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gracefully handle i2c error (#2838)

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Totoo 2025-10-21 07:37:14 +02:00 • committed by GitHub
parent d3373734e9
commit 7041d507ca
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1 changed files with 85 additions and 88 deletions
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173
firmware/chibios/os/hal/src/i2c.c
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@ -69,7 +69,7 @@
* @init * @init
*/ */
void i2cInit(void) { void i2cInit(void) {
i2c_lld_init(); i2c_lld_init();
} }
/** /**
@ -79,21 +79,20 @@ void i2cInit(void) {
* *
* @init * @init
*/ */
void i2cObjectInit(I2CDriver *i2cp) { void i2cObjectInit(I2CDriver* i2cp) {
i2cp->state = I2C_STOP;
i2cp->state = I2C_STOP; i2cp->config = NULL;
i2cp->config = NULL;
#if I2C_USE_MUTUAL_EXCLUSION #if I2C_USE_MUTUAL_EXCLUSION
#if CH_USE_MUTEXES #if CH_USE_MUTEXES
chMtxInit(&i2cp->mutex); chMtxInit(&i2cp->mutex);
#else #else
chSemInit(&i2cp->semaphore, 1); chSemInit(&i2cp->semaphore, 1);
#endif /* CH_USE_MUTEXES */ #endif /* CH_USE_MUTEXES */
#endif /* I2C_USE_MUTUAL_EXCLUSION */ #endif /* I2C_USE_MUTUAL_EXCLUSION */
#if defined(I2C_DRIVER_EXT_INIT_HOOK) #if defined(I2C_DRIVER_EXT_INIT_HOOK)
I2C_DRIVER_EXT_INIT_HOOK(i2cp); I2C_DRIVER_EXT_INIT_HOOK(i2cp);
#endif #endif
} }
@ -105,19 +104,18 @@ void i2cObjectInit(I2CDriver *i2cp) {
* *
* @api * @api
*/ */
void i2cStart(I2CDriver *i2cp, const I2CConfig *config) { void i2cStart(I2CDriver* i2cp, const I2CConfig* config) {
chDbgCheck((i2cp != NULL) && (config != NULL), "i2cStart");
chDbgAssert((i2cp->state == I2C_STOP) || (i2cp->state == I2C_READY) ||
(i2cp->state == I2C_LOCKED),
"i2cStart(), #1",
"invalid state");
chDbgCheck((i2cp != NULL) && (config != NULL), "i2cStart"); chSysLock();
chDbgAssert((i2cp->state == I2C_STOP) || (i2cp->state == I2C_READY) || i2cp->config = config;
(i2cp->state == I2C_LOCKED), i2c_lld_start(i2cp);
"i2cStart(), #1", i2cp->state = I2C_READY;
"invalid state"); chSysUnlock();
chSysLock();
i2cp->config = config;
i2c_lld_start(i2cp);
i2cp->state = I2C_READY;
chSysUnlock();
} }
/** /**
@ -127,18 +125,17 @@ void i2cStart(I2CDriver *i2cp, const I2CConfig *config) {
* *
* @api * @api
*/ */
void i2cStop(I2CDriver *i2cp) { void i2cStop(I2CDriver* i2cp) {
chDbgCheck(i2cp != NULL, "i2cStop");
chDbgAssert((i2cp->state == I2C_STOP) || (i2cp->state == I2C_READY) ||
(i2cp->state == I2C_LOCKED),
"i2cStop(), #1",
"invalid state");
chDbgCheck(i2cp != NULL, "i2cStop"); chSysLock();
chDbgAssert((i2cp->state == I2C_STOP) || (i2cp->state == I2C_READY) || i2c_lld_stop(i2cp);
(i2cp->state == I2C_LOCKED), i2cp->state = I2C_STOP;
"i2cStop(), #1", chSysUnlock();
"invalid state");
chSysLock();
i2c_lld_stop(i2cp);
i2cp->state = I2C_STOP;
chSysUnlock();
} }
/** /**
@ -149,11 +146,10 @@ void i2cStop(I2CDriver *i2cp) {
* *
* @api * @api
*/ */
i2cflags_t i2cGetErrors(I2CDriver *i2cp) { i2cflags_t i2cGetErrors(I2CDriver* i2cp) {
chDbgCheck(i2cp != NULL, "i2cGetErrors");
chDbgCheck(i2cp != NULL, "i2cGetErrors"); return i2c_lld_get_errors(i2cp);
return i2c_lld_get_errors(i2cp);
} }
/** /**
@ -182,35 +178,37 @@ i2cflags_t i2cGetErrors(I2CDriver *i2cp) {
* *
* @api * @api
*/ */
msg_t i2cMasterTransmitTimeout(I2CDriver *i2cp, msg_t i2cMasterTransmitTimeout(I2CDriver* i2cp,
i2caddr_t addr, i2caddr_t addr,
const uint8_t *txbuf, const uint8_t* txbuf,
size_t txbytes, size_t txbytes,
uint8_t *rxbuf, uint8_t* rxbuf,
size_t rxbytes, size_t rxbytes,
systime_t timeout) { systime_t timeout) {
msg_t rdymsg; msg_t rdymsg;
chDbgCheck((i2cp != NULL) && (addr != 0) && chDbgCheck((i2cp != NULL) && (addr != 0) &&
