From 28fc4f93435a32341f65a694920e60b75cf6baef Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Wed, 7 May 2025 21:03:33 +0000
Subject: [PATCH] [SensorFIFO] Fix BMX160 SensorFIFO deadlock
---
src/shared/sensors/BMX160/BMX160.cpp | 2 +-
src/shared/sensors/L3GD20/L3GD20.h | 2 +-
src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp | 2 +-
src/shared/sensors/Sensor.h | 12 ++++++------
4 files changed, 9 insertions(+), 9 deletions(-)
diff --git a/src/shared/sensors/BMX160/BMX160.cpp b/src/shared/sensors/BMX160/BMX160.cpp
index f175ad873..8d2ee05f3 100644
--- a/src/shared/sensors/BMX160/BMX160.cpp
+++ b/src/shared/sensors/BMX160/BMX160.cpp
@@ -751,7 +751,7 @@ void BMX160::readFifo(bool headerless)
uint64_t timestamp = 0;
uint64_t watermarkTimestamp = 0;
int idx = 0;
- miosix::Lock<miosix::FastMutex> l(fifoMutex);
+ miosix::Lock<miosix::FastMutex> l(mutex);
while (idx < len && buf[idx] != BMX160Defs::FIFO_STOP_BYTE)
{
diff --git a/src/shared/sensors/L3GD20/L3GD20.h b/src/shared/sensors/L3GD20/L3GD20.h
index 5d50608e8..30409f27c 100644
--- a/src/shared/sensors/L3GD20/L3GD20.h
+++ b/src/shared/sensors/L3GD20/L3GD20.h
@@ -226,7 +226,7 @@ public:
else // FIFO is enabled
{
// Lock mutex for thread safe Fifo reading
- miosix::Lock<miosix::FastMutex> l(fifoMutex);
+ miosix::Lock<miosix::FastMutex> l(mutex);
SPITransaction spi(spislave);
// Read last fifo level
diff --git a/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp b/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
index 9beacbe95..d3d776dd8 100644
--- a/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
+++ b/src/shared/sensors/LSM6DSRX/LSM6DSRX.cpp
@@ -793,7 +793,7 @@ float LSM6DSRX::getSensorTimestampResolution()
void LSM6DSRX::readFromFifo()
{
// Lock mutex for thread safe Fifo reading
- miosix::Lock<miosix::FastMutex> l(fifoMutex);
+ miosix::Lock<miosix::FastMutex> l(mutex);
SPITransaction spi{spiSlave};
diff --git a/src/shared/sensors/Sensor.h b/src/shared/sensors/Sensor.h
index 11cbf3709..e740cf85b 100644
--- a/src/shared/sensors/Sensor.h
+++ b/src/shared/sensors/Sensor.h
@@ -147,14 +147,15 @@ public:
template <typename Data, uint32_t FifoSize>
class SensorFIFO : public Sensor<Data>
{
+ using Super = Sensor<Data>;
+
protected:
std::array<Data, FifoSize> lastFifo;
uint16_t lastFifoLevel = 1; //< number of samples in lastFifo
uint64_t lastInterruptTimestamp = 0;
uint64_t interruptTimestampDelta =
- 0; //< delta between previous interrupt
- // timestamp and the last received one
- miosix::FastMutex fifoMutex; // thread safe mutex to read FIFO
+ 0; //< delta between previous interrupt
+ // timestamp and the last received one
public:
SensorFIFO() {}
@@ -163,8 +164,7 @@ public:
: lastFifo{std::move(other.lastFifo)},
lastFifoLevel{std::move(other.lastFifoLevel)},
lastInterruptTimestamp{std::move(other.lastInterruptTimestamp)},
- interruptTimestampDelta{std::move(other.interruptTimestampDelta)},
- fifoMutex{}
+ interruptTimestampDelta{std::move(other.interruptTimestampDelta)}
{
}
@@ -174,7 +174,7 @@ public:
*/
const std::array<Data, FifoSize> getLastFifo(uint16_t& lastFifoSize)
{
- miosix::Lock<miosix::FastMutex> l(fifoMutex);
+ miosix::Lock<miosix::FastMutex> l(Super::mutex);
lastFifoSize = lastFifoLevel;
return lastFifo;
}
--
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