From 0a4f3de5040de014ec5d7d442b803e39d7328fd5 Mon Sep 17 00:00:00 2001
From: Mike Fiore <mfiore@multitech.com>
Date: Fri, 11 Dec 2015 11:49:03 -0600
Subject: disable interrupts around critical sections in SensorHandler

---
 SensorHandler/SensorHandler.cpp | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

(limited to 'SensorHandler')

diff --git a/SensorHandler/SensorHandler.cpp b/SensorHandler/SensorHandler.cpp
index 18f9ddc..207cb20 100644
--- a/SensorHandler/SensorHandler.cpp
+++ b/SensorHandler/SensorHandler.cpp
@@ -28,24 +28,34 @@ SensorHandler::~SensorHandler(void)
 void SensorHandler::initSensors(){
     //  Setup the Accelerometer for 8g range, 14 bit resolution, Noise reduction off, sample rate 1.56 Hz
     //  normal oversample mode, High pass filter off
+    __disable_irq();
     _accelerometer.setCommonParameters(MMA845x::RANGE_8g,MMA845x::RES_MAX,MMA845x::LN_OFF,
     						   MMA845x::DR_6_25,MMA845x::OS_NORMAL,MMA845x::HPF_OFF );
+    __enable_irq();
 	 
     // Setup the Barometric sensor for post processed Ambient pressure, 4 samples per data acquisition.
     //and a sample taken every second when in active mode
+    __disable_irq();
     _barometricSensor.setParameters(MPL3115A2::DATA_NORMAL, MPL3115A2::DM_BAROMETER, MPL3115A2::OR_16,
     					MPL3115A2::AT_1);
+    __enable_irq();
     // Setup the Ambient Light Sensor for continuous Ambient Light Sensing, 16 bit resolution,
     // and 16000 lux range
+    __disable_irq();
     _lightSensor.setMode(ISL29011::ALS_CONT);
     _lightSensor.setResolution(ISL29011::ADC_16BIT);
     _lightSensor.setRange(ISL29011::RNG_16000);
+    __enable_irq();
 	 
     // Set the accelerometer for active mode
+    __disable_irq();
     _accelerometer.activeMode();
+    __enable_irq();
 	 
     // Clear the min-max registers in the Barometric Sensor
+    __disable_irq();
     _barometricSensor.clearMinMaxRegs();    
+    __enable_irq();
 }
 
 void SensorHandler::startSensorThread(void const *p)
@@ -66,11 +76,15 @@ void SensorHandler::readSensors()
         timer.reset();
         do {
             osDelay(20);			 // allows other threads to process
+	    __disable_irq();
             result = _accelerometer.getStatus();
+	    __enable_irq();
             if((result & MMA845x::XYZDR) != 0 ){
                 // Retrieve accelerometer data
                 _mutex.lock();        
+		__disable_irq();
                 _accelerometerData = _accelerometer.getXYZ();
+		__enable_irq();
                 _mutex.unlock();
             }
         } while (((result & MMA845x::XYZDR) == 0 ) && (timer.read_ms() < 1000));
@@ -85,11 +99,15 @@ void SensorHandler::readSensors()
         timer.reset();
         do {
             osDelay(20);			 // allows other threads to process
+	    __disable_irq();
             result = _barometricSensor.getStatus();
+	    __enable_irq();
             if((result & MPL3115A2::PTDR) != 0){
                 // Retrieve barometric pressure
                 _mutex.lock();        
+		__disable_irq();
                 _pressure = _barometricSensor.getBaroData() >> 12; // convert 32 bit signed to 20 bit unsigned value
+		__enable_irq();
                 _mutex.unlock();                
             }
         } while (((result & MPL3115A2::PTDR) == 0) && (timer.read_ms() < 100));
@@ -104,18 +122,24 @@ void SensorHandler::readSensors()
         timer.reset();
         do {
             osDelay(20);			 // allows other threads to process
+	    __disable_irq();
             result = _barometricSensor.getStatus();
+	    __enable_irq();
             if((result & MPL3115A2::PTDR) != 0 ){
                 // Retrieve temperature and altitude.
                 _mutex.lock();
+		__disable_irq();
                 _barometerData = _barometricSensor.getAllData(false);
+		__enable_irq();
                 _mutex.unlock();                 
             }
         } while (((result & MPL3115A2::PTDR) == 0 ) && (timer.read_ms() < 100));
 	 
         // Retrieve light level
         _mutex.lock();
+	__disable_irq();
         _light = _lightSensor.getData();
+	__enable_irq();
         _mutex.unlock();
         osDelay(100);             // allows other threads to process
     }
-- 
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