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OP-200 Flight/Watchdog: Have flag that is set from actuator, ahrs_comms, manual
and stabilization that is monitored by watchdog. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2078 ebee16cc-31ac-478f-84a7-5cbb03baadba
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@ -51,7 +51,6 @@
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*/
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#include "ahrs_comms.h"
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#include "ahrs_spi_comm.h"
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// Private constants
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@ -66,6 +65,9 @@ static xTaskHandle taskHandle;
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// Private functions
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static void ahrscommsTask(void *parameters);
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// Global update flag
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volatile uint8_t ahrs_updated;
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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@ -91,6 +93,8 @@ static void ahrscommsTask(void *parameters)
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// Main task loop
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while (1) {
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ahrs_updated = 1;
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AHRSSettingsData settings;
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AHRSSettingsGet(&settings);
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@ -70,6 +70,8 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
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MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
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const float period);
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// External watchdog update flag
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volatile uint8_t actuator_updated;
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//this structure is equivalent to the UAVObjects for one mixer.
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typedef struct {
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@ -125,7 +127,7 @@ static void actuatorTask(void* parameters)
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ActuatorDesiredData desired;
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MixerStatusData mixerStatus;
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ManualControlCommandData manualControl;
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ActuatorSettingsGet(&settings);
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// Set servo update frequency (done only on start-up)
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PIOS_Servo_SetHz(settings.ChannelUpdateFreq[0], settings.ChannelUpdateFreq[1]);
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@ -145,6 +147,8 @@ static void actuatorTask(void* parameters)
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setFailsafe();
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continue;
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}
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actuator_updated = 1;
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// Check how long since last update
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thisSysTime = xTaskGetTickCount();
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@ -64,6 +64,9 @@ static void manualControlTask(void *parameters);
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static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
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static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
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// Global updated variable
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volatile uint8_t manual_updated;
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/**
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* Module initialization
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*/
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@ -107,6 +110,8 @@ static void manualControlTask(void *parameters)
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// Wait until next update
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vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
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manual_updated = 1;
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// Read settings
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ManualControlSettingsGet(&settings);
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StabilizationSettingsGet(&stabSettings);
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@ -43,7 +43,6 @@
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#include "systemsettings.h"
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#include "ahrssettings.h"
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// Private constants
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#define MAX_QUEUE_SIZE 2
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#define STACK_SIZE configMINIMAL_STACK_SIZE
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@ -72,8 +71,6 @@ static xQueueHandle queue;
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float dT = 1;
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pid_type pids[PID_MAX];
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// Private functions
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static void stabilizationTask(void* parameters);
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static float ApplyPid(pid_type * pid, const float desired, const float actual, const uint8_t angular);
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@ -81,6 +78,9 @@ static float bound(float val);
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static void ZeroPids(void);
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static void SettingsUpdatedCb(UAVObjEvent * ev);
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// Global updated variable
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volatile uint8_t stabilization_updated;
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/**
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* Module initialization
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*/
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@ -132,6 +132,8 @@ static void stabilizationTask(void* parameters)
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{
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AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
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}
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stabilization_updated = 1;
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// Check how long since last update
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thisSysTime = xTaskGetTickCount();
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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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// Private constants
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#define SYSTEM_UPDATE_PERIOD_MS 1000
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#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
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@ -1,8 +1,33 @@
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/**
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******************************************************************************
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*
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* @file watchdog.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Watchdog module which must run every 250 ms
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*
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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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* watchdog.h
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* OpenPilotOSX
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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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* Created by James Cotton on 8/10/10.
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* Copyright 2010 OpenPilot. All rights reserved.
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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 WATCHDOG_H
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#define WATCHDOG_H
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extern volatile uint8_t actuator_updated;
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extern volatile uint8_t stabilization_updated;
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extern volatile uint8_t ahrs_updated;
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extern volatile uint8_t manual_updated;
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#endif /* WATCHDOG_H */
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*/
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#include "openpilot.h"
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#include "watchdog.h"
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#include "pios_wdg.h"
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#include "watchdog.h"
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// Private constants
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// TODO: Look up maximum task priority and set this to it. Not trying to replicate CPU load.
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@ -51,12 +51,18 @@ static xTaskHandle taskHandle;
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// Private functions
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static void watchdogTask(void *parameters);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t WatchdogInitialize()
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{
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actuator_updated = 0;
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stabilization_updated = 0;
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ahrs_updated = 0;
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manual_updated = 0;
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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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@ -78,7 +84,14 @@ static void watchdogTask(void *parameters)
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1) {
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PIOS_WDG_Clear();
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if(actuator_updated && stabilization_updated &&
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ahrs_updated && manual_updated) {
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PIOS_WDG_Clear();
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actuator_updated = 0;
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stabilization_updated = 0;
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ahrs_updated = 0;
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manual_updated = 0;
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}
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vTaskDelayUntil(&lastSysTime, delay);
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}
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