Suspend Network task while waiting for WiFi SPI transfer to complete

8 files changed, 31 insertions, 41 deletions

diff --git a/src/DuetNG/DueXn.cpp b/src/DuetNG/DueXn.cpp
index f568691a..4f23199f 100644
--- a/src/DuetNG/DueXn.cpp
+++ b/src/DuetNG/DueXn.cpp
@@ -88,7 +88,7 @@ namespace DuetExpansion
 			{
 				taskWaiting = true;
 				cpu_irq_enable();
-				TaskBase::Take();
+				(void)TaskBase::Take();
 			}
 			else
 			{
diff --git a/src/Hardware/I2C.cpp b/src/Hardware/I2C.cpp
index aca1c810..c62db5e7 100644
--- a/src/Hardware/I2C.cpp
+++ b/src/Hardware/I2C.cpp
@@ -19,7 +19,7 @@ void I2C::Init() noexcept
 	if (!i2cInitialised)
 	{
 		MutexLocker lock(Tasks::GetI2CMutex());
-		if (!i2cInitialised)			// test it again, now that we own the mutex
+		if (!i2cInitialised)					// test it again, now that we own the mutex
 		{
 			I2C_IFACE.BeginMaster(I2cClockFreq);
 			i2cInitialised = true;
@@ -32,18 +32,13 @@ void I2C::Init() noexcept
 
 #include "RTOSIface/RTOSIface.h"
 
-static TaskHandle_t twiTask = nullptr;				// the task that is waiting for a TWI command to complete
+static TaskHandle twiTask = nullptr;			// the task that is waiting for a TWI command to complete
 
 extern "C" void WIRE_ISR_HANDLER() noexcept
 {
 	WIRE_INTERFACE->TWI_IDR = 0xFFFFFFFF;
-	if (twiTask != nullptr)
-	{
-		BaseType_t higherPriorityTaskWoken = pdFALSE;
-		vTaskNotifyGiveFromISR(twiTask, &higherPriorityTaskWoken);	// wake up the task
-		twiTask = nullptr;
-		portYIELD_FROM_ISR(higherPriorityTaskWoken);
-	}
+	TaskBase::GiveFromISR(twiTask);				// wake up the task
+	twiTask = nullptr;
 }
 
 uint32_t I2C::statusWaitFunc(Twi *twi, uint32_t bitsToWaitFor) noexcept
@@ -52,7 +47,7 @@ uint32_t I2C::statusWaitFunc(Twi *twi, uint32_t bitsToWaitFor) noexcept
 	if ((sr & bitsToWaitFor) == 0)
 	{
 		// Suspend this task until we get an interrupt indicating that a status bit that we are interested in has been set
-		twiTask = xTaskGetCurrentTaskHandle();
+		twiTask = TaskBase::GetCallerTaskHandle();
 		twi->TWI_IER = bitsToWaitFor;
 		(void)TaskBase::Take(2);
 		sr = twi->TWI_SR;
diff --git a/src/Movement/HeightControl/HeightController.cpp b/src/Movement/HeightControl/HeightController.cpp
index 961ced31..40e27d41 100644
--- a/src/Movement/HeightControl/HeightController.cpp
+++ b/src/Movement/HeightControl/HeightController.cpp
@@ -149,7 +149,7 @@ void HeightController::Stop()
 	{
 		if (state == PidState::stopped)
 		{
-			heightControllerTask->Take();
+			(void)TaskBase::Take();
 
 			// Here when we get woken up again, normally because the state has been changed to 'starting'. So get ready to start.
 			lastWakeTime = xTaskGetTickCount();
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index 3614b08c..9c573781 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -1006,7 +1006,7 @@ void Move::LaserTaskRun() noexcept
 	for (;;)
 	{
 		// Sleep until we are woken up by the start of a move
-		TaskBase::Take();
+		(void)TaskBase::Take();
 
 		if (reprap.GetGCodes().GetMachineType() == MachineType::laser)
 		{
diff --git a/src/Networking/ESP8266WiFi/WiFiInterface.cpp b/src/Networking/ESP8266WiFi/WiFiInterface.cpp
index b3a3f6fb..6c2cd6a3 100644
--- a/src/Networking/ESP8266WiFi/WiFiInterface.cpp
+++ b/src/Networking/ESP8266WiFi/WiFiInterface.cpp
@@ -141,7 +141,7 @@ static inline void DisableEspInterrupt() noexcept
 /*-----------------------------------------------------------------------------------*/
 // WiFi interface class
 
-WiFiInterface::WiFiInterface(Platform& p) noexcept : platform(p), uploader(nullptr), ftpDataPort(0), closeDataPort(false),
+WiFiInterface::WiFiInterface(Platform& p) noexcept : platform(p), uploader(nullptr), espWaitingTask(nullptr), ftpDataPort(0), closeDataPort(false),
 		state(NetworkState::disabled), requestedMode(WiFiState::disabled), currentMode(WiFiState::disabled), activated(false),
 		espStatusChanged(false), spiTxUnderruns(0), spiRxOverruns(0), serialRunning(false), debugMessageChars(0)
 {
@@ -1614,25 +1614,24 @@ int32_t WiFiInterface::SendCommand(NetworkCommand cmd, SocketNumber socketNum, u
 	// Tell the ESP that we are ready to accept data
 	digitalWrite(SamTfrReadyPin, HIGH);
 
