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Code Issues Releases Activity

Merge remote-tracking branch 'origin/amorale/OP-1294_fix_stacks_heap_cc' into next

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This commit is contained in:
Alessio Morale 2014-04-15 21:46:26 +02:00
commit 82139a6e44
6 changed files with 64 additions and 46 deletions
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37
flight/modules/ManualControl/manualcontrol.c
View File

@ -57,7 +57,7 @@
// defined handlers
static controlHandler handler_MANUAL = {
static const controlHandler handler_MANUAL = {
.controlChain = {
.Stabilization = false,
.PathFollower = false,
@ -65,7 +65,7 @@ static controlHandler handler_MANUAL = {
},
.handler = &manualHandler,
};
static controlHandler handler_STABILIZED = {
static const controlHandler handler_STABILIZED = {
.controlChain = {
.Stabilization = true,
.PathFollower = false,
@ -74,16 +74,8 @@ static controlHandler handler_STABILIZED = {
.handler = &stabilizedHandler,
};
// TODO: move the altitude handling into stabi
static controlHandler handler_ALTITUDE = {
.controlChain = {
.Stabilization = true,
.PathFollower = false,
.PathPlanner = false,
},
.handler = &altitudeHandler,
};
static controlHandler handler_AUTOTUNE = {
static const controlHandler handler_AUTOTUNE = {
.controlChain = {
.Stabilization = false,
.PathFollower = false,
@ -92,7 +84,18 @@ static controlHandler handler_AUTOTUNE = {
.handler = NULL,
};
static controlHandler handler_PATHFOLLOWER = {
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
// TODO: move the altitude handling into stabi
static const controlHandler handler_ALTITUDE = {
.controlChain = {
.Stabilization = true,
.PathFollower = false,
.PathPlanner = false,
},
.handler = &altitudeHandler,
};
static const controlHandler handler_PATHFOLLOWER = {
.controlChain = {
.Stabilization = true,
.PathFollower = true,
@ -101,7 +104,7 @@ static controlHandler handler_PATHFOLLOWER = {
.handler = &pathFollowerHandler,
};
static controlHandler handler_PATHPLANNER = {
static const controlHandler handler_PATHPLANNER = {
.controlChain = {
.Stabilization = true,
.PathFollower = true,
@ -110,7 +113,7 @@ static controlHandler handler_PATHPLANNER = {
.handler = &pathPlannerHandler,
};
#endif
// Private variables
static DelayedCallbackInfo *callbackHandle;
@ -192,7 +195,7 @@ static void manualControlTask(void)
}
// Depending on the mode update the Stabilization or Actuator objects
controlHandler *handler = &handler_MANUAL;
const controlHandler *handler = &handler_MANUAL;
switch (newMode) {
case FLIGHTSTATUS_FLIGHTMODE_MANUAL:
handler = &handler_MANUAL;
@ -202,6 +205,7 @@ static void manualControlTask(void)
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
handler = &handler_STABILIZED;
break;
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL:
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
@ -216,6 +220,7 @@ static void manualControlTask(void)
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO:
handler = &handler_ALTITUDE;
break;
#endif
case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE:
handler = &handler_AUTOTUNE;
break;

41
flight/modules/Telemetry/telemetry.c
View File

@ -40,15 +40,29 @@
#include "taskinfo.h"
// Private constants
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
#define STACK_SIZE_BYTES PIOS_TELEM_STACK_SIZE
#define TASK_PRIORITY_RX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_RADRX (tskIDLE_PRIORITY + 2)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 2
#define STATS_UPDATE_PERIOD_MS 4000
#define CONNECTION_TIMEOUT_MS 8000
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
// Three different stack size parameter are accepted for Telemetry(RX PIOS_TELEM_RX_STACK_SIZE)
// Tx(PIOS_TELEM_TX_STACK_SIZE) and Radio RX(PIOS_TELEM_RADIO_RX_STACK_SIZE)
#ifdef PIOS_TELEM_RX_STACK_SIZE
#define STACK_SIZE_RX_BYTES PIOS_TELEM_RX_STACK_SIZE
#define STACK_SIZE_TX_BYTES PIOS_TELEM_TX_STACK_SIZE
#else
#define STACK_SIZE_RX_BYTES PIOS_TELEM_STACK_SIZE
#define STACK_SIZE_TX_BYTES PIOS_TELEM_STACK_SIZE
#endif
#ifdef PIOS_TELEM_RADIO_RX_STACK_SIZE
#define STACK_SIZE_RADIO_RX_BYTES PIOS_TELEM_RADIO_RX_STACK_SIZE
#else
#define STACK_SIZE_RADIO_RX_BYTES STACK_SIZE_RX_BYTES
#endif
#define TASK_PRIORITY_RX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_RADRX (tskIDLE_PRIORITY + 2)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 2
#define STATS_UPDATE_PERIOD_MS 4000
#define CONNECTION_TIMEOUT_MS 8000
// Private types
@ -110,13 +124,13 @@ int32_t TelemetryStart(void)
GCSTelemetryStatsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_TX_BYTES / 4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_RX_BYTES / 4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#ifdef PIOS_INCLUDE_RFM22B
xTaskCreate(radioRxTask, (signed char *)"RadioRx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_RADRX, &radioRxTaskHandle);
xTaskCreate(radioRxTask, (signed char *)"RadioRx", STACK_SIZE_RADIO_RX_BYTES / 4, NULL, TASK_PRIORITY_RADRX, &radioRxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RADIORX, radioRxTaskHandle);
#endif
@ -391,7 +405,6 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
if (xQueueReceive(queue, &ev, 0) == pdTRUE) {
// Process event
processObjEvent(&ev);
// if both queues are empty, wait on priority queue for updates (1 tick) then repeat cycle
} else if (xQueueReceive(priorityQueue, &ev, 1) == pdTRUE) {
// Process event
@ -458,8 +471,6 @@ static void radioRxTask(__attribute__((unused)) void *parameters)
}
}
}
/**
* Transmit data buffer to the radioport.
* \param[in] data Data buffer to send

