static bool outint(SerialDriver *sdp) {
if (sdp->com_data != INVALID_SOCKET) {
int n;
uint8_t data[1];
/*
* Input.
*/
chSysLockFromISR();
n = sdRequestDataI(sdp);
chSysUnlockFromISR();
if (n < 0)
return false;
data[0] = (uint8_t)n;
n = send(sdp->com_data, (char *)data, sizeof(data), 0);
switch (n) {
case 0:
closesocket(sdp->com_data);
sdp->com_data = INVALID_SOCKET;
chSysLockFromISR();
chnAddFlagsI(sdp, CHN_DISCONNECTED);
chSysUnlockFromISR();
return false;
case SOCKET_ERROR:
if (WSAGetLastError() == WSAEWOULDBLOCK)
return false;
closesocket(sdp->com_data);
sdp->com_data = INVALID_SOCKET;
return false;
}
return true;
}
return false;
}
//-----------------------------------------------------------------------------
static void
vectornav_spi_end_cb(SPIDriver * spip)
{
(void)spip;
switch( async_vn_msg.state )
{
case VN_ASYNC_1ST_SPI_CB:
chSysLockFromISR();
spiUnselectI(VND1.spip);
async_vn_msg.state = VN_ASYNC_1ST_SLEEP;
gptStartOneShotI(VND1.gpdp, VN_SLEEPTIME);
chSysUnlockFromISR();
break;
case VN_ASYNC_2ND_SPI_CB:
chSysLockFromISR();
spiUnselectI(VND1.spip);
// here we have the register
vectornav_dispatch_register(async_vn_msg.reg, async_vn_msg.buf_size, async_vn_msg.buf);
async_vn_msg.state = VN_ASYNC_2ND_SLEEP;
gptStartOneShotI(VND1.gpdp, VN_SLEEPTIME);
chSysUnlockFromISR();
break;
case VN_ASYNC_INACTIVE:
case VN_ASYNC_1ST_SLEEP:
case VN_ASYNC_2ND_SLEEP:
default:
// @TODO: assert?
break;
}
}
static bool inint(SerialDriver *sdp) {
if (sdp->com_data != INVALID_SOCKET) {
int i;
uint8_t data[32];
/*
* Input.
*/
int n = recv(sdp->com_data, (char *)data, sizeof(data), 0);
switch (n) {
case 0:
closesocket(sdp->com_data);
sdp->com_data = INVALID_SOCKET;
chSysLockFromISR();
chnAddFlagsI(sdp, CHN_DISCONNECTED);
chSysUnlockFromISR();
return false;
case SOCKET_ERROR:
if (WSAGetLastError() == WSAEWOULDBLOCK)
return false;
closesocket(sdp->com_data);
sdp->com_data = INVALID_SOCKET;
return false;
}
for (i = 0; i < n; i++) {
chSysLockFromISR();
sdIncomingDataI(sdp, data[i]);
chSysUnlockFromISR();
}
return true;
}
return false;
}
/*
* Handles the USB driver global events.
*/
static void usb_event(USBDriver *usbp, usbevent_t event) {
extern SerialUSBDriver SDU1;
extern SerialUSBDriver SDU2;
switch (event) {
case USB_EVENT_RESET:
return;
case USB_EVENT_ADDRESS:
return;
case USB_EVENT_CONFIGURED:
chSysLockFromISR();
if (usbp->state == USB_ACTIVE) {
/* Enables the endpoints specified into the configuration.
