Fix a bad interrupt state in the PIC32 IDLE loop when the work queue is enabled

git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4805 7fd9a85b-ad96-42d3-883c-3090e2eb8679

10 files changed, 42 insertions, 15 deletions

diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index a4d1a472e7..25f29319d2 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -2890,3 +2890,9 @@
 	  LCD on the PIC32MX7 MMB board.
 	* configs/pic32mx7mmb/src/up_touchscreen.c:  Add an ACD-based touchscreen
 	  driver for the PIC32MX7 MMB board.
+	* arch/mips/src/common/up_idle.c:  Strange but important fix.  For some still-
+	  unknown reason, interrupts are left in an unhealthy state in the IDLE
+	  when the work queue is enabled.  This is partially because some interrupt
+	  related logic is not built in that case.  Simply disabling then re-
+	  enabling interrupts restores the proper state.
+
diff --git a/nuttx/arch/mips/src/common/up_idle.c b/nuttx/arch/mips/src/common/up_idle.c
index 239aa3c308..4e2cc542be 100644
--- a/nuttx/arch/mips/src/common/up_idle.c
+++ b/nuttx/arch/mips/src/common/up_idle.c
@@ -1,8 +1,8 @@
 /****************************************************************************
  *  arch/mips/src/common/up_idle.c
  *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -81,9 +81,27 @@ void up_idle(void)
   sched_process_timer();
 #else
 
-  /* This would be an appropriate place to put some MCU-specific logig to
+  /* This would be an appropriate place to put some MCU-specific logic to
    * sleep in a reduced power mode until an interrupt occurs to save power
    */
+
+  /* This is a kludge that I still don't understand.  The call to kmm_trysemaphore()
+   * in the os_start.c IDLE loop seems necessary for the good health of the IDLE
+   * loop.  When the work queue is enabled, this logic is removed from the IDLE
+   * loop and it appears that we are somehow left idling with interrupts non-
+   * functional. The following should be no-op, it just disables then re-enables
+   * interrupts.  But it fixes the problem and will stay here until I understand
+   * the problem/fix better.
+   *
+   * And no, the contents of the CP0 status register are not incorrect.  But for
+   * some reason the status register needs to be re-written again on this thread
+   * for it to take effect.  This might be a PIC32-only issue?
+   */
+
+#ifdef CONFIG_SCHED_WORKQUEUE
+  irqstate_t flags = irqsave();
+  irqrestore(flags);
+#endif
 #endif
 }
 
diff --git a/nuttx/arch/mips/src/mips32/up_initialstate.c b/nuttx/arch/mips/src/mips32/up_initialstate.c
index cc0cd227e1..0c24d1ee03 100644
--- a/nuttx/arch/mips/src/mips32/up_initialstate.c
+++ b/nuttx/arch/mips/src/mips32/up_initialstate.c
@@ -2,7 +2,7 @@
  * arch/mips/src/mips32/up_initialstate.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/nuttx/arch/mips/src/mips32/up_irq.c b/nuttx/arch/mips/src/mips32/up_irq.c
index 80ab7f78af..b13ae6294e 100644
--- a/nuttx/arch/mips/src/mips32/up_irq.c
+++ b/nuttx/arch/mips/src/mips32/up_irq.c
@@ -2,7 +2,7 @@
  * arch/mips/src/mips32/up_irq.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/nuttx/configs/pic32mx7mmb/README.txt b/nuttx/configs/pic32mx7mmb/README.txt
index e20c1f6766..e94c143b4a 100644
--- a/nuttx/configs/pic32mx7mmb/README.txt
+++ b/nuttx/configs/pic32mx7mmb/README.txt
@@ -767,7 +767,8 @@ Where <subdir> is one of the following:
 
     In defconfig (or nuttx/.config), set:
 
-      CONFIG_INPUT=y
+      CONFIG_INPUT=y                       : Enable input device support
+      CONFIG_SCHED_WORKQUEUE=y             : Work queue support needed
 
