From a29c2c71c64f1a4c5b5e094585035c4b51f1eea8 Mon Sep 17 00:00:00 2001
From: Federico Mandelli <federico.mandelli@skywarder.eu>
Date: Thu, 21 Jul 2022 14:44:40 +0200
Subject: [PATCH] [CanProtcol] Removed lock on buffer
---
CMakeLists.txt | 4 ++--
src/shared/drivers/canbus/CanProtocol.cpp | 18 ++++--------------
src/tests/drivers/canbus/test-can-protocol.cpp | 9 +++++----
3 files changed, 11 insertions(+), 20 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c7c74ae2d..e69d0759e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -160,13 +160,13 @@ sbs_target(test-ada stm32f429zi_skyward_death_stack_v3)
# Tests - Drivers #
#-----------------------------------------------------------------------------#
add_executable(test-can-protocol src/tests/drivers/canbus/test-can-protocol.cpp)
-sbs_target(test-can-protocol stm32f429zi_stm32f4discovery)
+sbs_target(test-can-protocol stm32f429zi_skyward_pyxis_auxiliary)
add_executable(test-canbus-loopback src/tests/drivers/canbus/test-canbus-loopback.cpp)
sbs_target(test-canbus-loopback stm32f429zi_stm32f4discovery)
add_executable(test-canbus-2way src/tests/drivers/canbus/test-canbus-2way.cpp)
-sbs_target(test-canbus-2way stm32f429zi_stm32f4discovery)
+sbs_target(test-canbus-2way stm32f429zi_skyward_pyxis_auxiliary)
add_executable(test-dma-spi src/tests/drivers/dma/test-dma-spi.cpp)
sbs_target(test-dma-spi stm32f429zi_stm32f4discovery)
diff --git a/src/shared/drivers/canbus/CanProtocol.cpp b/src/shared/drivers/canbus/CanProtocol.cpp
index 2ccf4b63b..5f4fb4401 100644
--- a/src/shared/drivers/canbus/CanProtocol.cpp
+++ b/src/shared/drivers/canbus/CanProtocol.cpp
@@ -36,21 +36,15 @@ CanProtocol::~CanProtocol() { (*can).~CanbusDriver(); }
CanData CanProtocol::getPacket()
{
- miosix::Lock<miosix::FastMutex> l(mutex);
-
if (!buffer.isEmpty())
return buffer.pop();
else
return {};
}
-bool CanProtocol::isBufferEmpty()
-{
- miosix::Lock<miosix::FastMutex> l(mutex);
- return buffer.isEmpty();
-}
+bool CanProtocol::isBufferEmpty() { return buffer.isEmpty(); }
-void CanProtocol::waitBufferEmpty() { buffer.waitUntilNotEmpty(); }
+void CanProtocol::waitBufferNotEmpty() { buffer.waitUntilNotEmpty(); }
void CanProtocol::sendData(CanData dataToSend)
{
@@ -71,7 +65,6 @@ void CanProtocol::sendData(CanData dataToSend)
for (int i = 1; i < dataToSend.length; i++)
{
- tempId = dataToSend.canId;
// create the id for the remaining packets
packet.id = (tempId << shiftSequentialInfo) | firstPacket |
(63 - (tempLen & leftToSend));
@@ -175,11 +168,8 @@ void CanProtocol::run()
if (data[sourceId].nRec == data[sourceId].length &&
data[sourceId].nRec != 0)
{
- {
- // We put the element of data in buffer
- miosix::Lock<miosix::FastMutex> l(mutex);
- buffer.put(data[sourceId]);
- }
+ // We put the element of data in buffer
+ buffer.put(data[sourceId]);
// Empties the struct
data[sourceId].canId = -1;
diff --git a/src/tests/drivers/canbus/test-can-protocol.cpp b/src/tests/drivers/canbus/test-can-protocol.cpp
index a1a6ed81b..598adf32b 100644
--- a/src/tests/drivers/canbus/test-can-protocol.cpp
+++ b/src/tests/drivers/canbus/test-can-protocol.cpp
@@ -101,7 +101,7 @@ int main()
CanbusDriver* c = new CanbusDriver(CAN1, cfg, bt);
CanProtocol protocol(c);
// Allow every message
- Mask32FilterBank f2(0, 0, 0, 0, 0, 0, 0);
+ Mask32FilterBank f2(0, 0, 1, 1, 0, 0, 0);
c->addFilter(f2);
c->init();
@@ -131,15 +131,15 @@ int main()
int error = 0;
for (int f = 0; f < 100000; f++)
{
- protocol.waitBufferEmpty();
+ protocol.waitBufferNotEmpty();
CanData temp = protocol.getPacket();
// TRACE("received packet \n");
if ((!equal(&temp, &toSend1) && !equal(&temp, &toSend2)))
{
error++;
TRACE("Error\n");
- TRACE("Received %lu\n", temp.canId);
- TRACE("Received %d\n", temp.length);
+ TRACE("Received id %lu\n", temp.canId);
+ TRACE("length %d\n", temp.length);
for (int i = 0; i < temp.length; i++)
{
TRACE("Received payload %d: %llu,\n", i, temp.payload[i]);
@@ -154,4 +154,5 @@ int main()
{
TRACE("Number of Error %d\n", error);
}
+ free(c);
}
--
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