pbio/busy_count: Introduce as module.

We were using macros to save a little bit of space,
and duplicated them between pbdrv and pbsys.

We need them in pbio init/deinit too. Instead of
duplicating one more time, create a common module.

Author: laurensvalk

bricks/_common/sources.mk

@@ -193,6 +193,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	platform/$(PBIO_PLATFORM)/platform.c \
 	src/angle.c \
 	src/battery.c \
+	src/busy_count.c \
 	src/color/conversion.c \
 	src/color/util.c \
 	src/control_settings.c \

lib/pbio/drv/block_device/block_device_ev3.c

@@ -29,7 +29,6 @@
 #include <tiam1808/armv5/am1808/edma_event.h>
 #include <tiam1808/armv5/am1808/interrupt.h>
 
-#include "../core.h"
 #include "../drv/gpio/gpio_ev3.h"
 #include "../sys/storage_data.h"
 #include "block_device_ev3.h"
@@ -38,6 +37,8 @@
 #include <pbdrv/clock.h>
 #include <pbdrv/compiler.h>
 #include <pbdrv/gpio.h>
+
+#include <pbio/busy_count.h>
 #include <pbio/error.h>
 #include <pbio/int_math.h>
 #include <pbio/util.h>
@@ -886,7 +887,7 @@ pbio_error_t ev3_spi_process_thread(pbio_os_state_t *state, void *context) {
     // failure, it can reset the user data to factory defaults, and save it
     // properly on shutdown.
     pbdrv_block_device_load_err = err;
-    pbdrv_init_busy_down();
+    pbio_busy_count_down();
 
     // Poll ADC continuously until cancellation is requested.
     while (!(ev3_spi_process.request & PBIO_OS_PROCESS_REQUEST_TYPE_CANCEL)) {
@@ -930,7 +931,7 @@ pbio_error_t pbdrv_block_device_write_all(pbio_os_state_t *state, uint32_t used_
 
 void pbdrv_block_device_init(void) {
     spi_bus_init();
-    pbdrv_init_busy_up();
+    pbio_busy_count_up();
     pbio_os_process_start(&ev3_spi_process, ev3_spi_process_thread, NULL);
 }
 

lib/pbio/drv/block_device/block_device_flash_stm32.c

@@ -10,11 +10,11 @@
 #include <stdint.h>
 #include <string.h>
 
-#include "../core.h"
 #include "../sys/storage_data.h"
 
 #include <pbdrv/block_device.h>
 
+#include <pbio/busy_count.h>
 #include <pbio/error.h>
 #include <pbio/util.h>
 

lib/pbio/drv/block_device/block_device_w25qxx_stm32.c

@@ -13,12 +13,12 @@
 
 #include STM32_HAL_H
 
-#include "../core.h"
 #include "../sys/storage_data.h"
 #include "block_device_w25qxx_stm32.h"
 
 #include <pbdrv/block_device.h>
 
+#include <pbio/busy_count.h>
 #include <pbio/error.h>
 #include <pbio/int_math.h>
 
@@ -549,7 +549,7 @@ pbio_error_t pbdrv_block_device_w25qxx_stm32_init_process_thread(pbio_os_state_t
     // higher level code sees this error when requesting the RAM disk. On
     // failure, it can reset the user data to factory defaults, and save it
     // properly on shutdown.
-    pbdrv_init_busy_down();
+    pbio_busy_count_down();
 
     PBIO_OS_ASYNC_END(err);
 }
@@ -606,7 +606,7 @@ void pbdrv_block_device_init(void) {
     HAL_NVIC_SetPriority(bdev.pdata->irq, 6, 2);
     HAL_NVIC_EnableIRQ(bdev.pdata->irq);
 
