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Commit Graph

49 Commits

Author SHA1 Message Date
Stacey Sheldon
43b31efb76 pios: allocate driver instance data from heap
Allocate per-instance data for drivers from the heap
rather than as static variables from the .data segment.

This converts > 800 bytes of RAM from being always consumed
as static data into being allocated from the heap only when
a particular feature is enabled in the hwsettings object.

A minimal config (no receivers, flexi port disabled, main port
disabled) leaves 2448 bytes of free heap.  That's our new baseline.

Approximate RAM (heap) costs of enabling various features:
 + 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers)
 + 108 PWM Rcvr
 + 152 PPM Rcvr
 + 112 Spektrum Rcvr
 + 24  S.Bus (Should be closer to 68 since driver is still using
              static memory)

There are still some drivers that pre-allocate all of their memory
as static data.  It'll take some work to convert those over to
dynamically allocating their instance data.
2011-08-31 22:35:03 -04:00
FredericG
fc18f1cb36 OP-326 Long I2C messages starve the other drivers
We where hammered on the head with interrupts that the driver does not need, not allowing the ISRs of other drivers to run 

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3018 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-09 17:12:18 +00:00
FredericG
4c51e80b5b OP-340 I2C NACK causes next transfers to fail.
Needed to clear the NACK flag in the ISR, or the next transfers seem to get a nack too because the IRQ comes back

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3017 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-09 16:58:37 +00:00
sambas
8d6f320fca Handle I2C defines better, needed in CC for now
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2815 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-20 07:14:02 +00:00
stac
66a9d53d0a hwinit: Convert I2C driver to dynamic init
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2773 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-12 22:19:54 +00:00
peabody124
21b4e55029 OP-14 OP-16: I2C Improvements
1) Added nack counter monitoring
2) Made timeout for getting semaphore in I2C user space code use the one from
driver and record timeouts.  This does not influence timeouts in the non
FreeRTOS case
3) Remove case block from the error handler so that all bus errors reset the
i2c interface

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2469 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:11:12 +00:00
peabody124
0e441a20f3 OP-14 OP-16 I2C: When sending STOP signal after NAK, mask interrupts first
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2468 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:11:08 +00:00
peabody124
0d567f4e4b OP-14 I2C: Don't log a NAK as an error and also after NAKs seem to get an event
from the stop bit

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2466 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:11:02 +00:00
peabody124
31919241b8 OP-14 I2C: Adding new event to the ignore list
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2465 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:10:59 +00:00
peabody124
68536d2fd1 OP-14 I2C: Throw away 0 event in error handler
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2464 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-17 02:10:56 +00:00
peabody124
d846288cec OP-14 I2C: Remove delay in I2C IRQ handlers
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2378 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-11 03:50:23 +00:00
peabody124
bbbd9a10e3 OP-14 I2C Diagnostics: Improve the logging so that the events going into FSM
are logged, and separately the erirq and evirq logs are exported

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2368 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 05:42:53 +00:00
peabody124
b173d74821 OP-237 I2C ESC support. This _will_ require you to reconfigure your
ActuatorSettings although for PWM aircrafts it should be done exactly as before

Actuator: Store the update times and maximum update time

OP-14 I2C: Start tracking short history of events and states in driver for
logging
OP-237 Flight/Actuator: Support for I2C based ESCs

OP-237 MK_ESC: Send all four motors as one atomic transfer

OP-237 Flight/Actuator: Allow channels to be mapped to MK I2C interface.  Currently
mixer channels are either PWM or MK but in the future this will change to
support more than 8 channels.

OP-16 PiOS/I2C: Further work to try and make I2C more stable, mstly special case
handline in IRQ

OP-237 I2C ESC: Support for Astect 4 channel ESCs

OP-237: When the I2C Actuator write update fails track this

OP-237 Actuator Settings: Change the way motor types are selected to keep that
information more appropriately within ActuatorSettings instead of MixerSettings

Also make motors stay at or above neutral when armed and throttle > 0

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2366 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 01:11:44 +00:00
peabody124
f010502229 PiOS/I2C: Was throwing out repeated byte transmitted events but this is
required for longer sequences,  Need to deal with when it happens
inappropriately better.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2245 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 07:09:34 +00:00
peabody124
af99c31a61 PiOS/I2C: Fixed typo and also the values for I2C Diagnostics when disabled.
Enabled by default though.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2243 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 07:09:28 +00:00
peabody124
4b4a66c2d7 PiOS/I2C: Lots of small changes. Added a few weird bus events that are
sometimes thrown, and made errors not lock it up by default.  It works for me,
but since this has historically been associated with lots of lock ups please
check your systems carefully.

