mirror of
https://bitbucket.org/librepilot/librepilot.git
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Flight/TaskMonitor: Create TaskMonitor library, used to monitor the remaining task size of all running tasks.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2349 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis
vassilis
parent
1bdc03bb1c
commit
407e660c97
@ -6,7 +6,7 @@
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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#
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#
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 3 of the License, or
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@ -119,6 +119,16 @@ RTOSINCDIR = $(RTOSSRCDIR)/include
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DOXYGENDIR = ../Doc/Doxygen
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AHRSBOOTLOADER = ../Bootloaders/AHRS/
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AHRSBOOTLOADERINC = $(AHRSBOOTLOADER)/inc
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#PYMITE = $(FLIGHTLIB)/PyMite
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#PYMITELIB = $(PYMITE)/lib
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#PYMITEPLAT = $(PYMITE)/platform/openpilot
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#PYMITETOOLS = $(PYMITE)/tools
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#PYMITEVM = $(PYMITE)/vm
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#PYMITEINC = $(PYMITEVM)
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#PYMITEINC += $(PYMITEPLAT)
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#PYMITEINC += $(OUTDIR)
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#FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
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#FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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@ -134,6 +144,7 @@ SRC += ${OPMODULEDIR}/System/systemmod.c
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SRC += $(OPSYSTEM)/openpilot.c
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SRC += $(OPSYSTEM)/pios_board.c
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SRC += $(OPSYSTEM)/alarms.c
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SRC += $(OPSYSTEM)/taskmonitor.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/uavobjectsinit.c
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@ -186,6 +197,7 @@ SRC += $(OPUAVOBJ)/ratedesired.c
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SRC += $(OPUAVOBJ)/pipxtrememodemsettings.c
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SRC += $(OPUAVOBJ)/pipxtrememodemstatus.c
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SRC += $(OPUAVOBJ)/batterysettings.c
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SRC += $(OPUAVOBJ)/taskinfo.c
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endif
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## PIOS Hardware (STM32F10x)
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@ -279,6 +291,11 @@ SRC += $(DOSFSDIR)/dfs_sdcard.c
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SRC += $(AHRSBOOTLOADER)/ahrs_spi_program_master.c
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SRC += $(AHRSBOOTLOADER)/ahrs_spi_program.c
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## PyMite files
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#SRC += $(wildcard ${PYMITEVM}/*.c)
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#SRC += $(wildcard ${PYMITEPLAT}/*.c)
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#SRC += $(wildcard ${OUTDIR}/pmlib*.c)
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## Mass Storage Device
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#SRC += $(MSDDIR)/msd.c
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#SRC += $(MSDDIR)/msd_bot.c
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@ -336,6 +353,7 @@ EXTRAINCDIRS += $(RTOSINCDIR)
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EXTRAINCDIRS += $(APPLIBDIR)
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EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
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EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
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#EXTRAINCDIRS += $(PYMITEINC)
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EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc
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@ -511,6 +529,7 @@ OBJDUMP = $(TCHAIN_PREFIX)objdump
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SIZE = $(TCHAIN_PREFIX)size
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NM = $(TCHAIN_PREFIX)nm
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REMOVE = $(REMOVE_CMD) -f
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PYTHON = python
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###SHELL = sh
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###COPY = cp
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@ -538,6 +557,7 @@ MSG_CLEANING = ${quote}Cleaning project:${quote}
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MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
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MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
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MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
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#MSG_PYMITEINIT = ${quote}**** Generating PyMite intermediate code${quote}
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# List of all source files.
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ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
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@ -560,7 +580,7 @@ bin: $(OUTDIR)/$(TARGET).bin
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# Default target.