(txbytes > 0) && (txbuf != NULL) && (txbytes > 0) && (txbuf != NULL) &&
((rxbytes == 0) || ((rxbytes > 0) && (rxbuf != NULL))) && ((rxbytes == 0) || ((rxbytes > 0) && (rxbuf != NULL))) &&
(timeout != TIME_IMMEDIATE), (timeout != TIME_IMMEDIATE),
"i2cMasterTransmitTimeout"); "i2cMasterTransmitTimeout");
chDbgAssert(i2cp->state == I2C_READY, // chDbgAssert(i2cp->state == I2C_READY, "i2cMasterTransmitTimeout(), #1", "not ready");
"i2cMasterTransmitTimeout(), #1", "not ready"); if (i2cp->state != I2C_READY) {
return RDY_TIMEOUT;
}
chSysLock(); chSysLock();
i2cp->errors = I2CD_NO_ERROR; i2cp->errors = I2CD_NO_ERROR;
i2cp->state = I2C_ACTIVE_TX; i2cp->state = I2C_ACTIVE_TX;
rdymsg = i2c_lld_master_transmit_timeout(i2cp, addr, txbuf, txbytes, rdymsg = i2c_lld_master_transmit_timeout(i2cp, addr, txbuf, txbytes,
rxbuf, rxbytes, timeout); rxbuf, rxbytes, timeout);
if (rdymsg == RDY_TIMEOUT) if (rdymsg == RDY_TIMEOUT)
i2cp->state = I2C_LOCKED; i2cp->state = I2C_LOCKED;
else else
i2cp->state = I2C_READY; i2cp->state = I2C_READY;
chSysUnlock(); chSysUnlock();
return rdymsg; return rdymsg;
} }
/** /**
@ -233,32 +231,33 @@ msg_t i2cMasterTransmitTimeout(I2CDriver *i2cp,
* *
* @api * @api
*/ */
msg_t i2cMasterReceiveTimeout(I2CDriver *i2cp, msg_t i2cMasterReceiveTimeout(I2CDriver* i2cp,
i2caddr_t addr, i2caddr_t addr,
uint8_t *rxbuf, uint8_t* rxbuf,
size_t rxbytes, size_t rxbytes,
systime_t timeout){ systime_t timeout) {
msg_t rdymsg;
msg_t rdymsg; chDbgCheck((i2cp != NULL) && (addr != 0) &&
(rxbytes > 0) && (rxbuf != NULL) &&
(timeout != TIME_IMMEDIATE),
"i2cMasterReceiveTimeout");
chDbgCheck((i2cp != NULL) && (addr != 0) && // chDbgAssert(i2cp->state == I2C_READY, "i2cMasterReceive(), #1", "not ready");
(rxbytes > 0) && (rxbuf != NULL) && if (i2cp->state != I2C_READY) {
(timeout != TIME_IMMEDIATE), return RDY_TIMEOUT;
"i2cMasterReceiveTimeout"); }
chDbgAssert(i2cp->state == I2C_READY, chSysLock();
"i2cMasterReceive(), #1", "not ready"); i2cp->errors = I2CD_NO_ERROR;
i2cp->state = I2C_ACTIVE_RX;
chSysLock(); rdymsg = i2c_lld_master_receive_timeout(i2cp, addr, rxbuf, rxbytes, timeout);
i2cp->errors = I2CD_NO_ERROR; if (rdymsg == RDY_TIMEOUT)
i2cp->state = I2C_ACTIVE_RX; i2cp->state = I2C_LOCKED;
rdymsg = i2c_lld_master_receive_timeout(i2cp, addr, rxbuf, rxbytes, timeout); else
if (rdymsg == RDY_TIMEOUT) i2cp->state = I2C_READY;
i2cp->state = I2C_LOCKED; chSysUnlock();
else return rdymsg;
i2cp->state = I2C_READY;
chSysUnlock();
return rdymsg;
} }
#if I2C_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__) #if I2C_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
@ -273,14 +272,13 @@ msg_t i2cMasterReceiveTimeout(I2CDriver *i2cp,
* *
* @api * @api
*/ */
void i2cAcquireBus(I2CDriver *i2cp) { void i2cAcquireBus(I2CDriver* i2cp) {
chDbgCheck(i2cp != NULL, "i2cAcquireBus");
chDbgCheck(i2cp != NULL, "i2cAcquireBus");
#if CH_USE_MUTEXES #if CH_USE_MUTEXES
chMtxLock(&i2cp->mutex); chMtxLock(&i2cp->mutex);
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
chSemWait(&i2cp->semaphore); chSemWait(&i2cp->semaphore);
#endif #endif
} }
@ -293,14 +291,13 @@ void i2cAcquireBus(I2CDriver *i2cp) {
* *
* @api * @api
*/ */
void i2cReleaseBus(I2CDriver *i2cp) { void i2cReleaseBus(I2CDriver* i2cp) {
chDbgCheck(i2cp != NULL, "i2cReleaseBus");
chDbgCheck(i2cp != NULL, "i2cReleaseBus");
#if CH_USE_MUTEXES #if CH_USE_MUTEXES
chMtxUnlock(); chMtxUnlock();
#elif CH_USE_SEMAPHORES #elif CH_USE_SEMAPHORES
chSemSignal(&i2cp->semaphore); chSemSignal(&i2cp->semaphore);
#endif #endif
} }
#endif /* I2C_USE_MUTUAL_EXCLUSION */ #endif /* I2C_USE_MUTUAL_EXCLUSION */