From 75a708dd4dfa07a4586fa46b6f940ff7cc981ed7 Mon Sep 17 00:00:00 2001
From: David Gauchard <gauchard@laas.fr>
Date: Thu, 15 Jun 2023 14:58:41 +0200
Subject: [PATCH] fix FS: computeNewSpeed() out from interrupt, added locks for
FS operations
---
cli.cpp | 5 ----
fs.cpp | 47 ++++++++++++++++++++++----------------
fs.h | 2 +-
motor.h | 20 +++++++++-------
pousseseringue-arduino.cpp | 47 ++++++++++++++++++++++++++++----------
5 files changed, 75 insertions(+), 46 deletions(-)
diff --git a/cli.cpp b/cli.cpp
index a8d0e90..5d76226 100644
--- a/cli.cpp
+++ b/cli.cpp
@@ -340,11 +340,6 @@ void Cli::loop (Stream& input)
ls(&Serial);
answer(true);
}
- else if (kw(F("FS-FORMAT")))
- {
- format(&Serial);
- answer(true);
- }
else if (kw(F("FS-CAT")))
{
copyNextToTemp();
diff --git a/fs.cpp b/fs.cpp
index 16592cd..a02b429 100644
--- a/fs.cpp
+++ b/fs.cpp
@@ -3,53 +3,58 @@
#include <ESPWebDAV.h>
#include <LittleFS.h>
#include <StreamString.h>
+#include <interrupts.h> // InterruptLock
#include "fs.h"
+#include "syringe.h"
+
+using InterruptLock = esp8266::InterruptLock;
+
+extern Syringe syringe;
ESPWebDAVCore* dav = nullptr;
ESP8266WebServer* http = nullptr;
FS* filesystem = nullptr;
const char* fsMsgHeader = nullptr;
-bool fs_init (const char* msgHeader)
+bool fs_init (const char* msgHeader, Print* out)
{
fsMsgHeader = msgHeader;
filesystem = &LittleFS;
+
if (!filesystem->begin() && (!filesystem->format() || !filesystem->begin()))
+ {
+ out->printf("%sFS: mount/format/mount: failed\n", fsMsgHeader);
return false;
+ }
+
http = new (std::nothrow) ESP8266WebServer(HTTPORT);
if (!http)
+ {
+ out->printf("#%sFS: http server start: failed\n", fsMsgHeader);
return false;
+ }
+
dav = new (std::nothrow) ESPWebDAVCore;
if (!dav)
{
+ out->printf("%sFS: webdav allocation: failed\n", fsMsgHeader);
delete http;
return false;
}
+
dav->begin(filesystem);
http->addHook(hookWebDAVForWebserver(DAVROOT, *dav));
+
return true;
}
-
void ls (Print* out)
{
if (dav)
{
- out->printf("#%sLS:\n", fsMsgHeader);
- dav->dir("/", out);
- }
-}
-
-void format (Print* out)
-{
- if (filesystem)
- {
- out->printf("%sformatting\n", fsMsgHeader);
- out->flush();
- filesystem->format();
- out->printf("%smkdir %s\n", fsMsgHeader, DAVROOT);
- filesystem->mkdir(DAVROOT);
+ out->printf("%sLS:\n", fsMsgHeader);
+ { InterruptLock lock; dav->dir("/", out); }
}
}
@@ -57,14 +62,15 @@ void cat (const char* filename, Stream* out)
{
if (filesystem)
{
- File f = filesystem->open(filename, "r");
+ File f = ({ InterruptLock lock; filesystem->open(filename, "r"); });
if (!f)
out->printf("%scat: '%s' not found\n", fsMsgHeader, filename);
else
{
out->printf("%s>>>>FILE name:'%s' fullname:'%s' size=%zd\n", fsMsgHeader, f.name(), f.fullName(), f.size());
- f.sendSize(out, f.size());
+ { InterruptLock lock; f.sendSize(out, f.size()); }
out->printf("%s<<<<FILE\n", fsMsgHeader);
+ { InterruptLock lock; f.close(); }
}
}
}
@@ -73,13 +79,14 @@ void testw (const char* filename, Stream* out)
{
if (filesystem)
{
- File f = filesystem->open(filename, "w");
+ File f = ({ InterruptLock lock; filesystem->open(filename, "w"); });
if (!f)
out->printf("%stest: '%s' can't write\n", fsMsgHeader, filename);
else
{
StreamString blah = "blah";
- blah.sendAll(f);
+ { InterruptLock lock; blah.sendAll(f); }
+ { InterruptLock lock; f.close(); }
}
}
}
diff --git a/fs.h b/fs.h
index 1c690dc..958e722 100644
--- a/fs.h
+++ b/fs.h
@@ -12,7 +12,7 @@
#define HTTPORT 80
#endif
-bool fs_init (const char* msgHeader);
+bool fs_init (const char* msgHeader, Print* out);
void ls (Print* out);
void format (Print* out);
void cat (const char* filename, Stream* out);
diff --git a/motor.h b/motor.h
index c7a8d48..9aaf403 100644
--- a/motor.h
+++ b/motor.h
@@ -13,22 +13,27 @@ class AccelStepper
#include <AccelStepper.h>
#endif
+class isrStepper: public AccelStepper
+{
+ // usefulness: make computeNewSpeed() public to be called outside from interrupt
+public:
+ isrStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true):
