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Code Issues Releases Activity

F2 PiOS I2C: Add a poor man semaphore here in case we start calling I2C

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transfers from IRQ.  Also catch the double 0x70084 event which was locking up
the FSM with -Os enabled.  I did this in a cheating way (filtering the event
based on state) but it's the cleanest I can see.  Hopefully a DMA version of
I2C will fix this.
This commit is contained in:
James Cotton 2011-08-19 11:39:50 -05:00
parent b0e04e5f79
commit 7444337418
2 changed files with 26 additions and 0 deletions
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24
flight/PiOS/STM32F2xx/pios_i2c.c
View File

@ -889,6 +889,8 @@ int32_t PIOS_I2C_Init(uint32_t * i2c_id, const struct pios_i2c_adapter_cfg * cfg
*/
vSemaphoreCreateBinary(i2c_adapter->sem_ready);
i2c_adapter->sem_busy = xSemaphoreCreateMutex();
#else
i2c_adapter->busy = 0;
#endif // USE_FREERTOS
/* Initialize the state machine */
@ -927,6 +929,17 @@ bool PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[], ui
portTickType timeout;
timeout = i2c_adapter->cfg->transfer_timeout_ms / portTICK_RATE_MS;
semaphore_success &= (xSemaphoreTake(i2c_adapter->sem_busy, timeout) == pdTRUE);
#else
uint32_t timeout = 0xffff;
while(i2c_adapter->busy && --timeout);
if(timeout == 0) //timed out
return -1;
PIOS_IRQ_Disable();
if(i2c_adapter->busy)
return -1;
i2c_adapter->busy = 1;
PIOS_IRQ_Enable();
#endif /* USE_FREERTOS */
PIOS_DEBUG_Assert(i2c_adapter->curr_state == I2C_STATE_STOPPED);
@ -963,6 +976,10 @@ bool PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[], ui
xSemaphoreGive(i2c_adapter->sem_busy);
if(!semaphore_success)
i2c_timeout_counter++;
#else
PIOS_IRQ_Disable();
i2c_adapter->busy = 0;
PIOS_IRQ_Enable();
#endif /* USE_FREERTOS */
transfers_successful+= (!i2c_adapter->bus_error) && semaphore_success;
@ -988,6 +1005,13 @@ void PIOS_I2C_EV_IRQ_Handler(uint32_t i2c_id)
#define EVENT_MASK 0x000700FF
event &= EVENT_MASK;
// This is very poor and inconsistent practice with the FSM since no other
// throw event depends on the current state. However when accelerated (-Os)
// we definitely catch this event twice and there is no clean way to do deal
// with that in the FMS short of a special state for it
if(i2c_adapter->curr_state == I2C_STATE_STARTING && event == 0x70084)
return;
switch (event) { /* Mask out all the bits we don't care about */
case (I2C_EVENT_MASTER_MODE_SELECT | 0x40):

2
flight/PiOS/inc/pios_i2c_priv.h
View File

@ -90,6 +90,8 @@ struct pios_i2c_adapter {
#ifdef PIOS_INCLUDE_FREERTOS
xSemaphoreHandle sem_busy;
xSemaphoreHandle sem_ready;
#else
uint8_t busy;
#endif
bool bus_error;