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px4-firmware
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Merged debug level commits from Tridge

This commit is contained in:
Andrew Tridgell 2013-01-27 11:06:13 +11:00 committed by Lorenz Meier
parent bfecfbf5ee
commit 6eb69b07a8
3 changed files with 65 additions and 12 deletions
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41
apps/px4io/i2c.c
View File

@ -65,10 +65,6 @@
#define rTRISE REG(STM32_I2C_TRISE_OFFSET)
static int i2c_interrupt(int irq, void *context);
#ifdef DEBUG
static void i2c_dump(void);
#endif
static void i2c_rx_setup(void);
static void i2c_tx_setup(void);
static void i2c_rx_complete(void);
@ -152,6 +148,39 @@ i2c_init(void)
#endif
}
/*
reset the I2C bus
used to recover from lockups
*/
void i2c_reset(void)
{
rCR1 |= I2C_CR1_SWRST;
rCR1 = 0;
/* set for DMA operation */
rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN;
/* set the frequency value in CR2 */
rCR2 &= ~I2C_CR2_FREQ_MASK;
rCR2 |= STM32_PCLK1_FREQUENCY / 1000000;
/* set divisor and risetime for fast mode */
uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25);
if (result < 1)
result = 1;
result = 3;
rCCR &= ~I2C_CCR_CCR_MASK;
rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result;
rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1);
/* set our device address */
rOAR1 = 0x1a << 1;
/* and enable the I2C port */
rCR1 |= I2C_CR1_ACK | I2C_CR1_PE;
}
static int
i2c_interrupt(int irq, FAR void *context)
{
@ -301,8 +330,7 @@ i2c_tx_complete(void)
i2c_tx_setup();
}
#ifdef DEBUG
static void
void
i2c_dump(void)
{
debug("CR1 0x%08x CR2 0x%08x", rCR1, rCR2);
@ -310,4 +338,3 @@ i2c_dump(void)
debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE);
debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2);
}
#endif

27
apps/px4io/px4io.c
View File

@ -63,11 +63,12 @@ struct sys_state_s system_state;
static struct hrt_call serial_dma_call;
// global debug level for isr_debug()
/* global debug level for isr_debug() */
volatile uint8_t debug_level = 0;
volatile uint32_t i2c_resets = 0;
volatile uint32_t i2c_loop_resets = 0;
struct hrt_call loop_overtime_call;
/*
a set of debug buffers to allow us to send debug information from ISRs
@ -111,6 +112,19 @@ static void show_debug_messages(void)
}
}
/*
catch I2C lockups
*/
static void loop_overtime(void *arg)
{
debug("RESETTING\n");
i2c_loop_resets++;
i2c_dump();
i2c_reset();
hrt_call_after(&loop_overtime_call, 50000, (hrt_callout)loop_overtime, NULL);
}
int user_start(int argc, char *argv[])
{
/* run C++ ctors before we go any further */
@ -152,7 +166,6 @@ int user_start(int argc, char *argv[])
(main_t)controls_main,
NULL);
struct mallinfo minfo = mallinfo();
debug("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
@ -168,6 +181,11 @@ int user_start(int argc, char *argv[])
/* XXX we should use CONFIG_IDLE_CUSTOM and take over the idle thread instead of running two additional tasks */
uint8_t counter=0;
for (;;) {
/*
if we are not scheduled for 100ms then reset the I2C bus
*/
hrt_call_after(&loop_overtime_call, 100000, (hrt_callout)loop_overtime, NULL);
poll(NULL, 0, 10);
perf_begin(mixer_perf);
mixer_tick();
@ -175,10 +193,9 @@ int user_start(int argc, char *argv[])
show_debug_messages();
if (counter++ == 200) {
counter = 0;
isr_debug(0, "tick debug=%u status=0x%x resets=%u loop_resets=%u",
isr_debug(1, "tick debug=%u status=0x%x resets=%u",
(unsigned)debug_level,
(unsigned)r_status_flags,
(unsigned)i2c_resets,
(unsigned)i2c_loop_resets);
}
}

9
apps/px4io/px4io.h
View File

@ -176,3 +176,12 @@ extern int dsm_init(const char *device);
extern bool dsm_input(uint16_t *values, uint16_t *num_values);
extern int sbus_init(const char *device);
extern bool sbus_input(uint16_t *values, uint16_t *num_values);
/* global debug level for isr_debug() */
extern volatile uint8_t debug_level;
/* send a debug message to the console */
extern void isr_debug(uint8_t level, const char *fmt, ...);
void i2c_dump(void);
void i2c_reset(void);