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🐛ADI mutex fix for pros 3 #636

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merged 4 commits into from
Mar 12, 2024
Merged

🐛ADI mutex fix for pros 3 #636

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a105a86
ADI mutex fixes for pros 3
R11G Mar 8, 2024
39127ba
Remove extra -1 that are covered by the init
noam987 Mar 12, 2024
a162bc4
fix typo
noam987 Mar 12, 2024
7e3a17f
remove printf
noam987 Mar 12, 2024
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80 changes: 41 additions & 39 deletions src/devices/vdml_ext_adi.c
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Original file line number Diff line number Diff line change
Expand Up @@ -30,15 +30,17 @@
// Theoretical calibration time is 1024ms, but in practice this seemed to be the
// actual time that it takes.
#define GYRO_CALIBRATION_TIME 1300
#define MAX_LED 64 //maximum number of LEDs supported in one port
#define MAX_LED 64 // maximum number of LEDs supported in one port

// These 2 functions aren't in v5_api.h but should be... so we're going to directly expose them with an extern "C".
#ifdef __cplusplus
extern "C" {
#endif
// private addressable LED API
int32_t vexDeviceAdiAddrLedSet( V5_DeviceT device, uint32_t port, uint32_t *pData, uint32_t nOffset, uint32_t nLength, uint32_t options );
int32_t vexAdiAddrLedSet( uint32_t index, uint32_t port, uint32_t *pData, uint32_t nOffset, uint32_t nLength, uint32_t options );
// private addressable LED API
int32_t vexDeviceAdiAddrLedSet(V5_DeviceT device, uint32_t port, uint32_t* pData, uint32_t nOffset, uint32_t nLength,
uint32_t options);
int32_t vexAdiAddrLedSet(uint32_t index, uint32_t port, uint32_t* pData, uint32_t nOffset, uint32_t nLength,
uint32_t options);
#ifdef __cplusplus
}
#endif
Expand Down Expand Up @@ -74,26 +76,26 @@ typedef union adi_data {
return PROS_ERR; \
}

#define validate_type(device, adi_port, smart_port, type) \
adi_port_config_e_t config = (adi_port_config_e_t)vexDeviceAdiPortConfigGet(device->device_info, adi_port); \
if (config != type) { \
errno = EADDRINUSE; \
printf("Error: validate_type\n"); \
return_port(smart_port, PROS_ERR); \
#define validate_type(device, adi_port, smart_port, type) \
adi_port_config_e_t config = (adi_port_config_e_t)vexDeviceAdiPortConfigGet(device->device_info, adi_port); \
if (config != type) { \
errno = EADDRINUSE; \
printf("Error: validate_type\n"); \
return_port(smart_port, PROS_ERR); \
}

#define validate_type_f(device, adi_port, smart_port, type) \
#define validate_type_f(device, adi_port, smart_port, type) \
adi_port_config_e_t config = (adi_port_config_e_t)vexDeviceAdiPortConfigGet(device->device_info, adi_port); \
if (config != type) { \
errno = EADDRINUSE; \
return_port(smart_port, PROS_ERR_F); \
if (config != type) { \
errno = EADDRINUSE; \
return_port(smart_port, PROS_ERR_F); \
}

#define validate_motor(device, adi_port, smart_port) \
#define validate_motor(device, adi_port, smart_port) \
adi_port_config_e_t config = (adi_port_config_e_t)vexDeviceAdiPortConfigGet(device->device_info, adi_port); \
if (config != E_ADI_LEGACY_PWM && config != E_ADI_LEGACY_SERVO) { \
errno = EADDRINUSE; \
return_port(smart_port, PROS_ERR); \
if (config != E_ADI_LEGACY_PWM && config != E_ADI_LEGACY_SERVO) { \
errno = EADDRINUSE; \
return_port(smart_port, PROS_ERR); \
}

/*
Expand Down Expand Up @@ -290,7 +292,7 @@ int32_t ext_adi_encoder_get(ext_adi_encoder_t enc) {
get_ports(enc, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_ENCODER);
validate_type(device, adi_port, smart_port, E_ADI_LEGACY_ENCODER);

int32_t rtn;
adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[adi_port];
Expand All @@ -306,7 +308,7 @@ int32_t ext_adi_encoder_reset(ext_adi_encoder_t enc) {
get_ports(enc, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_ENCODER);
validate_type(device, adi_port, smart_port, E_ADI_LEGACY_ENCODER);

vexDeviceAdiValueSet(device->device_info, adi_port, 0);
return_port(smart_port, 1);
Expand All @@ -317,7 +319,7 @@ int32_t ext_adi_encoder_shutdown(ext_adi_encoder_t enc) {
get_ports(enc, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_ENCODER);
validate_type(device, adi_port, smart_port, E_ADI_LEGACY_ENCODER);

vexDeviceAdiPortConfigSet(device->device_info, adi_port, E_ADI_TYPE_UNDEFINED);
return_port(smart_port, 1);
Expand All @@ -342,7 +344,7 @@ int32_t ext_adi_ultrasonic_get(ext_adi_ultrasonic_t ult) {
get_ports(ult, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_ULTRASONIC);
validate_type(device, adi_port, smart_port, E_ADI_LEGACY_ULTRASONIC);

