Commit 23b4a9ed authored by Rahix's avatar Rahix
Browse files

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's avatarRahix <rahix@rahix.de>
parent 1a3dfad3
......@@ -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
......
......@@ -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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