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Code Issues Releases Activity

OP-936: Moves the task monitor code out of the flight library and into PiOS.

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This move and rework also breaks the dependency of the task monitor on the UAVO subsystem,
and pushes the responsibility for updating the TaskInfo UAVO into the System module.

+review OPReview
This commit is contained in:
Richard Flay (Hyper) 2013-05-03 07:01:14 +09:30
parent 742058da8c
commit 84e1a81f8b
68 changed files with 493 additions and 325 deletions
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44
flight/libraries/inc/taskmonitor.h
View File

@ -1,44 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file taskmonitor.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the task monitoring library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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.
*
* 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 TASKMONITOR_H
#define TASKMONITOR_H
#include "taskinfo.h"
int32_t TaskMonitorInitialize(void);
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
int32_t TaskMonitorRemove(TaskInfoRunningElem task);
bool TaskMonitorQueryRunning(TaskInfoRunningElem task);
void TaskMonitorUpdateAll(void);
#endif // TASKMONITOR_H
/**
* @}
* @}
*/

10
flight/libraries/sanitycheck.c
View File

@ -30,12 +30,12 @@
#include <pios_board_info.h>
// Private includes
#include "inc/taskmonitor.h"
#include "inc/sanitycheck.h"
// UAVOs
#include <manualcontrolsettings.h>
#include <systemsettings.h>
#include <taskinfo.h>
/****************************
* Current checks:
@ -103,28 +103,28 @@ int32_t configuration_check()
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : severity;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE)) {
if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_AUTOTUNE)) {
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
if (coptercontrol){
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;

159
flight/libraries/taskmonitor.c
View File

@ -1,159 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file taskmonitor.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Task monitoring library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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.
*
* 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
*/
#include "openpilot.h"
//#include "taskmonitor.h"
// Private constants
// Private types
// Private variables
static xSemaphoreHandle lock;
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
static uint32_t lastMonitorTime;
// Private functions
/**
* Initialize library
*/
int32_t TaskMonitorInitialize(void)
{
lock = xSemaphoreCreateRecursiveMutex();
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
lastMonitorTime = 0;
#ifdef DIAG_TASKS
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
#endif
return 0;
}
/**
* Register a task handle with the library
*/
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
{
if (task < TASKINFO_RUNNING_NUMELEM)
{
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
handles[task] = handle;
xSemaphoreGiveRecursive(lock);
return 0;
}
else
{
return -1;
}
}
/**
* Remove a task handle from the library
*/
int32_t TaskMonitorRemove(TaskInfoRunningElem task)
{
if (task < TASKINFO_RUNNING_NUMELEM)
{
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
handles[task] = 0;
xSemaphoreGiveRecursive(lock);
return 0;
}
else
{
return -1;
}
}
/**
* Query if a task is running
*/
bool TaskMonitorQueryRunning(TaskInfoRunningElem task)
{
if (task < TASKINFO_RUNNING_NUMELEM && handles[task] != 0)
return true;
return false;
}
/**
* Update the status of all tasks
*/
void TaskMonitorUpdateAll(void)
{
#ifdef DIAG_TASKS
TaskInfoData data;
int n;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
#if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t currentTime;
uint32_t deltaTime;
/*
* Calculate the amount of elapsed run time between the last time we
* measured and now. Scale so that we can convert task run times
* directly to percentages.
*/
currentTime = portGET_RUN_TIME_COUNTER_VALUE();
deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
lastMonitorTime = currentTime;
#endif
// Update all task information
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
{
if (handles[n] != 0)
{
data.Running[n] = TASKINFO_RUNNING_TRUE;
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
data.StackRemaining[n] = 10000;
#else
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
#endif
#if ( configGENERATE_RUN_TIME_STATS == 1 )
/* Generate run time stats */
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
#endif
}
else
{
data.Running[n] = TASKINFO_RUNNING_FALSE;
data.StackRemaining[n] = 0;
data.RunningTime[n] = 0;
}
}
// Update object
TaskInfoSet(&data);
// Done
xSemaphoreGiveRecursive(lock);
#endif
}

6
flight/modules/Actuator/actuator.c
View File

@ -31,7 +31,8 @@
*/
#include "openpilot.h"
#include <openpilot.h>
#include "accessorydesired.h"
#include "actuator.h"
#include "actuatorsettings.h"
@ -43,6 +44,7 @@
#include "mixerstatus.h"
#include "cameradesired.h"
#include "manualcontrolcommand.h"
#include "taskinfo.h"
// Private constants
#define MAX_QUEUE_SIZE 2
@ -100,7 +102,7 @@ int32_t ActuatorStart()
{
// Start main task
xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ACTUATOR, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
return 0;

6
flight/modules/Airspeed/revolution/airspeed.c
View File

@ -36,12 +36,14 @@
*
*/
#include "openpilot.h"
#include <openpilot.h>
#include "hwsettings.h"
#include "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module
#include "baro_airspeed_etasv3.h"
#include "baro_airspeed_mpxv.h"
#include "taskinfo.h"
// Private constants
@ -79,7 +81,7 @@ int32_t AirspeedStart()
// Start main task
xTaskCreate(airspeedTask, (signed char *)"Airspeed", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_AIRSPEED, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_AIRSPEED, taskHandle);
return 0;
}

