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Code Issues Releases Activity

Flight/System Restructure start-up code, now all initialization in done after the RTOS is started

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@541 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-04-25 02:21:03 +00:00 committed by vassilis
parent 4f0377194d
commit 7b99c3d7f0
6 changed files with 79 additions and 58 deletions
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6
flight/OpenPilot/Modules/Example/examplemodperiodic.c
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@ -49,7 +49,7 @@
#include "examplesettings.h" // object holding module settings
// Private constants
#define STACK_SIZE 200
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types
@ -80,8 +80,10 @@ static void exampleTask(void* parameters)
ExampleSettingsData settings;
ExampleObject2Data data;
int32_t step;
portTickType lastSysTime;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
// Update settings with latest value
@ -124,6 +126,6 @@ static void exampleTask(void* parameters)
// block the task until it is time for the next update.
// The settings field is in ms, to convert to RTOS ticks we need
// to divide by portTICK_RATE_MS.
vTaskDelay( settings.UpdatePeriod / portTICK_RATE_MS );
vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS );
}
}

2
flight/OpenPilot/Modules/Example/examplemodthread.c
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@ -50,7 +50,7 @@
// Private constants
#define MAX_QUEUE_SIZE 20
#define STACK_SIZE 200
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types

59
flight/OpenPilot/Modules/System/systemmod.c
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@ -29,21 +29,24 @@
#include "systemstats.h"
// Private constants
#define STATS_UPDATE_PERIOD_MS 1000
#define SYSTEM_UPDATE_PERIOD_MS 1000
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
// must be updated if the FreeRTOS or compiler
// optimisation options are changed.
// must be updated if the FreeRTOS or compiler
// optimisation options are changed.
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
// Private types
// Private variables
static uint32_t idleCounter;
static uint32_t idleCounterClear;
static xSemaphoreHandle mutex;
static xTaskHandle systemTaskHandle;
// Private functions
static void ObjectUpdatedCb(UAVObjEvent* ev);
static void StatsUpdateCb(UAVObjEvent* ev);
static void objectUpdatedCb(UAVObjEvent* ev);
static void updateStats();
static void systemTask(void* parameters);
/**
* Initialise the module, called on startup.
@ -51,27 +54,47 @@ static void StatsUpdateCb(UAVObjEvent* ev);
*/
int32_t SystemModInitialize(void)
{
UAVObjEvent ev;
// Create system task
xTaskCreate(systemTask, (signed char*)"System", STACK_SIZE, NULL, TASK_PRIORITY, &systemTaskHandle);
return 0;
}
// Create the mutex
mutex = xSemaphoreCreateRecursiveMutex();
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void systemTask(void* parameters)
{
portTickType lastSysTime;
// Listen for ExampleObject1 updates, connect a callback function
SettingsPersistenceConnectCallback(&ObjectUpdatedCb);
// System initialization
OpenPilotInit();
// Create periodic event that will be used to update the system stats
// Initialize vars
idleCounter = 0;
idleCounterClear = 0;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicCallbackCreate(&ev, StatsUpdateCb, STATS_UPDATE_PERIOD_MS);
lastSysTime = xTaskGetTickCount();
return 0;
// Listen for SettingPersistance object updates, connect a callback function
SettingsPersistenceConnectCallback(&objectUpdatedCb);
// Main system loop
while (1)
{
// Update the system statistics
updateStats();
// Flash the LED
PIOS_LED_Toggle(LED1);
// Wait until next period
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
/**
* Function called in response to object updates
*/
static void ObjectUpdatedCb(UAVObjEvent* ev)
static void objectUpdatedCb(UAVObjEvent* ev)
{
SettingsPersistenceData setper;
@ -96,7 +119,7 @@ static void ObjectUpdatedCb(UAVObjEvent* ev)
/**
* Called periodically to update the system stats
*/
static void StatsUpdateCb(UAVObjEvent* ev)
static void updateStats()
{
SystemStatsData stats;
@ -104,7 +127,7 @@ static void StatsUpdateCb(UAVObjEvent* ev)
SystemStatsGet(&stats);
stats.FlightTime = xTaskGetTickCount()*portTICK_RATE_MS;
stats.HeapRemaining = xPortGetFreeHeapSize();
stats.CPULoad = 100 - (uint8_t)round(100.0*((float)idleCounter/(float)(STATS_UPDATE_PERIOD_MS/1000))/(float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
stats.CPULoad = 100 - (uint8_t)round(100.0*((float)idleCounter/(float)(SYSTEM_UPDATE_PERIOD_MS/1000))/(float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
idleCounterClear = 1;
SystemStatsSet(&stats);
}

3
flight/OpenPilot/Modules/Telemetry/telemetry.c
View File

@ -312,8 +312,7 @@ static void telemetryRxTask(void* parameters)
//}
// Block until data are available
// TODO: Update once the PIOS_COM is made blocking
//xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
// TODO: Currently we periodically check the buffer for data, update once the PIOS_COM is made blocking
len = PIOS_COM_ReceiveBufferUsed(inputPort);
for (int32_t n = 0; n < len; ++n)
{

2
flight/OpenPilot/System/inc/openpilot.h
View File

@ -44,6 +44,6 @@
#include "uavtalk.h"
/* Global Functions */
extern void OpenPilotInit(void);
void OpenPilotInit(void);
#endif /* OPENPILOT_H */

65
flight/OpenPilot/System/openpilot.c
View File

@ -58,9 +58,37 @@ void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
*/
int main()
{
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in */
/* OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Initialize the system thread */
SystemModInitialize();
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
for(;;) {
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
PIOS_DELAY_WaitmS(100);
}
return 0;
}
/**
* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
*/
void OpenPilotInit()
{
/* Delay system */
PIOS_DELAY_Init();
@ -74,7 +102,7 @@ int main()
for(;;)
{
/* Check if we have an SD Card with the correct settings files on it */
if(!PIOS_SDCARD_MountFS(STARTUP_LOG_ENABLED)) {
if(!PIOS_SDCARD_MountFS(0)) {
/* Found one without errors */
break;
}
@ -115,47 +143,16 @@ int main()
PIOS_Servo_SetHz(50, 450);
/* Create a FreeRTOS task */
xTaskCreate(TaskTick, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
//xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
/* Initialize modules */
SystemModInitialize();
TelemetryInitialize();
ExampleModPeriodicInitialize();
//ExampleModPeriodicInitialize();
//ExampleModThreadInitialize();
//ExampleModEventInitialize();
ExampleModEventInitialize();
GpsInitialize();
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
for(;;) {
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
PIOS_DELAY_WaitmS(100);
}
return 0;
}
static void TaskTick(void *pvParameters)
{
portTickType xLastExecutionTime;
/* Setup the LEDs to Alternate */
PIOS_LED_On(LED1);
for(;;)
{
PIOS_LED_Toggle(LED1);
vTaskDelayUntil(&xLastExecutionTime, 1000 / portTICK_RATE_MS);
}
}
static void TaskTesting(void *pvParameters)