i2c through interrupts fails from freertos generated by cubemx
Hi,
I'm using bno055 with stm32f402, and this IMU works in i2c, responding very slow to ackloledge/answer (few tenth of ms).
I tryed to use it in blocking mode in freertos, but very quickly, I check more than 1ms of data... it's too slow, and freertos crashes.
So I use i2c with interrupt and mutex. I manually failed, so I used stm32cubeMX and it still fails. Running with step by step debugger success much more, so I this this is a prioirity matter. I tryed with priorities from 0 to 15, (even if it should works from 5 to 15), it's quite the same.
When I say Freertos fails, a hardfault happens from prvPortStartFirstTask. I'm calling BNO055_I2C_bus_write from a Task (and the only other task blink a led and move a servomotor with large delays, it works pretty well.
Do you have some idea of how to solve this issue?
This is my i2c thread safe code:
s8 BNO055_I2C_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) {
s32 BNO055_iERROR = BNO055_INIT_VALUE;
uint8_t tab[cnt + 1];
tab[0] = reg_addr;
memcpy(&tab[1], reg_data, cnt);
BNO055_iERROR =HAL_I2C_Master_Transmit_IT(&hi2c1, dev_addr << 1, tab, cnt + 1);
osMutexWait (&I2C_MUTEX,osWaitForever);
return (s8) BNO055_iERROR ;
}
s8 BNO055_I2C_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt) {
s32 BNO055_iERROR = BNO055_INIT_VALUE;
uint8_t tab[1];
tab[0] = reg_addr;
BNO055_iERROR = HAL_I2C_Master_Transmit_IT(&hi2c1, dev_addr << 1, tab, 1);
osMutexWait(&I2C_MUTEX, 1);
BNO055_iERROR = HAL_I2C_Master_Receive_IT(&hi2c1, dev_addr << 1, reg_data,
cnt);
osMutexWait(&I2C_MUTEX, osWaitForever);
return (s8) BNO055_iERROR;
}This is my lock out code that only happens when using step by step debug
void HAL_I2C_MasterTxCpltCallback(I2C_HandleTypeDef *hi2c) {
osMutexRelease(I2C_MUTEX);
}
void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c) {
osMutexRelease(I2C_MUTEX);
}This is the generated interruption handler:
/**
* @brief This function handles I2C1 event interrupt.
*/
void I2C1_EV_IRQHandler(void)
{
/* USER CODE BEGIN I2C1_EV_IRQn 0 */
/* USER CODE END I2C1_EV_IRQn 0 */
HAL_I2C_EV_IRQHandler(&hi2c1);
/* USER CODE BEGIN I2C1_EV_IRQn 1 */
/* USER CODE END I2C1_EV_IRQn 1 */
}
/**
* @brief This function handles I2C1 error interrupt.
*/
void I2C1_ER_IRQHandler(void)
{
/* USER CODE BEGIN I2C1_ER_IRQn 0 */
/* USER CODE END I2C1_ER_IRQn 0 */
HAL_I2C_ER_IRQHandler(&hi2c1);
/* USER CODE BEGIN I2C1_ER_IRQn 1 */
/* USER CODE END I2C1_ER_IRQn 1 */
}The interruption config:
void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(hi2c->Instance==I2C1)
{
/* USER CODE BEGIN I2C1_MspInit 0 */
/* USER CODE END I2C1_MspInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**I2C1 GPIO Configuration
PB8 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* Peripheral clock enable */
__HAL_RCC_I2C1_CLK_ENABLE();
/* I2C1 interrupt Init */
HAL_NVIC_SetPriority(I2C1_EV_IRQn, 15, 0);
HAL_NVIC_EnableIRQ(I2C1_EV_IRQn);
HAL_NVIC_SetPriority(I2C1_ER_IRQn, 15, 0);
HAL_NVIC_EnableIRQ(I2C1_ER_IRQn);
/* USER CODE BEGIN I2C1_MspInit 1 */
/* USER CODE END I2C1_MspInit 1 */
}
}Called in hal_i2c_init from official file, in:
static 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.ClockSpeed = 100000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}