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AP_IOMCU: add internal errors for unresponsive IOMCU

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if IOMCU stops responding completely or stops giving status update
then give an internal error to help with diagnostics
This commit is contained in:
Andrew Tridgell 2023-02-11 12:40:26 +11:00
parent d921c427b1
commit ab0768871b
2 changed files with 16 additions and 0 deletions
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15
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -110,6 +110,13 @@ void AP_IOMCU::thread_main(void)
trigger_event(IOEVENT_INIT); trigger_event(IOEVENT_INIT);
while (!do_shutdown) { while (!do_shutdown) {
// check if we have lost contact with the IOMCU
const uint32_t now_ms = AP_HAL::millis();
if (last_reg_read_ms != 0 && now_ms - last_reg_read_ms > 1000U) {
INTERNAL_ERROR(AP_InternalError::error_t::iomcu_reset);
last_reg_read_ms = 0;
}
eventmask_t mask = chEvtWaitAnyTimeout(~0, chTimeMS2I(10)); eventmask_t mask = chEvtWaitAnyTimeout(~0, chTimeMS2I(10));
// check for pending IO events // check for pending IO events
@ -323,6 +330,10 @@ void AP_IOMCU::read_status()
uint16_t *r = (uint16_t *)&reg_status; uint16_t *r = (uint16_t *)&reg_status;
if (!read_registers(PAGE_STATUS, 0, sizeof(reg_status)/2, r)) { if (!read_registers(PAGE_STATUS, 0, sizeof(reg_status)/2, r)) {
read_status_errors++; read_status_errors++;
if (read_status_errors == 20 && last_iocmu_timestamp_ms != 0) {
// the IOMCU has stopped responding to status requests
INTERNAL_ERROR(AP_InternalError::error_t::iomcu_reset);
}
return; return;
} }
if (read_status_ok == 0) { if (read_status_ok == 0) {
@ -539,6 +550,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
total_errors += protocol_fail_count; total_errors += protocol_fail_count;
protocol_fail_count = 0; protocol_fail_count = 0;
protocol_count++; protocol_count++;
last_reg_read_ms = AP_HAL::millis();
return true; return true;
} }
@ -852,6 +864,9 @@ bool AP_IOMCU::check_crc(void)
const uint16_t magic = REBOOT_BL_MAGIC; const uint16_t magic = REBOOT_BL_MAGIC;
write_registers(PAGE_SETUP, PAGE_REG_SETUP_REBOOT_BL, 1, &magic); write_registers(PAGE_SETUP, PAGE_REG_SETUP_REBOOT_BL, 1, &magic);
// avoid internal error on fw upload delay
last_reg_read_ms = 0;
if (!upload_fw()) { if (!upload_fw()) {
AP_ROMFS::free(fw); AP_ROMFS::free(fw);
fw = nullptr; fw = nullptr;

1
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -161,6 +161,7 @@ private:
uint32_t last_rc_read_ms; uint32_t last_rc_read_ms;
uint32_t last_servo_read_ms; uint32_t last_servo_read_ms;
uint32_t last_safety_option_check_ms; uint32_t last_safety_option_check_ms;
uint32_t last_reg_read_ms;
// last value of safety options // last value of safety options
uint16_t last_safety_options = 0xFFFF; uint16_t last_safety_options = 0xFFFF;