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#all: begin gccversion sizebefore build sizeafter finished end
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all: begin gccversion build sizeafter finished end
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all: begin gencode gccversion build sizeafter finished end
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ifeq ($(LOADFORMAT),ihex)
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build: elf hex lss sym
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@ -584,6 +604,10 @@ else
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quote =
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endif
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# Generate intermediate code
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gencode: ${OUTDIR}/InitMods.c #$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h
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# Generate code for module initialization
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${OUTDIR}/InitMods.c: Makefile
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@echo ${MSG_MODINIT}
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@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
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@ -592,6 +616,13 @@ ${OUTDIR}/InitMods.c: Makefile
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@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
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# Generate code for PyMite
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#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
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# @echo ${MSG_PYMITEINIT}
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# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
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# @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
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# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
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# Eye candy.
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begin:
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## @echo
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@ -670,7 +701,7 @@ endif
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$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
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# $(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
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# Assemble: create object files from assembler source files.
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define ASSEMBLE_TEMPLATE
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$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
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@ -754,6 +785,8 @@ clean_list :
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$(REMOVE) $(OUTDIR)/$(TARGET).bin
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$(REMOVE) $(OUTDIR)/$(TARGET).sym
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$(REMOVE) $(OUTDIR)/$(TARGET).lss
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$(REMOVE) $(wildcard $(OUTDIR)/*.c)
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$(REMOVE) $(wildcard $(OUTDIR)/*.h)
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$(REMOVE) $(ALLOBJ)
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$(REMOVE) $(LSTFILES)
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$(REMOVE) $(DEPFILES)
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@ -782,5 +815,5 @@ endif
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# Listing of phony targets.
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.PHONY : all begin finish end sizebefore sizeafter gccversion \
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build elf hex bin lss sym clean clean_list program
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build elf hex bin lss sym clean clean_list program gencode
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@ -78,6 +78,7 @@ int32_t AHRSCommsInitialize(void)
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// Start main task
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xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
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return 0;
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}
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@ -95,6 +95,7 @@ int32_t ActuatorInitialize()
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// Start main task
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xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
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return 0;
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}
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@ -67,6 +67,7 @@ int32_t AltitudeInitialize()
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{
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// Start main task
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xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
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// init down-sampling data
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alt_ds_temp = 0;
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@ -81,6 +81,7 @@ int32_t GPSInitialize(void)
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// Start gps task
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xReturn = xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE, NULL, TASK_PRIORITY, &gpsTaskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
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return 0;
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}
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@ -81,6 +81,7 @@ int32_t GuidanceInitialize()
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{
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// Start main task
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xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE, NULL, TASK_PRIORITY, &guidanceTaskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
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return 0;
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}
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@ -73,6 +73,7 @@ int32_t ManualControlInitialize()
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{
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// Start main task
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xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
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return 0;
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}
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@ -99,6 +99,7 @@ int32_t StabilizationInitialize()
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SettingsUpdatedCb(StabilizationSettingsHandle());
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// Start main task
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xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
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return 0;
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}
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@ -44,6 +44,7 @@
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#include "manualcontrolcommand.h"
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#include "systemstats.h"
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#include "i2cstats.h"
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#include "taskmonitor.h"
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// Private constants
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@ -97,6 +98,9 @@ static void systemTask(void *parameters)
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// System initialization
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OpenPilotInit();
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// Register task
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TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
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// Initialize vars
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idleCounter = 0;
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idleCounterClear = 0;
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@ -114,6 +118,9 @@ static void systemTask(void *parameters)
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updateSystemAlarms();
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updateI2Cstats();
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// Update the task status object
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TaskMonitorUpdateAll();
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// Flash the heartbeat LED
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PIOS_LED_Toggle(LED1);
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@ -113,6 +113,9 @@ int32_t TelemetryInitialize(void)
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xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
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xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
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xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
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return 0;
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}
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@ -65,6 +65,7 @@ int32_t WatchdogInitialize()
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// Start main task
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xTaskCreate(watchdogTask, (signed char *)"Watchdog", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_WATCHDOG, taskHandle);
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return 0;
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}
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@ -40,6 +40,7 @@
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#include "uavobjectmanager.h"
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#include "eventdispatcher.h"
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#include "alarms.h"
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#include "taskmonitor.h"
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#include "uavtalk.h"
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/* Global Functions */
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42
flight/OpenPilot/System/inc/taskmonitor.h
Normal file
42
flight/OpenPilot/System/inc/taskmonitor.h
Normal file
@ -0,0 +1,42 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotLibraries OpenPilot System Libraries
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* @{
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* @file taskmonitor.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Include file of the task monitoring library
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation; either version 3 of the License, or
|
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* (at your option) any later version.
