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imx9/px4io: Cleanups #776

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merged 2 commits into from
Sep 30, 2024
Merged

imx9/px4io: Cleanups #776

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0bd08fd
imx9/px4io: Fix crashing for eDMA DEBUGASSERT
jlaitine Sep 26, 2024
b405268
imx9/px4io: Add error checking for all the DMA operations
jlaitine Sep 30, 2024
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4 changes: 4 additions & 0 deletions platforms/nuttx/src/px4/nxp/imx9/include/px4_arch/px4io_serial.h
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Original file line number Diff line number Diff line change
Expand Up @@ -134,6 +134,10 @@ class ArchPX4IOSerial : public PX4IO_serial

px4_sem_t _recv_sem;

/** dma error perf counter */

perf_counter_t _pc_dmaerrs;

/**
* DMA completion handler.
*/
Expand Down
53 changes: 33 additions & 20 deletions platforms/nuttx/src/px4/nxp/imx9/px4io_serial/px4io_serial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
*/

#include <px4_arch/px4io_serial.h>
#include <perf/perf_counter.h>

#include <syslog.h>

Expand All @@ -63,7 +64,8 @@ static const struct uart_config_s g_px4io_config = {

ArchPX4IOSerial::ArchPX4IOSerial() :
_current_packet(nullptr),
_recv_sem(SEM_INITIALIZER(0))
_recv_sem(SEM_INITIALIZER(0)),
_pc_dmaerrs(perf_alloc(PC_COUNT, "px4io: dmaerrs"))
{
px4_sem_setprotocol(&_recv_sem, SEM_PRIO_NONE);

Expand All @@ -88,6 +90,8 @@ ArchPX4IOSerial::~ArchPX4IOSerial()

imx9_dmach_free(_rx_dma);
imx9_dmach_free(_tx_dma);

perf_free(_pc_dmaerrs);
}

int
Expand Down Expand Up @@ -161,6 +165,7 @@ ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg)
perf_print_counter(_pc_txns);
perf_print_counter(_pc_retries);
perf_print_counter(_pc_timeouts);
perf_print_counter(_pc_dmaerrs);
perf_print_counter(_pc_crcerrs);
perf_print_counter(_pc_protoerrs);
perf_print_counter(_pc_uerrs);
Expand Down Expand Up @@ -216,9 +221,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
(uintptr_t)_current_packet + DMA_ALIGN_UP(sizeof(IOPacket)));
#endif

/* Start the RX DMA */

_waiting_for_dma = true;
/* Configure the RX and TX DMA */

struct imx9_edma_xfrconfig_s rx_config;
rx_config.saddr = PX4IO_SERIAL_BASE + IMX9_LPUART_DATA_OFFSET;
Expand All @@ -234,11 +237,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
rx_config.linkch = NULL;
#endif

imx9_dmach_xfrsetup(_rx_dma, &rx_config);
imx9_dmach_start(_rx_dma, _dma_callback, (void *)this);

/* Start the TX DMA */

struct imx9_edma_xfrconfig_s tx_config;

tx_config.saddr = reinterpret_cast<uintptr_t>(_current_packet);
Expand All @@ -254,21 +252,42 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
tx_config.linkch = NULL;
#endif

imx9_dmach_xfrsetup(_tx_dma, &tx_config);
imx9_dmach_start(_tx_dma, nullptr, nullptr);
/* If setup fails, just stop and exit */

if (imx9_dmach_xfrsetup(_rx_dma, &rx_config) != OK ||
imx9_dmach_xfrsetup(_tx_dma, &tx_config) != OK) {
_stop_dma();
perf_count(_pc_dmaerrs);
perf_cancel(_pc_txns);
return -EIO;
}

/* Start DMA. imx9_dmach_start can only return OK at the time of writing this,
* but keep the error checking to look proper
*/

_waiting_for_dma = true;

if (imx9_dmach_start(_rx_dma, _dma_callback, (void *)this) != OK ||
imx9_dmach_start(_tx_dma, nullptr, nullptr) != OK) {
_stop_dma();
perf_count(_pc_dmaerrs);
perf_cancel(_pc_txns);
return -EIO;
}

/* Wait for response, max 10 ms */

ret = nxsem_tickwait_uninterruptible(&_recv_sem, MSEC2TICK(10));

if (ret == -ETIMEDOUT) {
if (ret != OK) {
_stop_dma();

nxsem_reset(&_recv_sem, 0);
perf_count(_pc_timeouts);
perf_cancel(_pc_txns); /* don't count this as a transaction */
}

if (ret == OK) {
} else {
/* Check packet CRC */

uint8_t crc = _current_packet->crc;
Expand Down Expand Up @@ -361,8 +380,6 @@ ArchPX4IOSerial::_do_interrupt()
void
ArchPX4IOSerial::_stop_dma()
{
/* Mark that we don't care about any DMA data any more */

_waiting_for_dma = false;

/* Stop the DMA channels */
Expand All @@ -375,8 +392,4 @@ ArchPX4IOSerial::_stop_dma()
while (getreg32(PX4IO_SERIAL_BASE + IMX9_LPUART_STAT_OFFSET) & LPUART_STAT_RDRF) {
getreg32(PX4IO_SERIAL_BASE + IMX9_LPUART_DATA_OFFSET);
}

/* Clear any error status flags */

modreg32(ERR_FLAGS_MASK, ERR_FLAGS_MASK, PX4IO_SERIAL_BASE + IMX9_LPUART_STAT_OFFSET);
}
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