static void PIOS_USB_HID_SendReport(struct pios_usb_hid_dev * usb_hid_dev)
{
uint16_t bytes_to_tx;
if (!usb_hid_dev->tx_out_cb) {
return;
}
bool need_yield = false;
#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context,
&usb_hid_dev->tx_packet_buffer[1],
sizeof(usb_hid_dev->tx_packet_buffer)-1,
NULL,
&need_yield);
#else
bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context,
&usb_hid_dev->tx_packet_buffer[2],
sizeof(usb_hid_dev->tx_packet_buffer)-2,
NULL,
&need_yield);
#endif
if (bytes_to_tx == 0) {
return;
}
/* Always set type as report ID */
usb_hid_dev->tx_packet_buffer[0] = 1;
#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer,
GetEPTxAddr(usb_hid_dev->cfg->data_tx_ep),
bytes_to_tx + 1);
#else
usb_hid_dev->tx_packet_buffer[1] = bytes_to_tx;
UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer,
GetEPTxAddr(usb_hid_dev->cfg->data_tx_ep),
bytes_to_tx + 2);
#endif
/* Is this correct? Why do we always send the whole buffer? */
SetEPTxCount(usb_hid_dev->cfg->data_tx_ep, sizeof(usb_hid_dev->tx_packet_buffer));
SetEPTxValid(usb_hid_dev->cfg->data_tx_ep);
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
/**
* RxThread
*/
void PIOS_UDP_RxThread(void * udp_dev_n)
{
/* needed because of FreeRTOS.posix scheduling */
sigset_t set;
sigfillset(&set);
sigprocmask(SIG_BLOCK, &set, NULL);
pios_udp_dev * udp_dev = (pios_udp_dev*) udp_dev_n;
/**
* com devices never get closed except by application "reboot"
* we also never give up our mutex except for waiting
*/
while(1) {
/**
* receive
*/
int received;
udp_dev->clientLength=sizeof(udp_dev->client);
if ((received = recvfrom(udp_dev->socket,
&udp_dev->rx_buffer,
PIOS_UDP_RX_BUFFER_SIZE,
0,
(struct sockaddr *) &udp_dev->client,
(socklen_t*)&udp_dev->clientLength)) >= 0)
{
/* copy received data to buffer if possible */
/* we do NOT buffer data locally. If the com buffer can't receive, data is discarded! */
/* (thats what the USART driver does too!) */
bool rx_need_yield = false;
if (udp_dev->rx_in_cb) {
(void) (udp_dev->rx_in_cb)(udp_dev->rx_in_context, udp_dev->rx_buffer, received, NULL, &rx_need_yield);
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (rx_need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
}
}
static void PIOS_USART_generic_irq_handler(uint32_t usart_id)
{
struct pios_usart_dev * usart_dev = (struct pios_usart_dev *)usart_id;
bool valid = PIOS_USART_validate(usart_dev);
PIOS_Assert(valid);
/* Force read of dr after sr to make sure to clear error flags */
volatile uint16_t sr = usart_dev->cfg->regs->SR;
volatile uint8_t dr = usart_dev->cfg->regs->DR;
/* Check if RXNE flag is set */
bool rx_need_yield = false;
if (sr & USART_SR_RXNE) {
uint8_t byte = dr;
if (usart_dev->rx_in_cb) {
(void) (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield);
}
}
/* Check if TXE flag is set */
bool tx_need_yield = false;
if (sr & USART_SR_TXE) {
if (usart_dev->tx_out_cb) {
uint8_t b;
uint16_t bytes_to_send;
bytes_to_send = (usart_dev->tx_out_cb)(usart_dev->tx_out_context, &b, 1, NULL, &tx_need_yield);
if (bytes_to_send > 0) {
/* Send the byte we've been given */
usart_dev->cfg->regs->DR = b;
} else {
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
}
} else {
/* No bytes to send, disable TXE interrupt */
USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE, DISABLE);
}
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (rx_need_yield || tx_need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
void ADCIntHandler(){
ADCIntClear(ADC0_BASE, 0); // Limpia el flag de interrupcion del ADC
uint32_t potenciometros[3];
BaseType_t xHigherPriorityTaskWoken;
xHigherPriorityTaskWoken = pdFALSE;
// leemos los datos del secuenciador
ADCSequenceDataGet(ADC0_BASE, 0, potenciometros);
//Enviamos el dato a la tarea
xQueueSendFromISR( potQueue,potenciometros,&xHigherPriorityTaskWoken);
if(xHigherPriorityTaskWoken == pdTRUE){
vPortYieldFromISR();
}
}
