open failed\n", __FUNCTION__, srdyGpioCfg.levelshifter.direction);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_SRDY_LVLSHFT_DIR_OPEN;
return NPI_LNX_FAILURE;
}
//Set the direction of the GPIO to output
if (ERROR == write(gpioSrdyFd, "out", 3))
{
perror(srdyGpioCfg.levelshifter.direction);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s \n", __FUNCTION__, srdyGpioCfg.levelshifter.direction);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_SRDY_LVLSHFT_DIR_WRITE;
return NPI_LNX_FAILURE;
}
//close the DIR file
close(gpioSrdyFd);
//open the GPIO VALUE file for the level shifter direction signal
gpioSrdyFd = open(srdyGpioCfg.levelshifter.value, O_RDWR);
if(gpioSrdyFd == 0)
{
perror(srdyGpioCfg.levelshifter.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] %s open failed\n", __FUNCTION__, srdyGpioCfg.levelshifter.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_SRDY_LVLSHFT_VAL_OPEN;
return NPI_LNX_FAILURE;
}
//Set the value of the GPIO to 0 (level shifter direction from CC2531 to Host)
if (ERROR == write(gpioSrdyFd, "0", 1))
{
perror(srdyGpioCfg.levelshifter.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s\n", __FUNCTION__, srdyGpioCfg.levelshifter.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_SRDY_LVLSHFT_VAL_WRITE;
return NPI_LNX_FAILURE;
}
//close the DIR file
close(gpioSrdyFd);
}
else
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Wrong Configuration File, one of the following Key value are missing for SRDY.Level Shifter definition: '\n", __FUNCTION__);
int strIndex = strlen(tmpStr);
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "value: \t\t%s\n", srdyGpioCfg.gpio.value);
strIndex = strlen(tmpStr);
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "direction: \t%s\n", srdyGpioCfg.gpio.direction);
strIndex = strlen(tmpStr);
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "active_high_low: %d\n", srdyGpioCfg.gpio.active_high_low);
strIndex = strlen(tmpStr);
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "Level Shifter is optional, please check if you need it or not before continuing...\n");
}
}
//TODO: Lock the shift register GPIO.
//open the SRDY GPIO DIR file
gpioSrdyFd = open(srdyGpioCfg.gpio.direction, O_RDWR);
if(gpioSrdyFd == 0)
{
perror(srdyGpioCfg.gpio.direction);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] %s open failed\n", __FUNCTION__, srdyGpioCfg.gpio.direction);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_SRDY_GPIO_DIR_OPEN;
return NPI_LNX_FAILURE;
}
//Set SRDY GPIO as input
if(ERROR == write(gpioSrdyFd, "in", 2))
{
perror(srdyGpioCfg.levelshifter.direction);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s\n", __FUNCTION__, srdyGpioCfg.gpio.direction);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_SRDY_GPIO_DIR_WRITE;
return NPI_LNX_FAILURE;
}
//close SRDY DIR file
close(gpioSrdyFd);
//open the SRDY GPIO Edge file
gpioSrdyFd = open(srdyGpioCfg.gpio.edge, O_RDWR);
if(gpioSrdyFd == 0)
{
perror(srdyGpioCfg.gpio.edge);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] %s open failed\n", __FUNCTION__, srdyGpioCfg.gpio.edge);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_SRDY_GPIO_EDGE_OPEN;
return NPI_LNX_FAILURE;
}
//Set SRDY GPIO edge detection for both rising and falling
if(ERROR == write(gpioSrdyFd, "both", 4))
{
perror(srdyGpioCfg.levelshifter.edge);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s\n", __FUNCTION__, srdyGpioCfg.gpio.edge);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_SRDY_GPIO_EDGE_WRITE;
return NPI_LNX_FAILURE;
}
//close SRDY edge file
close(gpioSrdyFd);
//open the SRDY GPIO VALUE file so it can be written to using the file handle later
gpioSrdyFd = open(srdyGpioCfg.gpio.value, O_RDWR| O_NONBLOCK);
if(gpioSrdyFd == 0)
{
perror(srdyGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] %s open failed\n", __FUNCTION__, srdyGpioCfg.gpio.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_SRDY_GPIO_VAL_OPEN;
return NPI_LNX_FAILURE;
}
return(gpioSrdyFd);
}
/**************************************************************************************************
* @fn HalGpioWaitSrdySet
*
* @brief Check that SRDY is High, if not, wait until it gets high, or times out.
* 0xFFFF means never time out.
*
* input parameters
*
* None
*
* output parameters
*
* None.
*
* @return STATUS
**************************************************************************************************
*/
int HalGpioWaitSrdySet()
{
char srdy= '0', first = 0, tmpStr[128];
int ret = NPI_LNX_SUCCESS, accTimeout = 0;
// debug_printf("[%u][GPIO]Wait SRDY High, \n", (unsigned int) pthread_self());
struct pollfd ufds[1];
int pollRet;
ufds[0].fd = gpioSrdyFd;
ufds[0].events = POLLPRI;
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Wait for SRDY to go High. [Thread: %u]\n", __FUNCTION__, (unsigned int) pthread_self());
time_printf(tmpStr);
}
lseek(gpioSrdyFd,0,SEEK_SET);
read(gpioSrdyFd,&srdy, 1);
while( (srdy == '0') )
{
// There is still a chance we can miss an interrupt. So we need to split the
// big HAL_WAIT_SRDY_HIGH_TIMEOUT timeout into smaller timeouts
if (first == 0)
{
pollRet = poll((struct pollfd*)&ufds, 1, HAL_WAIT_SRDY_HIGH_FIRST_TIMEOUT);
}
else
{
pollRet = poll((struct pollfd*)&ufds, 1, HAL_WAIT_SRDY_HIGH_INTERMEDIATE_TIMEOUT);
}
if (pollRet == -1)
{
// Error occured in poll()
perror("poll");
}
else if (pollRet == 0)
{
if (first == 0)
{
accTimeout += HAL_WAIT_SRDY_HIGH_FIRST_TIMEOUT;
first++;
}
else
{
accTimeout += HAL_WAIT_SRDY_HIGH_INTERMEDIATE_TIMEOUT;
}
// Timeout
lseek(gpioSrdyFd,0,SEEK_SET);
read(gpioSrdyFd,&srdy, 1);
if(srdy == '0')
{
if (accTimeout >= HAL_WAIT_SRDY_HIGH_TIMEOUT)
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Waiting for SRDY to go high timed out. [Thread: %u]\n", __FUNCTION__, (unsigned int) pthread_self());
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_WAIT_SRDY_SET_POLL_TIMEDOUT;
ret = NPI_LNX_FAILURE;
break;
}
else
{
// This timeout is expected, and ok. Nothing to report, only for debug.
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Waiting for SRDY to go high intermediate timed out, %d. [Thread: %u]\n",
__FUNCTION__, accTimeout, (unsigned int) pthread_self());
time_printf(tmpStr);
}
}
}
else
{
// Missed interrupt waiting for SRDY to go high
// This timeout is expected, and ok. Nothing to report, only for debug.
