1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-10 18:24:11 +01:00
LibrePilot/flight/Modules/System/systemmod.c

543 lines
15 KiB
C
Raw Normal View History

/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @brief The OpenPilot Modules do the majority of the control in OpenPilot. The
* @ref SystemModule "System Module" starts all the other modules that then take care
* of all the telemetry and control algorithms and such. This is done through the @ref PIOS
* "PIOS Hardware abstraction layer" which then contains hardware specific implementations
* (currently only STM32 supported)
*
* @{
* @addtogroup SystemModule System Module
* @brief Initializes PIOS and other modules runs monitoring
* After initializing all the modules (currently selected by Makefile but in
* future controlled by configuration on SD card) runs basic monitoring and
* alarms.
* @{
*
* @file systemmod.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief System module
*
* @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
*/
#include "openpilot.h"
#include "systemmod.h"
#include "objectpersistence.h"
#include "flightstatus.h"
#include "systemstats.h"
#include "systemsettings.h"
PiOS/I2C: Lots of small changes. Added a few weird bus events that are sometimes thrown, and made errors not lock it up by default. It works for me, but since this has historically been associated with lots of lock ups please check your systems carefully. PiOS/I2C: Make the bus by default try to recover from errors instead of locking up PiOS/I2C: After a bus error and clocking all previous data create a STOP condition to make sure bus is released (note, this also requires creating a START condition first) PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard second one, there is no situation where we should get the same event multiple times that matters and this gets us out really quickly to catch the real events. I was seeing this with repeated 0x70084 which means byte transmitted. This is related to STM32 bugs in the IRQ timings I believe. PiOS/I2C: 1) Mask out some bits we don't care about in the event flags 2) Don't lock up if the give semaphore fails, although why it does is strange 3) Recover from bus failure through the "auto" state path instead of just coding state PiOS/I2C: Change the reset bus code to follow http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf (thanks for the reference Neontangerine). Although this may actually NOT clear the bus the first time through, subsequent bus errors should eventually clock it out. The up side is it is less likely to clock a bunch of 1s into an ESC and make it run up. PiOS/I2C: Some cleaned up code for getting a snippet of the history when something strange happens PiOS/I2C: Export logging information from I2C through a UAV object PiOS/I2C: Improve the diagnostic information PiOS/I2C: Need to handle the event 0x30084. This seems to happen between a byte transmitted and new byte started PiOS/I2C: Handle the NACK condition by simply going to the stopping state. PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK following the STM documentation. Other error conditions still are not dealt with. PiOS/I2C: Should handle the NACK condition from all the write cases. Need to think about read cases git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 08:01:58 +01:00
#include "i2cstats.h"
#include "taskinfo.h"
#include "watchdogstatus.h"
#include "taskmonitor.h"
//#define DEBUG_THIS_FILE
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(DEBUG_THIS_FILE)
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(PIOS_COM_DEBUG, format, ## __VA_ARGS__)
#else
#define DEBUG_MSG(format, ...)
#endif
// Private constants
#define SYSTEM_UPDATE_PERIOD_MS 1000
#define LED_BLINK_RATE_HZ 5
#ifndef IDLE_COUNTS_PER_SEC_AT_NO_LOAD
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
// must be updated if the FreeRTOS or compiler
// optimisation options are changed.
#endif
#if defined(PIOS_SYSTEM_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
#else
#define STACK_SIZE_BYTES 924
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types
// Private variables
static uint32_t idleCounter;
static uint32_t idleCounterClear;
static xTaskHandle systemTaskHandle;
static xQueueHandle objectPersistenceQueue;
static bool stackOverflow;
static bool mallocFailed;
// Private functions
static void objectUpdatedCb(UAVObjEvent * ev);
static void updateStats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
static void updateI2Cstats();
static void updateWDGstats();
#endif
/**
* Create the module task.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModStart(void)
{
// Initialize vars
stackOverflow = false;
mallocFailed = false;
// Create system task
xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
return 0;
}
/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
{
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
SystemStatsInitialize();
FlightStatusInitialize();
ObjectPersistenceInitialize();
#if defined(DIAG_TASKS)
TaskInfoInitialize();
#endif
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
I2CStatsInitialize();
WatchdogStatusInitialize();
#endif
objectPersistenceQueue = xQueueCreate(1, sizeof(UAVObjEvent));
if (objectPersistenceQueue == NULL)
return -1;
SystemModStart();
return 0;
}
MODULE_INITCALL(SystemModInitialize, 0)
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void systemTask(void *parameters)
{
/* create all modules thread */
MODULE_TASKCREATE_ALL;
if (mallocFailed) {
/* We failed to malloc during task creation,
* system behaviour is undefined. Reset and let
* the BootFault code recover for us.
