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HAL_ChibiOS: added paranoid state checking on I2C

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this is here just while debugging an issue with Mark
This commit is contained in:
Andrew Tridgell 2018-02-06 08:14:55 +11:00
parent 7e19f49e42
commit 23e1b2e271
2 changed files with 12 additions and 0 deletions
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11
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
View File

@ -103,7 +103,9 @@ I2CDevice::~I2CDevice()
void I2CBus::dma_allocate(void) void I2CBus::dma_allocate(void)
{ {
if (!i2c_started) { if (!i2c_started) {
osalDbgAssert(I2CD[busnum].i2c->state == I2C_STOP, "i2cStart state");
i2cStart(I2CD[busnum].i2c, &i2ccfg); i2cStart(I2CD[busnum].i2c, &i2ccfg);
osalDbgAssert(I2CD[busnum].i2c->state == I2C_READY, "i2cStart state");
i2c_started = true; i2c_started = true;
} }
} }
@ -114,7 +116,9 @@ void I2CBus::dma_allocate(void)
void I2CBus::dma_deallocate(void) void I2CBus::dma_deallocate(void)
{ {
if (i2c_started) { if (i2c_started) {
osalDbgAssert(I2CD[busnum].i2c->state == I2C_READY, "i2cStart state");
i2cStop(I2CD[busnum].i2c); i2cStop(I2CD[busnum].i2c);
osalDbgAssert(I2CD[busnum].i2c->state == I2C_STOP, "i2cStart state");
i2c_started = false; i2c_started = false;
} }
} }
@ -174,6 +178,7 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
// calculate a timeout as twice the expected transfer time, and set as min of 4ms // calculate a timeout as twice the expected transfer time, and set as min of 4ms
uint32_t timeout_ms = 1+2*(((8*1000000UL/bus.i2ccfg.clock_speed)*MAX(send_len, recv_len))/1000); uint32_t timeout_ms = 1+2*(((8*1000000UL/bus.i2ccfg.clock_speed)*MAX(send_len, recv_len))/1000);
timeout_ms = MAX(timeout_ms, _timeout_ms); timeout_ms = MAX(timeout_ms, _timeout_ms);
bus.i2c_active = true;
if(send_len == 0) { if(send_len == 0) {
ret = i2cMasterReceiveTimeout(I2CD[bus.busnum].i2c, _address, recv_buf, recv_len, MS2ST(timeout_ms)); ret = i2cMasterReceiveTimeout(I2CD[bus.busnum].i2c, _address, recv_buf, recv_len, MS2ST(timeout_ms));
} else { } else {
@ -181,13 +186,19 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
recv_buf, recv_len, MS2ST(timeout_ms)); recv_buf, recv_len, MS2ST(timeout_ms));
} }
i2cReleaseBus(I2CD[bus.busnum].i2c); i2cReleaseBus(I2CD[bus.busnum].i2c);
bus.i2c_active = false;
osalDbgAssert(I2CD[bus.busnum].i2c->state == I2C_READY, "i2cStart state");
if (ret != MSG_OK){ if (ret != MSG_OK){
//restart the bus //restart the bus
if (bus.i2c_started) { if (bus.i2c_started) {
osalDbgAssert(I2CD[bus.busnum].i2c->state == I2C_READY, "i2cStart state");
i2cStop(I2CD[bus.busnum].i2c); i2cStop(I2CD[bus.busnum].i2c);
osalDbgAssert(I2CD[bus.busnum].i2c->state == I2C_STOP, "i2cStart state");
bus.i2c_started = false; bus.i2c_started = false;
} }
osalDbgAssert(I2CD[bus.busnum].i2c->state == I2C_STOP, "i2cStart state");
i2cStart(I2CD[bus.busnum].i2c, &bus.i2ccfg); i2cStart(I2CD[bus.busnum].i2c, &bus.i2ccfg);
osalDbgAssert(I2CD[bus.busnum].i2c->state == I2C_READY, "i2cStart state");
bus.i2c_started = true; bus.i2c_started = true;
} else { } else {
if (recv_buf != recv) { if (recv_buf != recv) {

1
libraries/AP_HAL_ChibiOS/I2CDevice.h
View File

@ -35,6 +35,7 @@ public:
I2CConfig i2ccfg; I2CConfig i2ccfg;
uint8_t busnum; uint8_t busnum;
bool i2c_started; bool i2c_started;
bool i2c_active;
void dma_allocate(void); void dma_allocate(void);
void dma_deallocate(void); void dma_deallocate(void);