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*
|
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef TASKMONITOR_H
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#define TASKMONITOR_H
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#include "taskinfo.h"
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int32_t TaskMonitorInitialize(void);
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int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
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void TaskMonitorUpdateAll(void);
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#endif // TASKMONITOR_H
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/**
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* @}
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* @}
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*/
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@ -63,6 +63,9 @@ void PIOS_Board_Init(void) {
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/* Initialize the alarms library */
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AlarmsInitialize();
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/* Initialize the task monitor library */
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TaskMonitorInitialize();
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/* Initialize the PiOS library */
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PIOS_COM_Init();
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PIOS_Servo_Init();
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100
flight/OpenPilot/System/taskmonitor.c
Normal file
100
flight/OpenPilot/System/taskmonitor.c
Normal file
@ -0,0 +1,100 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotLibraries OpenPilot System Libraries
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* @{
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* @file taskmonitor.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
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* @brief Task monitoring library
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* @see The GNU Public License (GPL) Version 3
|
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*
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*****************************************************************************/
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/*
|
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* 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
|
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*/
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#include "openpilot.h"
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//#include "taskmonitor.h"
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// Private constants
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// Private types
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// Private variables
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static xSemaphoreHandle lock;
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static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
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// Private functions
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/**
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* Initialize library
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*/
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int32_t TaskMonitorInitialize(void)
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{
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lock = xSemaphoreCreateRecursiveMutex();
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memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
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return 0;
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}
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|
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/**
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* Register a task handle with the library
|
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*/
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int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
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{
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if (task < TASKINFO_RUNNING_NUMELEM)
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{
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
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handles[task] = handle;
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xSemaphoreGiveRecursive(lock);
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return 0;
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}
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else
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{
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return -1;
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||||
}
|
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}
