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Use ptThreads for reading temp sensors
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@shellixyz
shellixyz committed Feb 7, 2019
1 parent c7f125a commit 63a0a8f
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Showing 3 changed files with 112 additions and 57 deletions.
2 changes: 1 addition & 1 deletion src/main/fc/fc_tasks.c
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Original file line number Diff line number Diff line change
Expand Up @@ -387,7 +387,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_TEMPERATURE] = {
.taskName = "TEMPERATURE",
.taskFunc = taskUpdateTemperature,
.desiredPeriod = TASK_PERIOD_HZ(1), // 1 Hz
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz
.staticPriority = TASK_PRIORITY_LOW,
},

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4 changes: 3 additions & 1 deletion src/main/scheduler/protothreads.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,8 @@

#pragma once
#include "common/time.h"
#include "common/utils.h"
#include "drivers/time.h"

/*
Protothreads are a extremely lightweight, stackless threads that provides a blocking context, without the overhead of per-thread stacks.
Expand Down Expand Up @@ -200,4 +202,4 @@ typedef bool ptSemaphore_t;

#define ptSemaphoreInit(sem) do { sem = false; } while (0)
#define ptSemaphoreWait(sem) do { ptWait(sem); sem = false; } while (0)
#define ptSemaphoreSignal(sem) do { sem = true; } while (0)
#define ptSemaphoreSignal(sem) do { sem = true; } while (0)
163 changes: 108 additions & 55 deletions src/main/sensors/temperature.c
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,8 @@
#include "sensors/gyro.h"
#include "sensors/barometer.h"

#include "scheduler/protothreads.h"


PG_REGISTER_ARRAY(tempSensorConfig_t, MAX_TEMP_SENSORS, tempSensorConfig, PG_TEMP_SENSOR_CONFIG, 0);

Expand Down Expand Up @@ -131,6 +133,9 @@ void temperatureInit(void)
#ifdef DS18B20_DRIVER_AVAILABLE
case TEMP_SENSOR_DS18B20:
if (owDev) {
char address_string[17];
tempSensorAddressToString(configSlot->address, address_string);
DEBUG_TRACE_SYNC("%d: %s", configIndex, address_string);
tempSensorValue[configIndex] = -1250;
ds18b20Configure(owDev, configSlot->address, DS18B20_CONFIG_9BIT);
}
Expand All @@ -142,18 +147,18 @@ void temperatureInit(void)
}
}

static bool temperatureSensorValueIsValid(uint8_t sensorIndex)
static bool temperatureSensorValueIsValid(uint8_t temperatureUpdateSensorIndex)
{
uint8_t mask = 1 << (sensorIndex % 8);
uint8_t byteIndex = sensorIndex / 8;
uint8_t mask = 1 << (temperatureUpdateSensorIndex % 8);
uint8_t byteIndex = temperatureUpdateSensorIndex / 8;
return sensorStatus[byteIndex] & mask;
}

// returns decidegrees centigrade
bool getSensorTemperature(uint8_t sensorIndex, int16_t *temperature)
bool getSensorTemperature(uint8_t temperatureUpdateSensorIndex, int16_t *temperature)
{
*temperature = tempSensorValue[sensorIndex];
return temperatureSensorValueIsValid(sensorIndex);
*temperature = tempSensorValue[temperatureUpdateSensorIndex];
return temperatureSensorValueIsValid(temperatureUpdateSensorIndex);
}

// Converts 64bit integer address to hex format
Expand Down Expand Up @@ -187,72 +192,120 @@ bool tempSensorStringToAddress(const char *hex_address, uint64_t *address)
}
#endif /* USE_TEMPERATURE_SENSOR */

void temperatureUpdate(void)
{
#ifdef USE_TEMPERATURE_SENSOR

static uint8_t temperatureUpdateSensorIndex;
static bool temperatureUpdateValueValid;

if (gyroReadTemperature()) {
mpuTemperature = gyroGetTemperature();
mpuBaroTempValid |= (1 << MPU_TEMP_VALID_BIT);
} else
mpuBaroTempValid &= ~(1 << MPU_TEMP_VALID_BIT);

#ifdef USE_BARO
if (sensors(SENSOR_BARO)) {
baroTemperature = baroGetTemperature();
mpuBaroTempValid |= (1 << BARO_TEMP_VALID_BIT);
} else
mpuBaroTempValid &= ~(1 << BARO_TEMP_VALID_BIT);
#ifdef DS18B20_DRIVER_AVAILABLE
static uint8_t temperatureUpdateIndex;
static uint8_t temperatureUpdateBuf[9];
#endif

#endif /* defined(USE_TEMPERATURE_SENSOR) */

PROTOTHREAD(temperatureUpdate)
{
ptBegin(temperatureUpdate);

while (1) {

if (gyroReadTemperature()) {
mpuTemperature = gyroGetTemperature();
mpuBaroTempValid |= (1 << MPU_TEMP_VALID_BIT);
} else
mpuBaroTempValid &= ~(1 << MPU_TEMP_VALID_BIT);

