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Code Issues Releases Activity

OP-1290 saved some RAM by removing last alarm update time from UAVObject

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(static allocated array instead, and smaller element size)
This commit is contained in:
Corvus Corax 2014-04-06 12:24:42 +02:00
parent 48876620fc
commit 3018e73e91
2 changed files with 7 additions and 31 deletions
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13
flight/libraries/alarms.c
View File

@ -37,6 +37,7 @@
// Private variables
static xSemaphoreHandle lock;
static volatile uint16_t lastAlarmChange[SYSTEMALARMS_ALARM_NUMELEM] = { 0 }; // this deliberately overflows every 2^16 milliseconds to save memory
// Private functions
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
@ -75,12 +76,12 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
uint32_t flightTime = xTaskGetTickCount() * portTICK_RATE_MS;
if ((flightTime - cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] > 1000 &&
uint16_t flightTime = xTaskGetTickCount() * portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory
if ((flightTime - lastAlarmChange[alarm] > 1000 &&
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity)
|| cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] < severity) {
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity;
cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] = flightTime;
lastAlarmChange[alarm] = flightTime;
SystemAlarmsSet(&alarms);
}
@ -114,14 +115,14 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
uint32_t flightTime = xTaskGetTickCount() * portTICK_RATE_MS;
if ((flightTime - cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] > 1000 &&
uint16_t flightTime = xTaskGetTickCount() * portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory
if ((flightTime - lastAlarmChange[alarm] > 1000 &&
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity)
|| cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] < severity) {
cast_struct_to_array(alarms.ExtendedAlarmStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = status;
cast_struct_to_array(alarms.ExtendedAlarmSubStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = subStatus;
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity;
cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] = flightTime;
lastAlarmChange[alarm] = flightTime;
SystemAlarmsSet(&alarms);
}

25
shared/uavobjectdefinition/systemalarms.xml
View File

@ -26,31 +26,6 @@
<elementname>Power</elementname>
</elementnames>
</field>
<field name="LastChange" units="ms" type="uint32">
<elementnames>
<elementname>SystemConfiguration</elementname>
<elementname>BootFault</elementname>
<elementname>OutOfMemory</elementname>
<elementname>StackOverflow</elementname>
<elementname>CPUOverload</elementname>
<elementname>EventSystem</elementname>
<elementname>Telemetry</elementname>
<elementname>Receiver</elementname>
<elementname>ManualControl</elementname>
<elementname>Actuator</elementname>
<elementname>Attitude</elementname>
<elementname>Sensors</elementname>
<elementname>Airspeed</elementname>
<elementname>Stabilization</elementname>
<elementname>Guidance</elementname>
<elementname>PathPlan</elementname>
<elementname>Battery</elementname>
<elementname>FlightTime</elementname>
<elementname>I2C</elementname>
<elementname>GPS</elementname>
<elementname>Power</elementname>
</elementnames>
</field>
<field name="ExtendedAlarmStatus" units="" type="enum" defaultvalue="None">
<elementnames>
<elementname>SystemConfiguration</elementname>