lpcmanager

Fixed random blocking of RS485 task, probably bug of Alchemy API in Xenomai (rt_suspend and rt_resmue ?)

2019-02-05, Edouard Tisserant
e42521549e20
Parents 59fe1eea36a8
Children 4b07f192cdc9
Fixed random blocking of RS485 task, probably bug of Alchemy API in Xenomai (rt_suspend and rt_resmue ?)
5 files changed, 48 insertions(+), 32 deletions(-)
  • +5 -5
    LPCBus/MC9_Devices_cleanup.c
  • +34 -12
    LPCBus/MC9_Devices_decl.c
  • +1 -10
    LPCBus/MC9_Devices_init.c
  • +6 -3
    LPCBus/MC9_Devices_publish.c
  • +2 -2
    LPCBus/MC9_Devices_retrieve.c
    • --- a/LPCBus/MC9_Devices_cleanup.c Fri Jan 25 14:09:27 2019 +0100
    +++ b/LPCBus/MC9_Devices_cleanup.c Tue Feb 05 13:33:17 2019 +0100
    @@ -1,8 +1,8 @@
    +
    +pthread_mutex_lock(&UART_WakeCondLock);
    UART_task_active = 0;
    -rt_task_resume(&UART_task);
    -rt_task_delete(&UART_task);
    -rt_task_join(&UART_task);
    +pthread_cond_signal(&UART_WakeCond);
    +pthread_mutex_unlock(&UART_WakeCondLock);
    +pthread_join(UART_task, NULL);
    closeserial(UART_fd);
    -rt_mutex_delete(&UART_WriteMutex);
    -rt_mutex_delete(&UART_ReadMutex);
    --- a/LPCBus/MC9_Devices_decl.c Fri Jan 25 14:09:27 2019 +0100
    +++ b/LPCBus/MC9_Devices_decl.c Tue Feb 05 13:33:17 2019 +0100
    @@ -125,21 +125,38 @@
    /* Table of timers (one for each position) */
    static commTimer uartPortTim[MAX_UART_DEVICES];
    -static RT_TASK UART_task;
    -static RT_MUTEX UART_WriteMutex;
    -static RT_MUTEX UART_ReadMutex;
    +static pthread_t UART_task;
    +static pthread_mutex_t UART_WriteMutex = PTHREAD_MUTEX_INITIALIZER;
    +static pthread_mutex_t UART_ReadMutex = PTHREAD_MUTEX_INITIALIZER;
    +static pthread_mutex_t UART_WakeCondLock = PTHREAD_MUTEX_INITIALIZER;
    +static pthread_cond_t UART_WakeCond = PTHREAD_COND_INITIALIZER;
    +static int UART_WakeCondValue = 0;
    static int UART_task_active;
    -void UART_task_proc(void *arg)
    +void* UART_task_proc(void *arg)
    {
    static unsigned char i=0;
    char commStat;
    uint64_t actTime;
    static uint64_t lastCommTime=0;
    - while (UART_task_active){
    - rt_task_suspend(NULL);
    - if(!UART_task_active)
    + struct sched_param param = { .sched_priority = 10 };
    + pthread_setname_np(pthread_self(), "UART_task");
    + pthread_setschedparam(pthread_self(), SCHED_FIFO, &param);
    +
    + while (1){
    + int active;
    + pthread_mutex_lock(&UART_WakeCondLock);
    + active = UART_task_active;
    + while(!UART_WakeCondValue && active){
    + pthread_cond_wait(&UART_WakeCond, &UART_WakeCondLock);
    + active = UART_task_active;
    + }
    +
    + UART_WakeCondValue = 0;
    + pthread_mutex_unlock(&UART_WakeCondLock);
    +
    + if(!active)
    break;
    // Communicate only with initialised UART devices
    @@ -149,7 +166,11 @@
    // Timers for UART port modules
    if(uartPortTim[i].status != TIM_DISABLED)
    {
    - actTime = (uint64_t)rt_timer_read();
    + struct timespec time_ref;
    + if(clock_gettime(CLOCK_MONOTONIC, &time_ref)){
    + perror("clock_gettime(time_ref)");
    + }
    + actTime = time_ref.tv_nsec + time_ref.tv_sec * 1000000000LL;
    uartPortTim[i].actValue = actTime - uartPortTim[i].oldTime;
    if((uartPortTim[i].actValue < uartPortTim[i].toValue)
    @@ -166,7 +187,7 @@
    if((uartPortTim[i].status == TIM_DISABLED)
