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https://bitbucket.org/librepilot/librepilot.git
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272 lines
8.1 KiB
C
272 lines
8.1 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 GPSV9 System Module
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* @brief Initializes PIOS and other modules runs monitoring, executes mag and gps handlers
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*
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* @{
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*
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* @file gpsdsystemmod.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief GPS 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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// private includes
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#include "inc/gpsdsysmod.h"
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#include "inc/gps9maghandler.h"
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#include "inc/gps9gpshandler.h"
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#include "inc/gps9flashhandler.h"
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#include "inc/gps9protocol.h"
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#include "pios_board_info.h"
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extern uint32_t pios_com_main_id;
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// Private constants
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#define SYSTEM_UPDATE_PERIOD_MS 1
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#define HB_LED_BLINK_ON_PERIOD_MS 100
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#define HB_LED_BLINK_OFF_PERIOD_MS 1900
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#define STACK_SIZE_BYTES 450
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#define STAT_UPDATE_PERIOD_MS 10000
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
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// Private types
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// Private variables
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static xTaskHandle systemTaskHandle;
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static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_CRITICAL = 3 } stackOverflow;
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volatile int initTaskDone = 0;
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static bool mallocFailed;
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static SysUbxPkt sysPkt;
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// Private functions
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static void updateStats();
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static void gpspSystemTask(void *parameters);
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static void readFirmwareInfo();
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/**
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* Create the module task.
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* \returns 0 on success or -1 if initialization failed
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*/
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int32_t GPSPSystemModStart(void)
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{
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// Initialize vars
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stackOverflow = STACKOVERFLOW_NONE;
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mallocFailed = false;
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// Create system task
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xTaskCreate(gpspSystemTask, (const char *)"G-Sys", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &systemTaskHandle);
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#ifdef PIOS_INCLUDE_WDG
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PIOS_WDG_RegisterFlag(PIOS_WDG_SYSTEM);
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#endif
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return 0;
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}
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/**
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* Initialize the module, called on startup.
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* \returns 0 on success or -1 if initialization failed
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*/
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int32_t GPSPSystemModInitialize(void)
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{
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GPSPSystemModStart();
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return 0;
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}
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MODULE_INITCALL(GPSPSystemModInitialize, 0);
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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 gpspSystemTask(__attribute__((unused)) void *parameters)
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{
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#ifdef PIOS_INCLUDE_WDG
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PIOS_WDG_UpdateFlag(PIOS_WDG_SYSTEM);
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#endif
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while (!initTaskDone) {
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vTaskDelay(10);
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}
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#ifndef PIOS_INCLUDE_WDG
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// if no watchdog is enabled, don't reset watchdog in MODULE_TASKCREATE_ALL loop
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#define PIOS_WDG_Clear()
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#endif
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/* create all modules thread */
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MODULE_TASKCREATE_ALL;
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if (mallocFailed) {
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// Nothing to do, this condition needs to be trapped during development.
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while (true) {
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;
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}
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}
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#if defined(PIOS_INCLUDE_IAP)
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PIOS_IAP_WriteBootCount(0);
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#endif
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/* Right now there is no configuration and uart speed is fixed at 57600.
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* TODO:
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* 1) add a tiny ubx parser on gps side to intercept CFG-RINV and use that for config storage;
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* 2) second ubx parser on uart side that intercept custom configuration message and flash commands.
