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Pass reply_func to sample_send_thread 

When data is being sampled another command can be received on a different port and cause the sampled data to be sent to the wrong port. This change saves the reply_func for the requester so other commands can be processed on other ports without issue.
This commit is contained in:
Euan 2022-04-23 23:55:09 +01:00
parent 8cb88245bb
commit 16f3e5b627
3 changed files with 9 additions and 4 deletions
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2
commands.c
View File

@ -640,7 +640,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
raw = data[ind++];
}
mc_interface_sample_print_data(mode, sample_len, decimation, raw);
mc_interface_sample_print_data(mode, sample_len, decimation, raw, send_func);
} break;
case COMM_REBOOT:

8
mc_interface.c
View File

@ -130,6 +130,7 @@ static volatile motor_if_state_t *motor_now(void);
// Function pointers
static void(*pwn_done_func)(void) = 0;
static void(* volatile send_func_sample)(unsigned char *data, unsigned int len) = 0;
// Threads
static THD_WORKING_AREA(timer_thread_wa, 512);
@ -1371,7 +1372,9 @@ float mc_interface_get_last_sample_adc_isr_duration(void) {
return m_last_adc_duration_sample;
}
void mc_interface_sample_print_data(debug_sampling_mode mode, uint16_t len, uint8_t decimation, bool raw) {
void mc_interface_sample_print_data(debug_sampling_mode mode, uint16_t len, uint8_t decimation, bool raw,
void(*reply_func)(unsigned char *data, unsigned int len)) {
if (len > ADC_SAMPLE_MAX_LEN) {
len = ADC_SAMPLE_MAX_LEN;
}
@ -1385,6 +1388,7 @@ void mc_interface_sample_print_data(debug_sampling_mode mode, uint16_t len, uint
m_sample_int = decimation;
m_sample_mode = mode;
m_sample_raw = raw;
send_func_sample = reply_func;
#ifdef HW_HAS_DUAL_MOTORS
m_sample_is_second_motor = motor_now() == &m_motor_2;
#endif
@ -2672,7 +2676,7 @@ static THD_FUNCTION(sample_send_thread, arg) {
buffer[index++] = m_status_samples[ind_samp];
buffer[index++] = m_phase_samples[ind_samp];
commands_send_packet(buffer, index);
send_func_sample(buffer, index);
}
}
}

3
mc_interface.h
View File

@ -84,7 +84,8 @@ float mc_interface_get_pid_pos_set(void);
float mc_interface_get_pid_pos_now(void);
void mc_interface_update_pid_pos_offset(float angle_now, bool store);
float mc_interface_get_last_sample_adc_isr_duration(void);
void mc_interface_sample_print_data(debug_sampling_mode mode, uint16_t len, uint8_t decimation, bool raw);
void mc_interface_sample_print_data(debug_sampling_mode mode, uint16_t len, uint8_t decimation, bool raw,
void(*reply_func)(unsigned char *data, unsigned int len));
float mc_interface_temp_fet_filtered(void);
float mc_interface_temp_motor_filtered(void);
float mc_interface_get_battery_level(float *wh_left);