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Waiting for SRDY to go high intermediate timed out, %d, but SRDY is now high. [Thread: %u]\n",
__FUNCTION__, accTimeout, (unsigned int) pthread_self());
time_printf(tmpStr);
}
break;
}
}
else
{
if (ufds[0].revents & POLLPRI)
{
lseek(gpioSrdyFd,0,SEEK_SET);
if(ERROR == read(gpioSrdyFd,&srdy, 1))
{
perror(srdyGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s , is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, srdyGpioCfg.gpio.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_WAIT_SRDY_SET_READ_FAILED;
return NPI_LNX_FAILURE;
}
}
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] ufds[0].revents = 0x%X\n", __FUNCTION__, ufds[0].revents);
time_printf(tmpStr);
}
}
}
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] SRDY: %c (%d). [Thread: %u]\n", __FUNCTION__, srdy, (int)srdy, (unsigned int) pthread_self());
time_printf(tmpStr);
}
return ret;
}
int GREEDY_BSEARCH_compute_bounds(int nrows,
int nrays,
const double *f,
const double *rays,
double *bounds)
{
int rval = 0;
struct LP lp;
double e_upper = 2 * GREEDY_BIG_E;
double e_lower = 0.0;
int cplex_count = 0;
double cplex_time = 0;
int iteration_count = 0;
double *x = 0;
x = (double *) malloc((nrays + nrows) * sizeof(double));
abort_if(!x, "could not allocate x");
for (int i = 0; i < nrays; i++)
bounds[i] = GREEDY_BIG_E;
for (int it = 0;; it++)
{
abort_if(it > 2*nrays, "stuck in an infinite loop");
log_verbose("Starting iteration %d...\n", it);
iteration_count++;
int solution_found = 0;
int inner_count = 0;
while (fabs(e_upper - e_lower) > GREEDY_MAX_GAP)
{
inner_count++;
double e = (e_upper + e_lower) / 2;
log_verbose(" e=%.12lf\n", e);
rval = LP_open(&lp);
abort_if(rval, "LP_open failed");
rval = create_greedy_lp(nrows, nrays, f, rays, bounds, e, &lp);
abort_if(rval, "create_greedy_lp failed");
if_verbose_level
{
rval = LP_write(&lp, "greedy.lp");
abort_if(rval, "LP_write failed");
}
int infeasible;
cplex_count++;
double initial_time = get_user_time();
log_verbose(" Optimizing...\n");
rval = LP_optimize(&lp, &infeasible);
if (rval)
{
// Workaround for CPLEX bug. If CPLEX tell us that this problem
// is unbounded, we disable presolve and try again.
LP_free(&lp);
LP_open(&lp);
rval = create_greedy_lp(nrows, nrays, f, rays, bounds, e, &lp);
abort_if(rval, "create_greedy_lp failed");
LP_disable_presolve(&lp);
rval = LP_optimize(&lp, &infeasible);
abort_if(rval, "LP_optimize failed");
}
cplex_time += get_user_time() - initial_time;
if (infeasible)
{
e_lower = e;
log_verbose(" infeasible\n");
if (e > GREEDY_BIG_E-1)
{
LP_free(&lp);
goto OUT;
}
}
else
{
log_verbose(" feasible\n");
e_upper = e;
solution_found = 1;
rval = LP_get_x(&lp, x);
abort_if(rval, "LP_get_x failed");
}
LP_free(&lp);
}
if (solution_found)
{
for (int j = 0; j < nrays; j++)
{
if (!DOUBLE_geq(x[nrows + j], 0.001)) continue;
bounds[j] = fmin(bounds[j] * 0.99, e_lower * 0.99);
}
}
log_verbose(" %d iterations %12.8lf gap\n", inner_count, e_upper -
e_lower);
e_lower = e_upper;
e_upper = 2 * GREEDY_BIG_E;
}
OUT:
log_debug(" %6d IPs (%.2lfms per call, %.2lfs total)\n", cplex_count,
cplex_time * 1000.0 / cplex_count, cplex_time);
for(int i = 0; i < nrays; i++)
abort_if(DOUBLE_iszero(bounds[i]), "bounds should be positive");
if_verbose_level
{
time_printf("Bounds:\n");
for (int k = 0; k < nrays; k++)
time_printf(" %12.8lf %12.8lf\n", k, bounds[k], 1 / bounds[k]);
}
CLEANUP:
if (x) free(x);
return rval;
}
/**************************************************************************************************
* @fn npi_event_entry
*
* @brief Poll Thread entry function
*
* input parameters
*
* @param ptr
*
* output parameters
*
* None.
*
* @return None.
**************************************************************************************************
*/
static void *npi_event_entry(void *ptr)
{
#define I2C_ISR_POLL_TIMEOUT_MS_MIN 3
#define I2C_ISR_POLL_TIMEOUT_MS_MAX 100
int result = -1;
int missedInterrupt = 0;
int consecutiveTimeout = 0;
int whileIt = 0;
int ret = NPI_LNX_SUCCESS;
int timeout = I2C_ISR_POLL_TIMEOUT_MS_MAX;
/* Timeout in msec. Drop down to I2C_ISR_POLL_TIMEOUT_MS_MIN if two consecutive interrupts are missed */
struct pollfd pollfds[1];
int val;
char tmpStr[1024];
snprintf(tmpStr, sizeof(tmpStr), "[%s] Interrupt Event Thread Started \n", __FUNCTION__);
time_printf(tmpStr);
((void)ptr);
/* thread loop */
while (!npi_poll_terminate)
{
whileIt++;
memset((void*) pollfds, 0, sizeof(pollfds));
pollfds[0].fd = GpioSrdyFd; /* Wait for input */
pollfds[0].events = POLLPRI; /* Wait for input */
result = poll(pollfds, 1, timeout);
// Make sure we're not in Asynch data or Synch data, so check if npiSrdyLock is available
if (pthread_mutex_trylock(&npiSrdyLock) != 0)
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
// We are in Asynch or Synch, so return to poll
if (HAL_RNP_SRDY_SET() == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] SRDY found to be de-asserted while we are transmitting\n", __FUNCTION__);
time_printf(tmpStr);
}
else
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] SRDY found to be asserted while we are transmitting\n", __FUNCTION__);
time_printf(tmpStr);
}
}
continue;
}
else
{
if ( __BIG_DEBUG_ACTIVE == TRUE && (consecutiveTimeout % 5000 == 0) )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Event thread has SRDY mutex lock, result = %d\n", __FUNCTION__, result);
time_printf(tmpStr);
}
// We got lock, move on
switch (result)
{
case 0:
{
//Should not happen by default no Timeout.
int bigDebugWas = __BIG_DEBUG_ACTIVE;
if (bigDebugWas == TRUE)
{
__BIG_DEBUG_ACTIVE = FALSE;
}
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] poll() timeout (timeout set to %d), poll() returned %d\n", __FUNCTION__, timeout, result);
time_printf(tmpStr);
}
result = 2; //Force wrong result to avoid deadlock caused by timeout
//#ifdef __BIG_DEBUG__
if ( NPI_LNX_FAILURE == (val = HalGpioSrdyCheck(1)))
{
ret = val;
npi_poll_terminate = 1;
error_printf("%s:%d: ERROR! Terminating poll because HalGpioSrdyCheck() returned error %d.\n", __FUNCTION__, __LINE__, ret);
}
else
{
// Accept this case as a missed interrupt. We may stall if not attempting to handle asserted SRDY
if (!val)
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Missed interrupt: %d (it #%d)\n", __FUNCTION__, missedInterrupt, whileIt);
time_printf(tmpStr);
}
missedInterrupt++;
consecutiveTimeout = 0;
}
else
{
// Timed out. If we're in rapid poll mode, i.e. timeout == I2C_ISR_POLL_TIMEOUT_MS_MIN
// then we should only allow 100 consecutive such timeouts before resuming normal
// timeout
consecutiveTimeout++;
if ( (timeout < I2C_ISR_POLL_TIMEOUT_MS_MAX) &&
(consecutiveTimeout > 100) )
{
// Timed out 100 times, for 300ms, without a single
// SRDY assertion. Set back to 100ms timeout.
consecutiveTimeout = 0;
// Set timeout back to 100ms
timeout = I2C_ISR_POLL_TIMEOUT_MS_MAX;
}
missedInterrupt = 0;
}
result = global_srdy = val; // Update global SRDY tracker here as well, as no errors has occurred.
