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HAL_ChibiOS: added ISR limit on I2C

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this will prevent any possibility of an I2C interrupt storm. This is
designed to address the most likely cause of #11642
This commit is contained in:
Andrew Tridgell 2019-08-24 10:03:52 +10:00
parent b8602abdeb
commit f8cfbb8062
3 changed files with 15 additions and 1 deletions
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6
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
View File

@ -22,6 +22,7 @@
#include "Scheduler.h" #include "Scheduler.h"
#include "hwdef/common/stm32_util.h" #include "hwdef/common/stm32_util.h"
#include <AP_InternalError/AP_InternalError.h>
#include "ch.h" #include "ch.h"
#include "hal.h" #include "hal.h"
@ -274,6 +275,11 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
bus.dma_handle->unlock(); bus.dma_handle->unlock();
if (I2CD[bus.busnum].i2c->errors & I2C_ISR_LIMIT) {
AP::internalerror().error(AP_InternalError::error_t::i2c_isr);
break;
}
if (ret == MSG_OK) { if (ret == MSG_OK) {
bus.bouncebuffer_finish(send, recv, recv_len); bus.bouncebuffer_finish(send, recv, recv_len);
i2cReleaseBus(I2CD[bus.busnum].i2c); i2cReleaseBus(I2CD[bus.busnum].i2c);

5
libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
View File

@ -382,3 +382,8 @@
* WDG driver system settings. * WDG driver system settings.
*/ */
#define STM32_WDG_USE_IWDG FALSE #define STM32_WDG_USE_IWDG FALSE
// limit ISR count per byte
#define STM32_I2C_ISR_LIMIT 6

3
libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
View File

@ -439,3 +439,6 @@
#define STM32_WDG_USE_IWDG FALSE #define STM32_WDG_USE_IWDG FALSE
#define STM32_EXTI_ENHANCED #define STM32_EXTI_ENHANCED
// limit ISR count per byte
#define STM32_I2C_ISR_LIMIT 6