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drivers/motor: use small lock to replace enter_critical_section

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replace critical_section with spinlock, and use atomic to
protect state.

Signed-off-by: fangpeina <fangpeina@xiaomi.com>
This commit is contained in:
fangpeina 2025-06-13 16:35:38 +08:00 • committed by Donny(董九柱)
parent 41842ade12
commit 017df835ba
1 changed files with 9 additions and 8 deletions
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17
drivers/motor/foc/foc_dummy.c
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@ -33,6 +33,8 @@
#include <assert.h>
#include <debug.h>
#include <nuttx/atomic.h>
#include <nuttx/spinlock.h>
#include <nuttx/motor/foc/foc_dummy.h>
#include <nuttx/motor/foc/foc_lower.h>
@ -92,7 +94,7 @@ struct foc_dummy_data_s
/* FOC worker loop helpers */
bool state;
atomic_t state;
uint32_t notifier_cntr;
uint32_t pwm_freq;
uint32_t notifier_freq;
@ -172,6 +174,8 @@ static struct foc_lower_s g_foc_dummy_lower[CONFIG_MOTOR_FOC_INST];
static struct foc_dev_s g_foc_dev[CONFIG_MOTOR_FOC_INST];
static spinlock_t g_foc_lock = SP_UNLOCKED;
/****************************************************************************
* Private Functions
****************************************************************************/
@ -213,7 +217,6 @@ static int foc_dummy_pwm_setup(FAR struct foc_dev_s *dev, uint32_t freq)
static int foc_dummy_start(FAR struct foc_dev_s *dev, bool state)
{
FAR struct foc_dummy_data_s *sim = FOC_DUMMY_DATA_FROM_DEV_GET(dev);
irqstate_t flags;
int ret = OK;
mtrinfo("[FOC_START] state=%d\n", state);
@ -238,9 +241,7 @@ static int foc_dummy_start(FAR struct foc_dev_s *dev, bool state)
/* Store FOC worker state */
flags = enter_critical_section();
sim->state = state;
leave_critical_section(flags);
atomic_set(&sim->state, state);
errout:
return ret;
@ -686,7 +687,7 @@ void foc_dummy_update(void)
int i = 0;
irqstate_t flags;
flags = enter_critical_section();
flags = spin_lock_irqsave_nopreempt(&g_foc_lock);
/* Update all FOC instances */
@ -704,12 +705,12 @@ void foc_dummy_update(void)
sim = FOC_DUMMY_DATA_FROM_DEV_GET(dev);
if (sim->state == true)
if (atomic_read(&sim->state))
{
foc_dummy_notifier_handler(dev);
}
}
}
leave_critical_section(flags);
spin_unlock_irqrestore_nopreempt(&g_foc_lock, flags);
}