}
//#endif
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] SRDY: %d\n", __FUNCTION__, global_srdy);
time_printf(tmpStr);
}
__BIG_DEBUG_ACTIVE = bigDebugWas;
break;
}
case -1:
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] poll() error (%s)\n", __FUNCTION__, strerror(errno));
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_I2C_EVENT_THREAD_FAILED_POLL;
ret = NPI_LNX_FAILURE;
consecutiveTimeout = 0;
// Exit clean so main knows...
npi_poll_terminate = 1;
error_printf("%s:%d: ERROR! Terminating poll because poll() error (%s).\n", __FUNCTION__, __LINE__, strerror(errno));
break;
}
default:
{
consecutiveTimeout = 0;
// char * buf[64];
// read(pollfds[0].fd, buf, 64);
if (missedInterrupt)
{
if ( (pollfds[0].revents & (POLLERR | POLLHUP | POLLNVAL)) != 0 )
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Poll returned error (it #%d), revent[0] = %d",
__FUNCTION__, whileIt, pollfds[0].revents);
time_printf(tmpStr);
}
}
else
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Clearing missed INT (it #%d), results = %d, revent[0] = %d",
__FUNCTION__, whileIt, result, pollfds[0].revents);
time_printf(tmpStr);
}
missedInterrupt = 0;
// Set timeout back to 100ms
if (timeout != I2C_ISR_POLL_TIMEOUT_MS_MAX)
{
timeout = I2C_ISR_POLL_TIMEOUT_MS_MAX;
}
}
}
result = global_srdy = HalGpioSrdyCheck(1);
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Set global SRDY: %d\n", __FUNCTION__, global_srdy);
time_printf(tmpStr);
}
break;
} //default:
} //switch (result)
} // else of if (pthread_mutex_trylock(npiSrdyLock) != 0)
fflush(stdout);
if (FALSE == result) //Means SRDY switch to low state
{
if (clock_gettime(CLOCK_MONOTONIC, &curTimeI2CisrPoll) == 0)
// Adjust poll timeout based on time between packets, limited downwards
// to I2C_ISR_POLL_TIMEOUT_MS_MIN and upwards to I2C_ISR_POLL_TIMEOUT_MS_MAX
{
// Calculate delta
long int diffPrev;
if (curTimeI2CisrPoll.tv_nsec >= prevTimeI2CisrPoll.tv_nsec)
{
diffPrev = (curTimeI2CisrPoll.tv_nsec - prevTimeI2CisrPoll.tv_nsec) / 1000;
}
else
{
diffPrev = ((curTimeI2CisrPoll.tv_nsec + 1000000000) - prevTimeI2CisrPoll.tv_nsec) / 1000;
}
prevTimeI2CisrPoll = curTimeI2CisrPoll;
if (diffPrev < (I2C_ISR_POLL_TIMEOUT_MS_MIN * 1000) )
{
timeout = I2C_ISR_POLL_TIMEOUT_MS_MIN;
}
else if (diffPrev > (I2C_ISR_POLL_TIMEOUT_MS_MAX * 1000) )
{
if (timeout != I2C_ISR_POLL_TIMEOUT_MS_MAX)
{
timeout = I2C_ISR_POLL_TIMEOUT_MS_MAX;
}
}
else
{
timeout = diffPrev / 1000;
}
}
else if (timeout != I2C_ISR_POLL_TIMEOUT_MS_MAX)
{
// Not good, can't trust time. Set timeout to its max
timeout = I2C_ISR_POLL_TIMEOUT_MS_MAX;
}
if ( (NPI_LNX_FAILURE == (ret = HalGpioMrdyCheck(1))))
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Failed to check MRDY\n", __FUNCTION__);
time_printf(tmpStr);
}
// Exit clean so main knows...
npi_poll_terminate = 1;
error_printf("%s:%d: ERROR! Terminating poll because HalGpioMrdyCheck() returned error %d.\n", __FUNCTION__, __LINE__, ret);
}
if (ret != NPI_LNX_FAILURE)
{
if (missedInterrupt > 0)
{
// Two consecutive interrupts; turn down timeout to I2C_ISR_POLL_TIMEOUT_MS_MIN
if (timeout > I2C_ISR_POLL_TIMEOUT_MS_MIN)
{
timeout = I2C_ISR_POLL_TIMEOUT_MS_MIN;
}
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Missed interrupt, but SRDY is asserted! %d (it #%d)\n",
__FUNCTION__, missedInterrupt, whileIt);
time_printf(tmpStr);
}
}
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Event thread is releasing SRDY mutex lock, line %d\n", __FUNCTION__, __LINE__);
time_printf(tmpStr);
}
// Unlock before signaling poll thread
pthread_mutex_unlock(&npiSrdyLock);
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
//MRDY High, This is a request from the RNP
snprintf(tmpStr, sizeof(tmpStr), "[%s] MRDY High??: %d, send H2L to POLL (srdy = %d)\n", __FUNCTION__, ret, global_srdy);
time_printf(tmpStr);
}
// Before we can signal poll thread we need to make sure SynchData has completed
pthread_mutex_lock(&npiPollLock); // Wait for it to call cond_wait, which releases mutex
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Signaling poll thread to perform a poll ...\n", __FUNCTION__);
time_printf(tmpStr);
}
pthread_cond_signal(&npi_srdy_H2L_poll); // Signal it (let it get cond)
pthread_mutex_unlock(&npiPollLock); // Release mutex so it can re-acquire it.
