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Code Issues Releases Activity

LP-444 Improved I2C alarm handling by monitoring error count changes returned by PIOS_I2C_GetDiagnostics().

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This commit is contained in:
Vladimir Zidar 2016-12-05 13:02:36 +01:00
parent 88487b1549
commit e603f9f3fe
5 changed files with 92 additions and 28 deletions
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68
flight/modules/System/systemmod.c
View File

@ -118,11 +118,20 @@ static void callbackSchedulerForEachCallback(int16_t callback_id, const struct p
static void updateStats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
#ifdef DIAG_I2C_WDG_STATS
static void updateI2Cstats();
#ifdef DIAG_I2C_WDG_STATS
static void updateWDGstats();
#endif
#ifdef PIOS_INCLUDE_I2C
#define I2C_ERROR_ACTIVITY_TIMEOUT_SECONDS 2
#define I2C_ERROR_ACTIVITY_TIMEOUT (I2C_ERROR_ACTIVITY_TIMEOUT_SECONDS * 1000 / SYSTEM_UPDATE_PERIOD_MS)
static uint8_t i2c_error_activity[PIOS_I2C_ERROR_COUNT_NUMELEM];
#endif
extern uintptr_t pios_uavo_settings_fs_id;
extern uintptr_t pios_user_fs_id;
@ -234,10 +243,13 @@ static void systemTask(__attribute__((unused)) void *parameters)
NotificationUpdateStatus();
// Update the system statistics
updateStats();
// Update I2C stats
updateI2Cstats();
// Update the system alarms
updateSystemAlarms();
#ifdef DIAG_I2C_WDG_STATS
updateI2Cstats();
updateWDGstats();
#endif
@ -480,17 +492,36 @@ static void callbackSchedulerForEachCallback(int16_t callback_id, const struct p
#endif /* ifdef DIAG_TASKS */
/**
* Called periodically to update the I2C statistics
* Called periodically (every SYSTEM_UPDATE_PERIOD_MS milliseconds) to update the I2C statistics
*/
#ifdef DIAG_I2C_WDG_STATS
static void updateI2Cstats()
{
#if defined(PIOS_INCLUDE_I2C)
static uint8_t previous_error_counts[PIOS_I2C_ERROR_COUNT_NUMELEM];
struct pios_i2c_fault_history history;
uint8_t error_counts[PIOS_I2C_ERROR_COUNT_NUMELEM];
PIOS_I2C_GetDiagnostics(&history, error_counts);
// every time a counter changes, set activity timeout counter to ( I2C_ERROR_ACTIVITY_TIMEOUT ).
// every time a counter does not change, decrease activity counter.
for (uint8_t i = 0; i < PIOS_I2C_ERROR_COUNT_NUMELEM; i++) {
if (error_counts[i] != previous_error_counts[i]) {
i2c_error_activity[i] = I2C_ERROR_ACTIVITY_TIMEOUT;
} else if (i2c_error_activity[i] > 0) {
i2c_error_activity[i]--;
}
previous_error_counts[i] = error_counts[i];
}
#ifdef DIAG_I2C_WDG_STATS
I2CStatsData i2cStats;
I2CStatsGet(&i2cStats);
struct pios_i2c_fault_history history;
PIOS_I2C_GetDiagnostics(&history, &i2cStats.event_errors);
memcpy(&i2cStats.event_errors, &error_counts, sizeof(error_counts));
for (uint8_t i = 0; (i < I2C_LOG_DEPTH) && (i < I2CSTATS_EVENT_LOG_NUMELEM); i++) {
i2cStats.evirq_log[i] = history.evirq[i];
@ -500,9 +531,11 @@ static void updateI2Cstats()
}
i2cStats.last_error_type = history.type;
I2CStatsSet(&i2cStats);
#endif
#endif /* DIAG_I2C_WDG_STATS */
#endif /* PIOS_INCLUDE_I2C */
}
#ifdef DIAG_I2C_WDG_STATS
static void updateWDGstats()
{
WatchdogStatusData watchdogStatus;
@ -663,6 +696,27 @@ static void updateSystemAlarms()
sysStats.ObjectManagerQueueID = objStats.lastQueueErrorID;
SystemStatsSet(&sysStats);
}
#ifdef PIOS_INCLUDE_I2C
static const SystemAlarmsAlarmOptions i2c_alarm_by_error[] = {
[PIOS_I2C_BAD_EVENT_COUNTER] = SYSTEMALARMS_ALARM_ERROR,
[PIOS_I2C_FSM_FAULT_COUNT] = SYSTEMALARMS_ALARM_ERROR,
[PIOS_I2C_ERROR_INTERRUPT_COUNTER] = SYSTEMALARMS_ALARM_ERROR,
[PIOS_I2C_NACK_COUNTER] = SYSTEMALARMS_ALARM_CRITICAL,
[PIOS_I2C_TIMEOUT_COUNTER] = SYSTEMALARMS_ALARM_ERROR,
};
SystemAlarmsAlarmOptions i2c_alarm = SYSTEMALARMS_ALARM_OK;
for (uint8_t i = 0; i < PIOS_I2C_ERROR_COUNT_NUMELEM; i++) {
if ((i2c_error_activity[i] > 0) && (i2c_alarm < i2c_alarm_by_error[i])) {
i2c_alarm = i2c_alarm_by_error[i];
}
}
AlarmsSet(SYSTEMALARMS_ALARM_I2C, i2c_alarm);
#endif /* PIOS_INCLUDE_I2C */
}
/**