static osa_status_t OSA_MessageQueuePutFromISR(msg_queue_handler_t handler, void* pMessage)
{
portBASE_TYPE taskToWake = pdFALSE;
if (pdTRUE == xQueueSendToBackFromISR(handler, pMessage, &taskToWake))
{
if (pdTRUE == taskToWake)
{
vPortYieldFromISR();
}
return kStatus_OSA_Success;
}
else
{
return kStatus_OSA_Error;
}
}
static osa_status_t OSA_SemaphorePostFromISR(semaphore_t *pSem)
{
portBASE_TYPE taskToWake = pdFALSE;
if (pdTRUE==xSemaphoreGiveFromISR(*pSem, &taskToWake))
{
if (pdTRUE == taskToWake)
{
vPortYieldFromISR();
}
return kStatus_OSA_Success;
}
else
{
return kStatus_OSA_Error;
}
}
static Void callback_ToHost(VirtQueue_Handle vq)
{
UInt16 avail;
int i;
Bool doSwitch[portNUM_PROCESSORS];
unsigned portBASE_TYPE curCpu = portGetCurrentCPU();
taskENTER_CRITICAL_NOT_RECURSIVE_FROM_ISR(&virtQueLock);
if(listLIST_IS_EMPTY(&availBufList) != pdFALSE){
taskEXIT_CRITICAL_NOT_RECURSIVE_FROM_ISR(&virtQueLock);
return;
}
if((avail = GET_AVAIL_COUNT(vq)) == 0){
taskEXIT_CRITICAL_NOT_RECURSIVE_FROM_ISR(&virtQueLock);
return;
}
memset(doSwitch, FALSE, sizeof(doSwitch));
do{
signed portBASE_TYPE ret;
/* Because this function is not an application code, */
/* there is not the problem with using xTaskRemoveFromEventList. */
ret = xTaskRemoveFromEventList(&availBufList, pdFALSE);
if(ret >= 0){
doSwitch[ret] = TRUE;
}
}
while(--avail > 0);
taskEXIT_CRITICAL_NOT_RECURSIVE_FROM_ISR(&virtQueLock);
for(i = 0; i < portNUM_PROCESSORS; i++){
if(doSwitch[i]){
if(i == (int)curCpu){
vPortYieldFromISR();
}
else{
portINTERRUPT_CORE(i);
}
}
}
}
static Void callback_FromHost(VirtQueue_Handle vq)
{
Int16 token;
MessageQCopy_Msg msg;
Bool usedBufAdded = FALSE;
Int len;
portBASE_TYPE switchCpu;
Bool doSwitch[portNUM_PROCESSORS];
int i;
memset(doSwitch, FALSE, sizeof(doSwitch));
taskENTER_CRITICAL_NOT_RECURSIVE_FROM_ISR(&virtQueLock);
/* Process all available buffers: */
while((token = VirtQueue_getAvailBuf(vq, (Void **)&msg, &len)) >= 0){
if(!MessageQCopy_SendToTask(token, msg, &switchCpu)){
VirtQueue_addUsedBuf(vq, token, RP_MSG_BUF_SIZE);
usedBufAdded = TRUE;
}
else if(switchCpu >= 0){
doSwitch[switchCpu] = TRUE;
}
}
if(usedBufAdded){
/* Tell host we've processed the buffers: */
VirtQueue_kick(vq);
}
taskEXIT_CRITICAL_NOT_RECURSIVE_FROM_ISR(&virtQueLock);
for(i = 0; i < portNUM_PROCESSORS; i++){
unsigned portBASE_TYPE curCpu = portGetCurrentCPU();
if(doSwitch[i]){
if(i == (Int)curCpu){
vPortYieldFromISR();
}
else{
portINTERRUPT_CORE(i);
}
}
}
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_EventSet
* Description : Set one or more event flags of an event object.
* Return kStatus_OSA_Success if set successfully, kStatus_OSA_Error if failed.
*
*END**************************************************************************/
osa_status_t OSA_EventSet(event_t *pEvent, event_flags_t flagsToSet)
{
assert(pEvent);
portBASE_TYPE taskToWake = pdFALSE;
if (__get_IPSR())
{
xEventGroupSetBitsFromISR(pEvent->eventHandler, flagsToSet, &taskToWake);
if (pdTRUE == taskToWake)
{
vPortYieldFromISR();
}
}
else
{
xEventGroupSetBits(pEvent->eventHandler, flagsToSet);
}
return kStatus_OSA_Success;
}
void EXTI0_IRQHandler(void)
{
long taskWoken = 0;
if (EXTI_GetITStatus(EXTI_Line0) != RESET) {
bool isRisingEdge = digitalRead(GPIO_PA0);
//digitalWrite(GPIO_PD11, isRisingEdge);
if (isRisingEdge) {
lastMicros = micros();
} else {
ultrasound_duration = micros() - lastMicros;
if (ultrasound_duration > MAX_ULTRASOUND_DURATION_US)
ultrasound_duration = MAX_ULTRASOUND_DURATION_US;
xSemaphoreGiveFromISR(sensorReadSignal, &taskWoken);
}
EXTI_ClearITPendingBit(EXTI_Line0);
}
if (taskWoken)
vPortYieldFromISR();
}
/**
* Take data from the PIOS_COM buffer and transfer it to the currently inactive DMA
* circular buffer
*/
static void PIOS_OVERO_WriteData(struct pios_overo_dev *overo_dev)
{
// TODO: How do we protect against the DMA buffer swapping midway through adding data
// to this buffer. If we were writing at the beginning it could cause a weird race.