}
else
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Event thread is releasing SRDY mutex lock, line %d\n", __FUNCTION__, __LINE__);
time_printf(tmpStr);
}
pthread_mutex_unlock(&npiSrdyLock);
}
}
else
{
//Unknown Event
//Do nothing for now ...
if ( __BIG_DEBUG_ACTIVE == TRUE && (consecutiveTimeout % 5000 == 0) )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Event thread is releasing SRDY mutex lock, result = %d, line %d\n", __FUNCTION__, result, __LINE__);
time_printf(tmpStr);
}
pthread_mutex_unlock(&npiSrdyLock);
}
}
pthread_cond_signal(&npi_srdy_H2L_poll);
char const *errorMsg;
if (ret == NPI_LNX_FAILURE)
errorMsg = "I2C Event thread exited with error. Please check global error message\n";
else
errorMsg = "I2C Event thread exited without error\n";
NPI_LNX_IPC_NotifyError(NPI_LNX_ERROR_MODULE_MASK(NPI_LNX_ERROR_I2C_EVENT_THREAD_FAILED_LOCK), errorMsg);
return ptr;
}
void print_header(int argc,
char *const *argv)
{
char hostname[3000];
gethostname(hostname, 1024);
time_t now;
time(&now);
struct tm *ttm = localtime(&now);
time_printf("multirow (git-%s)\n", GIT_SHA1);
time_printf("%s %04d-%02d-%02d %02d:%02d\n", hostname, ttm->tm_year + 1900,
ttm->tm_mon + 1, ttm->tm_mday, ttm->tm_hour, ttm->tm_min);
time_printf("Compile-time parameters:\n");
time_printf(" EPSILON: %e\n", EPSILON);
time_printf(" GREEDY_BIG_E: %e\n", GREEDY_BIG_E);
time_printf(" GREEDY_MAX_GAP: %e\n", GREEDY_MAX_GAP);
time_printf(" MAX_CUTS: %d\n", MAX_CUTS);
time_printf(" MAXIMUM_SCORE: %e\n", MAXIMUM_SCORE);
time_printf(" MAX_TOTAL_TIME: %d\n", MAX_TOTAL_TIME);
time_printf(" MINIMUM_SCORE: %e\n", MINIMUM_SCORE);
char cmdline[5000] = {0};
for (int i = 0; i < argc; i++)
sprintf(cmdline + strlen(cmdline), "%s ", argv[i]);
time_printf("Command line arguments:\n");
time_printf(" %s\n", cmdline);
}
/**************************************************************************************************
* @fn npi_poll_entry
*
* @brief Poll Thread entry function
*
* input parameters
*
* @param ptr
*
* output parameters
*
* None.
*
* @return None.
**************************************************************************************************
*/
static void *npi_poll_entry(void *ptr)
{
int ret = NPI_LNX_SUCCESS;
uint8 readbuf[128];
char tmpStr[1024];
#ifndef SRDY_INTERRUPT
uint8 pollStatus = FALSE;
#endif //SRDY_INTERRUPT
((void)ptr);
snprintf(tmpStr, sizeof(tmpStr), "[%s] Locking Mutex for Poll Thread \n", __FUNCTION__);
time_printf(tmpStr);
/* lock mutex in order not to lose signal */
pthread_mutex_lock(&npi_poll_mutex);
snprintf(tmpStr, sizeof(tmpStr), "[%s] Poll Thread Started\n", __FUNCTION__);
time_printf(tmpStr);
//This lock wait for Initialization to finish (reset)
pthread_mutex_lock(&npiPollLock);
snprintf(tmpStr, sizeof(tmpStr), "[%s] Poll Thread Continues After Synchronization\n", __FUNCTION__);
time_printf(tmpStr);
#ifdef SRDY_INTERRUPT
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Lock Poll mutex (SRDY=%d) \n", __FUNCTION__, global_srdy);
time_printf(tmpStr);
}
pthread_cond_wait(&npi_srdy_H2L_poll, &npiPollLock);
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Locked Poll mutex (SRDY=%d) \n", __FUNCTION__, global_srdy);
time_printf(tmpStr);
}
#else
pthread_mutex_unlock(&npiPollLock);
#endif
/* thread loop */
while(!npi_poll_terminate)
{
#ifndef SRDY_INTERRUPT
pthread_mutex_lock(&npiPollLock);
#endif
if (PollLockVar)
{
ret = PollLockVarError(__LINE__, PollLockVar);
}
else
{
PollLockVar = 1;
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] PollLockVar set to %d\n",
__FUNCTION__, PollLockVar);
time_printf(tmpStr);
}
}
//Ready SRDY Status
// This Test check if RNP has asserted SRDY line because it has some Data pending.
// If SRDY is not Used, then this line need to be commented, and the Poll command need
// to be sent regularly to check if any data is pending. this is done every 10ms (see below npi_poll_cond)
#ifndef SRDY_INTERRUPT
ret = HAL_RNP_SRDY_CLR();
if(TRUE == ret)
#else
//Interruption case, In case of a SREQ, SRDY will go low a end generate an event.
// the npiPollLock will prevent us to arrive to this test,
// BUT an AREQ can immediately follow a SREQ: SRDY will stay low for the whole process
// In this case, we need to check that the SRDY line is still LOW or is HIGH.
if (HalGpioSrdyCheck(0) == TRUE)
#endif
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Polling received... \n", __FUNCTION__);
time_printf(tmpStr);
}
//RNP is polling, retrieve the data
*readbuf = 0; //Poll Command has zero data bytes.
*(readbuf+1) = RPC_CMD_POLL;
*(readbuf+2) = 0;
ret = npi_i2c_pollData((npiMsgData_t *)readbuf);
if (ret == NPI_LNX_SUCCESS)
{
//Check if polling was successful
if ((readbuf[RPC_POS_CMD0] & RPC_CMD_TYPE_MASK) == RPC_CMD_AREQ)
{
// ((uint8 *)readbuf)[RPC_POS_CMD0] = RPC_SUBSYSTEM_MASK;
ret = NPI_AsynchMsgCback((npiMsgData_t *)(readbuf));
if (ret != NPI_LNX_SUCCESS)
{
// Exit thread to invoke report to main thread
npi_poll_terminate = 1;
error_printf("%s:%d: ERROR! Terminating poll because RPC_CMD_AREQ.\n", __FUNCTION__, __LINE__);
}
}
}
else
{
// An error has occurred
// Check what error it is, some errors are expected
char *errorMsg;
switch (npi_ipc_errno)
{
case NPI_LNX_ERROR_HAL_GPIO_WAIT_SRDY_CLEAR_POLL_TIMEDOUT:
errorMsg = "npi_i2c_pollData timed out waiting for SRDY. Could be SBL which only responds to SREQ. Please check global error message\n";
NPI_LNX_IPC_NotifyError(NPI_LNX_ERROR_MODULE_MASK(NPI_LNX_ERROR_HAL_GPIO_WAIT_SRDY_CLEAR_POLL_TIMEDOUT), errorMsg);
// The RNP may be in SBL or may only respond to SREQ. We should not exit POLL thread.
ret = NPI_LNX_SUCCESS;
break;
case NPI_LNX_ERROR_HAL_I2C_READ_TIMEDOUT:
// The RNP may have reset unexpectedly, keep going
ret = NPI_LNX_SUCCESS;
break;
case NPI_LNX_ERROR_HAL_I2C_WRITE_TIMEDOUT:
// The RNP may have reset unexpectedly, keep going
ret = NPI_LNX_SUCCESS;
break;
default:
// Exit clean so main knows...