*/
PIOS_SYS_Reset();
}
#if defined(PIOS_INCLUDE_IAP)
/* Record a successful boot */
PIOS_IAP_WriteBootCount(0);
#endif
// Initialize vars
idleCounter = 0;
idleCounterClear = 0;
// Listen for SettingPersistance object updates, connect a callback function
ObjectPersistenceConnectQueue(objectPersistenceQueue);
// Main system loop
while (1) {
// Update the system statistics
updateStats();
// Update the system alarms
updateSystemAlarms();
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
PiOS/I2C: Lots of small changes. Added a few weird bus events that are sometimes thrown, and made errors not lock it up by default. It works for me, but since this has historically been associated with lots of lock ups please check your systems carefully. PiOS/I2C: Make the bus by default try to recover from errors instead of locking up PiOS/I2C: After a bus error and clocking all previous data create a STOP condition to make sure bus is released (note, this also requires creating a START condition first) PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard second one, there is no situation where we should get the same event multiple times that matters and this gets us out really quickly to catch the real events. I was seeing this with repeated 0x70084 which means byte transmitted. This is related to STM32 bugs in the IRQ timings I believe. PiOS/I2C: 1) Mask out some bits we don't care about in the event flags 2) Don't lock up if the give semaphore fails, although why it does is strange 3) Recover from bus failure through the "auto" state path instead of just coding state PiOS/I2C: Change the reset bus code to follow http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf (thanks for the reference Neontangerine). Although this may actually NOT clear the bus the first time through, subsequent bus errors should eventually clock it out. The up side is it is less likely to clock a bunch of 1s into an ESC and make it run up. PiOS/I2C: Some cleaned up code for getting a snippet of the history when something strange happens PiOS/I2C: Export logging information from I2C through a UAV object PiOS/I2C: Improve the diagnostic information PiOS/I2C: Need to handle the event 0x30084. This seems to happen between a byte transmitted and new byte started PiOS/I2C: Handle the NACK condition by simply going to the stopping state. PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK following the STM documentation. Other error conditions still are not dealt with. PiOS/I2C: Should handle the NACK condition from all the write cases. Need to think about read cases git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 08:01:58 +01:00
updateI2Cstats();
updateWDGstats();
#endif
#if defined(DIAG_TASKS)
// Update the task status object
TaskMonitorUpdateAll();
#endif
// Flash the heartbeat LED
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
DEBUG_MSG("+ 0x%08x\r\n", 0xDEADBEEF);
#endif /* PIOS_LED_HEARTBEAT */
// Turn on the error LED if an alarm is set
#if defined (PIOS_LED_ALARM)
if (AlarmsHasWarnings()) {
PIOS_LED_On(PIOS_LED_ALARM);
} else {
PIOS_LED_Off(PIOS_LED_ALARM);
}
#endif /* PIOS_LED_ALARM */
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
UAVObjEvent ev;
int delayTime = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED ?
SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) :
SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS;
if(xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) {
// If object persistence is updated call the callback
objectUpdatedCb(&ev);
}
}
}
/**
* Function called in response to object updates
*/
static void objectUpdatedCb(UAVObjEvent * ev)
{
ObjectPersistenceData objper;
UAVObjHandle obj;
// If the object updated was the ObjectPersistence execute requested action
if (ev->obj == ObjectPersistenceHandle()) {
// Get object data
ObjectPersistenceGet(&objper);
int retval = 1;
// Execute action
if (objper.Operation == OBJECTPERSISTENCE_OPERATION_LOAD) {
if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
// Get selected object
obj = UAVObjGetByID(objper.ObjectID);
if (obj == 0) {
return;
}
// Load selected instance
retval = UAVObjLoad(obj, objper.InstanceID);
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjLoadSettings();
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjLoadMetaobjects();
}
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_SAVE) {
if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
// Get selected object
obj = UAVObjGetByID(objper.ObjectID);
if (obj == 0) {
return;
}
// Save selected instance
retval = UAVObjSave(obj, objper.InstanceID);
// Not sure why this is needed
vTaskDelay(10);
// Verify saving worked
if (retval == 0)
retval = UAVObjLoad(obj, objper.InstanceID);
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjSaveSettings();
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjSaveMetaobjects();
}
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_DELETE) {
if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
// Get selected object
obj = UAVObjGetByID(objper.ObjectID);
if (obj == 0) {
return;
}
// Delete selected instance
retval = UAVObjDelete(obj, objper.InstanceID);
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjDeleteSettings();
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjDeleteMetaobjects();
}
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
retval = -1;
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
retval = PIOS_FLASHFS_Format();
#endif
}
switch(retval) {
case 0:
objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&objper);
break;
case -1:
objper.Operation = OBJECTPERSISTENCE_OPERATION_ERROR;
ObjectPersistenceSet(&objper);
break;
default:
break;
}
}
}
PiOS/I2C: Lots of small changes. Added a few weird bus events that are sometimes thrown, and made errors not lock it up by default. It works for me, but since this has historically been associated with lots of lock ups please check your systems carefully. PiOS/I2C: Make the bus by default try to recover from errors instead of locking up PiOS/I2C: After a bus error and clocking all previous data create a STOP condition to make sure bus is released (note, this also requires creating a START condition first) PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard second one, there is no situation where we should get the same event multiple times that matters and this gets us out really quickly to catch the real events. I was seeing this with repeated 0x70084 which means byte transmitted. This is related to STM32 bugs in the IRQ timings I believe. PiOS/I2C: 1) Mask out some bits we don't care about in the event flags 2) Don't lock up if the give semaphore fails, although why it does is strange 3) Recover from bus failure through the "auto" state path instead of just coding state PiOS/I2C: Change the reset bus code to follow http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf (thanks for the reference Neontangerine). Although this may actually NOT clear the bus the first time through, subsequent bus errors should eventually clock it out. The up side is it is less likely to clock a bunch of 1s into an ESC and make it run up. PiOS/I2C: Some cleaned up code for getting a snippet of the history when something strange happens PiOS/I2C: Export logging information from I2C through a UAV object PiOS/I2C: Improve the diagnostic information PiOS/I2C: Need to handle the event 0x30084. This seems to happen between a byte transmitted and new byte started PiOS/I2C: Handle the NACK condition by simply going to the stopping state. PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK following the STM documentation. Other error conditions still are not dealt with. PiOS/I2C: Should handle the NACK condition from all the write cases. Need to think about read cases git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 08:01:58 +01:00
/**
* Called periodically to update the I2C statistics
*/
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