#ifdef USE_BARO
if (sensors(SENSOR_BARO)) {
baroTemperature = baroGetTemperature();
mpuBaroTempValid |= (1 << BARO_TEMP_VALID_BIT);
} else
mpuBaroTempValid &= ~(1 << BARO_TEMP_VALID_BIT);
#endif

#ifdef USE_TEMPERATURE_SENSOR
for (uint8_t sensorIndex = 0; sensorIndex < MAX_TEMP_SENSORS; ++sensorIndex) {
const tempSensorConfig_t *configSlot = tempSensorConfig(sensorIndex);
bool valueValid = false;

switch (configSlot->type) {
temperatureUpdateSensorIndex = 0;
do {
const tempSensorConfig_t *configSlot = tempSensorConfig(temperatureUpdateSensorIndex);
temperatureUpdateValueValid = false;

case TEMP_SENSOR_LM75:;
#ifdef USE_TEMPERATURE_LM75
#ifdef USE_TEMPERATURE_LM75
if (configSlot->type == TEMP_SENSOR_LM75) {
if (configSlot->address < 8) {
temperatureDev_t *dev = lm75Dev + configSlot->address;
if (dev->read && dev->read(dev, &tempSensorValue[sensorIndex])) valueValid = true;
if (dev->read && dev->read(dev, &tempSensorValue[temperatureUpdateSensorIndex])) temperatureUpdateValueValid = true;
}
#endif
break;

case TEMP_SENSOR_DS18B20:
#ifdef DS18B20_DRIVER_AVAILABLE
if (owDev) {
int16_t temperature;
if (ds18b20ReadTemperature(owDev, configSlot->address, &temperature)) {
if (temperatureSensorValueIsValid(sensorIndex) || (tempSensorValue[sensorIndex] == -1240)) {
tempSensorValue[sensorIndex] = temperature;
valueValid = true;
} else
tempSensorValue[sensorIndex] = -1240;
}
#endif

#ifdef DS18B20_DRIVER_AVAILABLE
if ((configSlot->type == TEMP_SENSOR_DS18B20) && owDev) {
bool ack = owDev->owResetCommand(owDev);
if (!ack) goto temperatureUpdateError;
ptWait(owDev->owBusReady(owDev));

ack = owDev->owMatchRomCommand(owDev);
if (!ack) goto temperatureUpdateError;
ptWait(owDev->owBusReady(owDev));

temperatureUpdateIndex = 0;
do {
ack = owDev->owWriteByteCommand(owDev, ((uint8_t *)&tempSensorConfig(temperatureUpdateSensorIndex)->address)[temperatureUpdateIndex]);
if (!ack) goto temperatureUpdateError;
ptWait(owDev->owBusReady(owDev));
} while (++temperatureUpdateIndex < 8);

ack = ds18b20ReadScratchpadCommand(owDev);
if (!ack) goto temperatureUpdateError;
ptWait(owDev->owBusReady(owDev));

temperatureUpdateIndex = 0;
do {
ack = owDev->owReadByteCommand(owDev);
if (!ack) goto temperatureUpdateError;
ptWait(owDev->owBusReady(owDev));
ack = owDev->owReadByteResult(owDev, temperatureUpdateBuf + temperatureUpdateIndex);
if (!ack) goto temperatureUpdateError;
} while (++temperatureUpdateIndex < 9);

int16_t temperature;
if (ds18b20ReadTemperatureFromScratchPadBuf(temperatureUpdateBuf, &temperature)) {
if (temperatureSensorValueIsValid(temperatureUpdateSensorIndex) || (tempSensorValue[temperatureUpdateSensorIndex] == -1240)) {
tempSensorValue[temperatureUpdateSensorIndex] = temperature;
temperatureUpdateValueValid = true;
} else
tempSensorValue[sensorIndex] = -1250;
}
#endif
break;
tempSensorValue[temperatureUpdateSensorIndex] = -1240;
} else
tempSensorValue[temperatureUpdateSensorIndex] = -1250;
}

default:;
}
temperatureUpdateError:;
#endif

uint8_t statusMask = 1 << (sensorIndex % 8);
uint8_t byteIndex = sensorIndex / 8;
if (valueValid)
sensorStatus[byteIndex] |= statusMask;
else
sensorStatus[byteIndex] &= ~statusMask;
uint8_t statusMask = 1 << (temperatureUpdateSensorIndex % 8);
uint8_t byteIndex = temperatureUpdateSensorIndex / 8;
if (temperatureUpdateValueValid)
sensorStatus[byteIndex] |= statusMask;
else
sensorStatus[byteIndex] &= ~statusMask;

}
#endif
ptYield();

} while (++temperatureUpdateSensorIndex < MAX_TEMP_SENSORS);

#ifdef DS18B20_DRIVER_AVAILABLE
if (owDev) ds18b20StartConversion(owDev);
if (owDev) ds18b20StartConversion(owDev);
#endif

#endif /* defined(USE_TEMPERATURE_SENSOR) */

ptDelayMs(1000);

}

ptEnd(0);
}

// returns decidegrees centigrade
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