-    pbdrv_init_busy_up();
+    pbio_busy_count_up();
     pbio_os_process_start(&pbdrv_block_device_w25qxx_stm32_init_process, pbdrv_block_device_w25qxx_stm32_init_process_thread, NULL);
 }
 

lib/pbio/drv/button/button_resistor_ladder.c

@@ -10,12 +10,12 @@
 #include <stddef.h>
 
 #include <pbdrv/resistor_ladder.h>
+
+#include <pbio/busy_count.h>
 #include <pbio/button.h>
 #include <pbio/error.h>
 #include <pbio/os.h>
 
-#include "../core.h"
-
 static pbio_os_process_t pbdrv_button_init_process;
 
 /**
@@ -38,13 +38,13 @@ pbio_error_t pbdrv_button_init_process_thread(pbio_os_state_t *state, void *cont
     }
     PBIO_OS_AWAIT_MS(state, &timer, 30);
 
-    pbdrv_init_busy_down();
+    pbio_busy_count_down();
 
     PBIO_OS_ASYNC_END(PBIO_SUCCESS);
 }
 
 void pbdrv_button_init(void) {
-    pbdrv_init_busy_up();
+    pbio_busy_count_up();
     pbio_os_process_start(&pbdrv_button_init_process, pbdrv_button_init_process_thread, NULL);
 }
 

lib/pbio/drv/charger/charger_mp2639a.c

@@ -25,11 +25,12 @@
 #include <pbdrv/pwm.h>
 #include <pbdrv/resistor_ladder.h>
 #include <pbdrv/usb.h>
+
+#include <pbio/busy_count.h>
 #include <pbio/error.h>
 #include <pbio/util.h>
 #include <pbio/os.h>
 
-#include "../core.h"
 #include "charger_mp2639a.h"
 
 #define platform pbdrv_charger_mp2639a_platform_data
@@ -204,7 +205,7 @@ pbio_error_t pbdrv_charger_mp2639a_process_thread(pbio_os_state_t *state, void *
     pbdrv_gpio_input(&platform.chg_gpio);
     #endif
 
-    pbdrv_init_busy_down();
+    pbio_busy_count_down();
 
     // When there is a fault the /CHG pin will toggle on and off at 1Hz, so we
     // have to try to detect that to get 3 possible states out of a digital input.
@@ -281,7 +282,7 @@ pbio_error_t pbdrv_charger_mp2639a_process_thread(pbio_os_state_t *state, void *
 }
 
 void pbdrv_charger_init(void) {
-    pbdrv_init_busy_up();
+    pbio_busy_count_up();
     pbio_os_process_start(&pbdrv_charger_mp2639a_process, pbdrv_charger_mp2639a_process_thread, NULL);
 }
 

lib/pbio/drv/core.c

@@ -5,9 +5,10 @@
 
 #include <pbdrv/config.h>
 #include <pbdrv/ioport.h>
+
+#include <pbio/busy_count.h>
 #include <pbio/os.h>
 
-#include "core.h"
 #include "adc/adc.h"
 #include "battery/battery.h"
 #include "block_device/block_device.h"
@@ -30,8 +31,6 @@
 #include "usb/usb.h"
 #include "watchdog/watchdog.h"
 
-uint32_t pbdrv_init_busy_count;
-
 /** Initializes all enabled drivers. */
 void pbdrv_init(void) {
 
@@ -79,7 +78,7 @@ void pbdrv_init(void) {
 
     // Wait for all async pbdrv drivers to initialize before starting
     // higher level system processes.
-    while (pbdrv_init_busy()) {
+    while (pbio_busy_count_busy()) {
         pbio_os_run_processes_once();
     }
 
@@ -98,7 +97,7 @@ void pbdrv_deinit(void) {
 
     pbdrv_imu_deinit();
 