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|
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/**
|
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* Update the status of all tasks
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*/
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void TaskMonitorUpdateAll(void)
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{
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TaskInfoData data;
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int n;
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// Lock
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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|
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// Update all task information
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for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
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{
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if (handles[n] != 0)
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{
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data.Running[n] = TASKINFO_RUNNING_TRUE;
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data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
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}
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else
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{
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data.Running[n] = TASKINFO_RUNNING_FALSE;
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data.StackRemaining[n] = 0;
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}
|
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}
|
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// Update object
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TaskInfoSet(&data);
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// Done
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xSemaphoreGiveRecursive(lock);
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}
|
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103
flight/OpenPilot/UAVObjects/inc/taskinfo.h
Normal file
103
flight/OpenPilot/UAVObjects/inc/taskinfo.h
Normal file
@ -0,0 +1,103 @@
|
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/**
|
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******************************************************************************
|
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* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
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* @addtogroup TaskInfo TaskInfo
|
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* @brief Task information
|
||||
*
|
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* Autogenerated files and functions for TaskInfo Object
|
||||
|
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* @{
|
||||
*
|
||||
* @file taskinfo.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the TaskInfo object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: taskinfo.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @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
|
||||
*/
|
||||
|
||||
#ifndef TASKINFO_H
|
||||
#define TASKINFO_H
|
||||
|
||||
// Object constants
|
||||
#define TASKINFO_OBJID 3297598544U
|
||||
#define TASKINFO_NAME "TaskInfo"
|
||||
#define TASKINFO_METANAME "TaskInfoMeta"
|
||||
#define TASKINFO_ISSINGLEINST 1
|
||||
#define TASKINFO_ISSETTINGS 0
|
||||
#define TASKINFO_NUMBYTES sizeof(TaskInfoData)
|
||||
|
||||
// Object access macros
|
||||
/**
|
||||
* @function TaskInfoGet(dataOut)
|
||||
* @brief Populate a TaskInfoData object
|
||||
* @param[out] dataOut
|
||||
*/
|
||||
#define TaskInfoGet(dataOut) UAVObjGetData(TaskInfoHandle(), dataOut)
|
||||
#define TaskInfoSet(dataIn) UAVObjSetData(TaskInfoHandle(), dataIn)
|
||||
#define TaskInfoInstGet(instId, dataOut) UAVObjGetInstanceData(TaskInfoHandle(), instId, dataOut)
|
||||
#define TaskInfoInstSet(instId, dataIn) UAVObjSetInstanceData(TaskInfoHandle(), instId, dataIn)
|
||||
#define TaskInfoConnectQueue(queue) UAVObjConnectQueue(TaskInfoHandle(), queue, EV_MASK_ALL_UPDATES)
|
||||
#define TaskInfoConnectCallback(cb) UAVObjConnectCallback(TaskInfoHandle(), cb, EV_MASK_ALL_UPDATES)
|
||||
#define TaskInfoCreateInstance() UAVObjCreateInstance(TaskInfoHandle())
|
||||
#define TaskInfoRequestUpdate() UAVObjRequestUpdate(TaskInfoHandle())
|
||||
#define TaskInfoRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(TaskInfoHandle(), instId)
|
||||
#define TaskInfoUpdated() UAVObjUpdated(TaskInfoHandle())
|
||||
#define TaskInfoInstUpdated(instId) UAVObjUpdated(TaskInfoHandle(), instId)
|
||||
#define TaskInfoGetMetadata(dataOut) UAVObjGetMetadata(TaskInfoHandle(), dataOut)
|
||||
#define TaskInfoSetMetadata(dataIn) UAVObjSetMetadata(TaskInfoHandle(), dataIn)
|
||||
#define TaskInfoReadOnly(dataIn) UAVObjReadOnly(TaskInfoHandle())
|
||||
|
||||
// Object data
|
||||
typedef struct {
|
||||
uint16_t StackRemaining[12];
|
||||
uint8_t Running[12];
|
||||
|
||||