PiOS/I2C: Make the bus by default try to recover from errors instead of locking
up

PiOS/I2C: After a bus error and clocking all previous data create a STOP
condition to make sure bus is released (note, this also requires creating a
START condition first)

PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard
second one, there is no situation where we should get the same event multiple
times that matters and this gets us out really quickly to catch the real
events.  I was seeing this with repeated 0x70084 which means byte transmitted.
This is related to STM32 bugs in the IRQ timings I believe.

PiOS/I2C: 1) Mask out some bits we don't care about in the event flags
2) Don't lock up if the give semaphore fails, although why it does is strange
3) Recover from bus failure through the "auto" state path instead of just
coding state

PiOS/I2C: Change the reset bus code to follow
http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf
(thanks for the reference Neontangerine).  Although this may actually NOT clear
the bus the first time through, subsequent bus errors should eventually clock
it out.  The up side is it is less likely to clock a bunch of 1s into an ESC
and make it run up.

PiOS/I2C: Some cleaned up code for getting a snippet of the history when
something strange happens

PiOS/I2C: Export logging information from I2C through a UAV object

PiOS/I2C: Improve the diagnostic information

PiOS/I2C: Need to handle the event 0x30084.  This seems to happen between a
byte transmitted and new byte started

PiOS/I2C: Handle the NACK condition by simply going to the stopping state.

PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK
following the STM documentation.  Other error conditions still are not dealt
with.

PiOS/I2C: Should handle the NACK condition from all the write cases.  Need to
think about read cases

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 07:01:58 +00:00
peabody124
3c021c09d9 Flight/PiOS: Whitespace changes
find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f    | xargs -I{}
bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1
-il0 -hnl -l150 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 07:28:45 +00:00
stac
88e73906d0 i2c: Add recovery code for i2c bus errors
I2C bus errors are now recoverable.  The bus is properly reset
and an error indication is now provided to the caller whenever
a bus error occurs during processing of the transaction list.

For now, the users of the I2C layer just retry infinitely on
failure.  The BMP085 and HMC5843 code should be changed to
report errors to its callers to allow a more sensible retry
strategy.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1625 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:57 +00:00
stac
0122394481 i2c: consolidate handling of AUTO transitions
AUTO transitions in the FSM are now handled immediately
after processing each newly injected event rather than only
at the end of the EV ISR.

This consolidation allows the upcoming addition of event
injection from both the EV and ER ISR contexts.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1624 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:56 +00:00
stac
7d5463e5e6 i2c: Move polling for bus stopped from ISR to task/mainloop
Occasionally, the I2C driver races with the STM32 I2C peripheral
at the end of a bus cycle.  This leaves the bus in an errored
state and the stop condition is not properly asserted on the bus.

The polling for the stopped condition was previously implemented
in ISR context since it was expected to be nearly instananeous.
In the error condition, however, the stop condition will never
happen.  The polling for this case is now done by the initiating
task (or mainloop on the AHRS) to prevent the timeout condition
from triggering the watchdog.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1623 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:55 +00:00
stac
85c60479c1 i2c: rename FSM faulted state
Differentiate the _FSM_ faulted from the (soon to
exist _BUS_ faulted state.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1621 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-15 14:20:52 +00:00
stac
47c36b3da0 i2c: fix error in FSM for restarted reads
The transition from the ADDR state to the read state
was broken for non-final reads.  The FSM diagram was
also wrong for this transition.

Since reads are always the last transaction in a sequence
in our current usage, this doesn't actually fix any known
bugs.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1350 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:06 +00:00
stac
98822bff98 i2c: force bus free on warm starts
Since the i2c bus is bidirectional, there are certain
states (eg. part way through a read) where the slave
device is in control of driving the SDA line.

On a cold start (power on), the slave devices are all
quiescent and will not drive the bus.  However, on a warm
start (eg. watchdog or jtag restart), it is possible that as
the CPU boots, the slave device may be holding the SDA line
low.  This is a bus busy condition and will prevent the I2C
bus master in the CPU from being able to seize the bus during
init.

The fix for this is to clock the i2c bus sufficiently to ensure
that the the slave device finishes its transaction and releases
the bus.

Once the slave has released the bus, the bus master can properly
initialize and assert a STOP condition on the bus.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1349 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 16:19:02 +00:00
FredericG
b46bc68e96 "addr" field of I2C transaction struct now takes real I2C address, and not address that is pre-shifted to accommodate the R/W bit
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1321 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-18 10:04:55 +00:00
stac
f74c6ffdd5 i2c: rewrite i2c layer
The STM32 I2C block has a number of errata associated with it.
These errata are primarily related to timing sensitivities between
the peripheral and the interrupt handler.  In particular, the
correct generation of the stop bit relies on the I2C IRQ running
immediately and not being held off for any reason.

