OP-886 Improvements to sanitychecks

Added an Extensions to Alarm for detailed status/substatus reporting.
Extended Alarms are the first in the Alarm structure and have corresponding fields in Status and Substatus structures.
Also added a filter to the HWsettings update to prevent to block arming when actual settings have not changed.

+review OPReview

flight/Libraries/alarms.c

@@ -87,6 +87,42 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
 
 }
 
+/**
+ * Set an Extended Alarm
+ * @param alarm The system alarm to be modified
+ * @param severity The alarm severity
+ * @param status: the Extended alarm status field
+ * @param subStatus: the Extended alarm substatus field
+ * @return 0 if success, -1 if an error
+ */
+int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity, uint8_t status, uint8_t subStatus)
+{
+    SystemAlarmsData alarms;
+
+        // Check that this is a valid alarm
+        if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM)
+        {
+            return -1;
+        }
+
+        // Lock
+        xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+        // Read alarm and update its severity only if it was changed
+        SystemAlarmsGet(&alarms);
+        if ( alarms.Alarm[alarm] != severity )
+        {
+            alarms.ExtendedAlarmStatus[alarm] = status;
+            alarms.ExtendedAlarmSubStatus[alarm] = subStatus;
+            alarms.Alarm[alarm] = severity;
+            SystemAlarmsSet(&alarms);
+        }
+
+        // Release lock
+        xSemaphoreGiveRecursive(lock);
+        return 0;
+}
+
 /**
  * Get an alarm
  * @param alarm The system alarm to be read
@@ -136,7 +172,11 @@ void AlarmsDefaultAll()
  */
 int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
 {
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
+    if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM){
+        return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, 0, 0);
+    } else {
+        return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
+    }
 }
 
 /**

flight/Libraries/inc/alarms.h

@@ -33,6 +33,7 @@
 
 int32_t AlarmsInitialize(void);
 int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
+int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity, uint8_t status, uint8_t subStatus);
 SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
 int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
 void AlarmsDefaultAll();

flight/Libraries/inc/sanitycheck.h

@@ -29,6 +29,17 @@
 #ifndef SANITYCHECK_H
 #define SANITYCHECK_H
 
+#define SANITYCHECK_STATUS_ERROR_NONE 0
+#define SANITYCHECK_STATUS_ERROR_FLIGHTMODE 1
+
+#define BOOTFAULT_STATUS_ERROR_NONE 0
+#define BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT 1
+
+#if (SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM != SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM) || \
+    (SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM > SYSTEMALARMS_ALARM_NUMELEM)
+#error incongruent SystemAlarms. Please revise the UAVO definition in SystemAlarm.xml
+#endif
+
 extern int32_t configuration_check();
 
-#endif /* SANITYCHECK_H */
+#endif /* SANITYCHECK_H */

flight/Libraries/sanitycheck.c

@@ -49,8 +49,9 @@ static int32_t check_stabilization_settings(int index, bool multirotor);
  */
 int32_t configuration_check()
 {
-	int32_t status = SYSTEMALARMS_ALARM_OK;
-
+	int32_t severity = SYSTEMALARMS_ALARM_OK;
+	uint8_t alarmstatus = SANITYCHECK_STATUS_ERROR_NONE;
+	uint8_t alarmsubstatus = 0;
 	// Get board type
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;	
 	bool coptercontrol = bdinfo->board_type == 0x04;
@@ -85,58 +86,61 @@ int32_t configuration_check()
 	for(uint32_t i = 0; i < num_modes; i++) {
 		switch(modes[i]) {
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
-				if (multirotor)
-					status = SYSTEMALARMS_ALARM_ERROR;
+				if (multirotor) {
+					severity = SYSTEMALARMS_ALARM_ERROR;
+				}
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
-				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : status;
+				severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : severity;
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
-				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : status;
+				severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : severity;
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
-				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : status;
+				severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : severity;
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
-				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE))
-					status = SYSTEMALARMS_ALARM_ERROR;
+				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE)) {
+					severity = SYSTEMALARMS_ALARM_ERROR;
+				}
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
-				if (coptercontrol)
-					status = SYSTEMALARMS_ALARM_ERROR;
-				else {
-					// Revo supports altitude hold
-				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD))
-						status = SYSTEMALARMS_ALARM_ERROR;
+				if (coptercontrol) {
+					severity = SYSTEMALARMS_ALARM_ERROR;
+				} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
+						severity = SYSTEMALARMS_ALARM_ERROR;
 				}
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
-				if (coptercontrol)
-					status = SYSTEMALARMS_ALARM_ERROR;
-				else {
-					// Revo supports altitude hold
-					if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
-						status = SYSTEMALARMS_ALARM_ERROR;
+				if (coptercontrol) {
+					severity = SYSTEMALARMS_ALARM_ERROR;
+				} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
+						severity = SYSTEMALARMS_ALARM_ERROR;
 				}
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
-				if (coptercontrol)
-					status = SYSTEMALARMS_ALARM_ERROR;
-				else {
-					// Revo supports altitude hold
-					if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
-						status = SYSTEMALARMS_ALARM_ERROR;
+				if (coptercontrol){
+					severity = SYSTEMALARMS_ALARM_ERROR;
+				} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
+					severity = SYSTEMALARMS_ALARM_ERROR;
 				}
 				break;
 			default:
 				// Uncovered modes are automatically an error
-				status = SYSTEMALARMS_ALARM_ERROR;
+				severity = SYSTEMALARMS_ALARM_ERROR;
 		}
+		// mark the first encountered erroneous setting in status and substatus
+		if(severity != SYSTEMALARMS_ALARM_OK && alarmstatus == SANITYCHECK_STATUS_ERROR_NONE)
+		{
+		    alarmstatus = SANITYCHECK_STATUS_ERROR_FLIGHTMODE;
+		    alarmsubstatus = i;
+		}
+
 	}
 
