mirror of
https://bitbucket.org/librepilot/librepilot.git
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c242ab8b86
Conflicts: flight/AHRS/ahrs.c flight/AHRS/pios_board.c flight/Bootloaders/Revolution/Makefile flight/CopterControl/System/pios_board.c flight/INS/pios_board.c flight/OpenPilot/Makefile flight/OpenPilot/System/openpilot.c flight/OpenPilot/System/pios_board.c flight/PiOS/Boards/STM32103CB_CC_Rev1.h flight/PiOS/Boards/STM32F4xx_Revolution.h flight/Revolution/Makefile flight/Revolution/System/inc/pios_config.h flight/Revolution/test.c
513 lines
14 KiB
C
513 lines
14 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 "flightstatus.h"
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#include "systemstats.h"
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#include "systemsettings.h"
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#include "i2cstats.h"
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#include "taskinfo.h"
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#include "watchdogstatus.h"
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#include "taskmonitor.h"
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// Private constants
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#define SYSTEM_UPDATE_PERIOD_MS 1000
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#define LED_BLINK_RATE_HZ 5
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#ifndef IDLE_COUNTS_PER_SEC_AT_NO_LOAD
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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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#endif
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#if defined(PIOS_SYSTEM_STACK_SIZE)
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#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
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#else
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#define STACK_SIZE_BYTES 924
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#endif
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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 uint32_t idleCounter;
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static uint32_t idleCounterClear;
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static xTaskHandle systemTaskHandle;
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static bool stackOverflow;
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static bool mallocFailed;
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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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#if defined(DIAGNOSTICS)
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static void updateI2Cstats();
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static void updateWDGstats();
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#endif
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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 SystemModStart(void)
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{
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// Initialize vars
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stackOverflow = false;
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mallocFailed = false;
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// Create system task
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xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
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// Register task
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TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
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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 SystemModInitialize(void)
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{
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// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
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SystemSettingsInitialize();
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SystemStatsInitialize();
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FlightStatusInitialize();
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ObjectPersistenceInitialize();
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#if defined(DIAG_TASKS)
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TaskInfoInitialize();
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#endif
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#if defined(DIAGNOSTICS)
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I2CStatsInitialize();
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WatchdogStatusInitialize();
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#endif
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SystemModStart();
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return 0;
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}
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MODULE_INITCALL(SystemModInitialize, 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 systemTask(void *parameters)
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{
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portTickType lastSysTime;
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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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/* We failed to malloc during task creation,
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* system behaviour is undefined. Reset and let
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* the BootFault code recover for us.
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*/
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PIOS_SYS_Reset();
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}
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#if defined(PIOS_INCLUDE_IAP)
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/* Record a successful boot */
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PIOS_IAP_WriteBootCount(0);
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#endif
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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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#if defined(DIAGNOSTICS)
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updateI2Cstats();
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updateWDGstats();
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#endif
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#if defined(DIAG_TASKS)
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// Update the task status object
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TaskMonitorUpdateAll();
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#endif
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// Flash the heartbeat LED
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#if defined(PIOS_LED_HEARTBEAT)
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PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
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#endif /* PIOS_LED_HEARTBEAT */
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// Turn on the error LED if an alarm is set
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#if defined (PIOS_LED_ALARM)
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if (AlarmsHasWarnings()) {
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PIOS_LED_On(PIOS_LED_ALARM);
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} else {
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PIOS_LED_Off(PIOS_LED_ALARM);
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}
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#endif /* PIOS_LED_ALARM */
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FlightStatusData flightStatus;
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FlightStatusGet(&flightStatus);
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// Wait until next period
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if(flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
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vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) );
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} else {
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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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/**
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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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int retval = -1;
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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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retval = 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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retval = 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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retval = 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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retval = 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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retval = 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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retval = 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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retval = 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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retval = 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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retval = UAVObjDeleteMetaobjects();
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}
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} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
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retval = -1;
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#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
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retval = PIOS_FLASHFS_Format();
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#endif
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}
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if(retval == 0) {
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objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
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ObjectPersistenceSet(&objper);
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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 I2C statistics
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*/
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#if defined(DIAGNOSTICS)
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static void updateI2Cstats()
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{
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#if defined(PIOS_INCLUDE_I2C)
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I2CStatsData i2cStats;
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I2CStatsGet(&i2cStats);
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struct pios_i2c_fault_history history;
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PIOS_I2C_GetDiagnostics(&history, &i2cStats.event_errors);
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for(uint8_t i = 0; (i < I2C_LOG_DEPTH) && (i < I2CSTATS_EVENT_LOG_NUMELEM); i++) {
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i2cStats.evirq_log[i] = history.evirq[i];
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i2cStats.erirq_log[i] = history.erirq[i];
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i2cStats.event_log[i] = history.event[i];
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i2cStats.state_log[i] = history.state[i];
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}
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i2cStats.last_error_type = history.type;
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I2CStatsSet(&i2cStats);
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#endif
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}
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static void updateWDGstats()
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{
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WatchdogStatusData watchdogStatus;
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watchdogStatus.BootupFlags = PIOS_WDG_GetBootupFlags();
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watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags();
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WatchdogStatusSet(&watchdogStatus);
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}
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#endif
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/**
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* Called periodically to update the system stats
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*/
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static uint16_t GetFreeIrqStackSize(void)
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{
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uint32_t i = 0x200;
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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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{
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if (ptr[i] != pattern)
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{
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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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{
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i = IRQSTACK_LIMIT_CRITICAL - 1;
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}
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else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern)
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{
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i = IRQSTACK_LIMIT_WARNING - 1;
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}
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else
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{
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i = IRQSTACK_LIMIT_WARNING;
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}
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#endif
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#endif
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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 portTickType lastTickCount = 0;
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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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// Get Irq stack status
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stats.IRQStackRemaining = GetFreeIrqStackSize();
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// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
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if (idleCounterClear) {
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idleCounter = 0;
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}
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portTickType now = xTaskGetTickCount();
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if (now > lastTickCount) {
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uint32_t dT = (xTaskGetTickCount() - lastTickCount) * portTICK_RATE_MS; // in ms
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stats.CPULoad =
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100 - (uint8_t) roundf(100.0f * ((float)idleCounter / ((float)dT / 1000.0f)) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
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} //else: TickCount has wrapped, do not calc now
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lastTickCount = now;
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idleCounterClear = 1;
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#if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
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float temp_voltage = 3.3 * PIOS_ADC_PinGet(0) / ((1 << 12) - 1);
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const float STM32_TEMP_V25 = 1.43; /* V */
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const float STM32_TEMP_AVG_SLOPE = 4.3; /* mV/C */
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stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25;
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#endif
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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, IRQ stack and malloc failures
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if ( mallocFailed
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|| (stats.HeapRemaining < HEAP_LIMIT_CRITICAL)
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#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
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|| (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL)
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#endif
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) {
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AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
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} else if (
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(stats.HeapRemaining < HEAP_LIMIT_WARNING)
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#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
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|| (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING)
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#endif
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) {
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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) {
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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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#if defined(PIOS_INCLUDE_SDCARD)
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// Check for SD card
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if (PIOS_SDCARD_IsMounted() == 0) {
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AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_ERROR);
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} else {
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AlarmsClear(SYSTEMALARMS_ALARM_SDCARD);
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}
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#endif
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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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#define DEBUG_STACK_OVERFLOW 0
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void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName)
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{
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stackOverflow = true;
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#if DEBUG_STACK_OVERFLOW
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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
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|