6
flight/modules/Altitude/altitude.c
View File

@ -36,13 +36,15 @@
*
*/
#include "openpilot.h"
#include <openpilot.h>
#include "hwsettings.h"
#include "altitude.h"
#include "baroaltitude.h" // object that will be updated by the module
#if defined(PIOS_INCLUDE_HCSR04)
#include "sonaraltitude.h" // object that will be updated by the module
#endif
#include "taskinfo.h"
// Private constants
#define STACK_SIZE_BYTES 500
@ -80,7 +82,7 @@ int32_t AltitudeStart()
// Start main task
xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ALTITUDE, taskHandle);
return 0;
}
return -1;

6
flight/modules/Altitude/revolution/altitude.c
View File

@ -36,12 +36,14 @@
*
*/
#include "openpilot.h"
#include <openpilot.h>
#include "altitude.h"
#include "baroaltitude.h" // object that will be updated by the module
#if defined(PIOS_INCLUDE_HCSR04)
#include "sonaraltitude.h" // object that will be updated by the module
#endif
#include "taskinfo.h"
// Private constants
#define STACK_SIZE_BYTES 500
@ -67,7 +69,7 @@ int32_t AltitudeStart()
// Start main task
xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ALTITUDE, taskHandle);
return 0;
}

7
flight/modules/AltitudeHold/altitudehold.c
View File

@ -43,8 +43,8 @@
*
*/
#include "openpilot.h"
#include <math.h>
#include <openpilot.h>
#include "CoordinateConversions.h"
#include "altholdsmoothed.h"
#include "attitudeactual.h"
@ -55,6 +55,7 @@
#include "flightstatus.h"
#include "stabilizationdesired.h"
#include "accels.h"
#include "taskinfo.h"
// Private constants
#define MAX_QUEUE_SIZE 2
@ -80,7 +81,7 @@ int32_t AltitudeHoldStart()
{
// Start main task
xTaskCreate(altitudeHoldTask, (signed char *)"AltitudeHold", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &altitudeHoldTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDEHOLD, altitudeHoldTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ALTITUDEHOLD, altitudeHoldTaskHandle);
return 0;
}

15
flight/modules/Attitude/attitude.c
View File

@ -48,7 +48,10 @@
*
*/
#include "pios.h"
#include <openpilot.h>
#include <pios_board_info.h>
#include "attitude.h"
#include "gyros.h"
#include "accels.h"
@ -56,11 +59,11 @@
#include "attitudesettings.h"
#include "flightstatus.h"
#include "manualcontrolcommand.h"
#include "CoordinateConversions.h"
#include <pios_board_info.h>
#include <pios_math.h>
#include "taskinfo.h"
#include "CoordinateConversions.h"
// Private constants
#define STACK_SIZE_BYTES 540
#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
@ -119,7 +122,7 @@ int32_t AttitudeStart(void)
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
return 0;

9
flight/modules/Attitude/revolution/attitude.c
View File

@ -48,10 +48,9 @@
*
*/
#include "pios.h"
#include <openpilot.h>
#include "attitude.h"
#include "accels.h"
#include "airspeedsensor.h"
#include "airspeedactual.h"
@ -69,8 +68,10 @@
#include "revocalibration.h"
#include "revosettings.h"
#include "velocityactual.h"
#include "taskinfo.h"
#include "CoordinateConversions.h"
#include <pios_math.h>
// Private constants
#define STACK_SIZE_BYTES 2048
#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
@ -184,7 +185,7 @@ int32_t AttitudeStart(void)
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &attitudeTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
GyrosConnectQueue(gyroQueue);

6
flight/modules/Autotune/autotune.c
View File

@ -48,7 +48,7 @@
*
*/
#include "openpilot.h"
#include <openpilot.h>
#include "flightstatus.h"
#include "hwsettings.h"
@ -58,7 +58,7 @@
#include "relaytuningsettings.h"
#include "stabilizationdesired.h"
#include "stabilizationsettings.h"
#include <pios_board_info.h>
#include "taskinfo.h"
// Private constants
#define STACK_SIZE_BYTES 1024
@ -109,7 +109,7 @@ int32_t AutotuneStart(void)
if(autotuneEnabled) {
xTaskCreate(AutotuneTask, (signed char *)"Autotune", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_AUTOTUNE, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_AUTOTUNE, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_AUTOTUNE);
}
return 0;

8
flight/modules/ComUsbBridge/ComUsbBridge.c
View File

@ -30,8 +30,10 @@
// ****************
#include "openpilot.h"
#include <openpilot.h>
#include "hwsettings.h"
#include "taskinfo.h"
#include <stdbool.h>
@ -75,9 +77,9 @@ static int32_t comUsbBridgeStart(void)
if (bridge_enabled) {
// Start tasks
xTaskCreate(com2UsbBridgeTask, (signed char *)"Com2UsbBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &com2UsbBridgeTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_COM2USBBRIDGE, com2UsbBridgeTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_COM2USBBRIDGE, com2UsbBridgeTaskHandle);
xTaskCreate(usb2ComBridgeTask, (signed char *)"Usb2ComBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &usb2ComBridgeTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_USB2COMBRIDGE, usb2ComBridgeTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_USB2COMBRIDGE, usb2ComBridgeTaskHandle);
return 0;
}