PiOS/I2C: Lots of small changes. Added a few weird bus events that are sometimes thrown, and made errors not lock it up by default. It works for me, but since this has historically been associated with lots of lock ups please check your systems carefully. PiOS/I2C: Make the bus by default try to recover from errors instead of locking up PiOS/I2C: After a bus error and clocking all previous data create a STOP condition to make sure bus is released (note, this also requires creating a START condition first) PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard second one, there is no situation where we should get the same event multiple times that matters and this gets us out really quickly to catch the real events. I was seeing this with repeated 0x70084 which means byte transmitted. This is related to STM32 bugs in the IRQ timings I believe. PiOS/I2C: 1) Mask out some bits we don't care about in the event flags 2) Don't lock up if the give semaphore fails, although why it does is strange 3) Recover from bus failure through the "auto" state path instead of just coding state PiOS/I2C: Change the reset bus code to follow http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf (thanks for the reference Neontangerine). Although this may actually NOT clear the bus the first time through, subsequent bus errors should eventually clock it out. The up side is it is less likely to clock a bunch of 1s into an ESC and make it run up. PiOS/I2C: Some cleaned up code for getting a snippet of the history when something strange happens PiOS/I2C: Export logging information from I2C through a UAV object PiOS/I2C: Improve the diagnostic information PiOS/I2C: Need to handle the event 0x30084. This seems to happen between a byte transmitted and new byte started PiOS/I2C: Handle the NACK condition by simply going to the stopping state. PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK following the STM documentation. Other error conditions still are not dealt with. PiOS/I2C: Should handle the NACK condition from all the write cases. Need to think about read cases git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 08:01:58 +01:00
static void updateI2Cstats()
{
#if defined(PIOS_INCLUDE_I2C)
PiOS/I2C: Lots of small changes. Added a few weird bus events that are sometimes thrown, and made errors not lock it up by default. It works for me, but since this has historically been associated with lots of lock ups please check your systems carefully. PiOS/I2C: Make the bus by default try to recover from errors instead of locking up PiOS/I2C: After a bus error and clocking all previous data create a STOP condition to make sure bus is released (note, this also requires creating a START condition first) PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard second one, there is no situation where we should get the same event multiple times that matters and this gets us out really quickly to catch the real events. I was seeing this with repeated 0x70084 which means byte transmitted. This is related to STM32 bugs in the IRQ timings I believe. PiOS/I2C: 1) Mask out some bits we don't care about in the event flags 2) Don't lock up if the give semaphore fails, although why it does is strange 3) Recover from bus failure through the "auto" state path instead of just coding state PiOS/I2C: Change the reset bus code to follow http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf (thanks for the reference Neontangerine). Although this may actually NOT clear the bus the first time through, subsequent bus errors should eventually clock it out. The up side is it is less likely to clock a bunch of 1s into an ESC and make it run up. PiOS/I2C: Some cleaned up code for getting a snippet of the history when something strange happens PiOS/I2C: Export logging information from I2C through a UAV object PiOS/I2C: Improve the diagnostic information PiOS/I2C: Need to handle the event 0x30084. This seems to happen between a byte transmitted and new byte started PiOS/I2C: Handle the NACK condition by simply going to the stopping state. PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK following the STM documentation. Other error conditions still are not dealt with. PiOS/I2C: Should handle the NACK condition from all the write cases. Need to think about read cases git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 08:01:58 +01:00
I2CStatsData i2cStats;
I2CStatsGet(&i2cStats);
struct pios_i2c_fault_history history;
PIOS_I2C_GetDiagnostics(&history, &i2cStats.event_errors);
PiOS/I2C: Lots of small changes. Added a few weird bus events that are sometimes thrown, and made errors not lock it up by default. It works for me, but since this has historically been associated with lots of lock ups please check your systems carefully. PiOS/I2C: Make the bus by default try to recover from errors instead of locking up PiOS/I2C: After a bus error and clocking all previous data create a STOP condition to make sure bus is released (note, this also requires creating a START condition first) PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard second one, there is no situation where we should get the same event multiple times that matters and this gets us out really quickly to catch the real events. I was seeing this with repeated 0x70084 which means byte transmitted. This is related to STM32 bugs in the IRQ timings I believe. PiOS/I2C: 1) Mask out some bits we don't care about in the event flags 2) Don't lock up if the give semaphore fails, although why it does is strange 3) Recover from bus failure through the "auto" state path instead of just coding state PiOS/I2C: Change the reset bus code to follow http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf (thanks for the reference