2
flight/pios/common/pios_callbackscheduler.c
View File

@ -33,7 +33,7 @@
// Private constants
#define STACK_SAFETYCOUNT 16
#define STACK_SIZE (384 + STACK_SAFETYSIZE)
#define STACK_SIZE (190 + STACK_SAFETYSIZE)
#define STACK_SAFETYSIZE 8
#define MAX_SLEEP 1000

10
flight/targets/boards/coptercontrol/firmware/inc/FreeRTOSConfig.h
View File

@ -23,7 +23,7 @@
/* Notes: We use 5 task priorities */
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCPU_CLOCK_HZ ((unsigned long)72000000)
@ -31,7 +31,7 @@
#define configMAX_PRIORITIES ((unsigned portBASE_TYPE)5)
#define configMINIMAL_STACK_SIZE ((unsigned short)48)
#define configTOTAL_HEAP_SIZE ((size_t)(53 * 256))
#define configMAX_TASK_NAME_LEN (16)
#define configMAX_TASK_NAME_LEN (6)
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 0
@ -39,7 +39,7 @@
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_ALTERNATIVE_API 0
#define configQUEUE_REGISTRY_SIZE 10
#define configQUEUE_REGISTRY_SIZE 0
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
@ -52,10 +52,10 @@
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskSuspend 0
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetSchedulerState 0
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1

18
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -144,7 +144,7 @@
/* Stabilization options */
/* #define PIOS_QUATERNION_STABILIZATION */
#define PIOS_EXCLUDE_ADVANCED_FEATURES
/* Performance counters */
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
@ -157,18 +157,22 @@
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 1020
#define PIOS_MANUAL_STACK_SIZE 850
#define PIOS_ACTUATOR_STACK_SIZE 820
#define PIOS_MANUAL_STACK_SIZE 635
#define PIOS_RECEIVER_STACK_SIZE 620
#define PIOS_STABILIZATION_STACK_SIZE 780
#ifdef DIAG_TASKS
#define PIOS_SYSTEM_STACK_SIZE 720
#define PIOS_SYSTEM_STACK_SIZE 740
#else
#define PIOS_SYSTEM_STACK_SIZE 660
#endif
#define PIOS_TELEM_STACK_SIZE 540
#define PIOS_EVENTDISPATCHER_STACK_SIZE 160
#define PIOS_TELEM_RX_STACK_SIZE 410
#define PIOS_TELEM_TX_STACK_SIZE 560
#define PIOS_EVENTDISPATCHER_STACK_SIZE 95
/* This can't be too high to stop eventdispatcher thread overflowing */
#define PIOS_EVENTDISAPTCHER_QUEUE 10
#define PIOS_EVENTDISAPTCHER_QUEUE 10
/* Revolution series */
/* #define REVOLUTION */

2
shared/uavobjectdefinition/taskinfo.xml
View File

@ -56,7 +56,6 @@
<elementname>FlightPlan</elementname>
<!-- telemetry -->
<elementname>TelemetryTx</elementname>
<elementname>TelemetryTxPri</elementname>
<elementname>TelemetryRx</elementname>
<!-- com -->
<elementname>RadioRx</elementname>
@ -94,7 +93,6 @@
<elementname>FlightPlan</elementname>
<!-- telemetry -->
<elementname>TelemetryTx</elementname>
<elementname>TelemetryTxPri</elementname>
<elementname>TelemetryRx</elementname>
<!-- com -->
<elementname>RadioRx</elementname>