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AP_IOMCU: added a health check based on status read errors 

if we have more than 1 in 128 read status requests failing then mark
IOMCU unhealthy
This commit is contained in:
Andrew Tridgell 2020-01-17 17:36:01 +11:00
parent a935b764f4
commit ba779c65ad
2 changed files with 10 additions and 1 deletions
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9
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -300,8 +300,14 @@ void AP_IOMCU::read_status()
{
uint16_t *r = (uint16_t *)&reg_status;
if (!read_registers(PAGE_STATUS, 0, sizeof(reg_status)/2, r)) {
read_status_errors++;
return;
}
if (read_status_ok == 0) {
// reset error count on first good read
read_status_errors = 0;
}
read_status_ok++;
check_iomcu_reset();
@ -449,6 +455,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
if (!uart.wait_timeout(count*2+4, 10)) {
debug("t=%u timeout read page=%u offset=%u count=%u\n",
AP_HAL::millis(), page, offset, count);
protocol_fail_count++;
return false;
}
@ -861,7 +868,7 @@ void AP_IOMCU::set_safety_mask(uint16_t chmask)
*/
bool AP_IOMCU::healthy(void)
{
return crc_is_ok && protocol_fail_count == 0 && !detected_io_reset;
return crc_is_ok && protocol_fail_count == 0 && !detected_io_reset && read_status_errors < read_status_ok/128U;
}
/*

2
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -221,6 +221,8 @@ private:
uint32_t total_errors;
uint32_t num_delayed;
uint32_t last_iocmu_timestamp_ms;
uint32_t read_status_errors;
uint32_t read_status_ok;
// firmware upload
const char *fw_name = "io_firmware.bin";