Adacallback support fromISR call

- change Prioprity for loop() to LOW
- defer interrupt for both hw and sw encoder to ada callback

Author: hathach

cores/nRF5/freertos/config/FreeRTOSConfig.h

@@ -131,7 +131,7 @@
 
 /* Software timer definitions. */
 #define configUSE_TIMERS                                                          1
-#define configTIMER_TASK_PRIORITY                                                 ( 2 )
+#define configTIMER_TASK_PRIORITY                                                 ( 2 ) // Normal
 #define configTIMER_QUEUE_LENGTH                                                  32
 #define configTIMER_TASK_STACK_DEPTH                                              ( 100 )
 

cores/nRF5/main.cpp

@@ -93,7 +93,7 @@ int main( void )
 
   // Create a task for loop()
   TaskHandle_t  _loopHandle;
-  xTaskCreate( loop_task, "loop", _loopStacksize, NULL, TASK_PRIO_NORMAL, &_loopHandle);
+  xTaskCreate( loop_task, "loop", _loopStacksize, NULL, TASK_PRIO_LOW, &_loopHandle);
 
   // Initialize callback task
   ada_callback_init();

cores/nRF5/rtos.cpp

@@ -79,7 +79,7 @@ bool SchedulerRTOS::startLoop(taskfunc_t task, uint32_t stack_size)
 bool SchedulerRTOS::startLoop(taskfunc_t task, const char* name, uint32_t stack_size)
 {
   TaskHandle_t  handle;
-  return pdPASS == xTaskCreate( _redirect_task, name, stack_size, (void*) task, TASK_PRIO_NORMAL, &handle);
+  return pdPASS == xTaskCreate( _redirect_task, name, stack_size, (void*) task, TASK_PRIO_LOW, &handle);
 }
 
 extern "C"

cores/nRF5/rtos.h

@@ -55,8 +55,8 @@
 enum
 {
   TASK_PRIO_LOWEST  = 0, // Idle task, should not be used
-  TASK_PRIO_LOW     = 1,
-  TASK_PRIO_NORMAL  = 2, // Loop, Timer Task
+  TASK_PRIO_LOW     = 1, // Loop
+  TASK_PRIO_NORMAL  = 2, // Timer Task, Callback Task
   TASK_PRIO_HIGH    = 3, // Bluefruit Task
   TASK_PRIO_HIGHEST = 4,
 };

cores/nRF5/utility/AdaCallback.c

@@ -74,7 +74,13 @@ void adafruit_callback_task(void* arg)
 
 void ada_callback_queue(ada_callback_t* cb_data)
 {
-  xQueueSend(_cb_queue, (void*) &cb_data, CFG_CALLBACK_TIMEOUT);
+  if ( cb_data->from_isr )
+  {
+    xQueueSendFromISR(_cb_queue, (void*) &cb_data, NULL);
+  }else
+  {
+    xQueueSend(_cb_queue, (void*) &cb_data, CFG_CALLBACK_TIMEOUT);
+  }
 }
 
 void ada_callback_init(void)

cores/nRF5/utility/AdaCallback.h

@@ -52,6 +52,7 @@ typedef struct
   void*   callback_func;
 
   uint8_t arg_count;
+  bool    from_isr;
 //  uint8_t callback_type;
 //  uint8_t _reserved[2];
 
@@ -86,12 +87,13 @@ typedef void (*adacb_5arg_t) (uint32_t, uint32_t, uint32_t, uint32_t, uint32_t);
  * Macro function is called by other module with all intended parameters.
  * The first parameter is malloced Pointer (NULL if not), so that callback could know to free memory
  */
-#define ada_callback(_malloced, _func, ... )  \
+#define _cb_setup(_from_isr, _malloced, _func, ... )  \
   do { \
       uint8_t const _count = VA_ARGS_NUM(__VA_ARGS__);\
       ada_callback_t* cb_data = (ada_callback_t*) rtos_malloc( sizeof(ada_callback_t) + (_count ? (_count-1)*4 : 0) ); \
       cb_data->malloced_data = _malloced;\
       cb_data->callback_func = (void*)_func;\
+      cb_data->from_isr = _from_isr;\
       cb_data->arg_count = _count;\
       if ( _count ) {\
         uint32_t arguments[] = { _ADA_CB_ARGS(__VA_ARGS__) };\
@@ -100,6 +102,9 @@ typedef void (*adacb_5arg_t) (uint32_t, uint32_t, uint32_t, uint32_t, uint32_t);
       ada_callback_queue(cb_data);\
   } while(0)
 
+#define ada_callback(... )           _cb_setup(false, __VA_ARGS__)
+#define ada_callback_fromISR(... )   _cb_setup(true , __VA_ARGS__)
+
 void ada_callback_init(void);
 void ada_callback_queue(ada_callback_t* cb_data);
 

libraries/RotaryEncoder/RotaryEncoder.cpp

@@ -198,7 +198,7 @@ void HwRotaryEncoder::_irq_handler(void)
     if ( _cb )
     {
       int32_t step = read();
-      if ( step ) ada_callback(NULL, _cb, step);
+      if ( step ) ada_callback_fromISR(NULL, _cb, step);
     }
   }
 }

libraries/RotaryEncoder/SwRotaryEncoder.cpp

@@ -124,17 +124,20 @@ void SwRotaryEncoder::_irq_handler(void)
 
   if ( val != _a_last )
   {
+    int32_t step = 0;
+
     if ( val != digitalRead(_pinb) )
     {
-      _abs++;
-      if (_cb) _cb(1);
+      step = 1;
     }else
     {
-      _abs--;
-      if (_cb) _cb(-1);
+      step = -1;
     }
 
+    _abs += step;
     _a_last = val;
+
+    if (_cb) ada_callback_fromISR(NULL, _cb, step);
   }
 }