10
flight/pios/inc/pios_i2c.h
View File

@ -63,6 +63,16 @@ struct pios_i2c_fault_history {
uint8_t state[I2C_LOG_DEPTH];
};
enum pios_i2c_error_count {
PIOS_I2C_BAD_EVENT_COUNTER,
PIOS_I2C_FSM_FAULT_COUNT,
PIOS_I2C_ERROR_INTERRUPT_COUNTER,
PIOS_I2C_NACK_COUNTER,
PIOS_I2C_TIMEOUT_COUNTER,
PIOS_I2C_ERROR_COUNT_NUMELEM,
};
/* Public Functions */
extern int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[], uint32_t num_txns);
extern int32_t PIOS_I2C_Transfer_Callback(uint32_t i2c_id, const struct pios_i2c_txn txn_list[], uint32_t num_txns, void *callback);

14
flight/pios/stm32f0x/pios_i2c.c
View File

@ -458,17 +458,17 @@ void PIOS_I2C_GetDiagnostics(struct pios_i2c_fault_history *data, uint8_t *count
{
#if defined(PIOS_I2C_DIAGNOSTICS)
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = i2c_bad_event_counter;
counts[1] = i2c_fsm_fault_count;
counts[2] = i2c_error_interrupt_counter;
counts[3] = i2c_nack_counter;
counts[4] = i2c_timeout_counter;
counts[PIOS_I2C_BAD_EVENT_COUNTER] = i2c_bad_event_counter;
counts[PIOS_I2C_FSM_FAULT_COUNT] = i2c_fsm_fault_count;
counts[PIOS_I2C_ERROR_INTERRUPT_COUNTER] = i2c_error_interrupt_counter;
counts[PIOS_I2C_NACK_COUNTER] = i2c_nack_counter;
counts[PIOS_I2C_TIMEOUT_COUNTER] = i2c_timeout_counter;
#else
struct pios_i2c_fault_history i2c_adapter_fault_history;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = counts[1] = counts[2] = 0;
memset(counts, 0, sizeof(*counts) * PIOS_I2C_ERROR_COUNT_NUMELEM);
#endif
}

14
flight/pios/stm32f10x/pios_i2c.c
View File

@ -857,17 +857,17 @@ void PIOS_I2C_GetDiagnostics(struct pios_i2c_fault_history *data, uint8_t *count
{
#if defined(PIOS_I2C_DIAGNOSTICS)
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = i2c_bad_event_counter;
counts[1] = i2c_fsm_fault_count;
counts[2] = i2c_error_interrupt_counter;
counts[3] = i2c_nack_counter;
counts[4] = i2c_timeout_counter;
counts[PIOS_I2C_BAD_EVENT_COUNTER] = i2c_bad_event_counter;
counts[PIOS_I2C_FSM_FAULT_COUNT] = i2c_fsm_fault_count;
counts[PIOS_I2C_ERROR_INTERRUPT_COUNTER] = i2c_error_interrupt_counter;
counts[PIOS_I2C_NACK_COUNTER] = i2c_nack_counter;
counts[PIOS_I2C_TIMEOUT_COUNTER] = i2c_timeout_counter;
#else
struct pios_i2c_fault_history i2c_adapter_fault_history;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = counts[1] = counts[2] = 0;
memset(counts, 0, sizeof(*counts) * PIOS_I2C_ERROR_COUNT_NUMELEM);
#endif
}

14
flight/pios/stm32f4xx/pios_i2c.c
View File

@ -952,17 +952,17 @@ void PIOS_I2C_GetDiagnostics(struct pios_i2c_fault_history *data, uint8_t *count
{
#if defined(PIOS_I2C_DIAGNOSTICS)
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = i2c_bad_event_counter;
counts[1] = i2c_fsm_fault_count;
counts[2] = i2c_error_interrupt_counter;
counts[3] = i2c_nack_counter;
counts[4] = i2c_timeout_counter;
counts[PIOS_I2C_BAD_EVENT_COUNTER] = i2c_bad_event_counter;
counts[PIOS_I2C_FSM_FAULT_COUNT] = i2c_fsm_fault_count;
counts[PIOS_I2C_ERROR_INTERRUPT_COUNTER] = i2c_error_interrupt_counter;
counts[PIOS_I2C_NACK_COUNTER] = i2c_nack_counter;
counts[PIOS_I2C_TIMEOUT_COUNTER] = i2c_timeout_counter;
#else
struct pios_i2c_fault_history i2c_adapter_fault_history;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
i2c_adapter_fault_history.type = PIOS_I2C_ERROR_EVENT;
memcpy(data, &i2c_adapter_fault_history, sizeof(i2c_adapter_fault_history));
counts[0] = counts[1] = counts[2] = 0;
memset(counts, 0, sizeof(*counts) * PIOS_I2C_ERROR_COUNT_NUMELEM);
#endif
}