-    while (pbdrv_init_busy()) {
+    while (pbio_busy_count_busy()) {
         pbio_os_run_processes_once();
     }
 

lib/pbio/drv/core.h

@@ -13,10 +13,10 @@
 #include <stdio.h>
 #include <string.h>
 
-#include "../core.h"
-
 #include <pbdrv/display.h>
 #include <pbdrv/gpio.h>
+
+#include <pbio/busy_count.h>
 #include <pbio/error.h>
 #include <pbio/os.h>
 #include <pbio/util.h>
@@ -500,7 +500,7 @@ static pbio_error_t pbdrv_display_ev3_process_thread(pbio_os_state_t *state, voi
     pbdrv_gpio_out_high(&pin_lcd_cs);
 
     // Done initializing.
-    pbdrv_init_busy_down();
+    pbio_busy_count_down();
 
     // Update the display with the user frame buffer, if changed.
     for (;;) {
@@ -533,7 +533,7 @@ void pbdrv_display_init(void) {
         ST7586S_NUM_COL_TRIPLETS * 3);
 
     // Start display process and ask pbdrv to wait until it is initialized.
-    pbdrv_init_busy_up();
+    pbio_busy_count_up();
     pbio_os_process_start(&pbdrv_display_ev3_process, pbdrv_display_ev3_process_thread, NULL);
 }
 

lib/pbio/drv/display/display_ev3.c

@@ -15,7 +15,8 @@
 #include <pbdrv/clock.h>
 #include <pbdrv/imu.h>
 
-#include <contiki.h>
+#include <pbio/busy_count.h>
+
 #include <lsm6ds3tr_c_reg.h>
 
 #include STM32_HAL_H
@@ -24,7 +25,6 @@
 #include <stm32l4xx_ll_i2c.h>
 #endif
 
-#include "../core.h"
 #include "./imu_lsm6ds3tr_c_stm32.h"
 
 struct _pbdrv_imu_dev_t {
@@ -335,7 +335,7 @@ static pbio_error_t pbdrv_imu_lsm6ds3tr_c_stm32_process_thread(pbio_os_state_t *
 
     PBIO_OS_AWAIT(state, &sub, err = pbdrv_imu_lsm6ds3tr_c_stm32_init(&sub));
 
-    pbdrv_init_busy_down();
+    pbio_busy_count_down();
 
     if (err != PBIO_SUCCESS) {
         // The IMU is not essential. It just won't be available if init fails.
@@ -406,19 +406,19 @@ static pbio_error_t pbdrv_imu_lsm6ds3tr_c_stm32_process_thread(pbio_os_state_t *
 
     // Cancellation complete.
     pbdrv_imu_lsm6ds3tr_c_stm32_i2c_reset(hi2c);
-    pbdrv_init_busy_down();
+    pbio_busy_count_down();
     PBIO_OS_ASYNC_END(PBIO_ERROR_CANCELED);
 }
 
 // internal driver interface implementation
 
 void pbdrv_imu_init(void) {
-    pbdrv_init_busy_up();
+    pbio_busy_count_up();
     pbio_os_process_start(&pbdrv_imu_lsm6ds3tr_c_stm32_process, pbdrv_imu_lsm6ds3tr_c_stm32_process_thread, NULL);
 }
 
 void pbdrv_imu_deinit(void) {
-    pbdrv_init_busy_up();
+    pbio_busy_count_up();
     pbio_os_process_make_request(&pbdrv_imu_lsm6ds3tr_c_stm32_process, PBIO_OS_PROCESS_REQUEST_TYPE_CANCEL);
 }
 
@@ -428,7 +428,7 @@ pbio_error_t pbdrv_imu_get_imu(pbdrv_imu_dev_t **imu_dev, pbdrv_imu_config_t **c
 
     // When this is called from pbio, driver initialization must have finished
     // and the process should be up and running to process sensor data.
-    if (pbdrv_init_busy() || pbdrv_imu_lsm6ds3tr_c_stm32_process.err != PBIO_ERROR_AGAIN) {
+    if (pbio_busy_count_busy() || pbdrv_imu_lsm6ds3tr_c_stm32_process.err != PBIO_ERROR_AGAIN) {
         return PBIO_ERROR_FAILED;
     }