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Merge branch 'watchdog'

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1281 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-08-13 05:18:17 +00:00 committed by peabody124
parent 57525bc81d
commit a084d21804
9 changed files with 337 additions and 19 deletions
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74
.gitignore vendored
View File

@ -1,13 +1,61 @@
.metadata/
flight/.cproject
flight/.project
flight/.settings/
ground/openpilotgcs.pro.user
ground/src/libs/uavobjgenerator/uavobjgenerator.pro.user
tools/
build/
downloads/
GPATH
GRTAGS
GSYMS
GTAGS
# /flight/
/flight/*.pnproj
/flight/*.pnps
/flight/.cproject
/flight/.metadata
/flight/.project
/flight/.settings
/flight/Build
# /flight/AHRS/
/flight/AHRS/Build
# /flight/Bootloaders/OpenPilot.old/
/flight/Bootloaders/OpenPilot.old/Build
# /flight/OpenPilot/
/flight/OpenPilot/Build
/flight/OpenPilot/Build.win32
# /flight/PipBee/
/flight/PipBee/Build
# /ground/
/ground/Build
# /ground/share/openpilotgcs/models/Easystar/
/ground/share/openpilotgcs/models/Easystar/Thumbs.db
# /ground/share/openpilotgcs/sounds/
/ground/share/openpilotgcs/sounds/normalize.exe
# /ground/share/openpilotgcs/sounds/default/
/ground/share/openpilotgcs/sounds/default/normalize.exe
# /ground/share/openpilotgcs/translations/
/ground/share/openpilotgcs/translations/extract-mimetypes.xq
# /ground/src/experimental/OPMapWidget/core/
/ground/src/experimental/OPMapWidget/core/header.h
# /ground/src/experimental/tools/DocumentationHelper/
/ground/src/experimental/tools/DocumentationHelper/ui_mainwindow.h
# /ground/src/libs/qextserialport/
/ground/src/libs/qextserialport/.hg
/ground/src/libs/qextserialport/.hgtags
# /ground/src/libs/qwt/
/ground/src/libs/qwt/qwt.prf
/ground/src/libs/qwt/designer
# /ground/src/libs/uavobjgenerator/
/ground/src/libs/uavobjgenerator/Makefile
/ground/src/libs/uavobjgenerator/Makefile.Debug
/ground/src/libs/uavobjgenerator/Makefile.Release
/ground/src/libs/uavobjgenerator/debug
/ground/src/libs/uavobjgenerator/release
# /ground/src/plugins/ipconnection/
/ground/src/plugins/ipconnection/ui_ipconnectionoptionspage.h

5
flight/OpenPilot/Makefile
View File

@ -57,7 +57,7 @@ FLASH_TOOL = OPENOCD
USE_THUMB_MODE = YES
# List of modules to include
MODULES = Telemetry GPS ManualControl Actuator Altitude AHRSComms Stabilization/simple/Stabilization
MODULES = Telemetry GPS ManualControl Actuator Altitude AHRSComms Stabilization/simple/Stabilization Watchdog
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial
#MODULES = Telemetry
@ -186,6 +186,7 @@ SRC += $(PIOSSTM32F10X)/pios_spektrum.c
SRC += $(PIOSSTM32F10X)/pios_debug.c
SRC += $(PIOSSTM32F10X)/pios_gpio.c
SRC += $(PIOSSTM32F10X)/pios_exti.c
SRC += $(PIOSSTM32F10X)/pios_wdg.c
# PIOS USB related files (seperated to make code maintenance more easy)
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
@ -225,7 +226,7 @@ SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
SRC += $(STMSPDSRCDIR)/stm32f10x_wwdg.c
SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
SRC += $(STMSPDSRCDIR)/misc.c
## STM32 USB Library

9
flight/OpenPilot/Modules/Watchdog/inc/watchdog.h Normal file
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@ -0,0 +1,9 @@
/*
* watchdog.h
* OpenPilotOSX
*
* Created by James Cotton on 8/10/10.
* Copyright 2010 OpenPilot. All rights reserved.
*
*/

