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AP_IOMCU: cope with IOMCU reset

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This commit is contained in:
Andrew Tridgell 2019-04-22 12:54:00 +10:00
parent dbe9e30edc
commit c7be7d7343
2 changed files with 27 additions and 1 deletions
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26
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -17,6 +17,7 @@
#include <SRV_Channel/SRV_Channel.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_RCProtocol/AP_RCProtocol.h>
#include <AP_InternalError/AP_InternalError.h>
extern const AP_HAL::HAL &hal;
@ -420,6 +421,9 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
return false;
}
memcpy(regs, pkt.regs, count*2);
if (protocol_fail_count > 3) {
handle_repeated_failures();
}
protocol_fail_count = 0;
return true;
}
@ -485,6 +489,9 @@ bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, cons
protocol_fail_count++;
return false;
}
if (protocol_fail_count > 3) {
handle_repeated_failures();
}
protocol_fail_count = 0;
return true;
}
@ -786,7 +793,7 @@ void AP_IOMCU::set_safety_mask(uint16_t chmask)
*/
bool AP_IOMCU::healthy(void)
{
return crc_is_ok && protocol_fail_count == 0;
return crc_is_ok && protocol_fail_count == 0 && !detected_io_reset;
}
/*
@ -884,4 +891,21 @@ const char *AP_IOMCU::get_rc_protocol(void)
return AP_RCProtocol::protocol_name_from_protocol((AP_RCProtocol::rcprotocol_t)rc_input.data);
}
/*
we have had a series of repeated protocol failures to the
IOMCU. This may indicate that the IOMCU has been reset (possibly due
to a watchdog).
*/
void AP_IOMCU::handle_repeated_failures(void)
{
detected_io_reset = true;
AP::internalerror().error(AP_InternalError::error_t::iomcu_reset);
// we need to ensure the mixer data and the rates are sent over to
// the IOMCU
if (mixing.enabled) {
trigger_event(IOEVENT_MIXING);
}
trigger_event(IOEVENT_SET_RATES);
}
#endif // HAL_WITH_IO_MCU

2
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -200,6 +200,7 @@ private:
bool done_shutdown;
bool crc_is_ok;
bool detected_io_reset;
bool initialised;
bool is_chibios_backend;
@ -226,6 +227,7 @@ private:
bool reboot();
bool check_crc(void);
void handle_repeated_failures();
enum {
PROTO_NOP = 0x00,