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Code Issues Releases Activity

OP-1477 - remove debug infos and add send some relevant informations using SYS message (firmware and board revision/info)

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This commit is contained in:
Alessio Morale 2014-09-23 20:27:59 +02:00
parent 7e78194e12
commit c772442723
4 changed files with 45 additions and 37 deletions
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49
flight/modules/gpsp/gpsdsysmod.c
View File

@ -43,11 +43,7 @@
#include "inc/gps9gpshandler.h"
#include "inc/gps9flashhandler.h"
#include "inc/gps9protocol.h"
// UAVOs
#include <systemstats.h>
SystemStatsData systemStats;
#include "pios_board_info.h"
extern uint32_t pios_com_main_id;
@ -55,11 +51,9 @@ extern uint32_t pios_com_main_id;
#define SYSTEM_UPDATE_PERIOD_MS 1
#define HB_LED_BLINK_ON_PERIOD_MS 100
#define HB_LED_BLINK_OFF_PERIOD_MS 1900
#define SYSTEM_UPDATE_PERIOD_MS 1
#define STACK_SIZE_BYTES 450
#define STAT_RATE 1
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define STACK_SIZE_BYTES 450
#define STAT_UPDATE_PERIOD_MS 5000
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
// Private types
@ -67,12 +61,14 @@ extern uint32_t pios_com_main_id;
static xTaskHandle systemTaskHandle;
static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_CRITICAL = 3 } stackOverflow;
// Private functions
static bool mallocFailed;
static bool mallocFailed;
static SysUbxPkt sysPkt;
// Private functions
static void updateStats();
static void gpspSystemTask(void *parameters);
static void readFirmwareInfo();
/**
* Create the module task.
* \returns 0 on success or -1 if initialization failed
@ -132,6 +128,9 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
static TickType_t lastUpdate;
setupGPS();
uint32_t ledTimer = 0;
readFirmwareInfo();
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SYSTEM);
@ -198,23 +197,31 @@ uint16_t GetFreeIrqStackSize(void)
static void updateStats()
{
static uint32_t lastUpdate;
static SysUbxPkt sysPkt;
if (PIOS_DELAY_DiffuS(lastUpdate) < 1000 * configTICK_RATE_HZ / STAT_RATE) {
if (PIOS_DELAY_DiffuS(lastUpdate) < STAT_UPDATE_PERIOD_MS * configTICK_RATE_HZ / 1000) {
return;
}
lastUpdate = PIOS_DELAY_GetRaw();
// Get stats and update
sysPkt.fragments.data.flightTime = xTaskGetTickCount() * portTICK_RATE_MS;
sysPkt.fragments.data.HeapRemaining = xPortGetFreeHeapSize();
sysPkt.fragments.data.IRQStackRemaining = GetFreeIrqStackSize();
sysPkt.fragments.data.SystemModStackRemaining = uxTaskGetStackHighWaterMark(NULL) * 4;
sysPkt.fragments.data.options = SYS_DATA_OPTIONS_MAG | (flash_available() ? SYS_DATA_OPTIONS_FLASH : 0);
// Get stats and update
sysPkt.fragments.data.flightTime = xTaskGetTickCount() * portTICK_RATE_MS;
sysPkt.fragments.data.options = SYS_DATA_OPTIONS_MAG | (flash_available() ? SYS_DATA_OPTIONS_FLASH : 0);
ubx_buildPacket(&sysPkt.packet, UBX_OP_CUST_CLASS, UBX_OP_SYS, sizeof(SysData));
PIOS_COM_SendBuffer(pios_com_main_id, sysPkt.packet.binarystream, sizeof(SysUbxPkt));
}
// retrieve firmware info and fill syspkt
static void readFirmwareInfo()
{
const struct pios_board_info *bdinfo = &pios_board_info_blob;
sysPkt.fragments.data.board_revision = bdinfo->board_rev;
sysPkt.fragments.data.board_type = bdinfo->board_type;
struct fw_version_info *fwinfo = (struct fw_version_info *)(bdinfo->fw_base + bdinfo->fw_size);
memcpy(&sysPkt.fragments.data.commit_tag_name, &fwinfo->commit_tag_name, sizeof(sysPkt.fragments.data.commit_tag_name));
memcpy(&sysPkt.fragments.data.sha1sum, &fwinfo->commit_tag_name, sizeof(sysPkt.fragments.data.sha1sum));
}
/**
* Called by the RTOS when the CPU is idle,

7
flight/modules/gpsp/inc/gps9protocol.h
View File

@ -57,10 +57,11 @@ typedef union {
typedef struct {
uint32_t flightTime;
uint16_t HeapRemaining;
uint16_t IRQStackRemaining;
uint16_t SystemModStackRemaining;
uint16_t options;
uint8_t board_type;
uint8_t board_revision;
uint8_t commit_tag_name[26];
uint8_t sha1sum[8];
} __attribute__((packed)) SysData;
typedef union {

12
flight/pios/inc/pios_board_info.h
View File

@ -21,4 +21,16 @@ struct pios_board_info {
extern const struct pios_board_info pios_board_info_blob;
struct __attribute__((packed)) fw_version_info {
uint8_t magic[4];
uint32_t commit_hash_prefix;
uint32_t timestamp;
uint8_t board_type;
uint8_t board_revision;
uint8_t commit_tag_name[26];
uint8_t sha1sum[20];
uint8_t uavosha1[20];
uint8_t pad[20];
};
#endif /* PIOS_BOARD_INFO_H */

14
flight/templates/firmware_info.c.template
View File

@ -26,7 +26,7 @@
*/
#include <stdint.h>
#include <pios_board_info.h>
/**
* We have 100 bytes for the whole description.
*
@ -42,18 +42,6 @@
*
*/
struct __attribute__((packed)) fw_version_info {
uint8_t magic[4];
uint32_t commit_hash_prefix;
uint32_t timestamp;
uint8_t board_type;
uint8_t board_revision;
uint8_t commit_tag_name[26];
uint8_t sha1sum[20];
uint8_t uavosha1[20];
uint8_t pad[20];
};
#if (defined(__MACH__) && defined(__APPLE__))
const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__("__TEXT,.fw_version_blob"))) = {
#else