87
flight/OpenPilot/Modules/Watchdog/watchdog.c Normal file
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@ -0,0 +1,87 @@
/**
******************************************************************************
*
* @file watchdog.c
* @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
*
*****************************************************************************/
/*
* 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
*/
/**
* Input object: none
* Output object: none
*
* This module initializes the PIOS Watchdog and then periodically resets the timeout
*
* The module executes in its own thread in this example.
*/
#include "openpilot.h"
#include "watchdog.h"
#include "pios_wdg.h"
// Private constants
// TODO: Look up maximum task priority and set this to it. Not trying to replicate CPU load.
#define TASK_PRIORITY (tskIDLE_PRIORITY+5)
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define WATCHDOG_TIMEOUT 250
// Private types
// Private variables
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()
{
// Start main task
xTaskCreate(watchdogTask, (signed char*)"Watchdog", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* @brief Module thread, should not return.
*
* Initializes the PIOS watchdog and periodically resets it
*/
static void watchdogTask(void* parameters)
{
uint32_t delay;
portTickType lastSysTime;
delay = PIOS_WDG_Init( WATCHDOG_TIMEOUT ) / portTICK_RATE_MS;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
PIOS_WDG_Clear();
vTaskDelayUntil(&lastSysTime, delay );
}
}

4
flight/OpenPilot/System/pios_board.c
View File

@ -80,10 +80,6 @@ void PIOS_Board_Init(void) {
#endif
PIOS_I2C_Init();
WWDG_SetPrescaler(WWDG_Prescaler_8);
WWDG_SetWindowValue(0xff);
}
/* MicroSD Interface

78
flight/PiOS/STM32F10x/pios_wdg.c Normal file
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@ -0,0 +1,78 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_WDG Watchdog Functions
* @brief PIOS Comamnds to initialize and clear watchdog timer
* @{
*
* @file pios_spi.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief Hardware Abstraction Layer for SPI ports of STM32
* @see The GNU Public License (GPL) Version 3
* @notes
*
* The PIOS Watchdog provides a HAL to initialize a watchdog
*
*****************************************************************************/
/*
* 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"
#include "stm32f10x_iwdg.h"
/**
* @brief Initialize the watchdog timer for a specified timeout
*
* It is important to note that this function returns the achieved timeout
* for this hardware. For hardware indendence this should be checked when
* scheduling updates. Other hardware dependent details may need to be
* considered such as a window time which sets a minimum update time,
* and this function should return a recommended delay for clearing.
*
* For the STM32 nominal clock rate is 32 khz, but for the maximum clock rate of
* 60 khz and a prescalar of 4 yields a clock rate of 15 khz. The delay that is
* set in the watchdog assumes the nominal clock rate, but the delay for FreeRTOS
* to use is 75% of the minimal delay.
*
* @param[in] delayMs The delay period in ms
* @returns Maximum recommended delay between updates
*/
uint8_t PIOS_WDG_Init( uint8_t delayMs )
{
uint16_t delay;
delay = 60 / 16 * delayMs;
if( delay > 0xfff )
delay = 0xfff;
IWDG_WriteAccessCmd( IWDG_WriteAccess_Enable );
IWDG_SetPrescaler( IWDG_Prescaler_16 );
IWDG_SetReload( delay );
IWDG_ReloadCounter();
IWDG_Enable();
return delay / (60 / 16) * .75;
}
/**
* @brief Clear the watchdog timer
*
* This function must be called at the appropriate delay to prevent a reset event occuring
*/
void PIOS_WDG_Clear()
{
IWDG_ReloadCounter();
}

37
flight/PiOS/STM32F10x/pios_wdg.h Normal file
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@ -0,0 +1,37 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_WDG Watchdog Functions
* @{
*
* @file pios_wdg.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief SPI functions header.
* @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_WDG
#define PIOS_WDG
uint8_t PIOS_WDG_Init( uint8_t delayMs );
void PIOS_WDG_Clear();
#endif