Note, this callback is invoked from an ISR so I-Class functions
must be used.*/
usbInitEndpointI(usbp, USB_INTERRUPT_REQUEST_EP_A, &ep1config);
usbInitEndpointI(usbp, USB_DATA_REQUEST_EP_A, &ep2config);
usbInitEndpointI(usbp, USB_INTERRUPT_REQUEST_EP_B, &ep3config);
usbInitEndpointI(usbp, USB_DATA_REQUEST_EP_B, &ep4config);
/* Resetting the state of the CDC subsystem.*/
sduConfigureHookI(&SDU1);
sduConfigureHookI(&SDU2);
}
else if (usbp->state == USB_SELECTED) {
usbDisableEndpointsI(usbp);
}
chSysUnlockFromISR();
return;
case USB_EVENT_UNCONFIGURED:
return;
case USB_EVENT_SUSPEND:
chSysLockFromISR();
/* Disconnection event on suspend.*/
sduDisconnectI(&SDU1);
sduDisconnectI(&SDU2);
chSysUnlockFromISR();
return;
case USB_EVENT_WAKEUP:
return;
case USB_EVENT_STALLED:
return;
}
return;
}
static void spi_end_cb(SPIDriver *spip){
its++;
if (stop){
chSysLockFromISR();
chBSemSignalI(&sem);
chSysUnlockFromISR();
return;
}
else{
chSysLockFromISR();
spiStartExchangeI(spip, SPI_BUF_SIZE, testbuf_flash, testbuf_ram);
chSysUnlockFromISR();
}
}
/*
* Insertion monitor timer callback function.
*
* pointer to the p BaseBlockDevice object
*
*/
static void tmrfunc( void *p )
{
BaseBlockDevice *bbdp = p;
chSysLockFromISR();
if( cnt > 0 )
{
if( blkIsInserted( bbdp ) )
{
if( --cnt == 0 )
{
chEvtBroadcastI( &inserted_event );
}
}
else
{
cnt = POLLING_INTERVAL;
}
}
else if( ! blkIsInserted( bbdp ) )
{
cnt = POLLING_INTERVAL;
chEvtBroadcastI( &removed_event );
}
chVTSetI( &tmr, MS2ST( POLLING_DELAY ), tmrfunc, bbdp );
chSysUnlockFromISR();
}
/*
* Timeout wakeup callback.
*/
static void wakeup(void *p) {
thread_t *tp = (thread_t *)p;
chSysLockFromISR();
switch (tp->p_state) {
case CH_STATE_READY:
/* Handling the special case where the thread has been made ready by
another thread with higher priority.*/
chSysUnlockFromISR();
return;
case CH_STATE_SUSPENDED:
*(thread_reference_t *)tp->p_u.wtobjp = NULL;
break;
#if CH_CFG_USE_SEMAPHORES
case CH_STATE_WTSEM:
chSemFastSignalI((semaphore_t *)tp->p_u.wtobjp);
/* Falls into, intentional. */
#endif
#if CH_CFG_USE_CONDVARS && CH_CFG_USE_CONDVARS_TIMEOUT
case CH_STATE_WTCOND:
#endif
case CH_STATE_QUEUED:
/* States requiring dequeuing.*/
queue_dequeue(tp);
}
tp->p_u.rdymsg = MSG_TIMEOUT;
chSchReadyI(tp);
chSysUnlockFromISR();
}
/*
* Handles the USB driver global events.
*/
static void usb_event(USBDriver *usbp, usbevent_t event) {
switch (event) {
case USB_EVENT_RESET:
return;
case USB_EVENT_ADDRESS:
return;
case USB_EVENT_CONFIGURED:
chSysLockFromISR();
/* Enables the endpoints specified into the configuration.
Note, this callback is invoked from an ISR so I-Class functions
must be used.*/
usbInitEndpointI(usbp, USBD2_DATA_REQUEST_EP, &ep1config);
usbInitEndpointI(usbp, USBD2_INTERRUPT_REQUEST_EP, &ep2config);
chSysUnlockFromISR();
return;
case USB_EVENT_UNCONFIGURED:
return;
case USB_EVENT_SUSPEND:
return;
case USB_EVENT_WAKEUP:
return;
case USB_EVENT_STALLED:
return;
}
return;
}
static bool connint(SerialDriver *sdp) {
if (sdp->com_data == INVALID_SOCKET) {
struct sockaddr addr;
int addrlen = sizeof(addr);
if ((sdp->com_data = accept(sdp->com_listen, &addr, &addrlen)) == INVALID_SOCKET)
return false;
if (ioctlsocket(sdp->com_data, FIONBIO, &nb) != 0) {
printf("%s: Unable to setup non blocking mode on data socket\n", sdp->com_name);
goto abort;
}
chSysLockFromISR();
chnAddFlagsI(sdp, CHN_CONNECTED);
chSysUnlockFromISR();
return true;
}
return false;
abort:
if (sdp->com_listen != INVALID_SOCKET)
closesocket(sdp->com_listen);
if (sdp->com_data != INVALID_SOCKET)
closesocket(sdp->com_data);
WSACleanup();
exit(1);
}
/*
* This callback is invoked when a transmission buffer has been completely
* read by the driver.
