/** Claim this USART for exclusive use by the calling module.
* This prevents the USART from being used by other modules, and inhibits
* the standard protocols. This allows modem (or other) drivers to claim
* the USART and prevent SBP or other protocol driver from interfering with
* communications.
*
* The same module may nest claims to the port. The port must be released
* as many times as it was claimed before it will be available for
* for another module.
*
* \see ::usart_release
* \param s The USART DMA state structure.
* \param module A pointer to identify the calling module. This is compared
* by value of the pointer. The pointer target is unused.
*/
bool usart_claim(usart_state* s, const void *module)
{
chSysLock();
if (s->configured && (chBSemWaitTimeoutS(&s->claimed, 0) == MSG_OK)) {
s->claimed_by = module;
s->claim_nest = 0;
chSysUnlock();
return true;
} else if (s->claimed_by == module) {
s->claim_nest++;
chSysUnlock();
return true;
}
chSysUnlock();
return false;
}
/*
* ADXL375 (high-g accelerometer) main thread.
*/
msg_t adxl375_thread(void *arg)
{
(void)arg;
const SPIConfig spi_cfg = {
NULL,
ADXL375_SPI_CS_PORT,
ADXL375_SPI_CS_PIN,
SPI_CR1_BR_2 | SPI_CR1_CPOL | SPI_CR1_CPHA
};
int16_t accels[3], axis, g;
m2status_hg_accel_status(STATUS_WAIT);
chRegSetThreadName("ADXL375");
chBSemInit(&bs375, true);
spiStart(&ADXL375_SPID, &spi_cfg);
adxl3x5_init(&ADXL375_SPID, 7, &axis, &g);
log_i16(M2T_CH_CAL_HG_ACCEL, axis, g, 0, 0);
while(TRUE) {
adxl3x5_read_accel(&ADXL375_SPID, accels);
log_i16(M2T_CH_IMU_HG_ACCEL, accels[0], accels[1], accels[2], 0);
m2status_set_hga(accels[0], accels[1], accels[2]);
state_estimation_new_hg_accel(
adxl3x5_accels_to_axis(accels, axis, g));
/* Sleep until DRDY */
chSysLock();
chBSemWaitTimeoutS(&bs375, 100);
/*tp375 = chThdSelf();*/
/*chSchGoSleepTimeoutS(THD_STATE_SUSPENDED, 100);*/
/*tp345 = NULL;*/
chSysUnlock();
m2status_hg_accel_status(STATUS_OK);
}
}
msg_t BinarySemaphore::waitTimeoutS(systime_t time) {
return chBSemWaitTimeoutS(&bsem, time);
}
