Merge branch "preempt" in "trunk".

[bertos.git] / bertos / cpu / arm / drv / adc_at91.c

diff --git a/bertos/cpu/arm/drv/adc_at91.c b/bertos/cpu/arm/drv/adc_at91.c
index b385184ea7c4a3fd9a442143ce9d726155698b36..7fd50ddf24eae8ff05fe80a0f3b21953720de41e 100644 (file)
--- a/bertos/cpu/arm/drv/adc_at91.c
+++ b/bertos/cpu/arm/drv/adc_at91.c
@@ -47,8 +47,11 @@
 
 #include "adc_at91.h"
 
+#include <cpu/irq.h>
+
 #include "cfg/cfg_adc.h"
-#include "cfg/cfg_kern.h"
+#include "cfg/cfg_proc.h"
+#include "cfg/cfg_signal.h"
 #include <cfg/macros.h>
 #include <cfg/compiler.h>
 
@@ -81,7 +84,7 @@
         * ADC ISR.
         * Simply signal the adc process that convertion is complete.
         */
-       static void ISR_FUNC adc_conversion_end_irq(void)
+       static DECLARE_ISR(adc_conversion_end_irq)
        {
                sig_signal(adc_process, SIG_ADC_COMPLETE);
 
@@ -111,7 +114,7 @@
  * Select mux channel \a ch.
  * \todo only first 8 channels are selectable!
  */
-INLINE void adc_hw_select_ch(uint8_t ch)
+void adc_hw_select_ch(uint8_t ch)
 {
        //Disable all channels
        ADC_CHDR = ADC_CH_MASK;
@@ -123,13 +126,13 @@ INLINE void adc_hw_select_ch(uint8_t ch)
 /**
  * Start an ADC convertion.
  * If a kernel is present, preempt until convertion is complete, otherwise
- * a busy wait on ADCS bit is done.
+ * a busy wait on ADC_DRDY bit is done.
  */
-INLINE uint16_t adc_hw_read(void)
+uint16_t adc_hw_read(void)
 {
-       ASSERT(!(ADC_SR & ADC_EOC_MASK));
-
        #if CONFIG_KERN
+               /* Ensure ADC is not already in use by another process */
+               ASSERT(adc_process == NULL);
                adc_process = proc_current();
        #endif
 
@@ -138,21 +141,27 @@ INLINE uint16_t adc_hw_read(void)
 
        #if CONFIG_KERN
                // Ensure IRQs enabled.
-               ASSERT(IRQ_ENABLED());
+               IRQ_ASSERT_ENABLED();
                sig_wait(SIG_ADC_COMPLETE);
+
+               /* Prevent race condition in case of preemptive kernel */
+               uint16_t ret = ADC_LCDR;
+               MEMORY_BARRIER;
+               adc_process = NULL;
+               return ret;
        #else
                //Wait in polling until is done
                while (!(ADC_SR & BV(ADC_DRDY)));
-       #endif
 
-       //Return the last converted data
-       return(ADC_LCDR);
+               //Return the last converted data
+               return(ADC_LCDR);
+       #endif
 }
 
 /**
  * Init ADC hardware.
  */
-INLINE void adc_hw_init(void)
+void adc_hw_init(void)
 {
        //Init ADC pins.
        ADC_INIT_PINS();