Neontangerine). Although this may actually NOT clear the bus the first time through, subsequent bus errors should eventually clock it out. The up side is it is less likely to clock a bunch of 1s into an ESC and make it run up. PiOS/I2C: Some cleaned up code for getting a snippet of the history when something strange happens PiOS/I2C: Export logging information from I2C through a UAV object PiOS/I2C: Improve the diagnostic information PiOS/I2C: Need to handle the event 0x30084. This seems to happen between a byte transmitted and new byte started PiOS/I2C: Handle the NACK condition by simply going to the stopping state. PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK following the STM documentation. Other error conditions still are not dealt with. PiOS/I2C: Should handle the NACK condition from all the write cases. Need to think about read cases git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 08:01:58 +01:00
for(uint8_t i = 0; (i < I2C_LOG_DEPTH) && (i < I2CSTATS_EVENT_LOG_NUMELEM); i++) {
i2cStats.evirq_log[i] = history.evirq[i];
i2cStats.erirq_log[i] = history.erirq[i];
PiOS/I2C: Lots of small changes. Added a few weird bus events that are sometimes thrown, and made errors not lock it up by default. It works for me, but since this has historically been associated with lots of lock ups please check your systems carefully. PiOS/I2C: Make the bus by default try to recover from errors instead of locking up PiOS/I2C: After a bus error and clocking all previous data create a STOP condition to make sure bus is released (note, this also requires creating a START condition first) PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard second one, there is no situation where we should get the same event multiple times that matters and this gets us out really quickly to catch the real events. I was seeing this with repeated 0x70084 which means byte transmitted. This is related to STM32 bugs in the IRQ timings I believe. PiOS/I2C: 1) Mask out some bits we don't care about in the event flags 2) Don't lock up if the give semaphore fails, although why it does is strange 3) Recover from bus failure through the "auto" state path instead of just coding state PiOS/I2C: Change the reset bus code to follow http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf (thanks for the reference Neontangerine). Although this may actually NOT clear the bus the first time through, subsequent bus errors should eventually clock it out. The up side is it is less likely to clock a bunch of 1s into an ESC and make it run up. PiOS/I2C: Some cleaned up code for getting a snippet of the history when something strange happens PiOS/I2C: Export logging information from I2C through a UAV object PiOS/I2C: Improve the diagnostic information PiOS/I2C: Need to handle the event 0x30084. This seems to happen between a byte transmitted and new byte started PiOS/I2C: Handle the NACK condition by simply going to the stopping state. PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK following the STM documentation. Other error conditions still are not dealt with. PiOS/I2C: Should handle the NACK condition from all the write cases. Need to think about read cases git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 08:01:58 +01:00
i2cStats.event_log[i] = history.event[i];
i2cStats.state_log[i] = history.state[i];
}
i2cStats.last_error_type = history.type;
I2CStatsSet(&i2cStats);
#endif
PiOS/I2C: Lots of small changes. Added a few weird bus events that are sometimes thrown, and made errors not lock it up by default. It works for me, but since this has historically been associated with lots of lock ups please check your systems carefully. PiOS/I2C: Make the bus by default try to recover from errors instead of locking up PiOS/I2C: After a bus error and clocking all previous data create a STOP condition to make sure bus is released (note, this also requires creating a START condition first) PiOS/I2C: If the same event hits the I2C bus twice in a row then disregard second one, there is no situation where we should get the same event multiple times that matters and this gets us out really quickly to catch the real events. I was seeing this with repeated 0x70084 which means byte transmitted. This is related to STM32 bugs in the IRQ timings I believe. PiOS/I2C: 1) Mask out some bits we don't care about in the event flags 2) Don't lock up if the give semaphore fails, although why it does is strange 3) Recover from bus failure through the "auto" state path instead of just coding state PiOS/I2C: Change the reset bus code to follow http://www.analog.com/static/imported-files/application_notes/54305147357414AN686_0.pdf (thanks for the reference Neontangerine). Although this may actually NOT clear the bus the first time through, subsequent bus errors should eventually clock it out. The up side is it is less likely to clock a bunch of 1s into an ESC and make it run up. PiOS/I2C: Some cleaned up code for getting a snippet of the history when something strange happens PiOS/I2C: Export logging information from I2C through a UAV object PiOS/I2C: Improve the diagnostic information PiOS/I2C: Need to handle the event 0x30084. This seems to happen between a byte transmitted and new byte started PiOS/I2C: Handle the NACK condition by simply going to the stopping state. PiOS/I2C: Add a new NACK state to handle sending the STOP signal after a NACK following the STM documentation. Other error conditions still are not dealt with. PiOS/I2C: Should handle the NACK condition from all the write cases. Need to think about read cases git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2239 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-17 08:01:58 +01:00
}
static void updateWDGstats()
{
WatchdogStatusData watchdogStatus;
watchdogStatus.BootupFlags = PIOS_WDG_GetBootupFlags();
watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags();
WatchdogStatusSet(&watchdogStatus);
}
#endif
/**
* Called periodically to update the system stats
*/
static uint16_t GetFreeIrqStackSize(void)
{
uint32_t i = 0x200;
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
extern uint32_t _irq_stack_top;
extern uint32_t _irq_stack_end;
uint32_t pattern = 0x0000A5A5;
uint32_t *ptr = &_irq_stack_end;
#if 1 /* the ugly way accurate but takes more time, useful for debugging */
uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3 ) / 4;
for (i=0; i< stack_size; i++)
{
if (ptr[i] != pattern)
{
i=i*4;
break;
}
}
#else /* faster way but not accurate */
if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern)
{
i = IRQSTACK_LIMIT_CRITICAL - 1;
}
else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern)
{
i = IRQSTACK_LIMIT_WARNING - 1;
}
else
{
i = IRQSTACK_LIMIT_WARNING;
}
#endif
#endif
return i;
}
/**
* Called periodically to update the system stats
*/
static void updateStats()
{
static portTickType lastTickCount = 0;
SystemStatsData stats;
// Get stats and update
SystemStatsGet(&stats);
stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
// POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
stats.HeapRemaining = 10240;
#else
stats.HeapRemaining = xPortGetFreeHeapSize();
#endif
// Get Irq stack status
stats.IRQStackRemaining = GetFreeIrqStackSize();
// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
if (idleCounterClear) {
idleCounter = 0;
}
portTickType now = xTaskGetTickCount();
if (now > lastTickCount) {
uint32_t dT = (xTaskGetTickCount() - lastTickCount) * portTICK_RATE_MS; // in ms
stats.CPULoad =
100 - (uint8_t) roundf(100.0f * ((float)idleCounter / ((float)dT / 1000.0f)) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
} //else: TickCount has wrapped, do not calc now
lastTickCount = now;
idleCounterClear = 1;
#if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
float temp_voltage = 3.3 * PIOS_ADC_PinGet(0) / ((1 << 12) - 1);
const float STM32_TEMP_V25 = 1.43; /* V */
const float STM32_TEMP_AVG_SLOPE = 4.3; /* mV/C */
stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25;
#endif
SystemStatsSet(&stats);
}
/**
* Update system alarms
*/
static void updateSystemAlarms()
{
SystemStatsData stats;
UAVObjStats objStats;
EventStats evStats;
SystemStatsGet(&stats);
// Check heap, IRQ stack and malloc failures
if ( mallocFailed
|| (stats.HeapRemaining < HEAP_LIMIT_CRITICAL)
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
|| (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL)
#endif
) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
} else if (
(stats.HeapRemaining < HEAP_LIMIT_WARNING)
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
|| (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING)
#endif
) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
}
// Check CPU load
if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);
} else if (stats.CPULoad > CPULOAD_LIMIT_WARNING) {
AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_CPUOVERLOAD);
}
// Check for stack overflow
if (stackOverflow) {
AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
}
// Check for event errors
UAVObjGetStats(&objStats);
EventGetStats(&evStats);
UAVObjClearStats();
EventClearStats();
if (objStats.eventCallbackErrors > 0 || objStats.eventQueueErrors > 0 || evStats.eventErrors > 0) {
AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
}
if (objStats.lastCallbackErrorID || objStats.lastQueueErrorID || evStats.lastErrorID) {
SystemStatsData sysStats;
SystemStatsGet(&sysStats);
sysStats.EventSystemWarningID = evStats.lastErrorID;
sysStats.ObjectManagerCallbackID = objStats.lastCallbackErrorID;
sysStats.ObjectManagerQueueID = objStats.lastQueueErrorID;
SystemStatsSet(&sysStats);
}
}
/**
* Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
*/
void vApplicationIdleHook(void)
{
// Called when the scheduler has no tasks to run
if (idleCounterClear == 0) {
++idleCounter;
} else {
idleCounter = 0;
idleCounterClear = 0;
}
}
/**
* Called by the RTOS when a stack overflow is detected.
*/
#define DEBUG_STACK_OVERFLOW 0
void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName)
{
stackOverflow = true;
#if DEBUG_STACK_OVERFLOW
static volatile bool wait_here = true;
while(wait_here);
wait_here = true;
#endif
}
/**
* Called by the RTOS when a malloc call fails.
*/
#define DEBUG_MALLOC_FAILURES 0
void vApplicationMallocFailedHook(void)
{
mallocFailed = true;
#if DEBUG_MALLOC_FAILURES
static volatile bool wait_here = true;
while(wait_here);
wait_here = true;
#endif
}
/**
* @}
* @}
*/