Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

DroneCAN: fixed deadlock and saturation of CAN bus #28218

Merged
merged 1 commit into from
Sep 30, 2024
Merged

DroneCAN: fixed deadlock and saturation of CAN bus #28218

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 10 additions & 20 deletions libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -295,9 +295,7 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
thrashing of the heap once we are up. The ttyACM0 driver may not
connect for some time after boot
*/
while (_in_rx_timer) {
hal.scheduler->delay(1);
}
WITH_SEMAPHORE(rx_sem);
if (rxS != _readbuf.get_size()) {
_rx_initialised = false;
_readbuf.set_size_best(rxS);
Expand Down Expand Up @@ -359,9 +357,7 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
/*
allocate the write buffer
*/
while (_in_tx_timer) {
hal.scheduler->delay(1);
}
WITH_SEMAPHORE(tx_sem);
if (txS != _writebuf.get_size()) {
_tx_initialised = false;
_writebuf.set_size_best(txS);
Expand Down Expand Up @@ -640,9 +636,9 @@ __RAMFUNC__ void UARTDriver::rxbuff_full_irq(void* self, uint32_t flags)

void UARTDriver::_end()
{
while (_in_rx_timer) hal.scheduler->delay(1);
WITH_SEMAPHORE(rx_sem);
WITH_SEMAPHORE(tx_sem);
_rx_initialised = false;
while (_in_tx_timer) hal.scheduler->delay(1);
_tx_initialised = false;

if (sdef.is_usb) {
Expand Down Expand Up @@ -1112,7 +1108,7 @@ void UARTDriver::_rx_timer_tick(void)
return;
}

_in_rx_timer = true;
WITH_SEMAPHORE(rx_sem);

#if HAL_UART_STATS_ENABLED && CH_CFG_USE_EVENTS == TRUE
if (!sdef.is_usb) {
Expand Down Expand Up @@ -1165,7 +1161,6 @@ void UARTDriver::_rx_timer_tick(void)
if (sdef.is_usb) {
#ifdef HAVE_USB_SERIAL
if (((SerialUSBDriver*)sdef.serial)->config->usbp->state != USB_ACTIVE) {
_in_rx_timer = false;
return;
}
#endif
Expand All @@ -1189,7 +1184,6 @@ void UARTDriver::_rx_timer_tick(void)
fwd_otg2_serial();
}
#endif
_in_rx_timer = false;
}

// forward data from a serial port to the USB
Expand Down Expand Up @@ -1308,14 +1302,13 @@ void UARTDriver::_tx_timer_tick(void)
return;
}

_in_tx_timer = true;

if (hd_tx_active) {
WITH_SEMAPHORE(tx_sem);
hd_tx_active &= ~chEvtGetAndClearFlags(&hd_listener);
if (!hd_tx_active) {
/*
half-duplex transmit has finished. We now re-enable the
HDSEL bit for receive
half-duplex transmit has finished. We now re-enable the
HDSEL bit for receive
*/
SerialDriver *sd = (SerialDriver*)(sdef.serial);
sdStop(sd);
Expand All @@ -1328,7 +1321,6 @@ void UARTDriver::_tx_timer_tick(void)
if (sdef.is_usb) {
#ifdef HAVE_USB_SERIAL
if (((SerialUSBDriver*)sdef.serial)->config->usbp->state != USB_ACTIVE) {
_in_tx_timer = false;
return;
}
#endif
Expand All @@ -1341,18 +1333,16 @@ void UARTDriver::_tx_timer_tick(void)

// half duplex we do reads in the write thread
if (half_duplex) {
_in_rx_timer = true;
WITH_SEMAPHORE(rx_sem);
read_bytes_NODMA();
if (_wait.thread_ctx && _readbuf.available() >= _wait.n) {
chEvtSignal(_wait.thread_ctx, EVT_DATA);
}
_in_rx_timer = false;
}

// now do the write
WITH_SEMAPHORE(tx_sem);
write_pending_bytes();

_in_tx_timer = false;
}

/*
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_HAL_ChibiOS/UARTDriver.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -196,8 +196,8 @@ class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
const stm32_dma_stream_t* rxdma;
const stm32_dma_stream_t* txdma;
#endif
volatile bool _in_rx_timer;
volatile bool _in_tx_timer;
HAL_Semaphore tx_sem;
HAL_Semaphore rx_sem;
volatile bool _rx_initialised;
volatile bool _tx_initialised;
volatile bool _device_initialised;
Expand Down
Loading