} __attribute__((packed)) TaskInfoData;
|
||||
|
||||
// Field information
|
||||
// Field StackRemaining information
|
||||
/* Array element names for field StackRemaining */
|
||||
typedef enum { TASKINFO_STACKREMAINING_SYSTEM=0, TASKINFO_STACKREMAINING_ACTUATOR=1, TASKINFO_STACKREMAINING_TELEMETRYTX=2, TASKINFO_STACKREMAINING_TELEMETRYTXPRI=3, TASKINFO_STACKREMAINING_TELEMETRYRX=4, TASKINFO_STACKREMAINING_GPS=5, TASKINFO_STACKREMAINING_MANUALCONTROL=6, TASKINFO_STACKREMAINING_ALTITUDE=7, TASKINFO_STACKREMAINING_AHRSCOMMS=8, TASKINFO_STACKREMAINING_STABILIZATION=9, TASKINFO_STACKREMAINING_GUIDANCE=10, TASKINFO_STACKREMAINING_WATCHDOG=11 } TaskInfoStackRemainingElem;
|
||||
/* Number of elements for field StackRemaining */
|
||||
#define TASKINFO_STACKREMAINING_NUMELEM 12
|
||||
// Field Running information
|
||||
/* Enumeration options for field Running */
|
||||
typedef enum { TASKINFO_RUNNING_FALSE=0, TASKINFO_RUNNING_TRUE=1 } TaskInfoRunningOptions;
|
||||
/* Array element names for field Running */
|
||||
typedef enum { TASKINFO_RUNNING_SYSTEM=0, TASKINFO_RUNNING_ACTUATOR=1, TASKINFO_RUNNING_TELEMETRYTX=2, TASKINFO_RUNNING_TELEMETRYTXPRI=3, TASKINFO_RUNNING_TELEMETRYRX=4, TASKINFO_RUNNING_GPS=5, TASKINFO_RUNNING_MANUALCONTROL=6, TASKINFO_RUNNING_ALTITUDE=7, TASKINFO_RUNNING_AHRSCOMMS=8, TASKINFO_RUNNING_STABILIZATION=9, TASKINFO_RUNNING_GUIDANCE=10, TASKINFO_RUNNING_WATCHDOG=11 } TaskInfoRunningElem;
|
||||
/* Number of elements for field Running */
|
||||
#define TASKINFO_RUNNING_NUMELEM 12
|
||||
|
||||
|
||||
// Generic interface functions
|
||||
int32_t TaskInfoInitialize();
|
||||
UAVObjHandle TaskInfoHandle();
|
||||
|
||||
#endif // TASKINFO_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
111
flight/OpenPilot/UAVObjects/taskinfo.c
Normal file
111
flight/OpenPilot/UAVObjects/taskinfo.c
Normal file
@ -0,0 +1,111 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup TaskInfo TaskInfo
|
||||
* @brief Task information
|
||||
*
|
||||
* Autogenerated files and functions for TaskInfo Object
|
||||
* @{
|
||||
*
|
||||
* @file taskinfo.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the TaskInfo object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: taskinfo.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @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 "taskinfo.h"
|
||||
|
||||
// Private variables
|
||||
static UAVObjHandle handle;
|
||||
|
||||
// Private functions
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId);
|
||||
|
||||
/**
|
||||
* Initialize object.
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
int32_t TaskInfoInitialize()
|
||||
{
|
||||
// Register object with the object manager
|
||||
handle = UAVObjRegister(TASKINFO_OBJID, TASKINFO_NAME, TASKINFO_METANAME, 0,
|
||||
TASKINFO_ISSINGLEINST, TASKINFO_ISSETTINGS, TASKINFO_NUMBYTES, &setDefaults);
|
||||
|
||||
// Done
|
||||
if (handle != 0)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize object fields and metadata with the default values.
|
||||
* If a default value is not specified the object fields
|
||||
* will be initialized to zero.
|
||||
*/
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
TaskInfoData data;
|
||||
UAVObjMetadata metadata;
|
||||
|
||||
// Initialize object fields to their default values
|
||||
UAVObjGetInstanceData(obj, instId, &data);
|
||||
memset(&data, 0, sizeof(TaskInfoData));
|
||||
|
||||
UAVObjSetInstanceData(obj, instId, &data);
|
||||
|
||||
// Initialize object metadata to their default values
|
||||
metadata.access = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.telemetryAcked = 1;
|
||||
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
|
||||
metadata.telemetryUpdatePeriod = 10000;
|
||||
metadata.gcsTelemetryAcked = 1;
|
||||
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
|
||||
metadata.loggingUpdatePeriod = 1000;
|
||||
UAVObjSetMetadata(obj, &metadata);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get object handle
|
||||
*/
|
||||
UAVObjHandle TaskInfoHandle()
|
||||
{
|
||||
return handle;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -63,6 +63,7 @@
|
||||
#include "systemalarms.h"
|
||||
#include "systemsettings.h"
|
||||
#include "systemstats.h"
|
||||
#include "taskinfo.h"
|
||||
#include "telemetrysettings.h"
|
||||
#include "velocityactual.h"
|
||||
#include "velocitydesired.h"
|
||||
@ -109,6 +110,7 @@ void UAVObjectsInitializeAll()
|
||||
SystemAlarmsInitialize();
|
||||
SystemSettingsInitialize();
|
||||
SystemStatsInitialize();
|
||||
TaskInfoInitialize();
|
||||
TelemetrySettingsInitialize();
|
||||
VelocityActualInitialize();
|
||||
VelocityDesiredInitialize();
|
||||
|
||||
@ -58,7 +58,7 @@ to exclude the API function. */
|
||||
#define INCLUDE_vTaskDelay 1
|
||||
#define INCLUDE_xTaskGetSchedulerState 1
|
||||
#define INCLUDE_xTaskGetCurrentTaskHandle 1
|
||||
#define INCLUDE_uxTaskGetStackHighWaterMark 0
|
||||
#define INCLUDE_uxTaskGetStackHighWaterMark 1
|
||||
|
||||
/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
|
||||
(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user