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firmata: Add pthread spin locks around uart operations

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Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
Brendan Le Foll
2016-10-26 12:55:54 +01:00
parent bb5ec8bd10
commit 623fef670e
3 changed files with 32 additions and 3 deletions
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3
include/firmata/firmata.h
View File

@@ -24,6 +24,8 @@
#pragma once
#include <pthread.h>
#include "uart.h"
#define MODE_INPUT 0x00
@@ -99,6 +101,7 @@ typedef struct s_firmata {
char firmware[140];
uint8_t dev_count;
struct _firmata** devs;
pthread_spinlock_t lock;
} t_firmata;
t_firmata* firmata_new(const char* name);

13
src/firmata/firmata.c
View File

@@ -39,6 +39,13 @@ firmata_new(const char* name)
return NULL;
}
int ret = pthread_spin_init(&res->lock, PTHREAD_PROCESS_SHARED);
if (ret != 0) {
syslog(LOG_ERR, "firmata; could not init locking");
free(res);
return NULL;
}
res->uart = mraa_uart_init_raw(name);
if (res->uart == NULL) {
syslog(LOG_ERR, "firmata: UART failed to setup");
@@ -133,7 +140,9 @@ firmata_endParse(t_firmata* firmata)
int analog_val = firmata->parse_buff[1] | (firmata->parse_buff[2] << 7);
for (pin = 0; pin < 128; pin++) {
if (firmata->pins[pin].analog_channel == analog_ch) {
if (pthread_spin_lock(&firmata->lock) != 0) return;
firmata->pins[pin].value = analog_val;
if (pthread_spin_unlock(&firmata->lock) != 0) syslog(LOG_ERR, "firmata: Fatal spinlock deadlock");
return;
}
}
@@ -147,7 +156,9 @@ firmata_endParse(t_firmata* firmata)
for (mask = 1; mask & 0xFF; mask <<= 1, pin++) {
if (firmata->pins[pin].mode == MODE_INPUT) {
uint32_t val = (port_val & mask) ? 1 : 0;
if (pthread_spin_lock(&firmata->lock)) return;
firmata->pins[pin].value = val;
if (pthread_spin_unlock(&firmata->lock) != 0) syslog(LOG_ERR, "firmata: Fatal spinlock deadlock");
}
}
return;
@@ -240,10 +251,12 @@ firmata_endParse(t_firmata* firmata)
int reg = (firmata->parse_buff[4] & 0x7f) | ((firmata->parse_buff[5] & 0x7f) << 7);
int i = 6;
int ii = 0;
if (pthread_spin_lock(&firmata->lock) != 0) syslog(LOG_ERR, "firmata: Fatal spinlock deadlock, skipping i2c msg");
for (; ii < (firmata->parse_count - 7) / 2; ii++) {
firmata->i2cmsg[addr][reg+ii] = (firmata->parse_buff[i] & 0x7f) | ((firmata->parse_buff[i+1] & 0x7f) << 7);
i = i+2;
}
if (pthread_spin_unlock(&firmata->lock) != 0) syslog(LOG_ERR, "firmata: Fatal spinlock deadlock");
} else {
if (firmata->devs != NULL) {
struct _firmata* devs = firmata->devs[0];

19
src/firmata/firmata_mraa.c
View File

@@ -84,6 +84,7 @@ mraa_result_t
mraa_firmata_close(mraa_firmata_context dev)
{
mraa_firmata_response_stop(dev);
pthread_spin_destroy(&firmata_dev->lock);
free(dev);
return MRAA_SUCCESS;
}
@@ -182,11 +183,17 @@ static mraa_result_t
mraa_firmata_i2c_wait(int addr, int reg)
{
int i = 0;
for (; firmata_dev->i2cmsg[addr][reg] == -1; i++) {
if (pthread_spin_lock(&firmata_dev->lock) != 0) return MRAA_ERROR_UNSPECIFIED;
int res = firmata_dev->i2cmsg[addr][reg];
if (pthread_spin_unlock(&firmata_dev->lock) != 0) return MRAA_ERROR_UNSPECIFIED;
for (; res == -1; i++) {
if (i > 50) {
return MRAA_ERROR_UNSPECIFIED;
}
usleep(500);
if (pthread_spin_lock(&firmata_dev->lock) != 0) return MRAA_ERROR_UNSPECIFIED;
res = firmata_dev->i2cmsg[addr][reg];
if (pthread_spin_unlock(&firmata_dev->lock) != 0) return MRAA_ERROR_UNSPECIFIED;
}
return MRAA_SUCCESS;
}
@@ -345,7 +352,10 @@ mraa_firmata_aio_read(mraa_aio_context dev)
{
// careful, whilst you need to enable '0' for A0 you then need to read 14
// in t_firmata because well that makes sense doesn't it...
return (int) firmata_dev->pins[dev->channel].value;
if (pthread_spin_lock(&firmata_dev->lock) != 0) return -1;
int ret = (int) firmata_dev->pins[dev->channel].value;
if (pthread_spin_unlock(&firmata_dev->lock) != 0) return -1;
return ret;
}
static mraa_result_t
@@ -380,7 +390,10 @@ mraa_firmata_gpio_mode_replace(mraa_gpio_context dev, mraa_gpio_mode_t mode)
static int
mraa_firmata_gpio_read_replace(mraa_gpio_context dev)
{
return firmata_dev->pins[dev->pin].value;
if (pthread_spin_lock(&firmata_dev->lock) != 0) return -1;
int res = firmata_dev->pins[dev->pin].value;
if (pthread_spin_unlock(&firmata_dev->lock) != 0) return -1;
return res;
}
static mraa_result_t