From 6eb69b07a8fd44fff1bfcf77bf4622f4dd044eef Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 27 Jan 2013 11:06:13 +1100 Subject: Merged debug level commits from Tridge --- apps/px4io/px4io.c | 27 ++++++++++++++++++++++----- 1 file changed, 22 insertions(+), 5 deletions(-) (limited to 'apps/px4io/px4io.c') 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); } } -- cgit v1.2.3