STM32HAL库硬件I2C+freertos的死锁问题解决
STM32HAL库硬件I2C加上freertos有个致命的问题,一旦在硬件I2C的读取过程中出现调度其他任务的情况就会出现死锁。
下面对该问题采取了两种方式,一种是再读取过程中关闭调度,但是仍然有几率死锁。第二种是对I2C的GPIO拉低再拉高,并且重置I2C的初始化。经过验证,两种方式一起上的效果是最好的。
逻辑分析仪问题分析
首先硬件I2C死锁的情况到底是怎么样的,我这边需要先验证一下,通过逻辑分析仪可以看到:
I2C死锁的时候SCL、SDA都被拉低了
在I2C读取的时候关闭freertos调度器
首先排查的是可能其他的freertos任务在硬件I2C读取的时候进行了调度导致的。
对调度器进行了关闭,可以看到情况改善了很多,但是仍然有概率会导致死锁。
特别是我这个程序一烧代码就会死锁,但是重置一下就不会了
vTaskSuspendAll();//关闭其它调度
//读取数据部分
xTaskResumeAll();//开启其他调度
重置GPIO引脚,并重新初始化
以下是个人I2C的代码
I2C_HandleTypeDef hi2c1;
void MX_I2C1_Init(void)
{
/* USER CODE BEGIN I2C1_Init 0 */
/* USER CODE END I2C1_Init 0 */
/* USER CODE BEGIN I2C1_Init 1 */
/* USER CODE END I2C1_Init 1 */
hi2c1.Instance = I2C1;
hi2c1.Init.Timing = 0x20303E5D;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
/** Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
/** Configure Digital filter
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}
static void User_I2C2_GeneralPurposeOutput_Init(I2C_HandleTypeDef* i2cHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(i2cHandle->Instance==I2C1)
{
/**I2C1 GPIO Configuration
PB6 ------> I2C1_SCL
PB7 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
}
static void User_I2C2_AlternateFunction_Init(I2C_HandleTypeDef* i2cHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(i2cHandle->Instance==I2C1)
{
__HAL_RCC_GPIOB_CLK_ENABLE();
/**I2C1 GPIO Configuration
PB6 ------> I2C1_SCL
PB7 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Peripheral clock enable */
__HAL_RCC_I2C1_CLK_ENABLE();
}
}
HAL_StatusTypeDef I2C1_reset(void)
{
__HAL_RCC_I2C1_CLK_DISABLE();
hi2c1.ErrorCode = HAL_I2C_ERROR_AF;
/* 1. Disable the I2C peripheral by clearing the PE bit in I2Cx_CR1 register */
__HAL_I2C_DISABLE(&hi2c1);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7);
/* 2. Configure the SCL and SDA I/Os as General Purpose Output Open-Drain, High level (Write 1 to GPIOx_ODR) */
User_I2C2_GeneralPurposeOutput_Init(&hi2c1);
HAL_Delay(1);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6 | GPIO_PIN_7, GPIO_PIN_RESET);
HAL_Delay(1);
/* 3. Check SCL and SDA High level in GPIOx_IDR */
if ((HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6) != GPIO_PIN_RESET)||(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_7) != GPIO_PIN_RESET))
{
return HAL_ERROR;
}
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);
HAL_Delay(1);
if ((HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_6) != GPIO_PIN_RESET)||(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_7) != GPIO_PIN_RESET))
{
return HAL_ERROR;
}
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_SET);
HAL_Delay(1);
if ((HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_10) != GPIO_PIN_SET)||(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_11) != GPIO_PIN_SET))
{
return HAL_ERROR;
}
/* 12. Configure the SCL and SDA I/Os as Alternate function Open-Drain. */
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7);
User_I2C2_AlternateFunction_Init(&hi2c1);
HAL_Delay(2);
/* 15. Enable the I2C peripheral by setting the PE bit in I2Cx_CR1 register */
MX_I2C1_Init();
return HAL_OK;
}
实践
最终在读取失败的时候对I2C进行重置。
uint8_t bq40z80_update_current(BQ40Z80_DATA_T* dev){
uint8_t temp[2] = {0};
//scale = 3
if(bq40z80_get_sbs_reg_value(BQ40Z80_DEV_CMD_CURRENT, temp, 2) > 0){
dev->current = 3.0f * 0.001* ((int16_t)(temp[0] | temp[1] << 8));
return TRUE;
}
I2C1_reset();
return FALSE;
}
问题解决后的逻辑分析仪
可以看到数据经过重置后,开始正常读取了。
小小一个bug可真是搞死人啊。
总算是有稳定的硬件I2C了。