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*/
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PIOS_COM_ChangeBaud(pios_com_main_id, GPS_MODULE_DEFAULT_BAUDRATE);
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setupGPS();
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uint32_t ledTimer = 0;
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static TickType_t lastUpdate;
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readFirmwareInfo();
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while (1) {
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#ifdef PIOS_INCLUDE_WDG
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PIOS_WDG_UpdateFlag(PIOS_WDG_SYSTEM);
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#endif
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uint32_t ledPeriod = PIOS_DELAY_DiffuS(ledTimer) / 1000;
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if (ledPeriod < HB_LED_BLINK_ON_PERIOD_MS) {
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PIOS_LED_Off(PIOS_LED_HEARTBEAT);
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} else {
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PIOS_LED_On(PIOS_LED_HEARTBEAT);
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}
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if (ledPeriod > (HB_LED_BLINK_ON_PERIOD_MS + HB_LED_BLINK_OFF_PERIOD_MS)) {
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ledTimer = PIOS_DELAY_GetRaw();
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}
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handleGPS();
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handleMag();
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updateStats();
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vTaskDelayUntil(&lastUpdate, SYSTEM_UPDATE_PERIOD_MS * configTICK_RATE_HZ / 1000);
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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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uint16_t GetFreeIrqStackSize(void)
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{
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uint32_t i = 0x150;
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#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
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extern uint32_t _irq_stack_top;
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extern uint32_t _irq_stack_end;
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uint32_t pattern = 0x0000A5A5;
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uint32_t *ptr = &_irq_stack_end;
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#if 1 /* the ugly way accurate but takes more time, useful for debugging */
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uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3) / 4;
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for (i = 0; i < stack_size; i++) {
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if (ptr[i] != pattern) {
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i = i * 4;
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break;
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}
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}
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#else /* faster way but not accurate */
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if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern) {
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i = IRQSTACK_LIMIT_CRITICAL - 1;
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} else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern) {
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i = IRQSTACK_LIMIT_WARNING - 1;
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} else {
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i = IRQSTACK_LIMIT_WARNING;
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}
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#endif
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#endif /* if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK) */
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return i;
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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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static uint32_t lastUpdate;
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if (PIOS_DELAY_DiffuS(lastUpdate) < STAT_UPDATE_PERIOD_MS * 1000) {
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return;
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}
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lastUpdate = PIOS_DELAY_GetRaw();
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// Get stats and update
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sysPkt.fragments.data.flightTime = xTaskGetTickCount() * portTICK_RATE_MS;
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sysPkt.fragments.data.options = SYS_DATA_OPTIONS_MAG | (flash_available() ? SYS_DATA_OPTIONS_FLASH : 0);
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ubx_buildPacket(&sysPkt.packet, UBX_OP_CUST_CLASS, UBX_OP_SYS, sizeof(SysData));
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PIOS_COM_SendBuffer(pios_com_main_id, sysPkt.packet.binarystream, sizeof(SysUbxPkt));
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}
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// retrieve firmware info and fill syspkt
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static void readFirmwareInfo()
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{
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const struct pios_board_info *bdinfo = &pios_board_info_blob;
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sysPkt.fragments.data.board_revision = bdinfo->board_rev;
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sysPkt.fragments.data.board_type = bdinfo->board_type;
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struct fw_version_info *fwinfo = (struct fw_version_info *)(bdinfo->fw_base + bdinfo->fw_size);
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memcpy(&sysPkt.fragments.data.commit_tag_name, &fwinfo->commit_tag_name, sizeof(sysPkt.fragments.data.commit_tag_name));
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memcpy(&sysPkt.fragments.data.sha1sum, &fwinfo->sha1sum, sizeof(sysPkt.fragments.data.sha1sum));
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}
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/**
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* Called by the RTOS when the CPU is idle,
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*/
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void vApplicationIdleHook(void)
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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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#define DEBUG_STACK_OVERFLOW 0
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void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask,
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__attribute__((unused)) signed portCHAR *pcTaskName)
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{
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stackOverflow = STACKOVERFLOW_CRITICAL;
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#if DEBUG_STACK_OVERFLOW
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static volatile bool wait_here = true;
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while (wait_here) {
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;
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}
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wait_here = true;
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#endif
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}
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/**
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* Called by the RTOS when a malloc call fails.
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*/
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#define DEBUG_MALLOC_FAILURES 0
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void vApplicationMallocFailedHook(void)
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{
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mallocFailed = true;
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#if DEBUG_MALLOC_FAILURES
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static volatile bool wait_here = true;
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while (wait_here) {
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;
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}
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wait_here = true;
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#endif
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}
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/**
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* @}
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* @}
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*/
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