Convert Emergency Stop to error and tidy i2c mutex tasks

stuartpittaway · Mar 25, 2021 · 0601d00 · atanisoft · Mar 25, 2021 · 0601d00
1 parent c65357e
commit 0601d00
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Showing 7 changed files with 113 additions and 144 deletions.
diff --git a/ESPController/include/HAL_ESP32.h b/ESPController/include/HAL_ESP32.h
@@ -133,8 +133,8 @@ class HAL_ESP32
         if (xi2cMutex == NULL)
             return false;
 
-        //Wait 50ms max
-        bool reply = (xSemaphoreTake(xi2cMutex, (TickType_t)50 / portTICK_PERIOD_MS) == pdTRUE);
+        //Wait 100ms max
+        bool reply = (xSemaphoreTake(xi2cMutex, (TickType_t)100 / portTICK_PERIOD_MS) == pdTRUE);
         if (!reply)
         {
             ESP_LOGE(TAG, "Unable to get I2C mutex");

diff --git a/ESPController/include/Rules.h b/ESPController/include/Rules.h
@@ -37,7 +37,7 @@ enum InternalWarningCode : uint8_t
 };
 
 //Define a max constant for the highest value (change if you add more errors)
-#define MAXIMUM_InternalErrorCode 6
+#define MAXIMUM_InternalErrorCode 7
 enum InternalErrorCode : uint8_t
 {
     NoError = 0,
@@ -46,7 +46,8 @@ enum InternalErrorCode : uint8_t
     TooManyModules = 3,
     WaitingForModulesToReply = 4,
     ZeroVoltModule = 5,
-    ControllerMemoryError = 6
+    ControllerMemoryError = 6,
+    ErrorEmergencyStop =7
 };
 
 class Rules

diff --git a/ESPController/src/HAL_ESP32.cpp b/ESPController/src/HAL_ESP32.cpp
@@ -47,8 +47,14 @@ esp_err_t HAL_ESP32::writeByte(i2c_port_t i2c_num, uint8_t deviceAddress, uint8_
         i2c_cmd_handle_t cmd = i2c_cmd_link_create();
         i2c_master_start(cmd);
         i2c_master_write_byte(cmd, (deviceAddress << 1) | I2C_MASTER_WRITE, true);
-        i2c_master_write_byte(cmd, i2cregister, true);
-        i2c_master_write_byte(cmd, data, true);
+
+        uint8_t buffer[2];
+        buffer[0] = i2cregister;
+        buffer[1] = data;
+        i2c_master_write(cmd, buffer, 2, true);
+
+        //i2c_master_write_byte(cmd, i2cregister, true);
+        //i2c_master_write_byte(cmd, data, true);
         i2c_master_stop(cmd);
 
         esp_err_t ret = ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_master_cmd_begin(i2c_num, cmd, pdMS_TO_TICKS(100)));
@@ -90,8 +96,8 @@ void HAL_ESP32::SetOutputState(uint8_t outputId, RelayState state)
         TCA6408_Value = readByte(I2C_NUM_0, TCA6408_ADDRESS, TCA6408_INPUT);
         uint8_t bit = outputId + 4;
         TCA6408_Value = (state == RelayState::RELAY_ON) ? (TCA6408_Value | (1 << bit)) : (TCA6408_Value & ~(1 << bit));
-        esp_err_t ret = writeByte(I2C_NUM_0, TCA6408_ADDRESS, TCA6408_OUTPUT, TCA6408_Value);
-        ESP_LOGD(TAG, "TCA6408 reply %i", ret);
+        ESP_ERROR_CHECK_WITHOUT_ABORT(writeByte(I2C_NUM_0, TCA6408_ADDRESS, TCA6408_OUTPUT, TCA6408_Value));
+        //ESP_LOGD(TAG, "TCA6408 reply %i", ret);
         //TODO: Check return value
         TCA6408_Value = readByte(I2C_NUM_0, TCA6408_ADDRESS, TCA6408_INPUT);
     }
@@ -196,13 +202,14 @@ void HAL_ESP32::ConfigureI2C(void (*TCA6408Interrupt)(void), void (*TCA9534AInte
     conf.mode = I2C_MODE_MASTER;
     conf.sda_io_num = gpio_num_t::GPIO_NUM_27;
     conf.scl_io_num = gpio_num_t::GPIO_NUM_26;
-    //conf.sda_pullup_en = GPIO_PULLUP_DISABLE;
-    //conf.scl_pullup_en = GPIO_PULLUP_DISABLE;
-    conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
-    conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
+    conf.sda_pullup_en = GPIO_PULLUP_DISABLE;
+    conf.scl_pullup_en = GPIO_PULLUP_DISABLE;
+    //conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
+    //conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
+
     conf.master.clk_speed = 400000;
-    i2c_param_config(I2C_NUM_0, &conf);
-    i2c_driver_install(I2C_NUM_0, conf.mode, 0, 0, 0);
+    ESP_ERROR_CHECK(i2c_param_config(I2C_NUM_0, &conf));
+    ESP_ERROR_CHECK(i2c_driver_install(I2C_NUM_0, conf.mode, 0, 0, 0));
 
     // https://datasheet.lcsc.com/szlcsc/1809041633_Texas-Instruments-TCA9534APWR_C206010.pdf
     // TCA9534APWR Remote 8-Bit I2C and Low-Power I/O Expander With Interrupt Output and Configuration Registers