+ AccelStepper(interface, pin1, pin2, pin3, pin4, enable) { }
+ inline unsigned long computeNewSpeed () { return AccelStepper::computeNewSpeed(); }
+};
+
class Motor
{
public:
- using MotorHardware_t = AccelStepper;
+ using MotorHardware_t = isrStepper;
- Motor (AccelStepper& stepper): stepper(stepper)
+ Motor (isrStepper& stepper): stepper(stepper)
{
setSpeedMmPerSec(1);
setAccelMmPerSecPerSec(0.5); // <----- this is not yet configured by user
}
- void setLock (bool locked) { _locked = locked; }
-
- bool locked () const { return _locked; }
-
void setMmPerRev (float mmPerRevolution)
{
_mmPerRevolution = mmPerRevolution;
@@ -167,11 +172,10 @@ public:
protected:
- bool _locked = false;
int _stepsPerRevolution = -1;
float _mmPerRevolution = -1;
float _retainAccel = -1;
bool _forwardClockwise;
- AccelStepper& stepper;
+ isrStepper& stepper;
};
diff --git a/pousseseringue-arduino.cpp b/pousseseringue-arduino.cpp
index 16b7547..14b00b6 100644
--- a/pousseseringue-arduino.cpp
+++ b/pousseseringue-arduino.cpp
@@ -41,6 +41,9 @@
#include <ESP8266WiFi.h> // internal, wifi library
#include <DNSServer.h> // internal, access point mode
#include <Schedule.h>
+#include <interrupts.h> // InterruptLock
+
+using InterruptLock = esp8266::InterruptLock;
#if !CORE_MOCK
#include <SSD1306AsciiWire.h> // https://github.com/greiman/SSD1306Ascii
@@ -50,9 +53,9 @@ SSD1306AsciiWire oled;
#include "motor.h"
#if CORE_MOCK
-AccelStepper stepper;
+isrStepper stepper;
#else
-AccelStepper stepper(AccelStepper::DRIVER, STEP, DIR);
+isrStepper stepper(AccelStepper::DRIVER, STEP, DIR);
#endif
@@ -62,8 +65,6 @@ AccelStepper stepper(AccelStepper::DRIVER, STEP, DIR);
#include "common.h"
#include "fs.h"
-
-
enum class Modes { TURN, TURNSetup, RPM, RPMSetup, INFO };
const char* msgHeader = MSGHEADER;
@@ -245,16 +246,26 @@ void buttons (int shortp, int longp)
#if !CORE_MOCK
IRAM_ATTR
-void stepperRun ()
+void stepperRunOLD ()
{
- if (syringe.locked())
- return;
- cli();
+// if (syringe.locked())
+// return;
+// cli();
+#if 0
if (rpming)
stepperMoving = stepper.runSpeed();
else
stepperMoving = stepper.run();
- sei();
+#else
+ stepperMoving = stepper.runSpeed();
+#endif
+// sei();
+}
+
+IRAM_ATTR
+void stepperRun ()
+{
+ stepperMoving = stepper.runSpeed();
}
#endif // !CORE_MOCK
@@ -263,6 +274,9 @@ void setup()
{
Serial.begin(BAUDRATE);
Serial.setDebugOutput(true);
+ Serial.println();
+ Serial.println("Booting");
+
#if !CORE_MOCK
Wire.begin();
Wire.setClock(400000L);
@@ -285,6 +299,8 @@ void setup()
digitalWrite(SLEEP, 0);
#endif // !CORE_MOCK
+#if 0
+
uint8_t mac[6];
WiFi.macAddress(mac);
sprintf(ssid, NAME "-%02x%02x%02x", mac[3], mac[4], mac[5]);
@@ -311,6 +327,10 @@ void setup()
webSetup();
+
+#endif //0
+
+
pinMode(BTNA, INPUT_PULLUP);
pinMode(BTNB, INPUT_PULLUP);
pinMode(BTNC, INPUT_PULLUP);
@@ -318,25 +338,29 @@ void setup()
oledRedisplay();
+#if 1
+
#if !CORE_MOCK
#ifdef ISR_ATTR
timer1_isr_init();
timer1_enable(TIM_DIV1, TIM_EDGE, TIM_LOOP);
timer1_attachInterrupt(stepperRun);
timer1_write(microsecondsToClockCycles(100));
+ schedule_recurrent_function_us([](){ if (stepperMoving) { InterruptLock lock; stepper.computeNewSpeed(); } return true; }, 1);
#else
#warning ===================================================================================================
#warning "Please use the ISR version of AccelStepper (git clone -b isr https://github.com/d-a-v/AccelStepper)"
#warning ===================================================================================================
schedule_recurrent_function_us([](){ stepperRun(); return true; }, 1);
#endif
+#endif
+
#endif
// check if emergency button is pressed at boot time
syringe.setEmergency(digitalRead(COURSE));
-#if 0
- if (fs_init(msgHeader))
+ if (fs_init(msgHeader, &Serial))
{
Serial.printf("FS initialized, dav http server started\n");
}
@@ -344,7 +368,6 @@ void setup()
{
Serial.printf("FS: could not be started\n");
}
-#endif
}
--
GitLab