if (overo_dev->tx_out_cb) {
int32_t max_bytes = PACKET_SIZE - overo_dev->writing_offset;
if (max_bytes > 0) {
uint16_t bytes_added;
bool tx_need_yield = false;
uint8_t *writing_pointer = &overo_dev->tx_buffer[overo_dev->writing_buffer][overo_dev->writing_offset];
bytes_added = (overo_dev->tx_out_cb)(overo_dev->tx_out_context, writing_pointer, max_bytes, NULL, &tx_need_yield);
#if defined(OVERO_USES_BLOCKING_WRITE)
if (tx_need_yield) {
vPortYieldFromISR();
}
#endif
overo_dev->writing_offset += bytes_added;
}
}
}
void EINT3_IRQHandler(void)
{
static signed portBASE_TYPE xHigherPriorityTaskWoken;
xHigherPriorityTaskWoken = pdFALSE;
if(LPC_GPIOINT->IO0IntStatF & (1<<4))
{
contarTicks = 0;
} else
if (LPC_GPIOINT->IO0IntStatR & (1<<4)) {
contarTicks = contarTicks / portTICK_RATE_MS;
xQueueSendFromISR(cola, &contarTicks, &xHigherPriorityTaskWoken);
contarTicks = -1;
}
LPC_GPIOINT->IO0IntClr = 1<<4;
// Si la tarea asociada tiene mayor prioridad que la que
//se esta ejecutando
if(xHigherPriorityTaskWoken == pdTRUE)
// se realiza un cambio de contexto manualmente
//(no se pasa por el scheduler).
vPortYieldFromISR ();
}
/**
* EP1 OUT Callback Routine
*/
static void PIOS_USB_HID_EP_OUT_Callback(void)
{
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id;
bool valid = PIOS_USB_HID_validate(usb_hid_dev);
PIOS_Assert(valid);
uint32_t DataLength;
/* Read received data (63 bytes) */
/* Get the number of received data on the selected Endpoint */
DataLength = GetEPRxCount(usb_hid_dev->cfg->data_rx_ep);
if (DataLength > sizeof(usb_hid_dev->rx_packet_buffer)) {
DataLength = sizeof(usb_hid_dev->rx_packet_buffer);
}
/* Use the memory interface function to read from the selected endpoint */
PMAToUserBufferCopy((uint8_t *) usb_hid_dev->rx_packet_buffer,
GetEPRxAddr(usb_hid_dev->cfg->data_rx_ep),
DataLength);
if (!usb_hid_dev->rx_in_cb) {
/* No Rx call back registered, disable the receiver */
SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_NAK);
return;
}
/* The first byte is report ID (not checked), the second byte is the valid data length */
uint16_t headroom;
bool need_yield = false;
#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
(usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context,
&usb_hid_dev->rx_packet_buffer[1],
sizeof(usb_hid_dev->rx_packet_buffer)-1,
&headroom,
&need_yield);
#else
(usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context,
&usb_hid_dev->rx_packet_buffer[2],
usb_hid_dev->rx_packet_buffer[1],
&headroom,
&need_yield);
#endif
#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 1;
#else
uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 2;
#endif
if (headroom >= max_payload_length) {
/* We have room for a maximum length message */
SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_VALID);
} else {
/* Not enough room left for a message, apply backpressure */
SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_NAK);
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
/**
* EP1 OUT Callback Routine
*/
static bool PIOS_USB_HID_EP_OUT_Callback(uint32_t usb_hid_id, uint8_t epnum, uint16_t len)
{
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usb_hid_id;
if (!PIOS_USB_HID_validate(usb_hid_dev)) {
return false;
}
if (len > sizeof(usb_hid_dev->rx_packet_buffer)) {
len = sizeof(usb_hid_dev->rx_packet_buffer);
}
if (!usb_hid_dev->rx_in_cb) {
/* No Rx call back registered, disable the receiver */
usb_hid_dev->rx_active = false;
return false;
}
/* The first byte is report ID (not checked), the second byte is the valid data length */
uint16_t headroom;
bool need_yield = false;
#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
(usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context,
&usb_hid_dev->rx_packet_buffer[1],
len-1,
&headroom,
&need_yield);
#else
(usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context,
&usb_hid_dev->rx_packet_buffer[2],
usb_hid_dev->rx_packet_buffer[1],
&headroom,
&need_yield);
#endif
#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 1;
#else
uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 2;
#endif
bool rc;
if (headroom >= max_payload_length) {
/* We have room for a maximum length message */
PIOS_USBHOOK_EndpointRx(usb_hid_dev->cfg->data_rx_ep,
usb_hid_dev->rx_packet_buffer,
sizeof(usb_hid_dev->rx_packet_buffer));
rc = true;
} else {
/* Not enough room left for a message, apply backpressure */
usb_hid_dev->rx_active = false;
rc = false;
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
return rc;
}
void Task::yieldFromISR()
{
vPortYieldFromISR();
}