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

flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c

@@ -51,7 +51,6 @@
  */
 
 #include "ahrs_comms.h"
-
 #include "ahrs_spi_comm.h"
 
 // Private constants
@@ -66,6 +65,9 @@ static xTaskHandle taskHandle;
 // Private functions
 static void ahrscommsTask(void *parameters);
 
+// Global update flag
+volatile uint8_t ahrs_updated;
+
 /**
  * Initialise the module, called on startup
  * \returns 0 on success or -1 if initialisation failed
@@ -91,6 +93,8 @@ static void ahrscommsTask(void *parameters)
 
 	// Main task loop
 	while (1) {
+		ahrs_updated = 1;
+		
 		AHRSSettingsData settings;
 		AHRSSettingsGet(&settings);
 

flight/OpenPilot/Modules/Actuator/actuator.c

@@ -70,6 +70,8 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
 		   MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
 		   const float period);
 
+// External watchdog update flag
+volatile uint8_t actuator_updated;
 
 //this structure is equivalent to the UAVObjects for one mixer.
 typedef struct {
@@ -125,7 +127,7 @@ static void actuatorTask(void* parameters)
 	ActuatorDesiredData desired;
 	MixerStatusData mixerStatus;
 	ManualControlCommandData manualControl;
-
+	
 	ActuatorSettingsGet(&settings);
 	// Set servo update frequency (done only on start-up)
 	PIOS_Servo_SetHz(settings.ChannelUpdateFreq[0], settings.ChannelUpdateFreq[1]);
@@ -145,6 +147,8 @@ static void actuatorTask(void* parameters)
 			setFailsafe();
 			continue;
 		}
+		
+		actuator_updated = 1;
 
 		// Check how long since last update
 		thisSysTime = xTaskGetTickCount();

flight/OpenPilot/Modules/ManualControl/manualcontrol.c

@@ -64,6 +64,9 @@ static void manualControlTask(void *parameters);
 static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
 static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
 
+// Global updated variable
+volatile uint8_t manual_updated;
+
 /**
  * Module initialization
  */
@@ -107,6 +110,8 @@ static void manualControlTask(void *parameters)
 		// Wait until next update
 		vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
 
+		manual_updated = 1;
+		
 		// Read settings
 		ManualControlSettingsGet(&settings);
 		StabilizationSettingsGet(&stabSettings);

flight/OpenPilot/Modules/Stabilization/stabilization.c

@@ -43,7 +43,6 @@
 #include "systemsettings.h"
 #include "ahrssettings.h"
 
-
 // Private constants
 #define MAX_QUEUE_SIZE 2
 #define STACK_SIZE configMINIMAL_STACK_SIZE
@@ -72,8 +71,6 @@ static xQueueHandle queue;
 float dT = 1;
 pid_type pids[PID_MAX];
 
-
-
 // Private functions
 static void stabilizationTask(void* parameters);
 static float ApplyPid(pid_type * pid, const float desired, const float actual, const uint8_t angular);
@@ -81,6 +78,9 @@ static float bound(float val);
 static void ZeroPids(void);
 static void SettingsUpdatedCb(UAVObjEvent * ev);
 
+// Global updated variable
+volatile uint8_t stabilization_updated;
+
 /**
  * Module initialization
  */
@@ -132,6 +132,8 @@ static void stabilizationTask(void* parameters)
 		{
 			AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
 		}
+		
+		stabilization_updated = 1;
 
 		// Check how long since last update
 		thisSysTime = xTaskGetTickCount();

flight/OpenPilot/Modules/System/systemmod.c

@@ -44,6 +44,7 @@
 #include "manualcontrolcommand.h"
 #include "systemstats.h"
 
+
 // Private constants
 #define SYSTEM_UPDATE_PERIOD_MS 1000
 #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998	// calibrated by running tests/test_cpuload.c

flight/OpenPilot/Modules/Watchdog/inc/watchdog.h

@@ -1,8 +1,33 @@
+/**
+ ******************************************************************************
+ *
+ * @file       watchdog.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Watchdog module which must run every 250 ms
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
 /*
- *  watchdog.h
- *  OpenPilotOSX
+ * 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.
  *
- *  Created by James Cotton on 8/10/10.
- *  Copyright 2010 OpenPilot. All rights reserved.
+ * 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 WATCHDOG_H
+#define WATCHDOG_H
+extern volatile uint8_t actuator_updated;
+extern volatile uint8_t stabilization_updated;
+extern volatile uint8_t ahrs_updated;
+extern volatile uint8_t manual_updated;
+#endif /* WATCHDOG_H */

flight/OpenPilot/Modules/Watchdog/watchdog.c

@@ -34,8 +34,8 @@
  */
 
 #include "openpilot.h"
-#include "watchdog.h"
 #include "pios_wdg.h"
+#include "watchdog.h"
 
 // Private constants
 // TODO: Look up maximum task priority and set this to it.  Not trying to replicate CPU load.
@@ -51,12 +51,18 @@ static xTaskHandle taskHandle;
 // Private functions
 static void watchdogTask(void *parameters);
 
+
 /**
  * Initialise the module, called on startup
  * \returns 0 on success or -1 if initialisation failed
  */
 int32_t WatchdogInitialize()
 {
+	actuator_updated = 0;
+	stabilization_updated = 0;
+	ahrs_updated = 0;
+	manual_updated = 0;
+	
 	// Start main task
 	xTaskCreate(watchdogTask, (signed char *)"Watchdog", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
 
@@ -78,7 +84,14 @@ static void watchdogTask(void *parameters)
 	// Main task loop
 	lastSysTime = xTaskGetTickCount();
 	while (1) {
-		PIOS_WDG_Clear();
+		if(actuator_updated && stabilization_updated && 
+		   ahrs_updated && manual_updated) {
+			PIOS_WDG_Clear();
+			actuator_updated = 0;
+			stabilization_updated = 0;
+			ahrs_updated = 0;
+			manual_updated = 0;
+		}
 
 		vTaskDelayUntil(&lastSysTime, delay);
 	}