int32_t rtn = vexDeviceAdiValueGet(device->device_info, adi_port);
return_port(smart_port, rtn);
Expand All @@ -353,7 +355,7 @@ int32_t ext_adi_ultrasonic_shutdown(ext_adi_ultrasonic_t ult) {
get_ports(ult, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_ULTRASONIC);
validate_type(device, adi_port, smart_port, E_ADI_LEGACY_ULTRASONIC);

vexDeviceAdiPortConfigSet(device->device_info, adi_port, E_ADI_TYPE_UNDEFINED);
return_port(smart_port, 1);
Expand Down Expand Up @@ -389,7 +391,7 @@ double ext_adi_gyro_get(ext_adi_gyro_t gyro) {
get_ports(gyro, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_f(smart_port, E_DEVICE_ADI);
validate_type_f(device, adi_port, smart_port - 1, E_ADI_LEGACY_GYRO);
validate_type_f(device, adi_port, smart_port, E_ADI_LEGACY_GYRO);

double rtv = (double)vexDeviceAdiValueGet(device->device_info, adi_port);
adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[adi_port];
Expand All @@ -403,7 +405,7 @@ int32_t ext_adi_gyro_reset(ext_adi_gyro_t gyro) {
get_ports(gyro, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_GYRO);
validate_type(device, adi_port, smart_port, E_ADI_LEGACY_GYRO);

adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[adi_port];
adi_data->gyro_data.tare_value = vexDeviceAdiValueGet(device->device_info, adi_port);
Expand All @@ -415,7 +417,7 @@ int32_t ext_adi_gyro_shutdown(ext_adi_gyro_t gyro) {
get_ports(gyro, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_GYRO);
validate_type(device, adi_port, smart_port, E_ADI_LEGACY_GYRO);
vexDeviceAdiPortConfigSet(device->device_info, adi_port, E_ADI_TYPE_UNDEFINED);
return_port(smart_port, 1);
}
Expand All @@ -437,7 +439,7 @@ double ext_adi_potentiometer_get_angle(ext_adi_potentiometer_t potentiometer) {
get_ports(potentiometer, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_f(smart_port, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_ANALOG_IN);
validate_type(device, adi_port, smart_port, E_ADI_ANALOG_IN);
adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[adi_port];
switch (adi_data->potentiometer_data.potentiometer_type) {
case E_ADI_POT_EDR:
Expand All @@ -456,7 +458,7 @@ double ext_adi_potentiometer_get_angle(ext_adi_potentiometer_t potentiometer) {
ext_adi_led_t ext_adi_led_init(uint8_t smart_port, uint8_t adi_port) {
transform_adi_port(adi_port);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
vexDeviceAdiPortConfigSet(device->device_info, adi_port, (V5_AdiPortConfiguration)E_ADI_DIGITAL_OUT);
vexDeviceAdiPortConfigSet(device->device_info, adi_port, (V5_AdiPortConfiguration)E_ADI_DIGITAL_OUT);
return_port(smart_port - 1, merge_adi_ports(smart_port - 1, adi_port + 1));
}

Expand All @@ -468,35 +470,35 @@ int32_t ext_adi_led_set(ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_len
validate_type(device, adi_port, smart_port, E_ADI_DIGITAL_OUT);
if (buffer_length > MAX_LED) {
buffer_length = MAX_LED;
}
else if (buffer == NULL || buffer_length < 1)
{
} else if (buffer == NULL || buffer_length < 1) {
errno = EINVAL;
return PROS_ERR;
return_port(smart_port, PROS_ERR);
}
uint32_t rtv = (uint32_t)vexDeviceAdiAddrLedSet(device->device_info, adi_port, buffer, 0, buffer_length, 0);
return_port(smart_port, rtv);
return_port(smart_port, rtv);
}

int32_t ext_adi_led_set_pixel(ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color, uint32_t pixel_position) {
int32_t ext_adi_led_set_pixel(ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color,
uint32_t pixel_position) {
uint8_t smart_port, adi_port;
get_ports(led, smart_port, adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
claim_port_i(smart_port, E_DEVICE_ADI);
transform_adi_port(adi_port);
validate_type(device, adi_port, smart_port, E_ADI_DIGITAL_OUT);
if(buffer == NULL || pixel_position < 0 || buffer_length >= MAX_LED || buffer_length < 1 || pixel_position > buffer_length - 1) {
if (buffer == NULL || pixel_position < 0 || buffer_length >= MAX_LED || buffer_length < 1 ||
pixel_position > buffer_length - 1) {
errno = EINVAL;
return_port(smart_port, PROS_ERR);
}
buffer[pixel_position] = color;
uint32_t rtv = (uint32_t)vexDeviceAdiAddrLedSet(device->device_info, adi_port, buffer, 0, buffer_length, 0);
return_port(smart_port - 1, rtv);
return_port(smart_port, rtv);
}

int32_t ext_adi_led_set_all(ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color) {
for(int i = 0; i < buffer_length; i++){
for (int i = 0; i < buffer_length; i++) {
buffer[i] = color;
}
}
return ext_adi_led_set(led, buffer, buffer_length);
}

Expand Down