    || (uartPortTim[i].status == TIM_EN_EXPIRED))
    {
    - if(!rt_mutex_acquire(&UART_WriteMutex, TM_INFINITE )){
    + if(!pthread_mutex_lock(&UART_WriteMutex)){
    if(uartDevWriteBuf_plc_state == FULL){
    uartDevWriteBuf_t *uartDevWriteBuf_tmp;
    uartDevWriteBuf_tmp = uartDevWriteBuf_plc;
    @@ -174,7 +195,7 @@
    uartDevWriteBuf_drv = uartDevWriteBuf_tmp;
    uartDevWriteBuf_plc_state = EMPTY;
    }
    - rt_mutex_release(&UART_WriteMutex);
    + pthread_mutex_unlock(&UART_WriteMutex);
    }
    // Communicate with device
    @@ -185,7 +206,7 @@
    memcpy(uartDevReadBuf_drv, &uartDevReadBuf, sizeof(uartDevReadBuf_t));
    - if(!rt_mutex_acquire(&UART_ReadMutex, TM_INFINITE )){
    + if(!pthread_mutex_lock(&UART_ReadMutex)){
    if(uartDevReadBuf_plc_state == EMPTY){
    uartDevReadBuf_t *uartDevReadBuf_tmp;
    uartDevReadBuf_tmp = uartDevReadBuf_plc;
    @@ -193,7 +214,7 @@
    uartDevReadBuf_drv = uartDevReadBuf_tmp;
    uartDevReadBuf_plc_state = FULL;
    }
    - rt_mutex_release(&UART_ReadMutex);
    + pthread_mutex_unlock(&UART_ReadMutex);
    }
    // Check communication status:
    @@ -230,6 +251,7 @@
    }
    else i=0;
    }
    + return NULL;
    }
    #define TAIL_LEN 3 /* Length of data tail in bytes */
    --- a/LPCBus/MC9_Devices_init.c Fri Jan 25 14:09:27 2019 +0100
    +++ b/LPCBus/MC9_Devices_init.c Tue Feb 05 13:33:17 2019 +0100
    @@ -20,12 +20,6 @@
    %(init_code)s
    -if((err = rt_mutex_create (&UART_WriteMutex, "UART_WriteMutex")))
    - return err;
    -
    -if((err = rt_mutex_create (&UART_ReadMutex, "UART_ReadMutex")))
    - return err;
    -
    UART_fd = openserial(serialdev, uartBaudrate); /* uartBaudrate is initialized from Composer */
    if (!UART_fd) {
    fprintf(stderr, "Error while initializing %%s.\n", serialdev);
    @@ -39,9 +33,6 @@
    UART_task_active = 1;
    -if((err = rt_task_create(&UART_task, "UART_task", 0, 0, T_JOINABLE)))
    +if(err = pthread_create(&UART_task, NULL, &UART_task_proc, NULL));
    return err;
    -if((err = rt_task_start(&UART_task, &UART_task_proc, NULL)))
    - return err;
    -
    --- a/LPCBus/MC9_Devices_publish.c Fri Jan 25 14:09:27 2019 +0100
    +++ b/LPCBus/MC9_Devices_publish.c Tue Feb 05 13:33:17 2019 +0100
    @@ -1,10 +1,10 @@
    -if(!rt_mutex_acquire(&UART_WriteMutex, TM_INFINITE )){
    +if(!pthread_mutex_lock(&UART_WriteMutex)){
    int prevstate;
    prevstate=uartDevWriteBuf_plc_state;
    uartDevWriteBuf_plc_state = LOCKED;
    - rt_mutex_release(&UART_WriteMutex);
    + pthread_mutex_unlock(&UART_WriteMutex);
    %(publish_code)s
    @@ -12,5 +12,8 @@
    uartDevWriteBuf_plc_state = FULL;
    /* wakeup task */
    - rt_task_resume(&UART_task);
    + pthread_mutex_lock(&UART_WakeCondLock);
    + UART_WakeCondValue = 1;
    + pthread_cond_signal(&UART_WakeCond);
    + pthread_mutex_unlock(&UART_WakeCondLock);
    }
    --- a/LPCBus/MC9_Devices_retrieve.c Fri Jan 25 14:09:27 2019 +0100
    +++ b/LPCBus/MC9_Devices_retrieve.c Tue Feb 05 13:33:17 2019 +0100
    @@ -1,11 +1,11 @@
    -if(!rt_mutex_acquire(&UART_ReadMutex, TM_INFINITE )){
    +if(!pthread_mutex_lock(&UART_ReadMutex)){
    int prevstate;
    if((prevstate=uartDevReadBuf_plc_state) == FULL){
    uartDevReadBuf_plc_state = LOCKED;
    }
    - rt_mutex_release(&UART_ReadMutex);
    + pthread_mutex_unlock(&UART_ReadMutex);
    if(prevstate == FULL){