1
flight/PiOS/pios.h
View File

@ -81,6 +81,7 @@
#if defined(PIOS_INCLUDE_EXTI)
#include <pios_exti.h>
#endif
#include <pios_wdg.h>
/* PIOS Hardware Includes (Common) */
#include <pios_sdcard.h>

61
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -7,6 +7,10 @@
objects = {
/* Begin PBXFileReference section */
65003B2D1212499100C183DD /* watchdog.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = watchdog.h; sourceTree = "<group>"; };
65003B2E1212499100C183DD /* watchdog.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdog.c; sourceTree = "<group>"; };
65003B30121249CA00C183DD /* pios_wdg.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = pios_wdg.h; path = ../STM32F10x/pios_wdg.h; sourceTree = "<group>"; };
65003B31121249CA00C183DD /* pios_wdg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_wdg.c; sourceTree = "<group>"; };
651CF9E5120B5D8300EEFD70 /* pios_usb_hid_desc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_desc.c; sourceTree = "<group>"; };
651CF9E6120B5D8300EEFD70 /* pios_usb_hid_istr.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_istr.c; sourceTree = "<group>"; };
651CF9E7120B5D8300EEFD70 /* pios_usb_hid_prop.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_prop.c; sourceTree = "<group>"; };
@ -53,6 +57,16 @@
65A2C81B11E2A33D00D0391E /* pios_sdcard.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_sdcard.c; path = ../../PiOS.posix/posix/pios_sdcard.c; sourceTree = SOURCE_ROOT; };
65A2C81C11E2A33D00D0391E /* pios_sys.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_sys.c; path = ../../PiOS.posix/posix/pios_sys.c; sourceTree = SOURCE_ROOT; };
65A2C81D11E2A33D00D0391E /* pios_udp.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_udp.c; path = ../../PiOS.posix/posix/pios_udp.c; sourceTree = SOURCE_ROOT; };
65B7E6AD120DF1E2000C1123 /* ahrs_fsm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_fsm.c; path = ../../AHRS/ahrs_fsm.c; sourceTree = SOURCE_ROOT; };
65B7E6AE120DF1E2000C1123 /* ahrs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs.c; path = ../../AHRS/ahrs.c; sourceTree = SOURCE_ROOT; };
65B7E6B0120DF1E2000C1123 /* ahrs.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs.h; sourceTree = "<group>"; };
65B7E6B1120DF1E2000C1123 /* ahrs_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_fsm.h; sourceTree = "<group>"; };
65B7E6B2120DF1E2000C1123 /* insgps.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps.h; sourceTree = "<group>"; };
65B7E6B3120DF1E2000C1123 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
65B7E6B4120DF1E2000C1123 /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
65B7E6B5120DF1E2000C1123 /* insgps.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = insgps.c; path = ../../AHRS/insgps.c; sourceTree = SOURCE_ROOT; };
65B7E6B6120DF1E2000C1123 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../AHRS/Makefile; sourceTree = SOURCE_ROOT; };
65B7E6B7120DF1E2000C1123 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_board.c; path = ../../AHRS/pios_board.c; sourceTree = SOURCE_ROOT; };