*/
static void txend1(UARTDriver *uartp) {
its++;
chSysLockFromISR();
uartStartSendI(uartp, STORM_BUF_LEN, txbuf);
chSysUnlockFromISR();
}
/*
* This callback is invoked when a receive buffer has been completely written.
*/
static void rxend(UARTDriver *uartp) {
(void)uartp;
chSysLockFromISR();
uartStartReceiveI(&UARTD6, STORM_BUF_LEN, rxbuf);
chSysUnlockFromISR();
}
/**
* Adc error callback
*
* Fired if DMA error happens or ADC overflows
*/
static void adcerrorcallback(ADCDriver *adcp, adcerror_t err)
{
chSysLockFromISR();
adcp_err = adcp;
adc_error_flag = err;
chSysUnlockFromISR();
}
/**
* @brief Generic endpoint OUT handler.
*
* @param[in] usbp pointer to the @p USBDriver object
* @param[in] ep endpoint number
*
* @notapi
*/
static void otg_epout_handler(USBDriver *usbp, usbep_t ep) {
stm32_otg_t *otgp = usbp->otg;
uint32_t epint = otgp->oe[ep].DOEPINT;
/* Resets all EP IRQ sources.*/
otgp->oe[ep].DOEPINT = epint;
if ((epint & DOEPINT_STUP) && (otgp->DOEPMSK & DOEPMSK_STUPM)) {
/* Setup packets handling, setup packets are handled using a
specific callback.*/
_usb_isr_invoke_setup_cb(usbp, ep);
}
if ((epint & DOEPINT_XFRC) && (otgp->DOEPMSK & DOEPMSK_XFRCM)) {
/* Receive transfer complete.*/
USBOutEndpointState *osp = usbp->epc[ep]->out_state;
if (osp->rxsize < osp->totsize) {
/* In case the transaction covered only part of the total transfer
then another transaction is immediately started in order to
cover the remaining.*/
osp->rxsize = osp->totsize - osp->rxsize;
osp->rxcnt = 0;
usb_lld_prepare_receive(usbp, ep);
chSysLockFromISR();
usb_lld_start_out(usbp, ep);
chSysUnlockFromISR();
}
else {
/* End on OUT transfer.*/
_usb_isr_invoke_out_cb(usbp, ep);
}
}
}
static void usb_event(USBDriver *usbp, usbevent_t event) {
switch (event) {
case USB_EVENT_RESET:
return;
case USB_EVENT_ADDRESS:
return;
case USB_EVENT_CONFIGURED:
chSysLockFromISR();
/* Enable the endpoints specified in the configuration.