6
flight/modules/Extensions/MagBaro/magbaro.c
View File

@ -36,11 +36,13 @@
*
*/
#include "openpilot.h"
#include <openpilot.h>
#include "hwsettings.h"
#include "magbaro.h"
#include "baroaltitude.h" // object that will be updated by the module
#include "magnetometer.h"
#include "taskinfo.h"
// Private constants
#define STACK_SIZE_BYTES 620
@ -75,7 +77,7 @@ int32_t MagBaroStart()
if (magbaroEnabled) {
// Start main task
xTaskCreate(magbaroTask, (signed char *)"MagBaro", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
//TaskMonitorAdd(TASKINFO_RUNNING_MAGBARO, taskHandle);
//PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_MAGBARO, taskHandle);
return 0;
}
return -1;

6
flight/modules/FirmwareIAP/firmwareiap.c
View File

@ -24,11 +24,11 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <stdint.h>
#include "pios.h"
#include <openpilot.h>
#include <pios_board_info.h>
#include "openpilot.h"
#include "firmwareiap.h"
#include "firmwareiapobj.h"
#include "flightstatus.h"

11
flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
View File

@ -43,8 +43,7 @@
*
*/
#include "openpilot.h"
#include "paths.h"
#include <openpilot.h>
#include "accels.h"
#include "hwsettings.h"
@ -65,9 +64,11 @@
#include "systemsettings.h"
#include "velocitydesired.h"
#include "velocityactual.h"
#include "taskinfo.h"
#include "paths.h"
#include "CoordinateConversions.h"
#include <pios_math.h>
#include <pios_constants.h>
// Private constants
#define MAX_QUEUE_SIZE 4
#define STACK_SIZE_BYTES 1548
@ -98,7 +99,7 @@ int32_t FixedWingPathFollowerStart()
if (followerEnabled) {
// Start main task
xTaskCreate(pathfollowerTask, (signed char *)"PathFollower", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
}
return 0;

13
flight/modules/FlightPlan/flightplan.c
View File

@ -29,12 +29,15 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "pm.h"
#include <openpilot.h>
#include "flightplan.h"
#include "flightplanstatus.h"
#include "flightplancontrol.h"
#include "flightplansettings.h"
#include "taskinfo.h"
#include "pm.h"
// Private constants
#define STACK_SIZE_BYTES 1500
@ -63,7 +66,7 @@ int32_t FlightPlanStart()
// Start VM thread
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
return 0;
}
@ -258,7 +261,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
if ( taskHandle == NULL )
{
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
}
}
else if ( controlData.Command == FLIGHTPLANCONTROL_COMMAND_KILL )
@ -268,7 +271,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
if ( taskHandle != NULL )
{
// Kill VM
TaskMonitorRemove(TASKINFO_RUNNING_FLIGHTPLAN);
PIOS_TASK_MONITOR_UnregisterTask(TASKINFO_RUNNING_FLIGHTPLAN);
vTaskDelete(taskHandle);
taskHandle = NULL;
// Update status object

12
flight/modules/GPS/GPS.c
View File

@ -30,8 +30,7 @@
// ****************
#include "openpilot.h"
#include "GPS.h"
#include <openpilot.h>
#include "gpsposition.h"
#include "homelocation.h"
@ -39,10 +38,13 @@
#include "gpssatellites.h"
#include "gpsvelocity.h"
#include "systemsettings.h"
#include "WorldMagModel.h"
#include "CoordinateConversions.h"
#include "taskinfo.h"
#include "hwsettings.h"
#include "WorldMagModel.h"
#include "CoordinateConversions.h"
#include "GPS.h"
#include "NMEA.h"
#include "UBX.h"
@ -107,7 +109,7 @@ int32_t GPSStart(void)
if (gpsPort) {
// Start gps task
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_GPS, gpsTaskHandle);
return 0;
}

6
flight/modules/ManualControl/manualcontrol.c
View File

@ -33,7 +33,8 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include <openpilot.h>
#include "accessorydesired.h"
#include "actuatordesired.h"
#include "altitudeholddesired.h"
@ -50,6 +51,7 @@
#include "stabilizationdesired.h"
#include "receiveractivity.h"
#include "systemsettings.h"
#include "taskinfo.h"
#if defined(PIOS_INCLUDE_USB_RCTX)
#include "pios_usb_rctx.h"
@ -132,7 +134,7 @@ int32_t ManualControlStart()
{
// Start main task
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
return 0;

7
flight/modules/OPLink/oplinkmod.c
View File

@ -39,10 +39,13 @@
*/
#include <openpilot.h>
#include <oplinkstatus.h>
#include <oplinksettings.h>
#include <taskinfo.h>
#include <pios_rfm22b.h>
#include <pios_board_info.h>
#include <oplinksettings.h>
// Private constants
#define SYSTEM_UPDATE_PERIOD_MS 1000
@ -79,7 +82,7 @@ int32_t OPLinkModStart(void)
// Create oplink system task
xTaskCreate(systemTask, (signed char *)"OPLink", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
return 0;
}

