mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
2f38fe2269
This allows the UAVObjectGenerator generated code to set the default values. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2301 ebee16cc-31ac-478f-84a7-5cbb03baadba
214 lines
5.2 KiB
C
214 lines
5.2 KiB
C
/**
|
|
******************************************************************************
|
|
* @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 "openpilot.h"
|
|
#include "alarms.h"
|
|
|
|
// Private constants
|
|
|
|
// Private types
|
|
|
|
// Private variables
|
|
static xSemaphoreHandle lock;
|
|
|
|
// Private functions
|
|
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
|
|
|
|
/**
|
|
* Initialize the alarms library
|
|
*/
|
|
int32_t AlarmsInitialize(void)
|
|
{
|
|
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)
|
|
{
|
|
SystemAlarmsData 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
|
|
SystemAlarmsGet(&alarms);
|
|
if ( alarms.Alarm[alarm] != severity )
|
|
{
|
|
alarms.Alarm[alarm] = severity;
|
|
SystemAlarmsSet(&alarms);
|
|
SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
|
|
}
|
|
|
|
// Release lock
|
|
xSemaphoreGiveRecursive(lock);
|
|
return 0;
|
|
|
|
}
|
|
|
|
/**
|
|
* Get an alarm
|
|
* @param alarm The system alarm to be read
|
|
* @return Alarm severity
|
|
*/
|
|
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
|
|
{
|
|
SystemAlarmsData alarms;
|
|
|
|
// Check that this is a valid alarm
|
|
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
// Read alarm
|
|
SystemAlarmsGet(&alarms);
|
|
return alarms.Alarm[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()
|
|
{
|
|
uint32_t n;
|
|
for (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)
|
|
{
|
|
return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
|
|
}
|
|
|
|
/**
|
|
* Clear all alarms
|
|
*/
|
|
void AlarmsClearAll()
|
|
{
|
|
uint32_t n;
|
|
for (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)
|
|
{
|
|
SystemAlarmsData alarms;
|
|
uint32_t n;
|
|
|
|
// Lock
|
|
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
|
|
|
// Read alarms
|
|
SystemAlarmsGet(&alarms);
|
|
|
|
// Go through alarms and check if any are of the given severity or higher
|
|
for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
|
|
{
|
|
if ( alarms.Alarm[n] >= severity)
|
|
{
|
|
xSemaphoreGiveRecursive(lock);
|
|
return 1;
|
|
}
|
|
}
|
|
|
|
// If this point is reached then no alarms found
|
|
xSemaphoreGiveRecursive(lock);
|
|
return 0;
|
|
}
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|
|
|