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Commit a4b0e3ec authored by px4dev's avatar px4dev
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Add retry-on-error for non-protocol errors. 

Add more performance counters; run test #1 faster.
parent 6871d290
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src/drivers/px4io/interface_serial.cpp
+ 98
− 52
View file @ a4b0e3ec
......@@ -172,14 +172,16 @@ private:
/**
* Performance counters.
*/
perf_counter_t _pc_txns;
perf_counter_t _pc_dmasetup;
perf_counter_t _pc_retries;
perf_counter_t _pc_timeouts;
perf_counter_t _pc_crcerrs;
perf_counter_t _pc_dmaerrs;
perf_counter_t _pc_protoerrs;
perf_counter_t _pc_uerrs;
perf_counter_t _pc_idle;
perf_counter_t _pc_badidle;
perf_counter_t _pc_txns;
};
......@@ -195,14 +197,16 @@ PX4IO_serial::PX4IO_serial() :
_tx_dma(nullptr),
_rx_dma(nullptr),
_rx_dma_status(_dma_status_inactive),
_pc_txns(perf_alloc(PC_ELAPSED, "txns ")),
_pc_dmasetup(perf_alloc(PC_ELAPSED, "dmasetup ")),
_pc_retries(perf_alloc(PC_COUNT, "retries ")),
_pc_timeouts(perf_alloc(PC_COUNT, "timeouts ")),
_pc_crcerrs(perf_alloc(PC_COUNT, "crcerrs ")),
_pc_dmaerrs(perf_alloc(PC_COUNT, "dmaerrs ")),
_pc_protoerrs(perf_alloc(PC_COUNT, "protoerrs")),
_pc_uerrs(perf_alloc(PC_COUNT, "uarterrs ")),
_pc_idle(perf_alloc(PC_COUNT, "idle ")),
_pc_badidle(perf_alloc(PC_COUNT, "badidle ")),
_pc_txns(perf_alloc(PC_ELAPSED, "txns "))
_pc_badidle(perf_alloc(PC_COUNT, "badidle "))
{
/* allocate DMA */
_tx_dma = stm32_dmachannel(PX4IO_SERIAL_TX_DMAMAP);
......@@ -272,14 +276,16 @@ PX4IO_serial::~PX4IO_serial()
sem_destroy(&_completion_semaphore);
sem_destroy(&_bus_semaphore);
perf_free(_pc_txns);
perf_free(_pc_dmasetup);
perf_free(_pc_retries);
perf_free(_pc_timeouts);
perf_free(_pc_crcerrs);
perf_free(_pc_dmaerrs);
perf_free(_pc_protoerrs);
perf_free(_pc_uerrs);
perf_free(_pc_idle);
perf_free(_pc_badidle);
perf_free(_pc_txns);
if (g_interface == this)
g_interface = nullptr;
......@@ -317,26 +323,29 @@ PX4IO_serial::test(unsigned mode)
return 0;
case 1:
lowsyslog("test 1\n");
{
unsigned fails = 0;
for (unsigned count = 0;; count++) {
uint16_t value = count & 0xffff;
set_reg(PX4IO_PAGE_TEST, PX4IO_P_TEST_LED, &value, 1);
/* ignore errors */
if (set_reg(PX4IO_PAGE_TEST, PX4IO_P_TEST_LED, &value, 1) != 0)
fails++;
if (count >= 100) {
if (count >= 1000) {
lowsyslog("==== test 1 : %u failures ====\n", fails);
perf_print_counter(_pc_txns);
perf_print_counter(_pc_dmasetup);
perf_print_counter(_pc_retries);
perf_print_counter(_pc_timeouts);
perf_print_counter(_pc_crcerrs);
perf_print_counter(_pc_dmaerrs);
perf_print_counter(_pc_protoerrs);
perf_print_counter(_pc_uerrs);
perf_print_counter(_pc_idle);
perf_print_counter(_pc_badidle);
perf_print_counter(_pc_txns);
count = 0;
}
usleep(10000);
usleep(1000);
}
return 0;
}
......@@ -350,22 +359,44 @@ PX4IO_serial::test(unsigned mode)
int
PX4IO_serial::set_reg(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
if (num_values > PKT_MAX_REGS)
return -EINVAL;
if (num_values > PKT_MAX_REGS) {
errno = EINVAL;
return -1;
}
sem_wait(&_bus_semaphore);
_dma_buffer.count_code = num_values | PKT_CODE_WRITE;
_dma_buffer.page = page;
_dma_buffer.offset = offset;
memcpy((void *)&_dma_buffer.regs[0], (void *)values, (2 * num_values));
for (unsigned i = num_values; i < PKT_MAX_REGS; i++)
_dma_buffer.regs[i] = 0x55aa;
int result;
for (unsigned retries = 0; retries < 3; retries++) {
_dma_buffer.count_code = num_values | PKT_CODE_WRITE;
_dma_buffer.page = page;
_dma_buffer.offset = offset;
memcpy((void *)&_dma_buffer.regs[0], (void *)values, (2 * num_values));
for (unsigned i = num_values; i < PKT_MAX_REGS; i++)
_dma_buffer.regs[i] = 0x55aa;
/* XXX implement check byte */
/* XXX implement check byte */
/* start the transaction and wait for it to complete */
result = _wait_complete();
/* start the transaction and wait for it to complete */
int result = _wait_complete();
/* successful transaction? */
if (result == OK) {