     In appconfig (or apps/.config), uncomment:
 
diff --git a/nuttx/configs/pic32mx7mmb/src/up_touchscreen.c b/nuttx/configs/pic32mx7mmb/src/up_touchscreen.c
index 97d0270c59..2cffbe93ef 100644
--- a/nuttx/configs/pic32mx7mmb/src/up_touchscreen.c
+++ b/nuttx/configs/pic32mx7mmb/src/up_touchscreen.c
@@ -187,7 +187,7 @@ struct tc_dev_s
   uint8_t nwaiters;                    /* Number of threads waiting for touchscreen data */
   uint8_t id;                          /* Current touch point ID */
   volatile bool penchange;             /* An unreported event is buffered */
-  uint16_t value;                      /* Partial sample value */
+  uint16_t value;                      /* Partial sample value (Y+ or X-) */
   uint16_t newy;                       /* New, un-thresholded Y value */
   sem_t devsem;                        /* Manages exclusive access to this structure */
   sem_t waitsem;                       /* Used to wait for the availability of data */
@@ -733,6 +733,7 @@ static void tc_worker(FAR void *arg)
 
         value      = MAX_ADC - tc_adc_convert();
         priv->newy = (value + priv->value) >> 1;
+        ivdbg("Y-=%d Y+=%d Y=%d\n", priv->value, value, priv->newy);
 
         /* Start X+ sampling */
 
@@ -751,7 +752,7 @@ static void tc_worker(FAR void *arg)
 
     case TC_XPSAMPLE:
       {
-        /* Convert and save the Y- sample value */
+        /* Convert and save the X+ sample value */
 
         priv->value = tc_adc_convert();
 
@@ -772,10 +773,11 @@ static void tc_worker(FAR void *arg)
 
     case TC_XMSAMPLE:                         /* Allowing time for the X- sampling */
       {
-        /* Read and calculate the Y+ axis position */
+        /* Read and calculate the X- axis position */
 
         value  = MAX_ADC - tc_adc_convert();
         newx   = (value + priv->value) >> 1;
+        ivdbg("X+=%d X-=%d Y=%d\n", priv->value, value, newx);
 
         /* Samples are available */
 
@@ -1067,7 +1069,7 @@ static ssize_t tc_read(FAR struct file *filep, FAR char *buffer, size_t len)
   report = (FAR struct touch_sample_s *)buffer;
   memset(report, 0, SIZEOF_TOUCH_SAMPLE_S(1));
   report->npoints            = 1;
-  report->point[0].id        = priv->id;
+  report->point[0].id        = sample.id;
   report->point[0].x         = sample.x;
   report->point[0].y         = sample.y;
 
diff --git a/nuttx/mm/mm_sem.c b/nuttx/mm/mm_sem.c
index 4b7563c0b5..a2d9d5cd1b 100644
--- a/nuttx/mm/mm_sem.c
+++ b/nuttx/mm/mm_sem.c
@@ -2,7 +2,7 @@
  * mm/mm_sem.c
  *
  *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -129,7 +129,7 @@ int mm_trysemaphore(void)
     }
   else
     {
-      /* Try to tak the semaphore (perhaps waiting) */
+      /* Try to take the semaphore (perhaps waiting) */
 
       if (sem_trywait(&g_mm_semaphore) != 0)
        {
diff --git a/nuttx/sched/os_bringup.c b/nuttx/sched/os_bringup.c
index eb1875a69a..646f491583 100644
--- a/nuttx/sched/os_bringup.c
+++ b/nuttx/sched/os_bringup.c
@@ -2,7 +2,7 @@
  * sched/os_bringup.c
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * With extensions by:
  *
diff --git a/nuttx/sched/sched_free.c b/nuttx/sched/sched_free.c
index 2bdf9670ed..e7c8bf56b0 100644
--- a/nuttx/sched/sched_free.c
+++ b/nuttx/sched/sched_free.c
@@ -2,7 +2,7 @@
  * sched/sched_free.c
  *
  *   Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/nuttx/sched/work_thread.c b/nuttx/sched/work_thread.c
index a0e0d78e98..fe14ae5e58 100644
--- a/nuttx/sched/work_thread.c
+++ b/nuttx/sched/work_thread.c
@@ -2,7 +2,7 @@
  * sched/work_thread.c
  *
  *   Copyright (C) 2009-2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions