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LibrePilot/flight/OpenPilot/Modules/System/systemmod.c

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/**
******************************************************************************
*
* @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 "systemstats.h"
// Private constants
#define SYSTEM_UPDATE_PERIOD_MS 1000
#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.
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
#define HEAP_LIMIT_WARNING 4000
#define HEAP_LIMIT_CRITICAL 1000
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
// Private types
// Private variables
static uint32_t idleCounter;
static uint32_t idleCounterClear;
static xTaskHandle systemTaskHandle;
static int32_t stackOverflow;
// Private functions
static void objectUpdatedCb(UAVObjEvent* ev);
static void updateStats();
static void updateSystemAlarms();
static void systemTask(void* parameters);
/**
* Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed
*/
int32_t SystemModInitialize(void)
{
// Initialize vars
stackOverflow = 0;
// Create system task
xTaskCreate(systemTask, (signed char*)"System", STACK_SIZE, NULL, TASK_PRIORITY, &systemTaskHandle);
return 0;
}
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void systemTask(void* parameters)
{
portTickType lastSysTime;
// System initialization
OpenPilotInit();
// Initialize vars
idleCounter = 0;
idleCounterClear = 0;
lastSysTime = xTaskGetTickCount();
// Listen for SettingPersistance object updates, connect a callback function
ObjectPersistenceConnectCallback(&objectUpdatedCb);
// Main system loop
while (1)
{
// Update the system statistics
updateStats();
// Update the system alarms
updateSystemAlarms();
// Flash the heartbeat LED
PIOS_LED_Toggle(LED1);
// Turn on the error LED if an alarm is set
if ( AlarmsHasWarnings() )
{
PIOS_LED_On(LED2);
}
else
{
PIOS_LED_Off(LED2);
}
// Wait until next period
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
/**
* 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);
// 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
UAVObjLoad(obj, objper.InstanceID);
}
else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
{
UAVObjLoadSettings();
}
else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
{
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
UAVObjSave(obj, objper.InstanceID);
}
else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
{
UAVObjSaveSettings();
}
else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
{
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
UAVObjDelete(obj, objper.InstanceID);
}
else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
{
UAVObjDeleteSettings();
}
else if ( objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS)
{
UAVObjDeleteMetaobjects();
}
}
}
}
/**
* Called periodically to update the system stats
*/
static void updateStats()
{
SystemStatsData stats;
// Get stats and update
SystemStatsGet(&stats);
stats.FlightTime = xTaskGetTickCount()*portTICK_RATE_MS;
stats.HeapRemaining = xPortGetFreeHeapSize();
stats.CPULoad = 100 - (uint8_t)round(100.0*((float)idleCounter/(float)(SYSTEM_UPDATE_PERIOD_MS/1000))/(float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
idleCounterClear = 1;
SystemStatsSet(&stats);
}
/**
* Update system alarms
*/
static void updateSystemAlarms()
{
SystemStatsData stats;
UAVObjStats objStats;
EventStats evStats;
SystemStatsGet(&stats);
// Check heap
if ( stats.HeapRemaining < HEAP_LIMIT_CRITICAL )
{
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
}
else if ( stats.HeapRemaining < HEAP_LIMIT_WARNING )
{
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 == 1 )
{
AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
}
else
{
AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
}
// Check for SD card
if ( POIS_SDCARD_IsMounted() == 0 )
{
AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_WARNING);
}
else
{
AlarmsClear(SYSTEMALARMS_ALARM_SDCARD);
}
// Check for event errors
UAVObjGetStats(&objStats);
EventGetStats(&evStats);
UAVObjClearStats();
EventClearStats();
if ( objStats.eventErrors > 0 || evStats.eventErrors > 0 )
{
AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
}
else
{
AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
}
}
/**
* 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.
*/
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
{
stackOverflow = 1;
}