自旋锁在msg_center实现

RBcore/msg_center.c

@@ -45,6 +45,11 @@
 typedef struct {
     MsgModule_t     stModule;
     rd_ringbuf_t    *pstRingBuf;    // 消息队列（ringbuffer）
+#if defined(USE_FREERTOS)
+    rd_mutex_t      stMutex;        // FreeRTOS互斥锁（任务上下文保护ringbuffer）
+#endif
+    volatile uint8_t bSpinLock;     // 自旋锁（ISR安全，始终可用）
+    uint32_t        uiPrimask;      // 关中断前的PRIMASK快照（裸机用）
     rd_sem_t        stSem;          // 信号量（阻塞等待）
 } MsgModuleEntry_t;
 
@@ -68,6 +73,28 @@ static uint32_t g_uiNextModuleID = 1;  // 从1开始，0表示无效
     ((uiModuleID) > 0 && (uiModuleID) <= g_uiModuleCount ? \
      (uiModuleID) - 1 : -1)
 
+// 写入保护宏：FreeRTOS 用 mutex，裸机用关中断+自旋锁
+#if defined(USE_FREERTOS)
+#define MSG_CENTER_LOCK(pEntry)     Rd_MutexLock(&(pEntry)->stMutex, __func__, NULL)
+#define MSG_CENTER_UNLOCK(pEntry)   Rd_MutexUnlock(&(pEntry)->stMutex, __func__, NULL)
+#define MSG_CENTER_LOCK_INIT(pEntry) ({ \
+    (pEntry)->bSpinLock = 0; \
+    Rd_MutexInit(&(pEntry)->stMutex); \
+})
+#define MSG_CENTER_LOCK_DESTROY(pEntry) Rd_MutexDestroy(&(pEntry)->stMutex)
+#else
+#define MSG_CENTER_LOCK(pEntry)     do { \
+    (pEntry)->uiPrimask = rd_irq_save(); \
+    while (ATOMIC_EXCH(&(pEntry)->bSpinLock, 1, uint8_t, ATOMIC_ORDER_ACQUIRE)) {} \
+    } while(0)
+#define MSG_CENTER_UNLOCK(pEntry)   do { \
+    ATOMIC_STORE(&(pEntry)->bSpinLock, 0, uint8_t, ATOMIC_ORDER_RELEASE); \
+    rd_irq_restore((pEntry)->uiPrimask); \
+    } while(0)
+#define MSG_CENTER_LOCK_INIT(pEntry)    ({ (pEntry)->bSpinLock = 0; RD_SUCCESS; })
+#define MSG_CENTER_LOCK_DESTROY(pEntry) ((void)(pEntry))
+#endif
+
 /*****************************************************************************
  函 数 名  : MsgCenter_Init
  功能描述  : 初始化消息中心
@@ -128,9 +155,17 @@ uint32_t MsgCenter_Register(const char *pszName, MsgHandler_t pfHandler)
         return 0;
     }
 
+    // 初始化写入锁
+    if (MSG_CENTER_LOCK_INIT(&g_astModules[uiIndex]) != RD_SUCCESS)
+    {
+        rd_RingbufferDestroy(g_astModules[uiIndex].pstRingBuf);
+        return 0;
+    }
+
     // 初始化信号量（初始值为0，表示无消息）
     if (Rd_SemInit(&g_astModules[uiIndex].stSem, 0, 0) != RD_SUCCESS)
     {
+        MSG_CENTER_LOCK_DESTROY(&g_astModules[uiIndex]);
         rd_RingbufferDestroy(g_astModules[uiIndex].pstRingBuf);
         return 0;
     }
@@ -185,10 +220,14 @@ int MsgCenter_Send(const Msg_t *pstMsg)
         return RD_FAILURE;
     }
 
