forked from Archive/PX4-Autopilot
Merged debug level commits from Tridge
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@ -65,10 +65,6 @@
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#define rTRISE REG(STM32_I2C_TRISE_OFFSET)
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#define rTRISE REG(STM32_I2C_TRISE_OFFSET)
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static int i2c_interrupt(int irq, void *context);
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static int i2c_interrupt(int irq, void *context);
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#ifdef DEBUG
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static void i2c_dump(void);
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#endif
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static void i2c_rx_setup(void);
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static void i2c_rx_setup(void);
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static void i2c_tx_setup(void);
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static void i2c_tx_setup(void);
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static void i2c_rx_complete(void);
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static void i2c_rx_complete(void);
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@ -152,6 +148,39 @@ i2c_init(void)
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#endif
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#endif
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}
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}
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/*
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reset the I2C bus
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used to recover from lockups
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*/
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void i2c_reset(void)
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{
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rCR1 |= I2C_CR1_SWRST;
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rCR1 = 0;
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/* set for DMA operation */
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rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN;
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/* set the frequency value in CR2 */
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rCR2 &= ~I2C_CR2_FREQ_MASK;
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rCR2 |= STM32_PCLK1_FREQUENCY / 1000000;
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/* set divisor and risetime for fast mode */
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uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25);
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if (result < 1)
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result = 1;
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result = 3;
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rCCR &= ~I2C_CCR_CCR_MASK;
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rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result;
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rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1);
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/* set our device address */
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rOAR1 = 0x1a << 1;
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/* and enable the I2C port */
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rCR1 |= I2C_CR1_ACK | I2C_CR1_PE;
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}
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static int
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static int
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i2c_interrupt(int irq, FAR void *context)
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i2c_interrupt(int irq, FAR void *context)
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{
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{
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@ -301,8 +330,7 @@ i2c_tx_complete(void)
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i2c_tx_setup();
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i2c_tx_setup();
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}
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}
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#ifdef DEBUG
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void
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static void
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i2c_dump(void)
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i2c_dump(void)
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{
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{
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debug("CR1 0x%08x CR2 0x%08x", rCR1, rCR2);
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debug("CR1 0x%08x CR2 0x%08x", rCR1, rCR2);
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@ -310,4 +338,3 @@ i2c_dump(void)
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debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE);
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debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE);
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debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2);
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debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2);
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}
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}
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#endif
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@ -63,11 +63,12 @@ struct sys_state_s system_state;
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static struct hrt_call serial_dma_call;
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static struct hrt_call serial_dma_call;
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// global debug level for isr_debug()
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/* global debug level for isr_debug() */
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volatile uint8_t debug_level = 0;
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volatile uint8_t debug_level = 0;
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volatile uint32_t i2c_resets = 0;
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volatile uint32_t i2c_loop_resets = 0;
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volatile uint32_t i2c_loop_resets = 0;
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struct hrt_call loop_overtime_call;
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/*
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/*
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a set of debug buffers to allow us to send debug information from ISRs
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a set of debug buffers to allow us to send debug information from ISRs
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@ -111,6 +112,19 @@ static void show_debug_messages(void)
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}
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}
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}
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}
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/*
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catch I2C lockups
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*/
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static void loop_overtime(void *arg)
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{
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debug("RESETTING\n");
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i2c_loop_resets++;
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i2c_dump();
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i2c_reset();
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hrt_call_after(&loop_overtime_call, 50000, (hrt_callout)loop_overtime, NULL);
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}
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int user_start(int argc, char *argv[])
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int user_start(int argc, char *argv[])
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{
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{
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/* run C++ ctors before we go any further */
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/* run C++ ctors before we go any further */
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@ -152,7 +166,6 @@ int user_start(int argc, char *argv[])
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(main_t)controls_main,
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(main_t)controls_main,
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NULL);
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NULL);
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struct mallinfo minfo = mallinfo();
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struct mallinfo minfo = mallinfo();
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debug("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
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debug("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
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@ -168,6 +181,11 @@ int user_start(int argc, char *argv[])
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/* XXX we should use CONFIG_IDLE_CUSTOM and take over the idle thread instead of running two additional tasks */
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/* XXX we should use CONFIG_IDLE_CUSTOM and take over the idle thread instead of running two additional tasks */
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uint8_t counter=0;
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uint8_t counter=0;
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for (;;) {
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for (;;) {
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/*
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if we are not scheduled for 100ms then reset the I2C bus
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*/
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hrt_call_after(&loop_overtime_call, 100000, (hrt_callout)loop_overtime, NULL);
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poll(NULL, 0, 10);
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poll(NULL, 0, 10);
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perf_begin(mixer_perf);
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perf_begin(mixer_perf);
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mixer_tick();
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mixer_tick();
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@ -175,10 +193,9 @@ int user_start(int argc, char *argv[])
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show_debug_messages();
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show_debug_messages();
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if (counter++ == 200) {
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if (counter++ == 200) {
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counter = 0;
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counter = 0;
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isr_debug(0, "tick debug=%u status=0x%x resets=%u loop_resets=%u",
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isr_debug(1, "tick debug=%u status=0x%x resets=%u",
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(unsigned)debug_level,
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(unsigned)debug_level,
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(unsigned)r_status_flags,
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(unsigned)r_status_flags,
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(unsigned)i2c_resets,
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(unsigned)i2c_loop_resets);
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(unsigned)i2c_loop_resets);
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}
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}
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}
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}
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@ -176,3 +176,12 @@ extern int dsm_init(const char *device);
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extern bool dsm_input(uint16_t *values, uint16_t *num_values);
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extern bool dsm_input(uint16_t *values, uint16_t *num_values);
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extern int sbus_init(const char *device);
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extern int sbus_init(const char *device);
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extern bool sbus_input(uint16_t *values, uint16_t *num_values);
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extern bool sbus_input(uint16_t *values, uint16_t *num_values);
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/* global debug level for isr_debug() */
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extern volatile uint8_t debug_level;
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/* send a debug message to the console */
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extern void isr_debug(uint8_t level, const char *fmt, ...);
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void i2c_dump(void);
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void i2c_reset(void);
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