npi_poll_terminate = 1;
error_printf("%s:%d: ERROR! Terminating poll because error return (ret=%d, npi_ipc_errno=%d).\n", __FUNCTION__, __LINE__, ret, npi_ipc_errno);
break;
}
}
if (!PollLockVar)
{
ret = PollLockVarError(__LINE__, !PollLockVar);
}
else
{
PollLockVar = 0;
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] PollLockVar set to %d\n", __FUNCTION__, PollLockVar);
time_printf(tmpStr);
}
}
#ifndef SRDY_INTERRUPT
if ( 0 == pthread_mutex_unlock(&npiPollLock))
{
pollStatus = TRUE;
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Unlock SRDY mutex \n", __FUNCTION__);
time_printf(tmpStr);
}
}
else
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Failed to unlock SRDY mutex \n", __FUNCTION__);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_I2C_POLL_THREAD_POLL_UNLOCK;
ret = NPI_LNX_FAILURE;
npi_poll_terminate = 1;
error_printf("%s:%d: ERROR! Terminating poll because POLL mutex unlock failed.\n", __FUNCTION__, __LINE__);
}
#endif //SRDY_INTERRUPT
}
else
{
if (!PollLockVar)
{
ret = PollLockVarError(__LINE__, !PollLockVar);
}
else
{
PollLockVar = 0;
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] PollLockVar set to %d\n", __FUNCTION__, PollLockVar);
time_printf(tmpStr);
}
}
#ifdef SRDY_INTERRUPT
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] SRDY was not 0 when we expected!\n", __FUNCTION__);
time_printf(tmpStr);
}
#else
if ( 0 == pthread_mutex_unlock(&npiPollLock))
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Unlock SRDY mutex \n", __FUNCTION__);
time_printf(tmpStr);
}
}
else
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Failed to unlock SRDY mutex \n", __FUNCTION__);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_I2C_POLL_THREAD_POLL_UNLOCK;
ret = NPI_LNX_FAILURE;
npi_poll_terminate = 1;
error_printf("%s:%d: ERROR! Terminating poll because POLL mutex unlock failed.\n", __FUNCTION__, __LINE__);
}
pollStatus = FALSE;
#endif //SRDY_INTERRUPT
}
#ifdef SRDY_INTERRUPT
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Unlock POLL mutex by conditional wait (SRDY=%d) \n", __FUNCTION__, global_srdy);
time_printf(tmpStr);
}
if (TRUE == HAL_RNP_SRDY_SET())
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Waiting for SRDY to go low\n", __FUNCTION__);
time_printf(tmpStr);
}
int condWaitRetVal = pthread_cond_wait(&npi_srdy_H2L_poll, &npiPollLock);
if (condWaitRetVal)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] pthread_cond_wait returned with %d (%s, %s)\n", __FUNCTION__,
condWaitRetVal, strerror(condWaitRetVal), strerror(errno));
time_printf(tmpStr);
if (condWaitRetVal == 1) exit(-1);
}
}
else if (npi_poll_terminate)
{
// Just unlock mutex, while loop will exit next
pthread_mutex_unlock(&npiPollLock);
}
else
{
if (PollLockVar)
{
ret = PollLockVarError(__LINE__, PollLockVar);
}
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] SRDY found high after poll, poll again\n", __FUNCTION__);
time_printf(tmpStr);
}
// After a synchronous request we need to poll RNP again. The RNP will only release SRDY after
// replying with 0x00 0x00 0x00 to a poll request.
}
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Locked POLL mutex because condition was met (SRDY=%d) \n", __FUNCTION__, global_srdy);
time_printf(tmpStr);
}
#else
if (!pollStatus) //If previous poll failed, wait 10ms to do another one, else do it right away to empty the RNP queue.
{
struct timespec expirytime;
clock_gettime(CLOCK_REALTIME, &expiryTime);
expirytime.tv_nsec += 10000000; // 10ms
if (expirytime.tv_nsec >= 1000000000) {
expirytime.tv_nsec -= 1000000000;
expirytime.tv_sec++;
}
pthread_cond_timedwait(&npi_poll_cond, &npi_poll_mutex, &expirytime);
}
#endif
}
error_printf("[POLL] WARNING. Thread exiting with ret=%d, npi_ipc_errno0x%x...\n", ret, npi_ipc_errno);
pthread_mutex_unlock(&npi_poll_mutex);
char const *errorMsg;
if (ret == NPI_LNX_FAILURE)
{
errorMsg = "[POLL] Thread exited with error. Please check global error message\n";
}
else
{
errorMsg = "[POLL] Thread exited without error\n";
}
NPI_LNX_IPC_NotifyError(NPI_LNX_ERROR_MODULE_MASK(NPI_LNX_ERROR_I2C_POLL_THREAD_FAILED_LOCK), errorMsg);
return ptr;
}
/**************************************************************************************************
* @fn NPI_I2C_SendSynchData
*
* @brief This function is called by the client when it has data ready to
* be sent synchronously. This routine allocates a SREQ buffer,
* copies the client's payload, sends the data, and waits for the
* reply. The input buffer is used for the output data.
*
* input parameters
*
* @param *pMsg - Pointer to data to be sent synchronously (i.e. the SREQ).
*
* output parameters
*
* @param *pMsg - Pointer to replay data (i.e. the SRSP).
*
* @return STATUS
**************************************************************************************************
*/
int NPI_I2C_SendSynchData(npiMsgData_t *pMsg)
{
int i, ret = NPI_LNX_SUCCESS;
int lockRetPoll = 0, lockRetSrdy = 0, strIndex = 0;
char tmpStr[1024];
// Do not attempt to send until polling is finished
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Lock Poll mutex \n", __FUNCTION__);
time_printf(tmpStr);
}
//Lock the polling until the command is send
lockRetPoll = pthread_mutex_lock(&npiPollLock);
if (lockRetPoll)
{
error_printf("[SYNCH] [ERR] Error %d getting POLL mutex lock\n", lockRetPoll);
perror("mutex lock");
npi_ipc_errno = NPI_LNX_ERROR_I2C_SEND_SYNCH_FAILED_LOCK;
ret = NPI_LNX_FAILURE;
}
else
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Poll mutex locked\n", __FUNCTION__);
time_printf(tmpStr);
}
#ifdef SRDY_INTERRUPT
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Lock SRDY mutex \n", __FUNCTION__);
time_printf(tmpStr);
}
lockRetSrdy = pthread_mutex_lock(&npiSrdyLock);
if (lockRetSrdy)
{
error_printf("[SYNCH] [ERR] Error %d getting SRDY mutex lock\n", lockRetSrdy);
perror("mutex lock");
ret = NPI_LNX_FAILURE;
}
else
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] SRDY mutex locked\n", __FUNCTION__);
time_printf(tmpStr);
}
}
#endif
}
if (ret == NPI_LNX_SUCCESS)
{
if (PollLockVar)
{
ret = PollLockVarError(__LINE__, PollLockVar);
}
else
{
PollLockVar = 1;
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] PollLockVar set to %d\n", __FUNCTION__, PollLockVar);
time_printf(tmpStr);
}
}
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] =================== START SEND SYNCH DATA ====================\n", __FUNCTION__);
time_printf(tmpStr);
}
}
if (ret == NPI_LNX_SUCCESS)
{
#ifdef __BIG_DEBUG__
if (TRUE == HAL_RNP_SRDY_CLR())
printf("[SYNCH] SRDY set\n");
else
printf("[SYNCH] SRDY Clear\n");
#endif
// Add Proper RPC type to header
((uint8*)pMsg)[RPC_POS_CMD0] = (((uint8*)pMsg)[RPC_POS_CMD0] & RPC_SUBSYSTEM_MASK) | RPC_CMD_SREQ;
ret = HAL_RNP_MRDY_CLR();
}
if ( NPI_LNX_SUCCESS == ret)
{
//Wait for SRDY Clear
ret = HalGpioWaitSrdyClr();
if (ret != NPI_LNX_SUCCESS)
error_printf("[SYNCH] [SREQ] ERROR! Waiting for SRDY assert failed, ret=0x%x\n", ret);
else
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Synch Data Command ...", __FUNCTION__);
strIndex = strlen(tmpStr);
for (i = 0 ; i < (RPC_FRAME_HDR_SZ+pMsg->len); i++ )
{
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, " 0x%.2X", ((uint8*)pMsg)[i]);
strIndex += 5;
}
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "\n");
time_printf(tmpStr);
}
//This wait is only valid if RNP manage MRDY line, if not SRDY will never be set low on SREQ.