-	// Wait for the DMA complete interrupt, with timeout
-	// When we use RTOS we should allow other tasks to run here
+	// Wait until the DMA transfer is complete, with timeout
+	do
 	{
-		const uint32_t now = millis();
-		while (transferPending || !spi_dma_check_rx_complete())
+		espWaitingTask = TaskBase::GetCallerTaskHandle();
+		if (TaskBase::Take(WifiResponseTimeoutMillis))
 		{
-			if (digitalRead(SamCsPin) && millis() - now > WifiResponseTimeoutMillis)	// if no transfer in progress and timed out
+			if (reprap.Debug(moduleNetwork))
 			{
-				if (reprap.Debug(moduleNetwork))
-				{
-					debugPrintf("ResponseTimeout, pending=%d\n", (int)transferPending);
-				}
-				transferPending = false;
-				spi_dma_disable();
-				++responseTimeoutCount;
-				return ResponseTimeout;
+				debugPrintf("ResponseTimeout, pending=%d\n", (int)transferPending);
 			}
+			transferPending = false;
+			spi_dma_disable();
+			++responseTimeoutCount;
+			return ResponseTimeout;
 		}
-	}
+	} while (transferPending);
+
+	while (!spi_dma_check_rx_complete()) { }	// Wait for DMA to complete
 
 	// Look at the response
 	if (bufferIn.hdr.formatVersion != MyFormatVersion)
@@ -1645,8 +1644,8 @@ int32_t WiFiInterface::SendCommand(NetworkCommand cmd, SocketNumber socketNum, u
 	}
 
 	if (   (bufferIn.hdr.state == WiFiState::autoReconnecting || bufferIn.hdr.state == WiFiState::reconnecting)
-			&& currentMode != WiFiState::autoReconnecting && currentMode != WiFiState::reconnecting
-		   )
+		&& currentMode != WiFiState::autoReconnecting && currentMode != WiFiState::reconnecting
+	   )
 	{
 		++reconnectCount;
 	}
@@ -1765,6 +1764,7 @@ void WiFiInterface::SpiInterrupt() noexcept
 			++spiTxUnderruns;
 		}
 		transferPending = false;
+		TaskBase::GiveFromISR(espWaitingTask);
 	}
 }
 
diff --git a/src/Networking/ESP8266WiFi/WiFiInterface.h b/src/Networking/ESP8266WiFi/WiFiInterface.h
index 68d2485b..647fef05 100644
--- a/src/Networking/ESP8266WiFi/WiFiInterface.h
+++ b/src/Networking/ESP8266WiFi/WiFiInterface.h
@@ -126,6 +126,7 @@ private:
 	uint32_t lastTickMillis;
 
 	WifiFirmwareUploader *uploader;
+	TaskHandle espWaitingTask;
 
 	WiFiSocket *sockets[NumWiFiTcpSockets];
 	size_t currentSocket;
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 6f09430b..a2031d88 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -57,7 +57,7 @@ static_assert(configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY <= NvicPriorityHSMCI,
 
 #ifndef __LPC17xx__
 
-static TaskHandle_t hsmciTask = nullptr;		// the task that is waiting for a HSMCI command to complete
+static TaskHandle hsmciTask = nullptr;									// the task that is waiting for a HSMCI command to complete
 
 // HSMCI interrupt handler
 extern "C" void HSMCI_Handler() noexcept
@@ -66,13 +66,7 @@ extern "C" void HSMCI_Handler() noexcept
 #if SAME70
 	XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CID = 0xFFFFFFFF;			// disable all DMA interrupts for this channel
 #endif
-	if (hsmciTask != nullptr)
-	{
-		BaseType_t higherPriorityTaskWoken = pdFALSE;
-		vTaskNotifyGiveFromISR(hsmciTask, &higherPriorityTaskWoken);	// wake up the task
-		hsmciTask = nullptr;
-		portYIELD_FROM_ISR(higherPriorityTaskWoken);
-	}
+	TaskBase::GiveFromISR(hsmciTask);									// wake up the task
 }
 
 #if SAME70
@@ -105,14 +99,14 @@ extern "C" void hsmciIdle(uint32_t stBits, uint32_t dmaBits) noexcept
 	   )
 	{
 		// Suspend this task until we get an interrupt indicating that a status bit that we are interested in has been set
-		hsmciTask = xTaskGetCurrentTaskHandle();
+		hsmciTask = TaskBase::GetCallerTaskHandle();
 		HSMCI->HSMCI_IER = stBits;
 #if SAME70
 		DmacManager::SetInterruptCallback(DmacChanHsmci, HsmciDmaCallback, CallbackParameter());
 		XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CIE = dmaBits;
 		XDMAC->XDMAC_GIE = 1u << DmacChanHsmci;
 #endif
-		if (ulTaskNotifyTake(pdTRUE, 200) == 0)
+		if (TaskBase::Take(200) == 0)
 		{
 			// We timed out waiting for the HSMCI operation to complete
 			reprap.GetPlatform().LogError(ErrorCode::HsmciTimeout);
diff --git a/src/Version.h b/src/Version.h
index 9d345c11..f1966a37 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -20,7 +20,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2020-01-10b1"
+# define DATE "2020-01-10b2"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"