/** ****************************************************************************** * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotLibraries OpenPilot System Libraries * @brief OpenPilot System libraries are available to all OP modules. * @{ * @file alarms.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief Library for setting and clearing system alarms * @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 #include #include "inc/alarms.h" // Private constants #ifndef PIOS_ALARM_GRACETIME // alarm cannot be turned off for at least 1000 milliseconds // to prevent event system overload through flapping alarms #define PIOS_ALARM_GRACETIME 1000 #endif // PIOS_ALARM_GRACETIME // Private types // Private variables static xSemaphoreHandle lock; static volatile uint16_t lastAlarmChange[SYSTEMALARMS_ALARM_NUMELEM] = { 0 }; // this deliberately overflows every 2^16 milliseconds to save memory // Private functions static int32_t hasSeverity(SystemAlarmsAlarmOptions severity); /** * Initialize the alarms library */ int32_t AlarmsInitialize(void) { SystemAlarmsInitialize(); lock = xSemaphoreCreateRecursiveMutex(); // do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that // AlarmsClearAll(); // AlarmsDefaultAll(); return 0; } /** * Set an alarm * @param alarm The system alarm to be modified * @param severity The alarm severity * @return 0 if success, -1 if an error */ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity) { SystemAlarmsAlarmData alarms; // Check that this is a valid alarm if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) { return -1; } // Lock xSemaphoreTakeRecursive(lock, portMAX_DELAY); // Read alarm and update its severity only if it was changed SystemAlarmsAlarmGet(&alarms); uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory if ((flightTime - lastAlarmChange[alarm] > PIOS_ALARM_GRACETIME && cast_struct_to_array(alarms, alarms.Actuator)[alarm] != severity) || cast_struct_to_array(alarms, alarms.Actuator)[alarm] < severity) { cast_struct_to_array(alarms, alarms.Actuator)[alarm] = severity; lastAlarmChange[alarm] = flightTime; SystemAlarmsAlarmSet(&alarms); } // Release lock xSemaphoreGiveRecursive(lock); return 0; } /** * Set an Extended Alarm * @param alarm The system alarm to be modified * @param severity The alarm severity * @param status The Extended alarm status field * @param subStatus The Extended alarm substatus field * @return 0 if success, -1 if an error */ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity, SystemAlarmsExtendedAlarmStatusOptions status, uint8_t subStatus) { SystemAlarmsData alarms; // Check that this is a valid alarm if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) { return -1; } // Lock xSemaphoreTakeRecursive(lock, portMAX_DELAY); // Read alarm and update its severity only if it was changed SystemAlarmsGet(&alarms); uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory if ((flightTime - lastAlarmChange[alarm] > PIOS_ALARM_GRACETIME && cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity) || cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] < severity) { cast_struct_to_array(alarms.ExtendedAlarmStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = status; cast_struct_to_array(alarms.ExtendedAlarmSubStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = subStatus; cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity; lastAlarmChange[alarm] = flightTime; SystemAlarmsSet(&alarms); } // Release lock xSemaphoreGiveRecursive(lock); return 0; } /** * Get an alarm * @param alarm The system alarm to be read * @return Alarm severity */ SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm) { SystemAlarmsAlarmData alarms; // Check that this is a valid alarm if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) { return 0; } // Read alarm SystemAlarmsAlarmGet(&alarms); return cast_struct_to_array(alarms, alarms.Actuator)[alarm]; } /** * Set an alarm to it's default value * @param alarm The system alarm to be modified * @return 0 if success, -1 if an error */ int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm) { return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT); } /** * Default all alarms */ void AlarmsDefaultAll() { for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) { AlarmsDefault(n); } } /** * Clear an alarm * @param alarm The system alarm to be modified * @return 0 if success, -1 if an error */ int32_t AlarmsClear(SystemAlarmsAlarmElem alarm) { if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) { return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE, 0); } else { return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK); } } /** * Clear all alarms */ void AlarmsClearAll() { for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) { AlarmsClear(n); } } /** * Check if there are any alarms with the given or higher severity * @return 0 if no alarms are found, 1 if at least one alarm is found */ int32_t AlarmsHasWarnings() { return hasSeverity(SYSTEMALARMS_ALARM_WARNING); } /** * Check if there are any alarms with error or higher severity * @return 0 if no alarms are found, 1 if at least one alarm is found */ int32_t AlarmsHasErrors() { return hasSeverity(SYSTEMALARMS_ALARM_ERROR); } /** * Check if there are any alarms with critical or higher severity * @return 0 if no alarms are found, 1 if at least one alarm is found */ int32_t AlarmsHasCritical() { return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL); } /** * Check if there are any alarms with the given or higher severity * @return 0 if no alarms are found, 1 if at least one alarm is found */ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity) { SystemAlarmsAlarmData alarms; // Lock xSemaphoreTakeRecursive(lock, portMAX_DELAY); // Read alarms SystemAlarmsAlarmGet(&alarms); // Go through alarms and check if any are of the given severity or higher for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) { if (n != SYSTEMALARMS_ALARM_TELEMETRY && cast_struct_to_array(alarms, alarms.Actuator)[n] >= severity) { xSemaphoreGiveRecursive(lock); return 1; } } // If this point is reached then no alarms found xSemaphoreGiveRecursive(lock); return 0; } /** * Get the highest alarm severity * @return */ SystemAlarmsAlarmOptions AlarmsGetHighestSeverity() { SystemAlarmsAlarmData alarmsData; SystemAlarmsAlarmOptions highest = SYSTEMALARMS_ALARM_UNINITIALISED; // Lock xSemaphoreTakeRecursive(lock, portMAX_DELAY); // Read alarms SystemAlarmsAlarmGet(&alarmsData); // Go through alarms and find the highest severity uint32_t n = 0; while (n < SYSTEMALARMS_ALARM_NUMELEM && highest != SYSTEMALARMS_ALARM_CRITICAL) { if (n != SYSTEMALARMS_ALARM_TELEMETRY && cast_struct_to_array(alarmsData, alarmsData.Actuator)[n] > highest) { highest = cast_struct_to_array(alarmsData, alarmsData.Actuator)[n]; } n++; } xSemaphoreGiveRecursive(lock); return highest; } /** * @} * @} */