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LibrePilot/flight/OpenPilot/Modules/Watchdog/watchdog.c

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/**
******************************************************************************
*
* @file watchdog.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Watchdog module which must run every 250 ms
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* Input object: none
* Output object: none
*
* This module initializes the PIOS Watchdog and then periodically resets the timeout
*
* The module executes in its own thread in this example.
*/
#include "openpilot.h"
#include "watchdog.h"
#include "pios_wdg.h"
// Private constants
// TODO: Look up maximum task priority and set this to it. Not trying to replicate CPU load.
#define TASK_PRIORITY (tskIDLE_PRIORITY+5)
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define WATCHDOG_TIMEOUT 250
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void watchdogTask(void* parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t WatchdogInitialize()
{
// Start main task
xTaskCreate(watchdogTask, (signed char*)"Watchdog", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* @brief Module thread, should not return.
*
* Initializes the PIOS watchdog and periodically resets it
*/
static void watchdogTask(void* parameters)
{
uint32_t delay;
portTickType lastSysTime;
delay = PIOS_WDG_Init( WATCHDOG_TIMEOUT ) / portTICK_RATE_MS;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
PIOS_WDG_Clear();
vTaskDelayUntil(&lastSysTime, delay );
}
}