Skip to content

Commit

Permalink
fix sending of I2C errors via telemetry
Browse files Browse the repository at this point in the history 
* we can't pass the address of a volatile var to the downlink macros:
  it will be cast to (const uint8_t*) and read byte by byte and hence not work properly if it is volatile
* you will also rightly get a warning "cast discards qualifiers from pointer target type"
* so we need to copy it to a non-volatile var before sending
  • Loading branch information
@flixr
flixr committed May 14, 2012
1 parent 7bb5fb5 commit 8eebbbb
Showing 1 changed file with 71 additions and 26 deletions.
97 changes: 71 additions & 26 deletions sw/airborne/firmwares/rotorcraft/telemetry.h
View file
Expand Up @@ -739,44 +739,89 @@
&ahrs.ltp_to_body_euler.psi); \
}

#ifdef USE_I2C0
#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev) { \
uint16_t i2c0_ack_fail_cnt = i2c0.errors->ack_fail_cnt; \
uint16_t i2c0_miss_start_stop_cnt = i2c0.errors->miss_start_stop_cnt; \
uint16_t i2c0_arb_lost_cnt = i2c0.errors->arb_lost_cnt; \
uint16_t i2c0_over_under_cnt = i2c0.errors->over_under_cnt; \
uint16_t i2c0_pec_recep_cnt = i2c0.errors->pec_recep_cnt; \
uint16_t i2c0_timeout_tlow_cnt = i2c0.errors->timeout_tlow_cnt; \
uint16_t i2c0_smbus_alert_cnt = i2c0.errors->smbus_alert_cnt; \
uint16_t i2c0_unexpected_event_cnt = i2c0.errors->unexpected_event_cnt; \
uint32_t i2c0_last_unexpected_event = i2c0.errors->last_unexpected_event; \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c0_ack_fail_cnt, \
&i2c0_miss_start_stop_cnt, \
&i2c0_arb_lost_cnt, \
&i2c0_over_under_cnt, \
&i2c0_pec_recep_cnt, \
&i2c0_timeout_tlow_cnt, \
&i2c0_smbus_alert_cnt, \
&i2c0_unexpected_event_cnt, \
&i2c0_last_unexpected_event); \
}
#else
#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev) {}
#endif

#ifdef USE_I2C1
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) { \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c1.errors->ack_fail_cnt, \
&i2c1.errors->miss_start_stop_cnt, \
&i2c1.errors->arb_lost_cnt, \
&i2c1.errors->over_under_cnt, \
&i2c1.errors->pec_recep_cnt, \
&i2c1.errors->timeout_tlow_cnt, \
&i2c1.errors->smbus_alert_cnt, \
&i2c1.errors->unexpected_event_cnt, \
&i2c1.errors->last_unexpected_event); \
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) { \
uint16_t i2c1_ack_fail_cnt = i2c1.errors->ack_fail_cnt; \
uint16_t i2c1_miss_start_stop_cnt = i2c1.errors->miss_start_stop_cnt; \
uint16_t i2c1_arb_lost_cnt = i2c1.errors->arb_lost_cnt; \
uint16_t i2c1_over_under_cnt = i2c1.errors->over_under_cnt; \
uint16_t i2c1_pec_recep_cnt = i2c1.errors->pec_recep_cnt; \
uint16_t i2c1_timeout_tlow_cnt = i2c1.errors->timeout_tlow_cnt; \
uint16_t i2c1_smbus_alert_cnt = i2c1.errors->smbus_alert_cnt; \
uint16_t i2c1_unexpected_event_cnt = i2c1.errors->unexpected_event_cnt; \
uint32_t i2c1_last_unexpected_event = i2c1.errors->last_unexpected_event; \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c1_ack_fail_cnt, \
&i2c1_miss_start_stop_cnt, \
&i2c1_arb_lost_cnt, \
&i2c1_over_under_cnt, \
&i2c1_pec_recep_cnt, \
&i2c1_timeout_tlow_cnt, \
&i2c1_smbus_alert_cnt, \
&i2c1_unexpected_event_cnt, \
&i2c1_last_unexpected_event); \
}
#else
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) {}
#endif

#ifdef USE_I2C2
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) { \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c2.errors->ack_fail_cnt, \
&i2c2.errors->miss_start_stop_cnt, \
&i2c2.errors->arb_lost_cnt, \
&i2c2.errors->over_under_cnt, \
&i2c2.errors->pec_recep_cnt, \
&i2c2.errors->timeout_tlow_cnt, \
&i2c2.errors->smbus_alert_cnt, \
&i2c2.errors->unexpected_event_cnt, \
&i2c2.errors->last_unexpected_event); \
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) { \
uint16_t i2c2_ack_fail_cnt = i2c2.errors->ack_fail_cnt; \
uint16_t i2c2_miss_start_stop_cnt = i2c2.errors->miss_start_stop_cnt; \
uint16_t i2c2_arb_lost_cnt = i2c2.errors->arb_lost_cnt; \
uint16_t i2c2_over_under_cnt = i2c2.errors->over_under_cnt; \
uint16_t i2c2_pec_recep_cnt = i2c2.errors->pec_recep_cnt; \
uint16_t i2c2_timeout_tlow_cnt = i2c2.errors->timeout_tlow_cnt; \
uint16_t i2c2_smbus_alert_cnt = i2c2.errors->smbus_alert_cnt; \
uint16_t i2c2_unexpected_event_cnt = i2c2.errors->unexpected_event_cnt; \
uint32_t i2c2_last_unexpected_event = i2c2.errors->last_unexpected_event; \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c2_ack_fail_cnt, \
&i2c2_miss_start_stop_cnt, \
&i2c2_arb_lost_cnt, \
&i2c2_over_under_cnt, \
&i2c2_pec_recep_cnt, \
&i2c2_timeout_tlow_cnt, \
&i2c2_smbus_alert_cnt, \
&i2c2_unexpected_event_cnt, \
&i2c2_last_unexpected_event); \
}
#else
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) {}
#endif

#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) { \
PERIODIC_SEND_I2C1_ERRORS(_trans, _dev); \
PERIODIC_SEND_I2C2_ERRORS(_trans, _dev); \
}
#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) { \
PERIODIC_SEND_I2C0_ERRORS(_trans, _dev); \
PERIODIC_SEND_I2C1_ERRORS(_trans, _dev); \
PERIODIC_SEND_I2C2_ERRORS(_trans, _dev); \
}

// FIXME: still used?? or replace by EXTRA_ADC
#define PERIODIC_SEND_BOOZ2_SONAR(_trans, _dev) {}
Expand Down

0 comments on commit 8eebbbb

Please sign in to comment.