Merged debug level commits from Tridge

1 files changed, 22 insertions, 5 deletions

diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
index 8e0e52f04..b7e6ccb21 100644
--- a/apps/px4io/px4io.c
+++ b/apps/px4io/px4io.c
@@ -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);
 		}
 	}