// To avoid any problem, just add a timeout, or ignore it.
ret = HalGpioWaitSrdyClr();
//Send LEN, CMD0 and CMD1 (comand Header)
if (ret == NPI_LNX_SUCCESS)
ret = HalI2cWrite(0, (uint8*) pMsg, RPC_FRAME_HDR_SZ + (pMsg->len));
if (ret == NPI_LNX_SUCCESS)
{
//Do a Three Byte Dummy Write to read the RPC Header
memset(pMsg, 0, RPC_FRAME_HDR_SZ);
ret = HalI2cRead( 0, (uint8*) pMsg, RPC_FRAME_HDR_SZ);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Synch Data Command ...", __FUNCTION__);
strIndex = strlen(tmpStr);
for (i = 0 ; i < (RPC_FRAME_HDR_SZ); i++ )
{
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, " 0x%.2X", ((uint8*)pMsg)[i]);
strIndex += 5;
}
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "\n");
time_printf(tmpStr);
}
if (ret != NPI_LNX_SUCCESS)
{
error_printf("[%s] HalI2cRead() returned 0x%x, line %d, errno=0x%x\n", __FUNCTION__, ret, __LINE__, npi_ipc_errno);
}
else if (pMsg->len > 0)
{
if (pMsg->len == 0xFF && pMsg->subSys == 0xFF && pMsg->cmdId == 0xFF)
{
error_printf("[%s] Received 0xFF 0xFF 0xFF. Ignoring it and returning an error!\n", __FUNCTION__);
ret = NPI_LNX_FAILURE;
}
else
{
// Do a write/read of the corresponding length
// Fill data with 0s first (aids in debugging):
memset(pMsg->pData, 0, pMsg->len);
ret = HalI2cRead( 0, pMsg->pData, pMsg->len);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Read %d bytes more", __FUNCTION__, pMsg->len);
strIndex = strlen(tmpStr);
for (i = 0 ; i < (pMsg->len); i++ )
{
snprintf(tmpStr, sizeof(tmpStr) - strIndex, " 0x%.2X", pMsg->pData[i]);
strIndex += 5;
}
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "\n");
time_printf(tmpStr);
}
}
}
}
}
}
//Release the polling lock
if (ret == NPI_LNX_SUCCESS)
ret = HAL_RNP_MRDY_SET();
else
(void)HAL_RNP_MRDY_SET();
if (!PollLockVar)
{
ret = PollLockVarError(__LINE__, !PollLockVar);
}
else
{
PollLockVar = 0;
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] PollLockVar set to %d\n", __FUNCTION__, PollLockVar);
time_printf(tmpStr);
}
}
//Release the polling lock
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] =================== END SEND SYNCH DATA ====================\n", __FUNCTION__);
time_printf(tmpStr);
}
if (!lockRetPoll)
{
// Also signal poll thread so it can poll for a NULL message from the RNP. Otherwise we won't later get
// the interrupt from the RNP, since the RNP will keep SRDY low until it has answered NULL to a poll.
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Signaling poll thread to perform a final 0 response poll ...\n", __FUNCTION__);
time_printf(tmpStr);
}
pthread_cond_signal(&npi_srdy_H2L_poll); // Signal it (let it get cond)
pthread_mutex_unlock(&npiPollLock); // Release mutex so it can re-acquire it.
}
#ifdef SRDY_INTERRUPT
if (!lockRetSrdy)
{
pthread_mutex_unlock(&npiSrdyLock);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Unlocked SRDY mutex\n", __FUNCTION__);
time_printf(tmpStr);
}
}
#endif
return ret;
}
/**************************************************************************************************
* @fn npi_i2c_pollData
*
* @brief This function is called by the client when it has data ready to
* be sent synchronously. This routine allocates a SREQ buffer,
* copies the client's payload, sends the data, and waits for the
* reply. The input buffer is used for the output data.
*
* input parameters
*
* @param *pMsg - Pointer to data to be sent synchronously (i.e. the SREQ).
*
* output parameters
*
* @param *pMsg - Pointer to replay data (i.e. the SRSP).
*
* @return STATUS
**************************************************************************************************
*/
int npi_i2c_pollData(npiMsgData_t *pMsg)
{
int ret = NPI_LNX_SUCCESS;
char tmpStr[1024];
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] -------------------- START POLLING DATA --------------------\n", __FUNCTION__);
time_printf(tmpStr);
}
#ifdef SRDY_INTERRUPT
pthread_mutex_lock(&npiSrdyLock);
#endif
#ifdef __STRESS_TEST__
// debug_
static struct timeval prevTimePoll;
time_printf_always_localized("MRDY Low\n", NULL, NULL, &prevTimePoll)
#endif //__STRESS_TEST__
ret = HAL_RNP_MRDY_CLR();
if (NPI_LNX_SUCCESS == ret)
{
//This wait is only valid if RNP manage MRDY line, if not SRDY will never be set low on SREQ.
// To avoid any problem, just add a timeout, or ignore it.
ret = HalGpioWaitSrdyClr();
//Send LEN, CMD0 and CMD1 (command Header) and payload
if (ret == NPI_LNX_SUCCESS)
ret = HalI2cWrite(0, (uint8*) pMsg, RPC_FRAME_HDR_SZ + (pMsg->len));
if (ret == NPI_LNX_SUCCESS)
ret = HalI2cRead(0, (uint8*) pMsg, RPC_FRAME_HDR_SZ);
if (ret == NPI_LNX_SUCCESS)
{
if ( (pMsg->len == 0xFF) &&
(pMsg->subSys == 0xFF) &&
(pMsg->cmdId == 0xFF) )
{
// Do nothing
error_printf("[POLL] WARNING: Invalid header (FF FF FF) received!\n");
}
else if (pMsg->len > 0)
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] I2C Read Response \n", __FUNCTION__);
time_printf(tmpStr);
}
//Zero buffer for length about to read, then do a write/read of the corresponding length
memset(pMsg->pData, 0, ((uint8*)pMsg)[0]);
ret = HalI2cRead(0, pMsg->pData, pMsg->len);
}
}
}
if (ret == NPI_LNX_SUCCESS)
ret = HAL_RNP_MRDY_SET();
else
(void)HAL_RNP_MRDY_SET();
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] -------------------- END POLLING DATA --------------------\n", __FUNCTION__);
time_printf(tmpStr);
}
#ifdef SRDY_INTERRUPT
pthread_mutex_unlock(&npiSrdyLock);
#endif
return ret;
}
/**************************************************************************************************
* @fn NPI_I2C_SendAsynchData
*
* @brief This function is called by the client when it has data ready to
* be sent asynchronously. This routine allocates an AREQ buffer,
* copies the client's payload, and sets up the send.
