update cdnet, minimize critical sections

dukelec · Jan 17, 2025 · 00f8755 · 00f8755
1 parent f9078f7
commit 00f8755
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Showing 5 changed files with 15 additions and 17 deletions.
diff --git a/mdrv_bl/cdnet b/mdrv_bl/cdnet
diff --git a/mdrv_fw/cdnet b/mdrv_fw/cdnet
diff --git a/mdrv_fw/usr/app_main.c b/mdrv_fw/usr/app_main.c
@@ -61,7 +61,7 @@ static void device_init(void)
         list_put(&packet_free_head, &packet_alloc[i].node);
 
     spi_wr_init(&r_spi);
-    cdctl_dev_init(&r_dev, &frame_free_head, &csa.bus_cfg, &r_spi, NULL, &r_int);
+    cdctl_dev_init(&r_dev, &frame_free_head, &csa.bus_cfg, &r_spi, NULL, &r_int, EXTI9_5_IRQn);
 
     // 12MHz / (0 + 2) * (48 + 2) / 2^1 = 150MHz
     d_info("pll_n: %02x\n", cdctl_reg_r(&r_dev, REG_PLL_N));

diff --git a/mdrv_fw/usr/app_motor.c b/mdrv_fw/usr/app_motor.c
@@ -72,9 +72,8 @@ uint8_t motor_w_hook_after(uint16_t sub_offset, uint8_t len, uint8_t *dat)
 
     if (csa.state == ST_POS_TC) {
         local_irq_save(flags);
-        if (csa.cal_pos != csa.tc_pos) {
+        if (csa.cal_pos != csa.tc_pos)
             csa.tc_state = 1; // restart t_curve
-        }
         local_irq_restore(flags);
     }
     return 0;

diff --git a/mdrv_fw/usr/common_services.c b/mdrv_fw/usr/common_services.c
@@ -171,7 +171,6 @@ static uint8_t csa_hook_exec(bool after, uint16_t offset, uint8_t len, uint8_t *
 // csa manipulation
 static void p5_service_routine(void)
 {
-    uint32_t flags;
     uint8_t ret_val = 0;
     // read:        0x00, offset_16, len_8   | return [0x80, data]
     // read_dft:    0x01, offset_16, len_8   | return [0x80, data]
@@ -195,9 +194,10 @@ static void p5_service_routine(void)
 
         ret_val = csa_hook_exec(false, offset, len, NULL);
         if (!ret_val) {
-            local_irq_save(flags); // TODO: avoid delay encoder spi read
+            // not use local_irq_save, avoid delay encoder spi read
+            NVIC_DisableIRQ(ADC1_2_IRQn);
             memcpy(pkt->dat + 1, ((void *) &csa) + offset, len);
-            local_irq_restore(flags);
+            NVIC_EnableIRQ(ADC1_2_IRQn);
             ret_val = csa_hook_exec(true, offset, len, NULL);
         }
 
@@ -227,9 +227,9 @@ static void p5_service_routine(void)
                 //printf("csa @ %p, %p <- %p, len %d, dat[0]: %x\n",
                 //        &csa, ((void *) &csa) + start, src_dat + (start - offset), end - start,
                 //        *(src_dat + (start - offset)));
-                local_irq_save(flags);
+                NVIC_DisableIRQ(ADC1_2_IRQn);
                 memcpy(((void *) &csa) + start, src_dat + (start - offset), end - start);
-                local_irq_restore(flags);
+                NVIC_EnableIRQ(ADC1_2_IRQn);
             }
             ret_val = csa_hook_exec(true, offset, len, src_dat);
         }
@@ -259,7 +259,6 @@ static void p5_service_routine(void)
 // qxchg
 static void p6_service_routine(void)
 {
-    uint32_t flags;
     uint8_t ret_val = 0;
     cdn_pkt_t *pkt = cdn_sock_recvfrom(&sock6);
     if (!pkt)
@@ -290,9 +289,9 @@ static void p6_service_routine(void)
 
             ret_val = csa_hook_exec(false, regr->offset, lim_size, src_dat);
             if (!ret_val) {
-                local_irq_save(flags);
+                NVIC_DisableIRQ(ADC1_2_IRQn);
                 memcpy(((void *) &csa) + regr->offset, src_dat, lim_size);
-                local_irq_restore(flags);
+                NVIC_EnableIRQ(ADC1_2_IRQn);
                 ret_val = csa_hook_exec(true, regr->offset, lim_size, src_dat);
             }
 
@@ -305,9 +304,9 @@ static void p6_service_routine(void)
                 break;
             ret_val = csa_hook_exec(false, regr->offset, regr->size, NULL);
             if (!ret_val) {
-                local_irq_save(flags);
+                NVIC_DisableIRQ(ADC1_2_IRQn);
                 memcpy(dst_dat, ((void *) &csa) + regr->offset, regr->size);
-                local_irq_restore(flags);
+                NVIC_EnableIRQ(ADC1_2_IRQn);
                 ret_val = csa_hook_exec(true, regr->offset, regr->size, NULL);
             }
             dst_dat += regr->size;
@@ -326,9 +325,9 @@ static void p6_service_routine(void)
                     break;
                 ret_val = csa_hook_exec(false, regr->offset, regr->size, NULL);
                 if (!ret_val) {
-                    local_irq_save(flags);
+                    NVIC_DisableIRQ(ADC1_2_IRQn);
                     memcpy(dst_dat, ((void *) &csa) + regr->offset, regr->size);
-                    local_irq_restore(flags);
+                    NVIC_EnableIRQ(ADC1_2_IRQn);
                     ret_val = csa_hook_exec(true, regr->offset, regr->size, NULL);
                 }
                 dst_dat += regr->size;
+1 −1		arch/stm32/arch_wrapper.c
+13 −0		arch/stm32/arch_wrapper.h
+14 −26		dev/cdctl_it.c
+2 −2		dev/cdctl_it.h