Note, this callback is invoked from an ISR so I-Class functions must be used.*/
usbInitEndpointI(usbp, USBD2_DATA_IN_EP, &ep1config);
usbInitEndpointI(usbp, USBD2_INTERRUPT_REQUEST_EP, &ep2config);
sduConfigureHookI(&UsbCDC.SDU2); // Resetting the state of the CDC subsystem
App.SignalEvtI(EVTMSK_USB_READY);
chSysUnlockFromISR();
return;
case USB_EVENT_SUSPEND:
return;
case USB_EVENT_WAKEUP:
return;
case USB_EVENT_STALLED:
return;
} // switch
}
void i2cDmaIrqHandler(void *p, uint32_t flags) {
chSysLockFromISR();
i2c_t *pi2c = (i2c_t*)p;
// Uart.PrintfNow("\r===T===");
chThdResumeI(&pi2c->ThdRef, (msg_t)0);
chSysUnlockFromISR();
}
void doSlowAdc(void) {
efiAssertVoid(CUSTOM_ERR_6658, getRemainingStack(chThdGetSelfX())> 32, "lwStAdcSlow");
#if EFI_INTERNAL_ADC
/* Starts an asynchronous ADC conversion operation, the conversion
will be executed in parallel to the current PWM cycle and will
terminate before the next PWM cycle.*/
slowAdc.conversionCount++;
chSysLockFromISR()
;
if (ADC_SLOW_DEVICE.state != ADC_READY &&
ADC_SLOW_DEVICE.state != ADC_COMPLETE &&
ADC_SLOW_DEVICE.state != ADC_ERROR) {
// todo: why and when does this happen? firmwareError(OBD_PCM_Processor_Fault, "ADC slow not ready?");
slowAdc.errorsCount++;
chSysUnlockFromISR()
;
return;
}
adcStartConversionI(&ADC_SLOW_DEVICE, &adcgrpcfgSlow, slowAdc.samples, ADC_BUF_DEPTH_SLOW);
chSysUnlockFromISR()
;
#endif /* EFI_INTERNAL_ADC */
}
static void pwmpcb_fast(PWMDriver *pwmp) {
efiAssertVoid(CUSTOM_ERR_6659, getRemainingStack(chThdGetSelfX())> 32, "lwStAdcFast");
#if EFI_INTERNAL_ADC
(void) pwmp;
/*
* Starts an asynchronous ADC conversion operation, the conversion
* will be executed in parallel to the current PWM cycle and will
* terminate before the next PWM cycle.
*/
chSysLockFromISR()
;
if (ADC_FAST_DEVICE.state != ADC_READY &&
ADC_FAST_DEVICE.state != ADC_COMPLETE &&
ADC_FAST_DEVICE.state != ADC_ERROR) {
fastAdc.errorsCount++;
// todo: when? why? firmwareError(OBD_PCM_Processor_Fault, "ADC fast not ready?");
chSysUnlockFromISR()
;
return;
}
adcStartConversionI(&ADC_FAST_DEVICE, &adcgrpcfg_fast, fastAdc.samples, ADC_BUF_DEPTH_FAST);
chSysUnlockFromISR()
;
fastAdc.conversionCount++;
#endif /* EFI_INTERNAL_ADC */
}
static void wakeup_tx(void *p) {
(void)p;
chSysLockFromISR();
chEvtSignalI(tx_tp, (eventmask_t) 1);
chSysUnlockFromISR();
}
/*
* Handles the USB driver global events.
*/
static void usb_event(USBDriver *usbp, usbevent_t event) {
extern SerialUSBDriver SDU1;
switch (event) {
case USB_EVENT_RESET:
return;
case USB_EVENT_ADDRESS:
return;
case USB_EVENT_CONFIGURED:
chSysLockFromISR();
/* Enables the endpoints specified into the configuration.
Note, this callback is invoked from an ISR so I-Class functions
must be used.*/
usbInitEndpointI(usbp, USBD1_DATA_REQUEST_EP, &ep1config);
usbInitEndpointI(usbp, USBD1_INTERRUPT_REQUEST_EP, &ep2config);
/* Resetting the state of the CDC subsystem.*/
sduConfigureHookI(&SDU1);
chSysUnlockFromISR();
return;
case USB_EVENT_SUSPEND:
return;
case USB_EVENT_WAKEUP:
return;
case USB_EVENT_STALLED:
return;
}
return;
}
/**
* @brief Get a message from the queue.