NOTE: The I2C interrupts must be the highest priority IRQs in the
      system to ensure correct operation.

I2C protocol is now implemented as a formal state machine.
See: stm32_i2c_fsm.{dot,jpg} for FSM description.

I2C init is now expressed by const initializers in pios_board.c
for both OP and AHRS boards.

I2C device drivers (ie. bmp085/hmc5843) now pass in const arrays
of an unlimited number of bus transfers to be done atomically.
The I2C adapter driver now handles all bus-level locking across the
list of transactions.  Generation of start/restart/stop conditions
are handled automatically over the list of transactions.

Timeouts have been removed from the API for now.  May be added
back later.

This driver has run error free on both the OP and AHRS boards for
up to 48hrs but it still sometimes fails earlier than that on the OP
board.  There is another possible set of improvements to the driver
that could employ the DMA engine for transfers of >= 2bytes.  This
change would reduce the timing sensitivities between the peripheral
and the driver but unfortunately, both the SPI and I2C interfaces
share the DMA1 engine.  That means only one of these two peripherals
can use the DMA engine and right now, SPI between OP and AHRS is
already using it.

Failures are currently fatal and will lock up the CPU.  This allows
useful information to be obtained in the failure cases.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1241 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-08 04:15:08 +00:00
peabody124
d928676f5e More documentation updates, standardizing format to include addtogroup at the beginning of headers so files are associated with modules
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1121 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 19:53:35 +00:00
peabody124
99e94228a9 More doxygen updates
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1106 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 05:31:11 +00:00
FredericG
3bc938d45e lowered I2C timoout whne using RTOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@842 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-06-21 09:19:02 +00:00
FredericG
09981b39c2 A few small fixes
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@647 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-22 06:30:42 +00:00
gussy
ff73ab5a80 More updates to cross-target compatibility.
Added PIOS_I2C into AHRS code.
Added PIOS_HMC5843 Module.




git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@617 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-12 08:18:49 +00:00
fredericg
3281b1a128 OP-27 Use RTOS in LockDevice() and UnlockDevice()
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@564 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-01 14:49:51 +00:00
fredericg
e57ec315e1 fixed warning
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@319 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-15 12:00:47 +00:00
FredericG
8e873ec0e8 Use the new PIOS assert
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@315 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-14 17:13:27 +00:00
FredericG
3b332c786f OP-11 Use RTOS when waiting for an I2C transfer to finish when RTOS is enabled
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@298 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 17:28:42 +00:00
FredericG
50215e75c6 OP-28 Some changes in the I2C API
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@296 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-13 12:23:55 +00:00
fredericg
47038af0c0 PIOS_DONT_USE_XXX => PIOS_INCLUDE_XXX
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@283 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-11 12:38:51 +00:00
FredericG
dbde2b1bac I2C: Some more fixes. I2C test passes at 400KBit and 200KBit but needs to be investigated further
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@280 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-10 21:11:19 +00:00
FredericG
dd429536f7 pios_i2c.c: last commit broke reading; need to ack the incoming bytes
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@252 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-05 18:36:28 +00:00
FredericG
595a8f2cef One exit point for isr function
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@251 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-05 18:14:00 +00:00
FredericG
b3ad53acdc Enable and disable interrupts in TransferStart() and TransferEnd() functions
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@250 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-05 18:07:15 +00:00
FredericG
7dd7c0201c Fix: Don't generate start at the end of WriteWithoutStop transfer. Needs cleanup
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@248 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-05 07:57:26 +00:00
fredericg
35f07fe9dc Introduction of lacal functions TransferStart() and TransferEnd()
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@232 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-03 12:05:49 +00:00
fredericg
ad816dc070 Renamed PIOS_I2C_TransferBegin => PIOS_I2C_LockDevice because it better describes what it does
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@231 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-03 11:46:24 +00:00
FredericG
b205ebd873 Small fix: Write operations did have to time out before a new could be started
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@225 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-03-02 18:33:19 +00:00
gussy
22f02cb460 PIOS_I2C now non-application specific.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@204 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 06:57:59 +00:00
gussy
adcd47a31b Added ability to enable and disable PiOS modules.
Added PIOS_USB_COM.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@202 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-02-28 06:47:49 +00:00
gussy
3b32b89839 Updated copyright headers.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@146 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-01-31 17:56:54 +00:00
gussy
9eeaf09b80 Fixed a few typos in PIOS_I2C.
Started work on BMP085 driver. Need more information from Bosch to continue.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@61 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-10 01:59:46 +00:00
gussy
a1f7f260c1 Added PIOS_I2C module. It's blind code though, no idea if it works.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@60 ebee16cc-31ac-478f-84a7-5cbb03baadba
2009-12-09 23:10:32 +00:00