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driver/motor: Remove the unnecessary critical section operation

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Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
This commit is contained in:
Xiang Xiao
2021-11-15 22:32:55 +08:00
committed by Xiang Xiao
parent c0c1e46c5f
commit a29ee19af4
6 changed files with 20 additions and 103 deletions
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drivers/motor/foc/foc_dev.c
+3 -54
View File
@@ -68,10 +68,6 @@ static int foc_notifier(FAR struct foc_dev_s *dev,
* Private Data
****************************************************************************/
/* Device counter */
static uint8_t g_devno_cntr = 0;
/* File operations */
static const struct file_operations g_foc_fops =
@@ -113,7 +109,6 @@ static int foc_open(FAR struct file *filep)
FAR struct foc_dev_s *dev = inode->i_private;
uint8_t tmp = 0;
int ret = OK;
irqstate_t flags;
/* Non-blocking operations not supported */
@@ -147,10 +142,6 @@ static int foc_open(FAR struct file *filep)
if (tmp == 1)
{
/* Yes.. perform one time driver setup */
flags = enter_critical_section();
ret = foc_setup(dev);
if (ret == OK)
{
@@ -158,8 +149,6 @@ static int foc_open(FAR struct file *filep)
dev->ocount = tmp;
}
leave_critical_section(flags);
}
else
{
@@ -189,7 +178,6 @@ static int foc_close(FAR struct file *filep)
FAR struct inode *inode = filep->f_inode;
FAR struct foc_dev_s *dev = inode->i_private;
int ret = 0;
irqstate_t flags;
ret = nxsem_wait(&dev->closesem);
if (ret >= 0)
@@ -211,10 +199,7 @@ static int foc_close(FAR struct file *filep)
/* Shutdown the device */
flags = enter_critical_section();
ret = foc_shutdown(dev);
leave_critical_section(flags);
nxsem_post(&dev->closesem);
}
}
@@ -259,9 +244,6 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
FAR struct inode *inode = filep->f_inode;
FAR struct foc_dev_s *dev = inode->i_private;
int ret = 0;
irqstate_t flags;
flags = enter_critical_section();
switch (cmd)
{
@@ -388,8 +370,6 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
}
}
leave_critical_section(flags);
return ret;
}
@@ -462,7 +442,6 @@ static int foc_setup(FAR struct foc_dev_s *dev)
if (ret < 0)
{
mtrerr("foc_lower_bind failed %d\n", ret);
set_errno(EINVAL);
goto errout;
}
@@ -606,8 +585,8 @@ static int foc_cfg_set(FAR struct foc_dev_s *dev, FAR struct foc_cfg_s *cfg)
memcpy(&dev->cfg, cfg, sizeof(struct foc_cfg_s));
mtrinfo("FOC %" PRIu8 " PWM=%" PRIu32 " notifier=%" PRIu32 "\n",
dev->devno, dev->cfg.pwm_freq, dev->cfg.notifier_freq);
mtrinfo("FOC PWM=%" PRIu32 " notifier=%" PRIu32 "\n",
dev->cfg.pwm_freq, dev->cfg.notifier_freq);
/* Call arch configuration */
@@ -762,13 +741,6 @@ static int foc_notifier(FAR struct foc_dev_s *dev,
FOC_OPS_TRACE(dev, FOC_TRACE_NOTIFIER, true);
#endif
/* Disable pre-emption until all of the waiting threads have been
* restarted. This is necessary to assure that the sval behaves as
* expected in the following while loop
*/
sched_lock();
/* Copy currents */
memcpy(&dev->state.curr,
@@ -817,10 +789,6 @@ static int foc_notifier(FAR struct foc_dev_s *dev,
}
}
/* Now we can let the restarted threads run */
sched_unlock();
#ifdef CONFIG_MOTOR_FOC_TRACE
FOC_OPS_TRACE(dev, FOC_TRACE_NOTIFIER, false);
#endif
@@ -857,24 +825,10 @@ int foc_register(FAR const char *path, FAR struct foc_dev_s *dev)
DEBUGASSERT(dev->lower->ops);
DEBUGASSERT(dev->lower->data);
/* Check if the device instance is supported by the driver */
if (dev->devno > CONFIG_MOTOR_FOC_INST)
{
mtrerr("Unsupported foc devno %d\n\n", dev->devno);
set_errno(EINVAL);
ret = ERROR;
goto errout;
}
/* Reset counter */
dev->ocount = 0;
/* Store device number */
dev->devno = g_devno_cntr;
/* Assert the lower-half interface */
ret = foc_lower_ops_assert(dev->lower->ops);
@@ -895,15 +849,10 @@ int foc_register(FAR const char *path, FAR struct foc_dev_s *dev)
if (ret < 0)
{
nxsem_destroy(&dev->closesem);
set_errno(ret);
ret = ERROR;
nxsem_destroy(&dev->statesem);
goto errout;
}
/* Increase device counter */
g_devno_cntr += 1;
errout:
return ret;
}