*
* input parameters
*
* @param *pMsg - Pointer to data to be sent asynchronously (i.e. AREQ).
*
* output parameters
*
* None.
*
* @return STATUS
**************************************************************************************************
*/
int NPI_I2C_SendAsynchData(npiMsgData_t *pMsg)
{
int ret = NPI_LNX_SUCCESS;
char tmpStr[1024];
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Locking POLL and SRDY\n", __FUNCTION__);
time_printf(tmpStr);
}
fflush(stdout);
//Lock the polling until the command is send
pthread_mutex_lock(&npiPollLock);
#ifdef SRDY_INTERRUPT
pthread_mutex_lock(&npiSrdyLock);
#endif
if (PollLockVar)
{
ret = PollLockVarError(__LINE__, PollLockVar);
}
else
{
PollLockVar = 1;
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] PollLockVar set to %d\n", __FUNCTION__, PollLockVar);
time_printf(tmpStr);
}
}
if (ret == NPI_LNX_SUCCESS)
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] (Sync) success\n", __FUNCTION__);
time_printf(tmpStr);
}
}
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] ******************** START SEND ASYNC DATA ********************\n", __FUNCTION__);
time_printf(tmpStr);
}
// Add Proper RPC type to header
((uint8*)pMsg)[RPC_POS_CMD0] = (((uint8*)pMsg)[RPC_POS_CMD0] & RPC_SUBSYSTEM_MASK) | RPC_CMD_AREQ;
if (ret == NPI_LNX_SUCCESS)
{
ret = HAL_RNP_MRDY_CLR();
if ( NPI_LNX_SUCCESS != ret)
{
return ret;
}
}
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] AREQ\n", __FUNCTION__);
time_printf(tmpStr);
}
//Wait for SRDY Clear
ret = HalGpioWaitSrdyClr();
//Send LEN, CMD0 and CMD1 (command Header)
if (ret == NPI_LNX_SUCCESS)
ret = HalI2cWrite(0, (uint8*) pMsg, RPC_FRAME_HDR_SZ + (pMsg->len));
if (ret == NPI_LNX_SUCCESS)
ret = HAL_RNP_MRDY_SET();
else
(void)HAL_RNP_MRDY_SET();
if (!PollLockVar)
{
ret = PollLockVarError(__LINE__, !PollLockVar);
}
else
{
PollLockVar = 0;
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] PollLockVar set to %d\n", __FUNCTION__, PollLockVar);
time_printf(tmpStr);
}
}
// Also signal poll thread so it can poll for a NULL message from the RNP. Otherwise we won't later get
// the interrupt from the RNP, since the RNP will keep SRDY low until it has answered NULL to a poll.
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Signaling poll thread to perform a final 0 response poll ...\n", __FUNCTION__);
time_printf(tmpStr);
}
pthread_cond_signal(&npi_srdy_H2L_poll); // Signal it (let it get cond)
pthread_mutex_unlock(&npiPollLock); // Release mutex so it can re-acquire it.
#ifdef SRDY_INTERRUPT
pthread_mutex_unlock(&npiSrdyLock);
#endif
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Unlock SRDY mutex\n", __FUNCTION__);
time_printf(tmpStr);
snprintf(tmpStr, sizeof(tmpStr), "[%s] ******************** STOP SEND ASYNC DATA ********************\n", __FUNCTION__);
time_printf(tmpStr);
}
return ret;
}
/******************************************************************************
* @fn NPI_OpenDevice
*
* @brief This function establishes a serial communication connection with
* a network processor device.
* As windows machine does not have a single dedicated serial
* interface, this function will designate which serial port shall
* be used for communication.
*
* input parameters
*
* @param portName – name of the serial port
* @param gpioCfg – GPIO settings for SRDY, MRDY and RESET
*
* output parameters
*
* None.
*
* @return TRUE if the connection is established successfully.
* FALSE, otherwise.
******************************************************************************
*/
int NPI_I2C_OpenDevice(const char *portName, void *pCfg)
{
int ret = NPI_LNX_SUCCESS;
char tmpStr[256];
if(npiOpenFlag)
{
npi_ipc_errno = NPI_LNX_ERROR_I2C_OPEN_ALREADY_OPEN;
return NPI_LNX_FAILURE;
}
npiOpenFlag = TRUE;
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Opening Device File: %s\n", __FUNCTION__, portName);
time_printf(tmpStr);
}
ret = HalI2cInit(portName);
if (ret != NPI_LNX_SUCCESS)
return ret;
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] ((npiI2cCfg_t *)pCfg)->gpioCfg[0] \t @%p\n", __FUNCTION__, (void *)&(((npiI2cCfg_t *)pCfg)->gpioCfg[0]));
time_printf(tmpStr);
}
if ( NPI_LNX_FAILURE == (GpioSrdyFd = HalGpioSrdyInit(((npiI2cCfg_t *)pCfg)->gpioCfg[0])))
{
error_printf("%s(): ERROR returned from HalGpioSrdyInit!\n", __FUNCTION__);
ret = GpioSrdyFd;
}
if ( NPI_LNX_FAILURE == (ret = HalGpioMrdyInit(((npiI2cCfg_t *)pCfg)->gpioCfg[1])))
{
error_printf("%s(): ERROR returned from HalGpioMrdyInit!\n", __FUNCTION__);
}
if ( NPI_LNX_FAILURE == (ret = HalGpioResetInit(((npiI2cCfg_t *)pCfg)->gpioCfg[2])))
{
error_printf("%s(): ERROR returned from HalGpioResetInit!\n", __FUNCTION__);
}
if (ret == NPI_LNX_SUCCESS)
{
// initialize thread synchronization resources
if ( NPI_LNX_FAILURE == (ret = npi_initsyncres()))
return ret;
// Reset The RNP
ret = NPI_I2C_ResetSlave();
// TODO: it is ideal to make this thread higher priority
// but Linux does not allow real time of FIFO scheduling policy for
// non-privileged threads.