-    // MPSC安全写入（ringbuffer内部关中断+自旋锁）
-    int iRet = rd_RingbufferPutSafe(g_astModules[iDstIndex].pstRingBuf, 
+    // 加锁保护ringbuffer（FreeRTOS: mutex, 裸机: 关中断+自旋锁）
+    MSG_CENTER_LOCK(&g_astModules[iDstIndex]);
+
+    int iRet = rd_RingbufferPut(g_astModules[iDstIndex].pstRingBuf,
                                  (const char *)pstMsg, sizeof(Msg_t));
 
+    MSG_CENTER_UNLOCK(&g_astModules[iDstIndex]);
+
     if (iRet > 0)
     {
         // 发送信号量，通知有新消息
@@ -276,12 +315,19 @@ int MsgCenter_SendFromISR(const char *pszDstName, uint32_t uiMsgID, const void *
         stMsg.m_uiDataLen = uiDataLen;
     }
 
-    // MPSC安全写入（ringbuffer内部关中断+自旋锁）
-    int iRet = rd_RingbufferPutSafe(g_astModules[iDstIndex].pstRingBuf,
+    // ISR安全：始终使用关中断+自旋锁（不依赖FreeRTOS mutex）
+    volatile uint8_t *pLock = &g_astModules[iDstIndex].bSpinLock;
+    uint32_t primask = rd_irq_save();
+    while (ATOMIC_EXCH(pLock, 1, uint8_t, ATOMIC_ORDER_ACQUIRE)) {}
+
+    int iRet = rd_RingbufferPut(g_astModules[iDstIndex].pstRingBuf,
                                  (const char *)&stMsg, sizeof(Msg_t));
+
+    ATOMIC_STORE(pLock, 0, uint8_t, ATOMIC_ORDER_RELEASE);
+    rd_irq_restore(primask);
+
     if (iRet > 0)
     {
-        // 信号量在CMSIS-RTOS2中自动识别ISR上下文
         Rd_SemPost(&g_astModules[iDstIndex].stSem, __func__, NULL);
         return RD_SUCCESS;
     }
@@ -299,9 +345,14 @@ int MsgCenter_SendFromISR(const char *pszDstName, uint32_t uiMsgID, const void *
 *****************************************************************************/
 static int MsgCenter_ProcessOne(int iIndex, Msg_t *pstMsg)
 {
+    // 加锁保护ringbuffer
+    MSG_CENTER_LOCK(&g_astModules[iIndex]);
+
     int iRet = rd_RingbufferGet(g_astModules[iIndex].pstRingBuf,
                                  (char *)pstMsg, sizeof(Msg_t));
 
+    MSG_CENTER_UNLOCK(&g_astModules[iIndex]);
+
     return (iRet > 0) ? 1 : 0;
 }
 

library/ringbuffer/include/ringbuffer.h

@@ -74,7 +74,6 @@ struct TRingBuffer
     unsigned short m_sReadIndex;
     unsigned char m_bWriteMirror;
     unsigned short m_sWriteIndex;
-    unsigned char m_bWriteLock;     /* 写入自旋锁（关中断+原子CAS，ISR安全） */
     int m_iBufsize;
     char *m_pcBufPtr;
 };
@@ -121,7 +120,6 @@ extern void rd_RingbufferInit(rd_ringbuf_t *rb, char *pool, int size);
 extern int rd_RingbufferPeak(rd_ringbuf_t *rb, char **ptr);
 extern int rd_RingbufferPeekLinear(rd_ringbuf_t *rb, char *out, int length);
 extern int rd_RingbufferPut(rd_ringbuf_t *rb, const char *ptr, int length);
-extern int rd_RingbufferPutSafe(rd_ringbuf_t *rb, const char *ptr, int length);
 extern int rd_RingbufferPutchar(rd_ringbuf_t *rb, const char ch);
 extern int rd_RingbufferPutcharForce(rd_ringbuf_t *rb, const char ch);
 extern int rd_RingbufferPutForce(rd_ringbuf_t *rb, const char *ptr, int length);

