Fix semaphore communication conflict

Author: awawa-dev

include/base.h

@@ -47,7 +47,7 @@ class Base
 		TaskHandle_t processSerialHandle = nullptr;
 		// semaphore to synchronize them
 		semaphore_t serialSemaphore;
-		semaphore_t receiverSemaphore;
+		SemaphoreHandle_t receiverSemaphore;
 		// current queue position
 		volatile int queueCurrent = 0;
 		// queue end position

include/calibration.h

@@ -125,10 +125,11 @@ class CalibrationConfig
 		 * @brief print RGBW calibration parameters when no data is received
 		 *
 		 */
-		void printCalibration(char* output, size_t outputSize)
+		template <size_t N>
+		void printCalibration(char (&output)[N])
 		{
-			snprintf(output, outputSize,"RGBW => Gain: %i/255, red: %i, green: %i, blue: %i\r\n", gain, red, green, blue);
-			printf(output);
+			snprintf(output, N, "RGBW => Gain: %i/255, red: %i, green: %i, blue: %i\r\n", gain, red, green, blue);
+			fputs(output, stdout);
 		}
 } calibrationConfig;
 

include/main.h

@@ -151,7 +151,7 @@ void processData()
 			}
 			else if (frameState.getCount() ==  0x2aa2 && (input == 0x15 || input == 0x35))
 			{
-				statistics.print(currentTime, &base.receiverSemaphore, input == 0x15);
+				statistics.print(currentTime, input == 0x15);
 
 				frameState.setRegroup(true);
 

include/statistics.h

@@ -118,7 +118,7 @@ class
 		 * @param curTime
 		 * @param taskHandle
 		 */
-		void print(unsigned long curTime, semaphore_t* receiverSemaphore, bool isWelcome)
+		void print(unsigned long curTime, bool isWelcome)
 		{
 			startTime = curTime;
 			goodFrames = 0;
@@ -127,7 +127,7 @@ class
 
 			welcomeMessage.store(isWelcome);
 			printLogs.store(true);
-			sem_release(receiverSemaphore);
+			multicore_fifo_push_blocking(0xFF);
 		}
 
 		void printToSerial(TaskHandle_t taskHandle1, TaskHandle_t taskHandle2)
@@ -139,15 +139,15 @@ class
 						(taskHandle1 != nullptr) ? uxTaskGetStackHighWaterMark(taskHandle1) : 0,
 						(taskHandle2 != nullptr) ? uxTaskGetStackHighWaterMark(taskHandle2) : 0,
 						xPortGetFreeHeapSize());
-			printf(output);
+			fputs(output, stdout);
 
 			#if defined(NEOPIXEL_RGBW)
-				calibrationConfig.printCalibration(output, sizeof(output));
+				calibrationConfig.printCalibration(output);
 			#endif
 
 			if (welcomeMessage.exchange(false))
 			{
-				printf(HELLO_MESSAGE);
+				fputs(HELLO_MESSAGE, stdout);
 			}
 		}
 

source/main.cpp

@@ -30,6 +30,9 @@
 
 #include "FreeRTOS.h"
 #include "task.h"
+#include "pico/multicore.h"
+#include "hardware/irq.h"
+#include "semphr.h"
 #include <stdio.h>
 #include <algorithm>
 #include "pico/stdio/driver.h"
@@ -140,7 +143,7 @@ static void core0( void *pvParameters )
 {
     for( ;; )
     {
-        if (sem_acquire_timeout_us(&base.receiverSemaphore, portMAX_DELAY))
+        if (xSemaphoreTake(base.receiverSemaphore, portMAX_DELAY) == pdTRUE)
         {
             int wanted, received;
             do
@@ -156,6 +159,8 @@ static void core0( void *pvParameters )
             if (statistics.printLogs.exchange(false))
             {
                 statistics.printToSerial(base.processDataHandle, base.processSerialHandle);
+                stdio_flush();
+                vTaskDelay(pdMS_TO_TICKS(2));
             }
 
             sem_release(&base.serialSemaphore);
@@ -165,7 +170,16 @@ static void core0( void *pvParameters )
 
 static void serialEvent(void *)
 {
-    sem_release(&base.receiverSemaphore);
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    xSemaphoreGiveFromISR(base.receiverSemaphore, &xHigherPriorityTaskWoken);
+    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+}
+
+void on_fifo_irq()
+{
+    multicore_fifo_drain();
+    
+    serialEvent(nullptr);
 }
 
 int main(void)
@@ -174,7 +188,11 @@ int main(void)
 
     sem_init(&base.serialSemaphore, 0, 1);
 
-    sem_init(&base.receiverSemaphore, 0, 1);
+    base.receiverSemaphore = xSemaphoreCreateBinary();
+
+    multicore_fifo_clear_irq(); 
+    irq_set_exclusive_handler(SIO_IRQ_FIFO, on_fifo_irq);
+    irq_set_enabled(SIO_IRQ_FIFO, true);
 
     multicore_launch_core1(core1);