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Code Issues Releases Activity

Addes ifdef PIOS_INCLUDE_WDG around several calls to the wathdog functions for the Revolution firmware (allows you to turn off the watchdog).

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This commit is contained in:
Brian Webb 2013-05-19 12:56:23 -07:00
parent 900f643bbd
commit 649667d338
3 changed files with 14 additions and 0 deletions
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4
flight/modules/Attitude/revolution/attitude.c
View File

@ -219,7 +219,9 @@ int32_t AttitudeStart(void)
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &attitudeTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
#endif
GyrosConnectQueue(gyroQueue);
AccelsConnectQueue(accelQueue);
@ -277,7 +279,9 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
initialization_required = true;
}
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
#endif
}
}

8
flight/modules/Sensors/sensors.c
View File

@ -136,7 +136,9 @@ int32_t SensorsStart(void)
// Start main task
xTaskCreate(SensorsTask, (signed char *)"Sensors", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
#endif
return 0;
}
@ -206,7 +208,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
if (accel_test < 0 || gyro_test < 0 || mag_test < 0) {
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
#endif
vTaskDelay(10);
}
}
@ -221,7 +225,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
timeval = PIOS_DELAY_GetRaw();
if (error) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
#endif
lastSysTime = xTaskGetTickCount();
vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
@ -419,7 +425,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
}
#endif /* if defined(PIOS_INCLUDE_HMC5883) */
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
#endif
lastSysTime = xTaskGetTickCount();
}

2
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -391,7 +391,9 @@ void PIOS_Board_Init(void)
PIOS_IAP_WriteBootCmd(1, 0);
PIOS_IAP_WriteBootCmd(2, 0);
}
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_Init();
#endif
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();