7
flight/modules/Osd/osdgen/osdgen.c
View File

@ -30,8 +30,10 @@
// ****************
#include "openpilot.h"
#include <openpilot.h>
#include "osdgen.h"
#include "attitudeactual.h"
#include "gpsposition.h"
#include "homelocation.h"
@ -39,6 +41,7 @@
#include "gpssatellites.h"
#include "osdsettings.h"
#include "baroaltitude.h"
#include "taskinfo.h"
#include "fonts.h"
#include "font12x18.h"
@ -2420,7 +2423,7 @@ int32_t osdgenStart(void)
// Start gps task
vSemaphoreCreateBinary( osdSemaphore);
xTaskCreate(osdgenTask, (signed char *)"OSDGEN", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &osdgenTaskHandle);
//TaskMonitorAdd(TASKINFO_RUNNING_GPS, osdgenTaskHandle);
//PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_GPS, osdgenTaskHandle);
return 0;
}

8
flight/modules/Osd/osdinput/osdinput.c
View File

@ -30,9 +30,13 @@
// ****************
#include "openpilot.h"
#include <openpilot.h>
#include "osdinput.h"
#include "attitudeactual.h"
#include "taskinfo.h"
#include "fifo_buffer.h"
@ -85,7 +89,7 @@ int32_t OpOsdStart(void)
{
// Start gps task
xTaskCreate(OpOsdTask, (signed char *)"OSD", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &OpOsdTaskHandle);
//TaskMonitorAdd(TASKINFO_RUNNING_GPS, OpOsdTaskHandle);
//PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_GPS, OpOsdTaskHandle);
return 0;
}

9
flight/modules/OveroSync/overosync.c
View File

@ -30,11 +30,14 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "hwsettings.h"
#include <openpilot.h>
#include "overosync.h"
#include "hwsettings.h"
#include "overosyncstats.h"
#include "systemstats.h"
#include "taskinfo.h"
// Private constants
#define MAX_QUEUE_SIZE 200
@ -128,7 +131,7 @@ int32_t OveroSyncStart(void)
// Start overosync tasks
xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
return 0;
}

7
flight/modules/OveroSync/simulated/overosync.c
View File

@ -30,10 +30,13 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include <openpilot.h>
#include "overosync.h"
#include "overosyncstats.h"
#include "systemstats.h"
#include "taskinfo.h"
// Private constants
#define OVEROSYNC_PACKET_SIZE 1024
@ -127,7 +130,7 @@ int32_t OveroSyncStart(void)
// Start telemetry tasks
xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
return 0;
}

7
flight/modules/PathPlanner/pathplanner.c
View File

@ -30,8 +30,6 @@
*/
#include "openpilot.h"
#include <pios_math.h>
#include "paths.h"
#include "flightstatus.h"
#include "airspeedactual.h"
@ -42,6 +40,9 @@
#include "velocityactual.h"
#include "waypoint.h"
#include "waypointactive.h"
#include "taskinfo.h"
#include "paths.h"
// Private constants
#define STACK_SIZE_BYTES 1024
@ -86,7 +87,7 @@ int32_t PathPlannerStart()
// Start VM thread
xTaskCreate(pathPlannerTask, (signed char *)"PathPlanner", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_PATHPLANNER, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_PATHPLANNER, taskHandle);
return 0;
}

5
flight/modules/Sensors/sensors.c
View File

@ -58,9 +58,10 @@
#include <attitudesettings.h>
#include <revocalibration.h>
#include <flightstatus.h>
#include <taskinfo.h>
#include <CoordinateConversions.h>
#include <pios_math.h>
#include <pios_board_info.h>
// Private constants
@ -130,7 +131,7 @@ int32_t SensorsStart(void)
{
// Start main task
xTaskCreate(SensorsTask, (signed char *)"Sensors", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
return 0;

7
flight/modules/Sensors/simulated/sensors.c
View File

@ -46,9 +46,9 @@
*
*/
#include "pios.h"
#include "attitude.h"
#include <openpilot.h>
#include "attitude.h"
#include "accels.h"
#include "actuatordesired.h"
#include "attitudeactual.h"
@ -67,6 +67,7 @@
#include "ratedesired.h"
#include "revocalibration.h"
#include "systemsettings.h"
#include "taskinfo.h"
#include "CoordinateConversions.h"
@ -132,7 +133,7 @@ int32_t SensorsStart(void)
{
// Start main task
xTaskCreate(SensorsTask, (signed char *)"Sensors", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
return 0;

6
flight/modules/Stabilization/stabilization.c
View File

@ -31,7 +31,8 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include <openpilot.h>
#include "stabilization.h"
#include "stabilizationsettings.h"
#include "actuatordesired.h"
@ -43,6 +44,7 @@
#include "gyros.h"
#include "flightstatus.h"
#include "manualcontrol.h" // Just to get a macro
#include "taskinfo.h"
// Math libraries
#include "CoordinateConversions.h"
@ -107,7 +109,7 @@ int32_t StabilizationStart()
// Start main task
xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_STABILIZATION, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
return 0;
}

27
flight/modules/System/systemmod.c
View File

@ -51,7 +51,7 @@
#include <i2cstats.h>
#include <taskinfo.h>
#include <watchdogstatus.h>
#include <taskmonitor.h>
#include <taskinfo.h>
#include <hwsettings.h>
// Flight Libraries
@ -98,6 +98,9 @@ static HwSettingsData bootHwSettings;
// Private functions
static void objectUpdatedCb(UAVObjEvent * ev);
static void hwSettingsUpdatedCb(UAVObjEvent * ev);
#ifdef DIAG_TASKS
static void taskMonitorForEachCallback(uint16_t task_id, const struct pios_task_info *task_info, void *context);
#endif
static void updateStats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
@ -117,7 +120,7 @@ int32_t SystemModStart(void)
// Create system task
xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
return 0;
}
@ -185,6 +188,10 @@ static void systemTask(void *parameters)
// Whenever the configuration changes, make sure it is safe to fly
HwSettingsConnectCallback(hwSettingsUpdatedCb);
#ifdef DIAG_TASKS
TaskInfoData taskInfoData;
#endif
// Main system loop
while (1) {
// Update the system statistics
@ -199,7 +206,8 @@ static void systemTask(void *parameters)
#ifdef DIAG_TASKS
// Update the task status object
TaskMonitorUpdateAll();
PIOS_TASK_MONITOR_ForEachTask(taskMonitorForEachCallback, &taskInfoData);
TaskInfoSet(&taskInfoData);
#endif
// Flash the heartbeat LED
@ -348,6 +356,19 @@ static void hwSettingsUpdatedCb(UAVObjEvent * ev)
}
}
#ifdef DIAG_TASKS
static void taskMonitorForEachCallback(uint16_t task_id, const struct pios_task_info *task_info, void *context)
{
TaskInfoData *taskData = (TaskInfoData *)context;
// By convention, there is a direct mapping between task monitor task_id's and members
// of the TaskInfoXXXXElem enums
PIOS_DEBUG_Assert(task_id < TASKINFO_RUNNING_NUMELEM);
taskData->Running[task_id] = task_info->is_running? TASKINFO_RUNNING_TRUE: TASKINFO_RUNNING_FALSE;
taskData->StackRemaining[task_id] = task_info->stack_remaining;
taskData->RunningTime[task_id] = task_info->running_time_percentage;
}
#endif
/**
* Called periodically to update the I2C statistics
*/

11
flight/modules/Telemetry/telemetry.c
View File

@ -30,11 +30,14 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include <openpilot.h>
#include "telemetry.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "hwsettings.h"
#include "taskinfo.h"
// Private constants
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
@ -96,13 +99,13 @@ int32_t TelemetryStart(void)
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_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);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;

10
flight/modules/VtolPathFollower/vtolpathfollower.c
View File

@ -46,11 +46,10 @@
*
*/
#include "openpilot.h"
#include <pios_math.h>
#include "paths.h"
#include <openpilot.h>
#include "vtolpathfollower.h"
#include "accels.h"
#include "attitudeactual.h"
#include "hwsettings.h"
@ -69,6 +68,9 @@
#include "systemsettings.h"
#include "velocitydesired.h"
#include "velocityactual.h"
#include "taskinfo.h"
#include "paths.h"
#include "CoordinateConversions.h"
// Private constants
@ -103,7 +105,7 @@ int32_t VtolPathFollowerStart()
if (vtolpathfollower_enabled) {
// Start main task
xTaskCreate(vtolPathFollowerTask, (signed char *)"VtolPathFollower", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
}
return 0;

1
flight/pios/common/pios_flashfs_logfs.c
View File

@ -35,7 +35,6 @@
#include <stdbool.h>
#define MIN(x,y) ((x) < (y) ? (x) : (y))
/*
* Filesystem state data tracked in RAM

144
flight/pios/common/pios_task_monitor.c Normal file
View File

@ -0,0 +1,144 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file pios_task_monitor.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Task monitoring functions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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.
*
* 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
*/
#include <pios.h>
#ifdef PIOS_INCLUDE_TASK_MONITOR
// Private variables
static xSemaphoreHandle mLock;
static xTaskHandle *mTaskHandles;
static uint32_t mLastMonitorTime;
static uint16_t mMaxTasks;
/**
* Initialize the Task Monitor
*/
int32_t PIOS_TASK_MONITOR_Initialize(uint16_t max_tasks)
{
mLock = xSemaphoreCreateRecursiveMutex();
if (!mLock) { return -1; }
mTaskHandles = (xTaskHandle*)pvPortMalloc(max_tasks * sizeof(xTaskHandle));
if (!mTaskHandles) { return -1; }
memset(mTaskHandles, 0, max_tasks * sizeof(xTaskHandle));
mMaxTasks = max_tasks;
#if (configGENERATE_RUN_TIME_STATS == 1)
mLastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
#else
mLastMonitorTime = 0;
#endif
return 0;
}
/**
* Register a task handle
*/
int32_t PIOS_TASK_MONITOR_RegisterTask(uint16_t task_id, xTaskHandle handle)
{
if (mTaskHandles && task_id < mMaxTasks) {
xSemaphoreTakeRecursive(mLock, portMAX_DELAY);
mTaskHandles[task_id] = handle;
xSemaphoreGiveRecursive(mLock);
return 0;
} else {
return -1;
}
}
/**
* Unregister a task handle
*/
int32_t PIOS_TASK_MONITOR_UnregisterTask(uint16_t task_id)
{
if (mTaskHandles && task_id < mMaxTasks) {
xSemaphoreTakeRecursive(mLock, portMAX_DELAY);
mTaskHandles[task_id] = 0;
xSemaphoreGiveRecursive(mLock);
return 0;
} else {
return -1;
}
}
/**
* Query if a task is running
*/
bool PIOS_TASK_MONITOR_IsRunning(uint16_t task_id)
{
return (mTaskHandles && task_id <= mMaxTasks && mTaskHandles[task_id]);
}
/**
* Tell the caller the status of all tasks via a task-by-task callback
*/
void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback, void *context)
{
if (!mTaskHandles) { return; }
xSemaphoreTakeRecursive(mLock, portMAX_DELAY);
#if (configGENERATE_RUN_TIME_STATS == 1)
/* Calculate the amount of elapsed run time between the last time we
* measured and now. Scale so that we can convert task run times
* directly to percentages. */
uint32_t currentTime = portGET_RUN_TIME_COUNTER_VALUE();
/* avoid divide-by-zero if the interval is too small */
uint32_t deltaTime = ((currentTime - mLastMonitorTime)/100) ? : 1;
mLastMonitorTime = currentTime;
#endif
/* Update all task information */
for (uint16_t n = 0; n < mMaxTasks; ++n) {
struct pios_task_info info;
if (mTaskHandles[n]) {
info.is_running = true;
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
info.stack_remaining = 10000;
#else
info.stack_remaining = uxTaskGetStackHighWaterMark(mTaskHandles[n]) * 4;
#endif
#if (configGENERATE_RUN_TIME_STATS == 1)
/* Generate run time percentage stats */
info.running_time_percentage = uxTaskGetRunTime(mTaskHandles[n])/deltaTime;
#else
info.running_time_percentage = 0;
#endif
} else {
info.is_running = false;
info.stack_remaining = 0;
info.running_time_percentage = 0;
}
/* Pass the information for this task back to the caller */
callback(n, &info, context);
}
xSemaphoreGiveRecursive(mLock);
}
#endif // PIOS_INCLUDE_TASK_MONITOR