if (ret == NPI_LNX_SUCCESS)
{
// create Polling thread
ret = npi_initThreads();
}
else
{
error_printf("%s() ERROR: Did not attempt to start Threads\n", __FUNCTION__);
}
}
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] returning %d\n", __FUNCTION__, ret);
time_printf(tmpStr);
}
return ret;
}
/* thread_slow_log */
void entry_thread_slow_log(void* parameter)
{
int fd = -1;
int size;
int count_bef = 1;
int second = 0;
char buf[256];
char dir[64];
const char file_name[] = "slow.log";
const char instruction[] =
"This is a slow log from Deep Blue Plane.\n"
"second\t"
"time\t"
"cpu\t"
"airtemp\t"
"battery.v\t"
"battery.a\t"
"gps.lng\t"
"gps.lat\t"
"gps.star\t"
"ctrl.stat\t"
"wp.lng\t"
"wp.lat\t"
"wp.seaalt\t"
"airspeed\n";
//复制工作区 目录
strcpy(dir, log_dir);
//打开记录文件
strcat(dir, file_name);
//try to open the working file
while(fd < 0)
{
fd = open(dir, O_WRONLY | O_CREAT, 0);
rt_thread_delay(RT_TICK_PER_SECOND);
}
rt_kprintf("slow log has been created.\n");
//写入说明
write(fd, instruction, strlen(instruction));
//主循环
while(1)
{
//1s
while(second +1 > system_info.startup_second)
rt_thread_delay(1);
second = system_info.startup_second;
{
sprintf(buf,"%6d\t%s\t%3.2f\t%3.2f\t%3.2f\t%3.2f\t"
"%f\t%f\t%d\t%d\t%f\t%f\t%f\t%f\t\n",
system_info.startup_second,
time_printf(),
system_info.mcu.usage,
air_info.temperature.temp,
system_info.power_battery.v,
system_info.power_battery.a,
gps.lon,
gps.lat,
gps.stars,
control.state,
navigation.current.longitude,
navigation.current.latiude,
navigation.current.sea_altitude,
air_speed.speed);
}
size = write(fd, buf, strlen(buf));
if(size>0)
{
//rt_kprintf(buf);
}
else
{
rt_kprintf("slow log write to file wrong !");
while(1)rt_thread_delay(1000); //相当于停止这个线程
}
if(system_info.startup_second %5 == 1)
{
close(fd);
fd = open(dir, O_WRONLY | O_CREAT | O_APPEND, 0);//末尾重新打开
}
}
}
/**************************************************************************************************
* @fn HalGpioWaitSrdyClr
*
* @brief Check that SRDY is low, if not, wait until it gets low.
*
* input parameters
*
* @param None.
*
* output parameters
*
* None.
*
* @return STATUS
**************************************************************************************************
*/
int HalGpioWaitSrdyClr(void)
{
char srdy= '1', tmpStr[128];
int ret = NPI_LNX_SUCCESS, accTimeout = 0;
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Wait for SRDY to go Low. [Thread: %u]\n", __FUNCTION__, (unsigned int) pthread_self());
time_printf(tmpStr);
}
struct pollfd ufds[1];
int pollRet;
ufds[0].fd = gpioSrdyFd;
ufds[0].events = POLLPRI;
lseek(gpioSrdyFd,0,SEEK_SET);
read(gpioSrdyFd,&srdy, 1);
while(srdy == '1')
{
pollRet = poll((struct pollfd*)&ufds, 1, HAL_WAIT_SRDY_LOW_INTERMEDIATE_TIMEOUT);
if (pollRet == -1)
{
// Error occured in poll()
perror("poll");
}
else if (pollRet == 0)
{
accTimeout++;
// Timeout
lseek(gpioSrdyFd,0,SEEK_SET);
read(gpioSrdyFd,&srdy, 1);
if(srdy == '1')
{
if (accTimeout >= (HAL_WAIT_SRDY_LOW_TIMEOUT / HAL_WAIT_SRDY_LOW_INTERMEDIATE_TIMEOUT) )
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Waiting for SRDY to go low timed out. [Thread: %u]\n", __FUNCTION__, (unsigned int) pthread_self());
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_WAIT_SRDY_CLEAR_POLL_TIMEDOUT;
ret = NPI_LNX_FAILURE;
break;
}
else
{
// This timeout is expected, and ok. Nothing to report, only for debug.
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Waiting for SRDY to go low intermediate timed out, %d. [Thread: %u]\n",
__FUNCTION__, accTimeout, (unsigned int) pthread_self());
time_printf(tmpStr);
}
}
}
else
{
// Missed interrupt waiting for SRDY to go high
// This timeout is expected, and ok. Nothing to report, only for debug.
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Waiting for SRDY to go low intermediate timed out, %d, but SRDY is now low. [Thread: %u]\n",
__FUNCTION__, accTimeout, (unsigned int) pthread_self());
time_printf(tmpStr);
}
break;
}
}
else
{
if (ufds[0].revents & POLLPRI)
{
lseek(gpioSrdyFd,0,SEEK_SET);
if(ERROR == read(gpioSrdyFd,&srdy, 1))
{
perror(srdyGpioCfg.gpio.value);
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] can't write in %s , is something already accessing it? abort everything for debug purpose...\n",
__FUNCTION__, srdyGpioCfg.gpio.value);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_GPIO_WAIT_SRDY_CLEAR_READ_FAILED;
ret = NPI_LNX_FAILURE;
break;
}
}
else
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] ufds[0].revents = 0x%X\n", __FUNCTION__, ufds[0].revents);
time_printf(tmpStr);
}
}
}
}
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] SRDY: %c (%d). [Thread: %u]\n", __FUNCTION__, srdy, (int)srdy, (unsigned int) pthread_self());
time_printf(tmpStr);
}
return ret;
}
/**************************************************************************************************
* @fn HalI2cRead
*
* @brief Read a buffer from the I2C Slave.
*
* @param port - I2C port.
* pBuf - Pointer to the buffer that will be written.
* len - Number of bytes to write/read.
*
* @return STATUS
**************************************************************************************************/
int HalI2cRead(uint8 port, uint8 *pBuf, uint8 len)
{
int timeout = I2C_OPEN_100MS_TIMEOUT, ret = NPI_LNX_SUCCESS;
int i, strIndex = 0;
int res = -1;
char tmpStr[1024];
pthread_mutex_lock(&I2cMutex1);
while( (-1 == (res = read(i2cDevFd,pBuf,len))) && timeout)
{
timeout--;
sprintf(tmpStr, "[%s] I2C Read timeout %d, %s \n",
__FUNCTION__, timeout, strerror(errno));
time_printf(tmpStr);
if (timeout == 90)
{
exit(-1);
}
if ((errno == ETIMEDOUT) && (timeout < (I2C_OPEN_100MS_TIMEOUT - 2)) )
{
// When ETIMEDOUT is received the function did not immediately return, so the 100 ms timeout
// is not accurate. Hence, cut it short after 3 attempts.
timeout = 0;
}
else
{
usleep(1000); //Wait 1ms before re-trying
}
}
if ( (-1 == res) && !timeout)
{
/* ERROR HANDLING: i2c transaction failed */
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] Failed to write to the i2c bus for %d ms. read %d byte(s)...reason: (#%d)%s\n",
__FUNCTION__, I2C_OPEN_100MS_TIMEOUT, res, errno, strerror(errno));
time_printf(tmpStr);
}
if (errno == ETIMEDOUT)
{
// RNP may be hung, report error and perform reset.
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] May have to reset RNP...\n", __FUNCTION__);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_I2C_READ_TIMEDOUT_PERFORM_RESET;
}
else
{
if ( __BIG_DEBUG_ACTIVE == TRUE )
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] RNP may have reset unexpectedly. Keep going...\n", __FUNCTION__);
time_printf(tmpStr);
}
npi_ipc_errno = NPI_LNX_ERROR_HAL_I2C_READ_TIMEDOUT;
}
ret = NPI_LNX_FAILURE;
}
else
{
if (__BIG_DEBUG_ACTIVE == TRUE)
{
snprintf(tmpStr, sizeof(tmpStr), "[%s] I2C Read: \t", __FUNCTION__);
strIndex = strlen(tmpStr);
for (i = 0 ; i < len; i++ )
{
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, " 0x%.2X", pBuf[i]);
strIndex += 5;
}
snprintf(tmpStr + strIndex, sizeof(tmpStr) - strIndex, "\n");
time_printf(tmpStr);
}
}
pthread_mutex_unlock(&I2cMutex1);
return ret;
}