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Code Issues Releases Activity

OP-1374 - Issue a Boot Alarm (reboot) if frame type is changed

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This commit is contained in:
Alessio Morale 2014-06-29 17:23:15 +02:00
parent 52a909185b
commit 3ae85f6434
1 changed files with 9 additions and 4 deletions
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13
flight/modules/System/systemmod.c
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@ -96,11 +96,12 @@ static xQueueHandle objectPersistenceQueue;
static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_CRITICAL = 3 } stackOverflow;
static bool mallocFailed;
static HwSettingsData bootHwSettings;
static FrameType_t bootFrameType;
static struct PIOS_FLASHFS_Stats fsStats;
// Private functions
static void objectUpdatedCb(UAVObjEvent *ev);
static void hwSettingsUpdatedCb(UAVObjEvent *ev);
static void checkSettingsUpdatedCb(UAVObjEvent *ev);
#ifdef DIAG_TASKS
static void taskMonitorForEachCallback(uint16_t task_id, const struct pios_task_info *task_info, void *context);
static void callbackSchedulerForEachCallback(int16_t callback_id, const struct pios_callback_info *callback_info, void *context);
@ -195,8 +196,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
// Load a copy of HwSetting active at boot time
HwSettingsGet(&bootHwSettings);
bootFrameType = GetCurrentFrameType();
// Whenever the configuration changes, make sure it is safe to fly
HwSettingsConnectCallback(hwSettingsUpdatedCb);
HwSettingsConnectCallback(checkSettingsUpdatedCb);
SystemSettingsConnectCallback(checkSettingsUpdatedCb);
#ifdef DIAG_TASKS
TaskInfoData taskInfoData;
@ -396,13 +399,15 @@ static void objectUpdatedCb(UAVObjEvent *ev)
/**
* Called whenever hardware settings changed
*/
static void hwSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
static void checkSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
HwSettingsData currentHwSettings;
HwSettingsGet(&currentHwSettings);
FrameType_t currentFrameType = GetCurrentFrameType();
// check whether the Hw Configuration has changed from the one used at boot time
if (memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) {
if ((memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) ||
(currentFrameType != bootFrameType)) {
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
}
}