From 23b4a9ed8be7ad25197acc4557dfe1c530b49e67 Mon Sep 17 00:00:00 2001
From: Rahix <rahix@rahix.de>
Date: Sun, 29 Dec 2019 11:41:19 +0100
Subject: [PATCH] fix(bhi160): Disable driver on critical error
If initialization fails, bhi160 API calls should not infinitely block
waiting for it to complete; they should fail immediately with an error
stating that something went wrong.
Add a flag that indicates the driver to not accept API requests because
initialization was not finished properly.
Signed-off-by: Rahix <rahix@rahix.de>
---
epicardium/FreeRTOSConfig.h | 1 +
epicardium/modules/bhi.c | 40 +++++++++++++++++++++++++++++++++----
2 files changed, 37 insertions(+), 4 deletions(-)
diff --git a/epicardium/FreeRTOSConfig.h b/epicardium/FreeRTOSConfig.h
index 22c6dfb0..8ff4a4b4 100644
--- a/epicardium/FreeRTOSConfig.h
+++ b/epicardium/FreeRTOSConfig.h
@@ -50,6 +50,7 @@
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelay 1
+#define INCLUDE_vTaskDelete 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xSemaphoreGetMutexHolder 1
diff --git a/epicardium/modules/bhi.c b/epicardium/modules/bhi.c
index 3ef515b8..c767a8cc 100644
--- a/epicardium/modules/bhi.c
+++ b/epicardium/modules/bhi.c
@@ -61,6 +61,13 @@ static struct stream_info bhi160_streams[10];
/* Active */
static bool bhi160_sensor_active[10] = { 0 };
+/*
+ * Driver State: A flag that is set when an unrecoverable error occurred.
+ * Effectively, this means the sensor will be disabled until next reboot and any
+ * API calls will fail immediately.
+ */
+static bool bhi160_driver_b0rked = false;
+
/* -- Utilities -------------------------------------------------------- {{{ */
/*
* Retrieve the data size for a sensor. This value is needed for the creation
@@ -133,6 +140,11 @@ int epic_bhi160_enable_sensor(
mutex_lock(&bhi160_mutex);
hwlock_acquire(HWLOCK_I2C);
+ if (bhi160_driver_b0rked) {
+ result = -ENODEV;
+ goto out_free;
+ }
+
struct stream_info *stream = &bhi160_streams[sensor_type];
stream->item_size = bhi160_lookup_data_size(sensor_type);
/* TODO: Sanity check length */
@@ -183,6 +195,11 @@ int epic_bhi160_disable_sensor(enum bhi160_sensor_type sensor_type)
mutex_lock(&bhi160_mutex);
hwlock_acquire(HWLOCK_I2C);
+ if (bhi160_driver_b0rked) {
+ result = -ENODEV;
+ goto out_free;
+ }
+
struct stream_info *stream = &bhi160_streams[sensor_type];
result = stream_deregister(bhi160_lookup_sd(sensor_type), stream);
if (result < 0) {
@@ -384,7 +401,7 @@ static void bhi160_interrupt_callback(void *_)
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
- if (bhi160_task_id != NULL) {
+ if (bhi160_task_id != NULL && !bhi160_driver_b0rked) {
vTaskNotifyGiveFromISR(
bhi160_task_id, &xHigherPriorityTaskWoken
);
@@ -428,13 +445,28 @@ void vBhi160Task(void *pvParameters)
/* Upload firmware */
ret = bhy_driver_init(bhy1_fw);
if (ret) {
- LOG_CRIT("bhi160", "BHy1 init failed!");
- vTaskDelay(portMAX_DELAY);
+ LOG_CRIT("bhi160", "BHy1 init failed! Disabling.");
+
+ /* Disable BHI160 until next reboot */
+ bhi160_driver_b0rked = true;
+ hwlock_release(HWLOCK_I2C);
+ mutex_unlock(&bhi160_mutex);
+ vTaskDelete(NULL);
}
/* Wait for first interrupt, a falling edge */
hwlock_release(HWLOCK_I2C);
- ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(100));
+ if (ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(2000)) == 0) {
+ LOG_CRIT(
+ "bhi160",
+ "Sensor firmware was not loaded correctly. Disabling."
+ );
+
+ /* Disable BHI160 until next reboot */
+ bhi160_driver_b0rked = true;
+ mutex_unlock(&bhi160_mutex);
+ vTaskDelete(NULL);
+ }
hwlock_acquire(HWLOCK_I2C);
/*
--
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