From 36d6c018649cb4b9b2771a1bd1fb8dbde21112b4 Mon Sep 17 00:00:00 2001 From: sambas Date: Wed, 17 Apr 2013 21:23:49 +0300 Subject: [PATCH] proper floats + formatter --- flight/Modules/System/systemmod.c | 605 +++++++++++++++--------------- 1 file changed, 297 insertions(+), 308 deletions(-) diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index 875582cf5..acf2392ff 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -64,8 +64,8 @@ #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. +// must be updated if the FreeRTOS or compiler +// optimisation options are changed. #endif #if defined(PIOS_SYSTEM_STACK_SIZE) @@ -102,15 +102,15 @@ static void updateWDGstats(); */ 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); + // 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; + return 0; } /** @@ -120,26 +120,26 @@ int32_t SystemModStart(void) int32_t SystemModInitialize(void) { - // Must registers objects here for system thread because ObjectManager started in OpenPilotInit - SystemSettingsInitialize(); - SystemStatsInitialize(); - FlightStatusInitialize(); - ObjectPersistenceInitialize(); + // Must registers objects here for system thread because ObjectManager started in OpenPilotInit + SystemSettingsInitialize(); + SystemStatsInitialize(); + FlightStatusInitialize(); + ObjectPersistenceInitialize(); #ifdef DIAG_TASKS - TaskInfoInitialize(); + TaskInfoInitialize(); #endif #ifdef DIAG_I2C_WDG_STATS - I2CStatsInitialize(); - WatchdogStatusInitialize(); + I2CStatsInitialize(); + WatchdogStatusInitialize(); #endif - objectPersistenceQueue = xQueueCreate(1, sizeof(UAVObjEvent)); - if (objectPersistenceQueue == NULL) - return -1; + objectPersistenceQueue = xQueueCreate(1, sizeof(UAVObjEvent)); + if (objectPersistenceQueue == NULL) + return -1; - SystemModStart(); + SystemModStart(); - return 0; + return 0; } MODULE_INITCALL(SystemModInitialize, 0) @@ -148,77 +148,77 @@ MODULE_INITCALL(SystemModInitialize, 0) */ static void systemTask(void *parameters) { - /* create all modules thread */ - MODULE_TASKCREATE_ALL; + /* 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 (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); + /* Record a successful boot */ + PIOS_IAP_WriteBootCount(0); #endif - // Initialize vars - idleCounter = 0; - idleCounterClear = 0; + // Initialize vars + idleCounter = 0; + idleCounterClear = 0; - // Listen for SettingPersistance object updates, connect a callback function - ObjectPersistenceConnectQueue(objectPersistenceQueue); + // Listen for SettingPersistance object updates, connect a callback function + ObjectPersistenceConnectQueue(objectPersistenceQueue); - // Whenever the configuration changes, make sure it is safe to fly - HwSettingsConnectCallback(hwSettingsUpdatedCb); + // Whenever the configuration changes, make sure it is safe to fly + HwSettingsConnectCallback(hwSettingsUpdatedCb); - // Main system loop - while (1) { - // Update the system statistics - updateStats(); + // Main system loop + while (1) { + // Update the system statistics + updateStats(); - // Update the system alarms - updateSystemAlarms(); + // Update the system alarms + updateSystemAlarms(); #ifdef DIAG_I2C_WDG_STATS - updateI2Cstats(); - updateWDGstats(); + updateI2Cstats(); + updateWDGstats(); #endif #ifdef DIAG_TASKS - // Update the task status object - TaskMonitorUpdateAll(); + // Update the task status object + TaskMonitorUpdateAll(); #endif - // Flash the heartbeat LED + // Flash the heartbeat LED #if defined(PIOS_LED_HEARTBEAT) - PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); - DEBUG_MSG("+ 0x%08x\r\n", 0xDEADBEEF); + 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 + // 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); - } + if (AlarmsHasWarnings()) { + PIOS_LED_On(PIOS_LED_ALARM); + } else { + PIOS_LED_Off(PIOS_LED_ALARM); + } #endif /* PIOS_LED_ALARM */ - FlightStatusData flightStatus; - FlightStatusGet(&flightStatus); + 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; + 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); - } - } + if(xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) { + // If object persistence is updated call the callback + objectUpdatedCb(&ev); + } + } } /** @@ -226,101 +226,94 @@ static void systemTask(void *parameters) */ static void objectUpdatedCb(UAVObjEvent * ev) { - ObjectPersistenceData objper; - UAVObjHandle obj; + ObjectPersistenceData objper; + UAVObjHandle obj; - // If the object updated was the ObjectPersistence execute requested action - if (ev->obj == ObjectPersistenceHandle()) { - // Get object data - ObjectPersistenceGet(&objper); + // If the object updated was the ObjectPersistence execute requested action + if (ev->obj == ObjectPersistenceHandle()) { + // Get object data + ObjectPersistenceGet(&objper); - int retval = 1; - FlightStatusData flightStatus; - FlightStatusGet(&flightStatus); + int retval = 1; + FlightStatusData flightStatus; + FlightStatusGet(&flightStatus); - // When this is called because of this method don't do anything - if (objper.Operation == OBJECTPERSISTENCE_OPERATION_ERROR || - objper.Operation == OBJECTPERSISTENCE_OPERATION_COMPLETED) { - return; - } + // When this is called because of this method don't do anything + if (objper.Operation == OBJECTPERSISTENCE_OPERATION_ERROR || objper.Operation == OBJECTPERSISTENCE_OPERATION_COMPLETED) { + return; + } - // Execute action if disarmed - if(flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) { - retval = -1; - } else 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); + // Execute action if disarmed + if (flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) { + retval = -1; + } else 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); + // 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; + // 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(0); + retval = PIOS_FLASHFS_Format(0); #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; - } - } + } + switch (retval) { + case 0: + objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED; + ObjectPersistenceSet(&objper); + break; + case -1: + objper.Operation = OBJECTPERSISTENCE_OPERATION_ERROR; + ObjectPersistenceSet(&objper); + break; + default: + break; + } + } } /** @@ -328,83 +321,82 @@ static void objectUpdatedCb(UAVObjEvent * ev) */ static void hwSettingsUpdatedCb(UAVObjEvent * ev) { - AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR); + AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_ERROR); } /** * Called periodically to update the I2C statistics */ #ifdef DIAG_I2C_WDG_STATS -static void updateI2Cstats() +static void updateI2Cstats() { #if defined(PIOS_INCLUDE_I2C) - I2CStatsData i2cStats; - I2CStatsGet(&i2cStats); - - struct pios_i2c_fault_history history; - PIOS_I2C_GetDiagnostics(&history, &i2cStats.event_errors); - - 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]; - i2cStats.event_log[i] = history.event[i]; - i2cStats.state_log[i] = history.state[i]; - } - i2cStats.last_error_type = history.type; - I2CStatsSet(&i2cStats); + I2CStatsData i2cStats; + I2CStatsGet(&i2cStats); + + struct pios_i2c_fault_history history; + PIOS_I2C_GetDiagnostics(&history, &i2cStats.event_errors); + + 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]; + i2cStats.event_log[i] = history.event[i]; + i2cStats.state_log[i] = history.state[i]; + } + i2cStats.last_error_type = history.type; + I2CStatsSet(&i2cStats); #endif } -static void updateWDGstats() +static void updateWDGstats() { - WatchdogStatusData watchdogStatus; - watchdogStatus.BootupFlags = PIOS_WDG_GetBootupFlags(); - watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags(); - WatchdogStatusSet(&watchdogStatus); + 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; + 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; + 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; + 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; - } - } + 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; - } + 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; + return i; } /** @@ -412,50 +404,49 @@ uint32_t *ptr = &_irq_stack_end; */ static void updateStats() { - static portTickType lastTickCount = 0; - SystemStatsData stats; + static portTickType lastTickCount = 0; + SystemStatsData stats; - // Get stats and update - SystemStatsGet(&stats); - stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS; + // 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; + // POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize() + stats.HeapRemaining = 10240; #else - stats.HeapRemaining = xPortGetFreeHeapSize(); + stats.HeapRemaining = xPortGetFreeHeapSize(); #endif - // Get Irq stack status - stats.IRQStackRemaining = GetFreeIrqStackSize(); + // 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; - } + // 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; + 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) #if defined(STM32F4XX) - float temp_voltage = 3.3 * PIOS_ADC_PinGet(3) / ((1 << 12) - 1); - const float STM32_TEMP_V25 = 0.76; /* V */ - const float STM32_TEMP_AVG_SLOPE = 2.5; /* mV/C */ - stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25; + float temp_voltage = 3.3f * PIOS_ADC_PinGet(3) / ((1 << 12) - 1); + const float STM32_TEMP_V25 = 0.76f; /* V */ + const float STM32_TEMP_AVG_SLOPE = 2.5f; /* mV/C */ + stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25; #else - 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; + float temp_voltage = 3.3f * PIOS_ADC_PinGet(0) / ((1 << 12) - 1); + const float STM32_TEMP_V25 = 1.43f; /* V */ + const float STM32_TEMP_AVG_SLOPE = 4.3f; /* mV/C */ + stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25; #endif #endif - SystemStatsSet(&stats); + SystemStatsSet(&stats); } /** @@ -463,66 +454,64 @@ static void updateStats() */ static void updateSystemAlarms() { - SystemStatsData stats; - UAVObjStats objStats; - EventStats evStats; - SystemStatsGet(&stats); + SystemStatsData stats; + UAVObjStats objStats; + EventStats evStats; + SystemStatsGet(&stats); - // Check heap, IRQ stack and malloc failures - if ( mallocFailed - || (stats.HeapRemaining < HEAP_LIMIT_CRITICAL) + // 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) + || (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL) #endif - ) { - AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL); - } else if ( - (stats.HeapRemaining < HEAP_LIMIT_WARNING) + ) { + 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) + || (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING) #endif - ) { - AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING); - } else { - AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY); - } + ) { + 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 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 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); + } - // 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); - } - } /** @@ -530,13 +519,13 @@ static void updateSystemAlarms() */ void vApplicationIdleHook(void) { - // Called when the scheduler has no tasks to run - if (idleCounterClear == 0) { - ++idleCounter; - } else { - idleCounter = 0; - idleCounterClear = 0; - } + // Called when the scheduler has no tasks to run + if (idleCounterClear == 0) { + ++idleCounter; + } else { + idleCounter = 0; + idleCounterClear = 0; + } } /** @@ -545,11 +534,11 @@ void vApplicationIdleHook(void) #define DEBUG_STACK_OVERFLOW 0 void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName) { - stackOverflow = true; + stackOverflow = true; #if DEBUG_STACK_OVERFLOW - static volatile bool wait_here = true; - while(wait_here); - wait_here = true; + static volatile bool wait_here = true; + while(wait_here); + wait_here = true; #endif } @@ -559,15 +548,15 @@ void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTas #define DEBUG_MALLOC_FAILURES 0 void vApplicationMallocFailedHook(void) { - mallocFailed = true; + mallocFailed = true; #if DEBUG_MALLOC_FAILURES - static volatile bool wait_here = true; - while(wait_here); - wait_here = true; + static volatile bool wait_here = true; + while(wait_here); + wait_here = true; #endif } /** - * @} - * @} - */ + * @} + * @} + */