*/
osEvent osMessageGet(osMessageQId queue_id,
uint32_t millisec) {
msg_t msg;
osEvent event;
event.def.message_id = queue_id;
if (port_is_isr_context()) {
/* Waiting makes no sense in ISRs so any value except "immediate"
makes no sense.*/
if (millisec != 0) {
event.status = osErrorValue;
return event;
}
chSysLockFromISR();
msg = chMBFetchI((mailbox_t *)queue_id, (msg_t*)&event.value.v);
chSysUnlockFromISR();
}
else {
msg = chMBFetch((mailbox_t *)queue_id,
(msg_t*)&event.value.v,
(systime_t)millisec);
}
/* Returned event type.*/
event.status = msg == MSG_OK ? osEventMessage : osEventTimeout;
return event;
}
//-----------------------------------------------------------------------------
static void
vectornav_gpt_end_cb(GPTDriver * gptp)
{
(void)gptp;
switch( async_vn_msg.state )
{
case VN_ASYNC_1ST_SLEEP:
chSysLockFromISR();
async_vn_msg.state = VN_ASYNC_2ND_SPI_CB;
memset(&async_vn_msg.buf, 0, sizeof(async_vn_msg.buf));
spiSelectI(VND1.spip);
spiStartReceiveI(VND1.spip, async_vn_msg.buf_size, async_vn_msg.buf);
chSysUnlockFromISR();
break;
case VN_ASYNC_2ND_SLEEP:
// finished, clear it all
memset(&async_vn_msg, 0, sizeof(async_vn_msg));
break;
case VN_ASYNC_INACTIVE:
case VN_ASYNC_1ST_SPI_CB:
case VN_ASYNC_2ND_SPI_CB:
default:
// @TODO: assert?
break;
}
}
void AdcTxIrq(void *p, uint32_t flags) {
dmaStreamDisable(ADC_DMA);
Adc.Stop();
// Signal event
chSysLockFromISR();
App.SignalEvtI(EVT_ADC_DONE);
chSysUnlockFromISR();
}
static void tmrcb(void *p) {
event_timer_t *etp = p;
chSysLockFromISR();
chEvtBroadcastI(&etp->et_es);
chVTDoSetI(&etp->et_vt, etp->et_interval, tmrcb, etp);
chSysUnlockFromISR();
}
static void restart(void *p) {
(void)p;
chSysLockFromISR();
uartStartSendI(&UARTD1, 14, "Hello World!\r\n");
chSysUnlockFromISR();
}
/* Called upon FX ADC DMA buffer filling up. */
static void adc_fx_callback(ADCDriver *adc_driver_ptr, adcsample_t *buffer, size_t n) {
(void)adc_driver_ptr;
(void)buffer;
(void)n;
chSysLockFromISR();
chBSemSignalI(&bsAnalogueFX);
chSysUnlockFromISR();
}
/*
* GPT7 callback
*/
static void gpt7cb(GPTDriver *gptp)
{
(void)gptp;
palSetPad(GPIOF, GPIOF_LED_RED);
chSysLockFromISR();
gptStartOneShotI(&GPTD1, 31250); /* 0.1 second pulse.*/
chSysUnlockFromISR();
}
void hid_transmit(USBDriver *usbp) {
usbPrepareTransmit(usbp, HID_IN_EP_ADDRESS, (uint8_t *)&hid_in_data, sizeof (hid_in_data));
chSysLockFromISR();
usbStartTransmitI(usbp, HID_IN_EP_ADDRESS);
palSetPadMode(GPIOD, 14, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(GPIOD, 14);
chSysUnlockFromISR();
}
static void adc_callback(ADCDriver *adcp, adcsample_t *buffer, size_t n)
{
(void)adcp;
(void)n;
bus_voltage = buffer[0];
chSysLockFromISR();
chBSemSignalI(&adc_wait);
chSysUnlockFromISR();
}
/*
* This callback is invoked when a transmission has physically completed.
*/
static void txend2(UARTDriver *uartp) {
(void)uartp;
palClearPad(GPIOB, GPIOB_LED4);
chSysLockFromISR();
chVTResetI(&vt1);
chVTDoSetI(&vt1, MS2ST(5000), restart, NULL);
chSysUnlockFromISR();
}
/*
* This callback is invoked when a transmission has physically completed.
*/
static void txend2(UARTDriver *uartp) {
(void)uartp;
palSetPad(GPIOD, GPIOD_LED5);
chSysLockFromISR();
chVTResetI(&vt5);
chVTSetI(&vt5, MS2ST(200), led5off, NULL);
chSysUnlockFromISR();
}