65E8EF1F11EEA61E00BBF654 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../OpenPilot/Makefile; sourceTree = SOURCE_ROOT; };
65E8EF2011EEA61E00BBF654 /* Makefile.posix */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = Makefile.posix; path = ../../OpenPilot/Makefile.posix; sourceTree = SOURCE_ROOT; };
65E8EF2311EEA61E00BBF654 /* actuator.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = actuator.c; path = ../../OpenPilot/Modules/Actuator/actuator.c; sourceTree = SOURCE_ROOT; };
@ -334,6 +348,7 @@
08FB7794FE84155DC02AAC07 /* OpenPilotOSX */ = {
isa = PBXGroup;
children = (
65B7E6AC120DF1CD000C1123 /* AHRS */,
65E8EF1E11EEA61E00BBF654 /* OpenPilot */,
65E8F02F11EFF25C00BBF654 /* PiOS */,
65A2C7ED11E2A33D00D0391E /* PiOS.posix */,
@ -350,6 +365,23 @@
name = Products;
sourceTree = "<group>";
};
65003B2B1212499100C183DD /* Watchdog */ = {
isa = PBXGroup;
children = (
65003B2C1212499100C183DD /* inc */,
65003B2E1212499100C183DD /* watchdog.c */,
);
path = Watchdog;
sourceTree = "<group>";
};
65003B2C1212499100C183DD /* inc */ = {
isa = PBXGroup;
children = (
65003B2D1212499100C183DD /* watchdog.h */,
);
path = inc;
sourceTree = "<group>";
};
65A2C7ED11E2A33D00D0391E /* PiOS.posix */ = {
isa = PBXGroup;
children = (
@ -485,6 +517,32 @@
path = ../../PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/MemMang;
sourceTree = SOURCE_ROOT;
};
65B7E6AC120DF1CD000C1123 /* AHRS */ = {
isa = PBXGroup;
children = (
65B7E6AD120DF1E2000C1123 /* ahrs_fsm.c */,
65B7E6AE120DF1E2000C1123 /* ahrs.c */,
65B7E6AF120DF1E2000C1123 /* inc */,
65B7E6B5120DF1E2000C1123 /* insgps.c */,
65B7E6B6120DF1E2000C1123 /* Makefile */,
65B7E6B7120DF1E2000C1123 /* pios_board.c */,
);
name = AHRS;
sourceTree = "<group>";
};
65B7E6AF120DF1E2000C1123 /* inc */ = {
isa = PBXGroup;
children = (
65B7E6B0120DF1E2000C1123 /* ahrs.h */,
65B7E6B1120DF1E2000C1123 /* ahrs_fsm.h */,
65B7E6B2120DF1E2000C1123 /* insgps.h */,
65B7E6B3120DF1E2000C1123 /* pios_board.h */,
65B7E6B4120DF1E2000C1123 /* pios_config.h */,
);
name = inc;
path = ../../AHRS/inc;
sourceTree = SOURCE_ROOT;
};
65E8EF1E11EEA61E00BBF654 /* OpenPilot */ = {
isa = PBXGroup;
children = (
@ -516,6 +574,7 @@
65E8EF4F11EEA61E00BBF654 /* Stabilization */,
65E8EF5311EEA61E00BBF654 /* System */,
65E8EF5711EEA61E00BBF654 /* Telemetry */,
65003B2B1212499100C183DD /* Watchdog */,
);
name = Modules;
path = ../../OpenPilot/Modules;
@ -980,6 +1039,7 @@
65E8F05211EFF25C00BBF654 /* pios_usart_priv.h */,
65E8F05311EFF25C00BBF654 /* pios_usb.h */,
65E8F05511EFF25C00BBF654 /* pios_usb_hid.h */,
65003B30121249CA00C183DD /* pios_wdg.h */,
65E8F05611EFF25C00BBF654 /* stm32f10x_conf.h */,
);
name = inc;
@ -1014,6 +1074,7 @@
651CF9E6120B5D8300EEFD70 /* pios_usb_hid_istr.c */,
651CF9E7120B5D8300EEFD70 /* pios_usb_hid_prop.c */,
651CF9E8120B5D8300EEFD70 /* pios_usb_hid_pwr.c */,
65003B31121249CA00C183DD /* pios_wdg.c */,
65E8F0EE11EFF25C00BBF654 /* startup_stm32f10x_HD.S */,
65E8F0EF11EFF25C00BBF654 /* startup_stm32f10x_HD_BL.S */,
65E8F0F011EFF25C00BBF654 /* startup_stm32f10x_HD_NB.S */,