library/ringbuffer/ringbuffer.c

@@ -69,7 +69,6 @@ void rd_RingbufferInit(rd_ringbuf_t *rb, char *pool, int size)
     ATOMIC_STORE(&rb->m_sWriteIndex, 0, unsigned short, ATOMIC_ORDER_RELAXED);
     ATOMIC_STORE(&rb->m_bReadMirror,  0, unsigned char, ATOMIC_ORDER_RELAXED);
     ATOMIC_STORE(&rb->m_bWriteMirror, 0, unsigned char, ATOMIC_ORDER_RELAXED);
-    ATOMIC_STORE(&rb->m_bWriteLock,   0, unsigned char, ATOMIC_ORDER_RELAXED);
 
     rb->m_pcBufPtr = pool;
     rb->m_iBufsize = RD_ALIGN_DOWN(size, RD_ALIGN_SIZE);
@@ -79,7 +78,6 @@ void rd_RingbufferInit(rd_ringbuf_t *rb, char *pool, int size)
 int rd_RingbufferSpaceLen(rd_ringbuf_t *rb)
 {
     if (!rb) return -1;
-    int iRet = 0;
 
     unsigned short wi = ATOMIC_LOAD(&rb->m_sWriteIndex, unsigned short, ATOMIC_ORDER_ACQUIRE);
     unsigned short ri = ATOMIC_LOAD(&rb->m_sReadIndex, unsigned short, ATOMIC_ORDER_RELAXED);
@@ -87,19 +85,9 @@ int rd_RingbufferSpaceLen(rd_ringbuf_t *rb)
     unsigned char rb_m = ATOMIC_LOAD(&rb->m_bReadMirror, unsigned char, ATOMIC_ORDER_RELAXED);
 
     if (wb == rb_m) {
-    	iRet = rb->m_iBufsize - (wi - ri);
+    	return rb->m_iBufsize - (wi - ri);
     } else {
-    	iRet =  ri - wi;
-    }
-
-    if (iRet >= 0)
-    {
-    	return iRet;
-    }
-    else
-    {
-    	log_e("wb = %d, rb_m = %d, wi = %d, ri = %d", wb, rb_m, wi, ri);
-    	return 0;
+    	return ri - wi;
     }
 }
 
@@ -156,30 +144,6 @@ int rd_RingbufferPut(rd_ringbuf_t *rb, const char *ptr, int length)
     return length;
 }
 
-/**
- * @brief MPSC-safe Put: 关中断+原子自旋锁保护写入，可安全用于 ISR 和多线程并发写入。
- */
-int rd_RingbufferPutSafe(rd_ringbuf_t *rb, const char *ptr, int length)
-{
-    if (!rb || !ptr || length <= 0) return RD_INVALUE;
-
-    /* 关中断（若已在 ISR 中则 primask=1，末尾不恢复开中断） */
-    uint32_t primask = rd_irq_save();
-
-    /* 原子自旋锁 */
-    while (ATOMIC_EXCH(&rb->m_bWriteLock, 1, unsigned char, ATOMIC_ORDER_ACQUIRE))
-    {
-        /* 等待锁释放 */
-    }
-
-    int iRet = rd_RingbufferPut(rb, ptr, length);
-
-    ATOMIC_STORE(&rb->m_bWriteLock, 0, unsigned char, ATOMIC_ORDER_RELEASE);
-    rd_irq_restore(primask);
-
-    return iRet;
-}
-
 /**
  * @brief Put a block of data into the ring buffer. If the capacity of ring buffer is insufficient, it will overwrite the existing data in the ring buffer.
  *
@@ -449,7 +413,6 @@ void rd_RingbufferReset(rd_ringbuf_t *rb)
     ATOMIC_STORE(&rb->m_sWriteIndex, 0, unsigned short, ATOMIC_ORDER_RELAXED);
     ATOMIC_STORE(&rb->m_bReadMirror, 0, unsigned char, ATOMIC_ORDER_RELAXED);
     ATOMIC_STORE(&rb->m_bWriteMirror, 0, unsigned char, ATOMIC_ORDER_RELAXED);
-    ATOMIC_STORE(&rb->m_bWriteLock, 0, unsigned char, ATOMIC_ORDER_RELAXED);
 }
 
 /**