107
flight/pios/inc/pios_task_monitor.h Normal file
View File

@ -0,0 +1,107 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
* @file task_monitor.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief Task monitoring functions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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.
*
* 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 PIOS_TASK_MONITOR_H
#define PIOS_TASK_MONITOR_H
#include <stdbool.h>
/**
* Initializes the Task Monitor.
*
* For correct results, this must be called prior to any calls to other
* task monitoring functions. The task_ids of the monitored tasks must
* be in the range [0, max_tasks-1].
* Initially, all tasks are marked as not running.
*
* @param max_tasks The maximum number of tasks that will be monitored.
* @return 0 on success, -1 on failure.
*/
extern int32_t PIOS_TASK_MONITOR_Initialize(uint16_t max_tasks);
/**
* Registers a task with the task monitor.
* A task that has been registered will be marked as running.
*
* @param task_id The id of the task to register. Must be in the range [0, max_tasks-1].
* @param handle The FreeRTOS xTaskHandle of the running task.
* @return 0 on success, -1 on failure.
*/
extern int32_t PIOS_TASK_MONITOR_RegisterTask(uint16_t task_id, xTaskHandle handle);
/**
* Unregisters a task with the task monitor.
* A task that has been unregistered will be marked as not running.
*
* @param task_id The id of the task to unregister. Must be in the range [0, max_tasks-1].
* @return 0 on success, -1 on failure.
*/
extern int32_t PIOS_TASK_MONITOR_UnregisterTask(uint16_t task_id);
/**
* Checks if a given task is running.
* A task that has not been registered will be marked as not running.
*
* @param task_id The id of the task to check. Must be in the range [0, max_tasks-1].
* @return true if the task is running.
*/
extern bool PIOS_TASK_MONITOR_IsRunning(uint16_t task_id);
/**
* Information about a running task that has been registered
* via a call to PIOS_TASK_MONITOR_Add().
*/
struct pios_task_info {
/** Remaining task stack in bytes. */
uint32_t stack_remaining;
/** Flag indicating whether or not the task is running. */
bool is_running;
/** Percentage of cpu time used by the task since the last call
* to PIOS_TASK_MONITOR_ForEachTask(). Low-load tasks may
* report 0% load even though they have run during the interval. */
uint8_t running_time_percentage;
};
/**
* Iterator callback, called for each monitored task by PIOS_TASK_MONITOR_TasksIterate().
*
* @param task_id The id of the task the task_info refers to.
* @param task_info Information about the task identified by task_id.
* @param context Context information optionally provided by the caller to PIOS_TASK_MONITOR_TasksIterate()
*/
typedef void (*TaskMonitorTaskInfoCallback)(uint16_t task_id, const struct pios_task_info *task_info, void *context);
/**
* Iterator callback, called for each monitored task by PIOS_TASK_MONITOR_TasksIterate().
*
* @param task_id The id of the task the task_info refers to.
* @param task_info Information about the task identified by task_id.
* @param context Context information optionally provided by the caller to PIOS_TASK_MONITOR_TasksIterate()
*/
extern void PIOS_TASK_MONITOR_ForEachTask(TaskMonitorTaskInfoCallback callback, void *context);
#endif // PIOS_TASK_MONITOR_H

9
flight/pios/pios.h
View File

@ -35,6 +35,8 @@
#define PIOS_H
#include <pios_helpers.h>
#include <pios_math.h>
#include <pios_constants.h>
#ifdef USE_SIM_POSIX
/* SimPosix version of this file. This will probably be removed later */
@ -78,6 +80,13 @@
#include "semphr.h"
#endif
#ifdef PIOS_INCLUDE_TASK_MONITOR
#ifndef PIOS_INCLUDE_FREERTOS
#error PiOS Task Monitor requires PIOS_INCLUDE_FREERTOS to be defined
#endif
#include <pios_task_monitor.h>
#endif
/* PIOS bootloader helper */
#ifdef PIOS_INCLUDE_BL_HELPER
/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */

7
flight/pios/pios_sim_posix.h
View File

@ -40,6 +40,13 @@
#include "semphr.h"
#endif
#ifdef PIOS_INCLUDE_TASK_MONITOR
#ifndef PIOS_INCLUDE_FREERTOS
#error PiOS Task Monitor requires PIOS_INCLUDE_FREERTOS to be defined
#endif
#include <pios_task_monitor.h>
#endif
/* C Lib Includes */
#include <stdio.h>
#include <stdlib.h>

2
flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/inc/usb_defines.h
View File

@ -169,7 +169,9 @@
#define HCCHAR_BULK 2
#define HCCHAR_INTR 3
#ifndef MIN
#define MIN(a, b) (((a) < (b)) ? (a) : (b))
#endif
/**
* @}

3
flight/pios/stm32f4xx/pios_usb_hid.c
View File

@ -37,9 +37,6 @@
#include "pios_usb_board_data.h" /* PIOS_BOARD_*_DATA_LENGTH */
#include "pios_usbhook.h" /* PIOS_USBHOOK_* */
#define MIN(x,y) (((x) < (y)) ? (x) : (y))
#define MAX(x,y) (((x) > (y)) ? (x) : (y))
static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbhid_id, pios_com_callback tx_out_cb, uint32_t context);
static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbhid_id, pios_com_callback rx_in_cb, uint32_t context);
static void PIOS_USB_HID_TxStart(uint32_t usbhid_id, uint16_t tx_bytes_avail);

1
flight/targets/boards/coptercontrol/firmware/inc/openpilot.h
View File

@ -36,7 +36,6 @@
#include <utlist.h>
#include <uavobjectmanager.h>
#include <eventdispatcher.h>
#include <taskmonitor.h>
#include <uavtalk.h>
#include "alarms.h"

1
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -50,6 +50,7 @@
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_INITCALL
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ

1
flight/targets/boards/coptercontrol/firmware/inc/pios_config_posix.h
View File

@ -34,6 +34,7 @@
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_TASK_MONITOR
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_UDP
#define PIOS_INCLUDE_SERVO

7
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -31,6 +31,7 @@
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#include <taskinfo.h>
/*
* Pull in the board-specific static HW definitions.
@ -228,8 +229,10 @@ void PIOS_Board_Init(void) {
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);

6
flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
View File

@ -45,8 +45,10 @@ void PIOS_Board_Init(void) {
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Initialize the PiOS library */
PIOS_COM_Init();

1
flight/targets/boards/oplinkmini/firmware/inc/openpilot.h
View File

@ -37,7 +37,6 @@
#include <utlist.h>
#include <uavobjectmanager.h>
#include <eventdispatcher.h>
#include <taskmonitor.h>
#include <uavtalk.h>
#include "alarms.h"

1
flight/targets/boards/oplinkmini/firmware/inc/pios_config.h
View File

@ -50,6 +50,7 @@
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_INITCALL
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ

1
flight/targets/boards/oplinkmini/firmware/inc/pios_config_posix.h
View File

@ -34,6 +34,7 @@
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_TASK_MONITOR
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_UDP
#define PIOS_INCLUDE_SERVO

7
flight/targets/boards/oplinkmini/firmware/pios_board.c
View File

@ -30,6 +30,7 @@
#include "inc/openpilot.h"
#include <pios_board_info.h>
#include <oplinksettings.h>
#include <taskinfo.h>
/*
* Pull in the board-specific static HW definitions.
@ -138,8 +139,10 @@ void PIOS_Board_Init(void) {
OPLinkSettingsGet(&oplinkSettings);
#endif /* PIOS_INCLUDE_FLASH_EEPROM */
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_TIM)
/* Set up pulse timers */

6
flight/targets/boards/oplinkmini/firmware/pios_board_posix.c
View File

@ -45,8 +45,10 @@ void PIOS_Board_Init(void) {
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Initialize the PiOS library */
PIOS_COM_Init();

1
flight/targets/boards/osd/firmware/inc/openpilot.h
View File

@ -36,7 +36,6 @@
#include <utlist.h>
#include <uavobjectmanager.h>
#include <eventdispatcher.h>
#include <taskmonitor.h>
#include <uavtalk.h>
#include "alarms.h"

1
flight/targets/boards/osd/firmware/inc/pios_config.h
View File

@ -50,6 +50,7 @@
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_INITCALL
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ

7
flight/targets/boards/osd/firmware/pios_board.c
View File

@ -29,6 +29,7 @@
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#include <taskinfo.h>
/*
* Pull in the board-specific static HW definitions.
@ -133,8 +134,10 @@ void PIOS_Board_Init(void) {
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* IAP System Setup */
PIOS_IAP_Init();

1
flight/targets/boards/revolution/firmware/Makefile.osx
View File

@ -186,7 +186,6 @@ SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/paths.c
SRC += $(FLIGHTLIB)/insgps13state.c
SRC += $(FLIGHTLIB)/taskmonitor.c
## RTOS and RTOS Portable
SRC += $(RTOSSRCDIR)/list.c

