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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1776 ebee16cc-31ac-478f-84a7-5cbb03baadba
295 lines
8.7 KiB
C
295 lines
8.7 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @brief The OpenPilot Modules do the majority of the control in OpenPilot. The
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* @ref SystemModule "System Module" starts all the other modules that then take care
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* of all the telemetry and control algorithms and such. This is done through the @ref PIOS
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* "PIOS Hardware abstraction layer" which then contains hardware specific implementations
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* (currently only STM32 supported)
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*
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* @{
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* @addtogroup SystemModule System Module
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* @brief Initializes PIOS and other modules runs monitoring
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* After initializing all the modules (currently selected by Makefile but in
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* future controlled by configuration on SD card) runs basic monitoring and
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* alarms.
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* @{
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*
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* @file systemmod.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief System module
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "systemmod.h"
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#include "objectpersistence.h"
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#include "systemstats.h"
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// Private constants
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#define SYSTEM_UPDATE_PERIOD_MS 1000
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#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
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// must be updated if the FreeRTOS or compiler
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// optimisation options are changed.
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#define STACK_SIZE configMINIMAL_STACK_SIZE
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#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
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#define HEAP_LIMIT_WARNING 4000
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#define HEAP_LIMIT_CRITICAL 1000
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#define CPULOAD_LIMIT_WARNING 80
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#define CPULOAD_LIMIT_CRITICAL 95
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// Private types
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// Private variables
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static uint32_t idleCounter;
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static uint32_t idleCounterClear;
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static xTaskHandle systemTaskHandle;
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static int32_t stackOverflow;
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// Private functions
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static void objectUpdatedCb(UAVObjEvent * ev);
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static void updateStats();
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static void updateSystemAlarms();
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static void systemTask(void *parameters);
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/**
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* Initialise the module, called on startup.
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t SystemModInitialize(void)
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{
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// Initialize vars
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stackOverflow = 0;
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// Create system task
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xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE, NULL, TASK_PRIORITY, &systemTaskHandle);
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return 0;
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}
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/**
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* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
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*/
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static void systemTask(void *parameters)
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{
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portTickType lastSysTime;
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// System initialization
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OpenPilotInit();
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// Initialize vars
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idleCounter = 0;
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idleCounterClear = 0;
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lastSysTime = xTaskGetTickCount();
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// Listen for SettingPersistance object updates, connect a callback function
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ObjectPersistenceConnectCallback(&objectUpdatedCb);
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// Main system loop
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while (1) {
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// Update the system statistics
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updateStats();
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// Update the system alarms
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updateSystemAlarms();
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// Flash the heartbeat LED
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PIOS_LED_Toggle(LED1);
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// Turn on the error LED if an alarm is set
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if (AlarmsHasWarnings()) {
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PIOS_LED_On(LED2);
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} else {
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PIOS_LED_Off(LED2);
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}
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// Wait until next period
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vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
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}
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}
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/**
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* Function called in response to object updates
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*/
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static void objectUpdatedCb(UAVObjEvent * ev)
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{
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ObjectPersistenceData objper;
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UAVObjHandle obj;
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// If the object updated was the ObjectPersistence execute requested action
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if (ev->obj == ObjectPersistenceHandle()) {
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// Get object data
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ObjectPersistenceGet(&objper);
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// Execute action
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if (objper.Operation == OBJECTPERSISTENCE_OPERATION_LOAD) {
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if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
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// Get selected object
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obj = UAVObjGetByID(objper.ObjectID);
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if (obj == 0) {
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return;
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}
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// Load selected instance
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UAVObjLoad(obj, objper.InstanceID);
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} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
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|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
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UAVObjLoadSettings();
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} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
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|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
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UAVObjLoadMetaobjects();
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}
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} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_SAVE) {
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if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
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// Get selected object
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obj = UAVObjGetByID(objper.ObjectID);
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if (obj == 0) {
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return;
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}
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// Save selected instance
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UAVObjSave(obj, objper.InstanceID);
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} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
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|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
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UAVObjSaveSettings();
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} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
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|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
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UAVObjSaveMetaobjects();
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}
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} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_DELETE) {
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if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
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// Get selected object
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obj = UAVObjGetByID(objper.ObjectID);
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if (obj == 0) {
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return;
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}
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// Delete selected instance
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UAVObjDelete(obj, objper.InstanceID);
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} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
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|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
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UAVObjDeleteSettings();
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} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
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|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
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UAVObjDeleteMetaobjects();
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}
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}
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}
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}
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/**
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* Called periodically to update the system stats
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*/
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static void updateStats()
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{
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SystemStatsData stats;
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// Get stats and update
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SystemStatsGet(&stats);
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stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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// POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
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stats.HeapRemaining = 10240;
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#else
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stats.HeapRemaining = xPortGetFreeHeapSize();
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#endif
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stats.CPULoad =
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100 - (uint8_t) round(100.0 * ((float)idleCounter / (float)(SYSTEM_UPDATE_PERIOD_MS / 1000)) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
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idleCounterClear = 1;
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SystemStatsSet(&stats);
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}
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/**
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* Update system alarms
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*/
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static void updateSystemAlarms()
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{
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SystemStatsData stats;
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UAVObjStats objStats;
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EventStats evStats;
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SystemStatsGet(&stats);
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// Check heap
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if (stats.HeapRemaining < HEAP_LIMIT_CRITICAL) {
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AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
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} else if (stats.HeapRemaining < HEAP_LIMIT_WARNING) {
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AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
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}
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// Check CPU load
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if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
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AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);
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} else if (stats.CPULoad > CPULOAD_LIMIT_WARNING) {
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AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_WARNING);
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_CPUOVERLOAD);
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}
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// Check for stack overflow
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if (stackOverflow == 1) {
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AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
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}
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// Check for SD card
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if (POIS_SDCARD_IsMounted() == 0) {
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AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_WARNING);
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_SDCARD);
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}
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// Check for event errors
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UAVObjGetStats(&objStats);
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EventGetStats(&evStats);
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UAVObjClearStats();
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EventClearStats();
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if (objStats.eventErrors > 0 || evStats.eventErrors > 0) {
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AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
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}
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}
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/**
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* Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
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*/
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void vApplicationIdleHook(void)
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{
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// Called when the scheduler has no tasks to run
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if (idleCounterClear == 0) {
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++idleCounter;
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} else {
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idleCounter = 0;
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idleCounterClear = 0;
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}
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}
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/**
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* Called by the RTOS when a stack overflow is detected.
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*/
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void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName)
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{
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stackOverflow = 1;
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}
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/**
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* @}
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* @}
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*/
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