From 01dc43bbb877cbf15941b9b0b65aac01d41b88ee Mon Sep 17 00:00:00 2001
From: Ivica Ico Bukvic <ico@vt.edu>
Date: Tue, 18 Mar 2014 02:07:20 -0400
Subject: [PATCH] fixed hang bug due to multithreaded nature
---
.../raspberry_pi/disis_gpio/disis_gpio.c | 23 ++++++++++++-------
1 file changed, 15 insertions(+), 8 deletions(-)
diff --git a/l2ork_addons/raspberry_pi/disis_gpio/disis_gpio.c b/l2ork_addons/raspberry_pi/disis_gpio/disis_gpio.c
index 6a3ff8d95..90958cf0c 100644
--- a/l2ork_addons/raspberry_pi/disis_gpio/disis_gpio.c
+++ b/l2ork_addons/raspberry_pi/disis_gpio/disis_gpio.c
@@ -71,9 +71,9 @@ static void *disisSoftPwmThread(void *val)
digitalWrite (*(p->p_pin), LOW) ;
delayMicroseconds ((1000 - *(p->p_val)) * 10);
}
- //printf("thread exit %d\n", *(p->p_thread));
+ //fprintf(stderr, "thread exit %d\n", *(p->p_thread));
*(p->p_thread) = 2;
- return NULL ;
+ return NULL;
}
/*
@@ -111,6 +111,7 @@ typedef struct _disis_gpio
int x_dir;
int x_pwm;
int x_softpwm;
+ int x_waspwm; // 0 = no pwm active, 1 = pwm, 2 = softpwm; this is used when reopening connection to retain last state
int x_softpwmval;
int x_softpwm_thread; // -1 = not necessary, 0 = start when necessary, 1 = close thread, 2 = thread has been closed
t_params x_params;
@@ -229,6 +230,11 @@ static void disis_gpio_open(t_disis_gpio *x)
x->x_fdvalue = open(buf, O_RDWR);
if (x->x_fdvalue < 0) {
post("%s: %s", buf, strerror(errno));
+ } else {
+ if (x->x_softpwm)
+ disis_gpio_togglesoftpwm(x, 1);
+ if (x->x_pwm)
+ disis_gpio_togglepwm(x, 1);
}
}
disis_gpio_reflectstatus(x);
@@ -241,6 +247,7 @@ static void disis_gpio_close(t_disis_gpio *x)
else
{
if (x->x_softpwm_thread == 0) {
+ //disis_gpio_togglesoftpwm(x, 0);
x->x_softpwm_thread = 1;
while (x->x_softpwm_thread != 2)
usleep(100);
@@ -271,9 +278,9 @@ static void disis_gpio_pwm(t_disis_gpio *x, t_float val)
int out;
if (x->x_fdvalue != -1 && (x->x_pwm || x->x_softpwm)) {
if ((int)val < 0)
- out = 0 ;
+ out = 0;
else if ((int)val > 1023)
- out = 1023 ;
+ out = 1023;
else out = (int)val;
if (x->x_pwm)
pwmWrite (x->x_pin, out);
@@ -288,7 +295,7 @@ static void disis_gpio_pwm(t_disis_gpio *x, t_float val)
static void disis_gpio_togglesoftpwm(t_disis_gpio *x, t_float state)
{
if (x->x_fdvalue != -1) {
- if (x->x_softpwm == (int)state) {
+ if (state && x->x_softpwm_thread != -1 || !state && x->x_softpwm_thread == -1) {
if (x->x_softpwm)
post("disis_gpio: soft pwm already enabled");
else
@@ -299,13 +306,12 @@ static void disis_gpio_togglesoftpwm(t_disis_gpio *x, t_float state)
disis_gpio_togglepwm(x, 0);
post("disis_gpio: disabling hardware pwm");
}
- x->x_softpwm = (int)state;
- if (x->x_softpwm) {
+ if (state && x->x_softpwm_thread == -1) {
x->x_softpwm_thread = 0;
x->x_softpwmval = 0;
disisSoftPwmCreate (&x->x_params);
}
- else {
+ else if (x->x_softpwm_thread != -1) {
x->x_softpwm_thread = 1;
while (x->x_softpwm_thread != 2)
usleep(100);
@@ -314,6 +320,7 @@ static void disis_gpio_togglesoftpwm(t_disis_gpio *x, t_float state)
}
}
}
+ x->x_softpwm = (int)state;
}
static void disis_gpio_togglepwm(t_disis_gpio *x, t_float state)
--
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