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Move to per i2c bus mutex in Qurt i2c driver #23531

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Feb 19, 2025
Merged

Move to per i2c bus mutex in Qurt i2c driver #23531

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40 changes: 33 additions & 7 deletions src/lib/drivers/device/qurt/I2C.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,16 @@ I2C::_config_i2c_bus_func_t I2C::_config_i2c_bus = NULL;
I2C::_set_i2c_address_func_t I2C::_set_i2c_address = NULL;
I2C::_i2c_transfer_func_t I2C::_i2c_transfer = NULL;

pthread_mutex_t I2C::_mutex = PTHREAD_MUTEX_INITIALIZER;
// There is a mutex per I2C bus. A mutex isn't required with normal
// use since per bus I2C accesses are made via work item tied to a per bus thread.
// But it is here anyways in case someone decides to use the bus in some different
// custom code that has a separate thread.
struct I2C::_bus_mutex_t I2C::_bus_mutex[I2C::MAX_I2C_BUS] = {
{1, PTHREAD_MUTEX_INITIALIZER},
{2, PTHREAD_MUTEX_INITIALIZER},
{4, PTHREAD_MUTEX_INITIALIZER},
{5, PTHREAD_MUTEX_INITIALIZER}
};

I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency) :
CDev(name, nullptr),
Expand Down Expand Up @@ -91,10 +100,27 @@ I2C::init()
goto out;
}

pthread_mutex_lock(&_mutex);
if (_mutex == nullptr) {
for (int i = 0; i < MAX_I2C_BUS; i++) {
if (get_device_bus() == _bus_mutex[i]._bus) {
_mutex = &_bus_mutex[i]._mutex;
break;
}
}

if (_mutex == nullptr) {
PX4_ERR("NULL i2c bus mutex");
goto out;

} else {
PX4_INFO("Set up I2C bus mutex for bus %d", get_device_bus());
}
}

pthread_mutex_lock(_mutex);
// Open the actual I2C device
_i2c_fd = _config_i2c_bus(get_device_bus(), get_device_address(), _frequency);
pthread_mutex_unlock(&_mutex);
pthread_mutex_unlock(_mutex);

if (_i2c_fd == PX4_ERROR) {
PX4_ERR("i2c init failed");
Expand Down Expand Up @@ -131,9 +157,9 @@ I2C::set_device_address(int address)
if ((_i2c_fd != PX4_ERROR) && (_set_i2c_address != NULL)) {
PX4_INFO("Set i2c address 0x%x, fd %d", address, _i2c_fd);

pthread_mutex_lock(&_mutex);
pthread_mutex_lock(_mutex);
_set_i2c_address(_i2c_fd, address);
pthread_mutex_unlock(&_mutex);
pthread_mutex_unlock(_mutex);

Device::set_device_address(address);
}
Expand All @@ -150,9 +176,9 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
do {
// PX4_INFO("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);

pthread_mutex_lock(&_mutex);
pthread_mutex_lock(_mutex);
ret = _i2c_transfer(_i2c_fd, send, send_len, recv, recv_len);
pthread_mutex_unlock(&_mutex);
pthread_mutex_unlock(_mutex);

if (ret != PX4_ERROR) { break; }

Expand Down
10 changes: 9 additions & 1 deletion src/lib/drivers/device/qurt/I2C.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -124,10 +124,18 @@ class __EXPORT I2C : public CDev
private:
uint32_t _frequency{0};
int _i2c_fd{-1};
pthread_mutex_t *_mutex{nullptr};

static const int MAX_I2C_BUS{4};

static _config_i2c_bus_func_t _config_i2c_bus;
static _set_i2c_address_func_t _set_i2c_address;
static _i2c_transfer_func_t _i2c_transfer;
static pthread_mutex_t _mutex;

static struct _bus_mutex_t {
int _bus;
pthread_mutex_t _mutex{PTHREAD_MUTEX_INITIALIZER};
} _bus_mutex[MAX_I2C_BUS];
};

} // namespace device
Expand Down
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