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LibrePilot/flight/modules/gpsp/gpsdsysmod.c
2016-03-10 16:33:12 -05:00

272 lines
8.1 KiB
C

/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @brief The OpenPilot Modules do the majority of the control in OpenPilot. The
* @ref SystemModule "System Module" starts all the other modules that then take care
* of all the telemetry and control algorithms and such. This is done through the @ref PIOS
* "PIOS Hardware abstraction layer" which then contains hardware specific implementations
* (currently only STM32 supported)
*
* @{
* @addtogroup SystemModule GPSV9 System Module
* @brief Initializes PIOS and other modules runs monitoring, executes mag and gps handlers
*
* @{
*
* @file gpsdsystemmod.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief GPS System module
*
* @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
*/
// private includes
#include "inc/gpsdsysmod.h"
#include "inc/gps9maghandler.h"
#include "inc/gps9gpshandler.h"
#include "inc/gps9flashhandler.h"
#include "inc/gps9protocol.h"
#include "pios_board_info.h"
extern uint32_t pios_com_main_id;
// Private constants
#define SYSTEM_UPDATE_PERIOD_MS 1
#define HB_LED_BLINK_ON_PERIOD_MS 100
#define HB_LED_BLINK_OFF_PERIOD_MS 1900
#define STACK_SIZE_BYTES 450
#define STAT_UPDATE_PERIOD_MS 10000
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
// Private types
// Private variables
static xTaskHandle systemTaskHandle;
static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_CRITICAL = 3 } stackOverflow;
volatile int initTaskDone = 0;
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
*/
int32_t GPSPSystemModStart(void)
{
// Initialize vars
stackOverflow = STACKOVERFLOW_NONE;
mallocFailed = false;
// Create system task
xTaskCreate(gpspSystemTask, (const char *)"G-Sys", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &systemTaskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_SYSTEM);
#endif
return 0;
}
/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t GPSPSystemModInitialize(void)
{
GPSPSystemModStart();
return 0;
}
MODULE_INITCALL(GPSPSystemModInitialize, 0);
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void gpspSystemTask(__attribute__((unused)) void *parameters)
{
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SYSTEM);
#endif
while (!initTaskDone) {
vTaskDelay(10);
}
#ifndef PIOS_INCLUDE_WDG
// if no watchdog is enabled, don't reset watchdog in MODULE_TASKCREATE_ALL loop
#define PIOS_WDG_Clear()
#endif
/* create all modules thread */
MODULE_TASKCREATE_ALL;
if (mallocFailed) {
// Nothing to do, this condition needs to be trapped during development.
while (true) {
;
}
}
#if defined(PIOS_INCLUDE_IAP)
PIOS_IAP_WriteBootCount(0);
#endif
/* Right now there is no configuration and uart speed is fixed at 57600.
* TODO:
* 1) add a tiny ubx parser on gps side to intercept CFG-RINV and use that for config storage;
* 2) second ubx parser on uart side that intercept custom configuration message and flash commands.
*/
PIOS_COM_ChangeBaud(pios_com_main_id, GPS_MODULE_DEFAULT_BAUDRATE);
setupGPS();
uint32_t ledTimer = 0;
static TickType_t lastUpdate;
readFirmwareInfo();
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SYSTEM);
#endif
uint32_t ledPeriod = PIOS_DELAY_DiffuS(ledTimer) / 1000;
if (ledPeriod < HB_LED_BLINK_ON_PERIOD_MS) {
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
}
if (ledPeriod > (HB_LED_BLINK_ON_PERIOD_MS + HB_LED_BLINK_OFF_PERIOD_MS)) {
ledTimer = PIOS_DELAY_GetRaw();
}
handleGPS();
handleMag();
updateStats();
vTaskDelayUntil(&lastUpdate, SYSTEM_UPDATE_PERIOD_MS * configTICK_RATE_HZ / 1000);
}
}
/**
* Called periodically to update the system stats
*/
uint16_t GetFreeIrqStackSize(void)
{
uint32_t i = 0x150;
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
extern uint32_t _irq_stack_top;
extern uint32_t _irq_stack_end;
uint32_t pattern = 0x0000A5A5;
uint32_t *ptr = &_irq_stack_end;
#if 1 /* the ugly way accurate but takes more time, useful for debugging */
uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3) / 4;
for (i = 0; i < stack_size; i++) {
if (ptr[i] != pattern) {
i = i * 4;
break;
}
}
#else /* faster way but not accurate */
if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern) {
i = IRQSTACK_LIMIT_CRITICAL - 1;
} else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern) {
i = IRQSTACK_LIMIT_WARNING - 1;
} else {
i = IRQSTACK_LIMIT_WARNING;
}
#endif
#endif /* if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK) */
return i;
}
/**
* Called periodically to update the system stats
*/
static void updateStats()
{
static uint32_t lastUpdate;
if (PIOS_DELAY_DiffuS(lastUpdate) < STAT_UPDATE_PERIOD_MS * 1000) {
return;
}
lastUpdate = PIOS_DELAY_GetRaw();
// 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->sha1sum, sizeof(sysPkt.fragments.data.sha1sum));
}
/**
* Called by the RTOS when the CPU is idle,
*/
void vApplicationIdleHook(void)
{}
/**
* Called by the RTOS when a stack overflow is detected.
*/
#define DEBUG_STACK_OVERFLOW 0
void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask,
__attribute__((unused)) signed portCHAR *pcTaskName)
{
stackOverflow = STACKOVERFLOW_CRITICAL;
#if DEBUG_STACK_OVERFLOW
static volatile bool wait_here = true;
while (wait_here) {
;
}
wait_here = true;
#endif
}
/**
* Called by the RTOS when a malloc call fails.
*/
#define DEBUG_MALLOC_FAILURES 0
void vApplicationMallocFailedHook(void)
{
mallocFailed = true;
#if DEBUG_MALLOC_FAILURES
static volatile bool wait_here = true;
while (wait_here) {
;
}
wait_here = true;
#endif
}
/**
* @}
* @}
*/