/* check result in packet */
if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) {
/* IO didn't like it - no point retrying */
errno = EINVAL;
result = -1;
perf_count(_pc_protoerrs);
}
break;
}
perf_count(_pc_retries);
}
sem_post(&_bus_semaphore);
return result;
......@@ -379,23 +410,45 @@ PX4IO_serial::get_reg(uint8_t page, uint8_t offset, uint16_t *values, unsigned n
sem_wait(&_bus_semaphore);
_dma_buffer.count_code = num_values | PKT_CODE_READ;
_dma_buffer.page = page;
_dma_buffer.offset = offset;
int result;
for (unsigned retries = 0; retries < 3; retries++) {
/* start the transaction and wait for it to complete */
int result = _wait_complete();
if (result != OK)
goto out;
_dma_buffer.count_code = num_values | PKT_CODE_READ;
_dma_buffer.page = page;
_dma_buffer.offset = offset;
/* compare the received count with the expected count */
if (PKT_COUNT(_dma_buffer) != num_values) {
result = -EIO;
goto out;
} else {
/* XXX implement check byte */
/* copy back the result */
memcpy(values, &_dma_buffer.regs[0], (2 * num_values));
/* start the transaction and wait for it to complete */
result = _wait_complete();
/* successful transaction? */
if (result == OK) {
/* check result in packet */
if (PKT_CODE(_dma_buffer) == PKT_CODE_ERROR) {
/* IO didn't like it - no point retrying */
errno = EINVAL;
result = -1;
perf_count(_pc_protoerrs);
/* compare the received count with the expected count */
} else if (PKT_COUNT(_dma_buffer) != num_values) {
/* IO returned the wrong number of registers - no point retrying */
errno = EIO;
result = -1;
perf_count(_pc_protoerrs);
/* successful read */
} else {
/* copy back the result */
memcpy(values, &_dma_buffer.regs[0], (2 * num_values));
}
break;
}
perf_count(_pc_retries);
}
out:
sem_post(&_bus_semaphore);
......@@ -463,11 +516,11 @@ PX4IO_serial::_wait_complete()
/* compute the deadline for a 5ms timeout */
struct timespec abstime;
clock_gettime(CLOCK_REALTIME, &abstime);
#if 1
#if 0
abstime.tv_sec++; /* long timeout for testing */
#else
abstime.tv_nsec += 5000000; /* 5ms timeout */
while (abstime.tv_nsec > 1000000000) {
abstime.tv_nsec += 10000000; /* 0ms timeout */
if (abstime.tv_nsec > 1000000000) {
abstime.tv_sec++;
abstime.tv_nsec -= 1000000000;
}
......@@ -487,25 +540,17 @@ PX4IO_serial::_wait_complete()
break;
}
/* check packet CRC */
/* check packet CRC - corrupt packet errors mean IO receive CRC error */
uint8_t crc = _dma_buffer.crc;
_dma_buffer.crc = 0;
if (crc != crc_packet(_dma_buffer)) {
if ((crc != crc_packet(_dma_buffer)) | (PKT_CODE(_dma_buffer) == PKT_CODE_CORRUPT)) {
perf_count(_pc_crcerrs);
ret = -1;
errno = EIO;
break;
}
/* check packet response code */
if (PKT_CODE(_dma_buffer) != PKT_CODE_SUCCESS) {
perf_count(_pc_protoerrs);
ret = -1;
errno = EIO;
break;
}
/* successful txn */
/* successful txn (may still be reporting an error) */
break;
}
......@@ -513,6 +558,7 @@ PX4IO_serial::_wait_complete()
/* something has broken - clear out any partial DMA state and reconfigure */
_abort_dma();
perf_count(_pc_timeouts);
perf_cancel(_pc_txns); /* don't count this as a transaction */
break;
}
......@@ -577,7 +623,6 @@ PX4IO_serial::_do_interrupt()
uint32_t sr = rSR; /* get UART status register */
(void)rDR; /* read DR to clear status */
#if 0
if (sr & (USART_SR_ORE | /* overrun error - packet was too big for DMA or DMA was too slow */
USART_SR_NE | /* noise error - we have lost a byte due to noise */
USART_SR_FE)) { /* framing error - start/stop bit lost or line break */
......@@ -588,6 +633,7 @@ PX4IO_serial::_do_interrupt()
*/
if (_rx_dma_status == _dma_status_waiting) {
_abort_dma();
perf_count(_pc_uerrs);
/* complete DMA as though in error */
_do_rx_dma_callback(DMA_STATUS_TEIF);
......@@ -600,7 +646,7 @@ PX4IO_serial::_do_interrupt()
/* don't attempt to handle IDLE if it's set - things went bad */
return;
}
#endif
if (sr & USART_SR_IDLE) {
/* if there is DMA reception going on, this is a short packet */
......
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