 	// TODO: Check on a multirotor no axis supports "None"
-	if(status != SYSTEMALARMS_ALARM_OK)
-		AlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, status);
+	if(severity != SYSTEMALARMS_ALARM_OK)
+		ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
 	else
 		AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
 

flight/Modules/System/systemmod.c

@@ -49,6 +49,8 @@
 #include "watchdogstatus.h"
 #include "taskmonitor.h"
 #include "hwsettings.h"
+#include <sanitycheck.h>
+
 
 //#define DEBUG_THIS_FILE
 
@@ -85,6 +87,7 @@ static xTaskHandle systemTaskHandle;
 static xQueueHandle objectPersistenceQueue;
 static bool stackOverflow;
 static bool mallocFailed;
+static HwSettingsData bootHwSettings;
 
 // Private functions
 static void objectUpdatedCb(UAVObjEvent * ev);
@@ -171,6 +174,8 @@ static void systemTask(void *parameters)
 	// Listen for SettingPersistance object updates, connect a callback function
 	ObjectPersistenceConnectQueue(objectPersistenceQueue);
 
+    // Load a copy of HwSetting active at boot time
+    HwSettingsGet(&bootHwSettings);
 	// Whenever the configuration changes, make sure it is safe to fly
 	HwSettingsConnectCallback(hwSettingsUpdatedCb);
 
@@ -303,9 +308,10 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 				retval = UAVObjDeleteMetaobjects();
 			}
 		} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
-			retval = -1;
 #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
 			retval = PIOS_FLASHFS_Format(0);
+#else
+            retval = -1;
 #endif
 		}
 		switch(retval) {
@@ -328,7 +334,14 @@ static void objectUpdatedCb(UAVObjEvent * ev)
  */
 static void hwSettingsUpdatedCb(UAVObjEvent * ev)
 {
-	AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR);
+    HwSettingsData currentHwSettings;
+    HwSettingsGet(&currentHwSettings);
+    // check whether the Hw Configuration has changed from the one used at boot time
+    if(!memcmp(&bootHwSettings,&currentHwSettings,sizeof(HwSettingsData))){
+        return;
+    }
+
+	ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR,BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT, 0);
 }
 
 /**

flight/targets/CopterControl/Makefile

@@ -62,7 +62,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/coptercontrol.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c

flight/targets/CopterControl/System/inc/alarms.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @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 ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */

flight/targets/OSD/Makefile

@@ -48,7 +48,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/osd.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c

flight/targets/OSD/System/alarms.c

@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @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 "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-

flight/targets/OSD/System/inc/alarms.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @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 ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */

flight/targets/PipXtreme/System/alarms.c

@@ -1,214 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @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 "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-    SystemAlarmsInitialize();
-    
-	lock = xSemaphoreCreateRecursiveMutex();
-	//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
-	//AlarmsClearAll();
-	//AlarmsDefaultAll();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-

flight/targets/RevoMini/Makefile

@@ -66,7 +66,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/revolution.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c

flight/targets/RevoMini/System/alarms.c

@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @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 "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-

flight/targets/RevoMini/System/inc/alarms.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @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 ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */

flight/targets/Revolution/Makefile

@@ -66,7 +66,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/revolution.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c

flight/targets/Revolution/System/alarms.c

@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @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 "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-

flight/targets/Revolution/System/inc/alarms.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @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 ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */

flight/targets/SimPosix/Makefile

@@ -78,7 +78,7 @@ SRC += ${OUTDIR}/InitMods.c
 SRC += ${OPMODULEDIR}/System/systemmod.c
 SRC += $(OPSYSTEM)/simposix.c
 SRC += $(OPSYSTEM)/pios_board.c
-SRC += $(OPSYSTEM)/alarms.c
+SRC += $(FLIGHTLIB)/alarms.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c

flight/targets/SimPosix/System/alarms.c

@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @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 "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-

flight/targets/SimPosix/System/inc/alarms.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @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 ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */

shared/uavobjectdefinition/systemalarms.xml

@@ -1,12 +1,13 @@
 <xml>
     <object name="SystemAlarms" singleinstance="true" settings="false">
-        <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.</description>
+        <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.Some modules may have a module defined Status and Substatus fields that details its condition</description>
         <field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical" defaultvalue="Uninitialised">
 		<elementnames>
+			<elementname>SystemConfiguration</elementname>
+			<elementname>BootFault</elementname>
 			<elementname>OutOfMemory</elementname>
 			<elementname>StackOverflow</elementname>
 			<elementname>CPUOverload</elementname>
-			<elementname>SystemConfiguration</elementname>
 			<elementname>EventSystem</elementname>
 			<elementname>Telemetry</elementname>
 			<elementname>ManualControl</elementname>
@@ -19,10 +20,21 @@
 			<elementname>FlightTime</elementname>
 			<elementname>I2C</elementname>
 			<elementname>GPS</elementname>
-			<elementname>BootFault</elementname>
 			<elementname>Power</elementname>
 		</elementnames>
 	</field>
+	<field name="ExtendedAlarmStatus" units="" type="uint8" defaultvalue="0">
+		<elementnames>
+			<elementname>SystemConfiguration</elementname>
+			<elementname>BootFault</elementname>
+		</elementnames>
+	</field>
+	<field name="ExtendedAlarmSubStatus" units="" type="uint8" defaultvalue="0">
+		<elementnames>
+			<elementname>SystemConfiguration</elementname>
+			<elementname>BootFault</elementname>
+		</elementnames>
+	</field>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>