1
flight/targets/boards/revolution/firmware/inc/openpilot.h
View File

@ -37,7 +37,6 @@
#include <utlist.h>
#include <uavobjectmanager.h>
#include <eventdispatcher.h>
#include <taskmonitor.h>
#include <uavtalk.h>
#include "alarms.h"

1
flight/targets/boards/revolution/firmware/inc/pios_config.h
View File

@ -50,6 +50,7 @@
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_INITCALL
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ

1
flight/targets/boards/revolution/firmware/inc/pios_config_sim.h
View File

@ -35,6 +35,7 @@
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_TASK_MONITOR
#define PIOS_INCLUDE_COM
//#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_IRQ

7
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -30,6 +30,7 @@
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <taskinfo.h>
/*
* Pull in the board-specific static HW definitions.
@ -379,8 +380,10 @@ void PIOS_Board_Init(void) {
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);

6
flight/targets/boards/revolution/firmware/pios_board_sim.c
View File

@ -149,8 +149,10 @@ void PIOS_Board_Init(void) {
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1

1
flight/targets/boards/revoproto/firmware/Makefile.osx
View File

@ -184,7 +184,6 @@ SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/paths.c
SRC += $(FLIGHTLIB)/insgps13state.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(MATHLIB)/pid.c
SRC += $(MATHLIB)/sin_lookup.c

1
flight/targets/boards/revoproto/firmware/inc/openpilot.h
View File

@ -37,7 +37,6 @@
#include <utlist.h>
#include <uavobjectmanager.h>
#include <eventdispatcher.h>
#include <taskmonitor.h>
#include <uavtalk.h>
#include "alarms.h"

1
flight/targets/boards/revoproto/firmware/inc/pios_config.h
View File

@ -50,6 +50,7 @@
#define PIOS_INCLUDE_DELAY
#define PIOS_INCLUDE_INITCALL
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ

1
flight/targets/boards/revoproto/firmware/inc/pios_config_sim.h
View File

@ -35,6 +35,7 @@
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_SDCARD
#define PIOS_INCLUDE_FREERTOS
#define PIOS_INCLUDE_TASK_MONITOR
#define PIOS_INCLUDE_COM
//#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_IRQ

7
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -30,6 +30,7 @@
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <taskinfo.h>
/*
* Pull in the board-specific static HW definitions.
@ -428,8 +429,10 @@ void PIOS_Board_Init(void) {
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);

6
flight/targets/boards/revoproto/firmware/pios_board_sim.c
View File

@ -149,8 +149,10 @@ void PIOS_Board_Init(void) {
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1

4
flight/targets/boards/simposix/firmware/Makefile
View File

@ -56,6 +56,7 @@ MATHLIB = $(FLIGHTLIB)/math
MATHLIBINC = $(FLIGHTLIB)/math
PIOSPOSIX = $(PIOS)/posix
PIOSCOMMON = $(PIOS)/posix
PIOSCORECOMMON = $(PIOS)/common
PIOSCOMMONLIB = $(PIOS)/common/libraries
BOOT =
BOOTINC =
@ -85,13 +86,14 @@ SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(FLIGHTLIB)/paths.c
SRC += $(FLIGHTLIB)/sanitycheck.c
SRC += $(MATHLIB)/sin_lookup.c
SRC += $(MATHLIB)/pid.c
SRC += $(PIOSCORECOMMON)/pios_task_monitor.c
## PIOS Hardware
include $(PIOS)/posix/library.mk

1
flight/targets/boards/simposix/firmware/inc/openpilot.h
View File

@ -37,7 +37,6 @@
#include <utlist.h>
#include <uavobjectmanager.h>
#include <eventdispatcher.h>
#include <taskmonitor.h>
#include <uavtalk.h>
#include "alarms.h"

1
flight/targets/boards/simposix/firmware/inc/pios_config.h
View File

@ -49,6 +49,7 @@
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
#define PIOS_INCLUDE_USART
//#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID

7
flight/targets/boards/simposix/firmware/pios_board.c
View File

@ -32,6 +32,7 @@
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <taskinfo.h>
/*
* Pull in the board-specific static HW definitions.
@ -126,8 +127,10 @@ void PIOS_Board_Init(void) {
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Configure IO ports */

6
flight/uavobjects/eventdispatcher.c
View File

@ -24,7 +24,9 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include <openpilot.h>
#include <taskinfo.h>
// Private constants
#if defined(PIOS_EVENTDISAPTCHER_QUEUE)
@ -281,7 +283,7 @@ static void eventTask()
EventCallbackInfo evInfo;
/* Must do this in task context to ensure that TaskMonitor has already finished its init */
TaskMonitorAdd(TASKINFO_RUNNING_EVENTDISPATCHER, eventTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_EVENTDISPATCHER, eventTaskHandle);
// Initialize time
timeToNextUpdateMs = xTaskGetTickCount()*portTICK_RATE_MS;

4
make/apps-defs.mk
View File

@ -92,9 +92,11 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
SRC += $(PIOSCOMMON)/pios_usb_util.c
## PIOS system code
SRC += $(PIOSCOMMON)/pios_task_monitor.c
## Misc library functions
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(FLIGHTLIB)/sanitycheck.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(MATHLIB)/sin_lookup.c