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LibrePilot/flight/Modules/System/systemmod.c
James Cotton c242ab8b86 Merge branch 'next' into revolution3
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
2012-01-24 10:46:35 -06:00

513 lines
14 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 System Module
* @brief Initializes PIOS and other modules runs monitoring
* After initializing all the modules (currently selected by Makefile but in
* future controlled by configuration on SD card) runs basic monitoring and
* alarms.
* @{
*
* @file systemmod.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief 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
*/
#include "openpilot.h"
#include "systemmod.h"
#include "objectpersistence.h"
#include "flightstatus.h"
#include "systemstats.h"
#include "systemsettings.h"
#include "i2cstats.h"
#include "taskinfo.h"
#include "watchdogstatus.h"
#include "taskmonitor.h"
// Private constants
#define SYSTEM_UPDATE_PERIOD_MS 1000
#define LED_BLINK_RATE_HZ 5
#ifndef IDLE_COUNTS_PER_SEC_AT_NO_LOAD
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
// must be updated if the FreeRTOS or compiler
// optimisation options are changed.
#endif
#if defined(PIOS_SYSTEM_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
#else
#define STACK_SIZE_BYTES 924
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY+2)
// Private types
// Private variables
static uint32_t idleCounter;
static uint32_t idleCounterClear;
static xTaskHandle systemTaskHandle;
static bool stackOverflow;
static bool mallocFailed;
// Private functions
static void objectUpdatedCb(UAVObjEvent * ev);
static void updateStats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
#if defined(DIAGNOSTICS)
static void updateI2Cstats();
static void updateWDGstats();
#endif
/**
* Create the module task.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModStart(void)
{
// Initialize vars
stackOverflow = false;
mallocFailed = false;
// Create system task
xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
return 0;
}
/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
{
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
SystemSettingsInitialize();
SystemStatsInitialize();
FlightStatusInitialize();
ObjectPersistenceInitialize();
#if defined(DIAG_TASKS)
TaskInfoInitialize();
#endif
#if defined(DIAGNOSTICS)
I2CStatsInitialize();
WatchdogStatusInitialize();
#endif
SystemModStart();
return 0;
}
MODULE_INITCALL(SystemModInitialize, 0)
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void systemTask(void *parameters)
{
portTickType lastSysTime;
/* create all modules thread */
MODULE_TASKCREATE_ALL;
if (mallocFailed) {
/* We failed to malloc during task creation,
* system behaviour is undefined. Reset and let
* the BootFault code recover for us.
*/
PIOS_SYS_Reset();
}
#if defined(PIOS_INCLUDE_IAP)
/* Record a successful boot */
PIOS_IAP_WriteBootCount(0);
#endif
// Initialize vars
idleCounter = 0;
idleCounterClear = 0;
lastSysTime = xTaskGetTickCount();
// Listen for SettingPersistance object updates, connect a callback function
ObjectPersistenceConnectCallback(&objectUpdatedCb);
// Main system loop
while (1) {
// Update the system statistics
updateStats();
// Update the system alarms
updateSystemAlarms();
#if defined(DIAGNOSTICS)
updateI2Cstats();
updateWDGstats();
#endif
#if defined(DIAG_TASKS)
// Update the task status object
TaskMonitorUpdateAll();
#endif
// Flash the heartbeat LED
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
// Turn on the error LED if an alarm is set
#if defined (PIOS_LED_ALARM)
if (AlarmsHasWarnings()) {
PIOS_LED_On(PIOS_LED_ALARM);
} else {
PIOS_LED_Off(PIOS_LED_ALARM);
}
#endif /* PIOS_LED_ALARM */
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
// Wait until next period
if(flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) );
} else {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
}
/**
* Function called in response to object updates
*/
static void objectUpdatedCb(UAVObjEvent * ev)
{
ObjectPersistenceData objper;
UAVObjHandle obj;
// If the object updated was the ObjectPersistence execute requested action
if (ev->obj == ObjectPersistenceHandle()) {
// Get object data
ObjectPersistenceGet(&objper);
int retval = -1;
// Execute action
if (objper.Operation == OBJECTPERSISTENCE_OPERATION_LOAD) {
if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
// Get selected object
obj = UAVObjGetByID(objper.ObjectID);
if (obj == 0) {
return;
}
// Load selected instance
retval = UAVObjLoad(obj, objper.InstanceID);
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjLoadSettings();
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjLoadMetaobjects();
}
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_SAVE) {
if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
// Get selected object
obj = UAVObjGetByID(objper.ObjectID);
if (obj == 0) {
return;
}
// Save selected instance
retval = UAVObjSave(obj, objper.InstanceID);
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjSaveSettings();
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjSaveMetaobjects();
}
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_DELETE) {
if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
// Get selected object
obj = UAVObjGetByID(objper.ObjectID);
if (obj == 0) {
return;
}
// Delete selected instance
retval = UAVObjDelete(obj, objper.InstanceID);
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjDeleteSettings();
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjDeleteMetaobjects();
}
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
retval = -1;
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
retval = PIOS_FLASHFS_Format();
#endif
}
if(retval == 0) {
objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&objper);
}
}
}
/**
* Called periodically to update the I2C statistics
*/
#if defined(DIAGNOSTICS)
static void updateI2Cstats()
{
#if defined(PIOS_INCLUDE_I2C)
I2CStatsData i2cStats;
I2CStatsGet(&i2cStats);
struct pios_i2c_fault_history history;
PIOS_I2C_GetDiagnostics(&history, &i2cStats.event_errors);
for(uint8_t i = 0; (i < I2C_LOG_DEPTH) && (i < I2CSTATS_EVENT_LOG_NUMELEM); i++) {
i2cStats.evirq_log[i] = history.evirq[i];
i2cStats.erirq_log[i] = history.erirq[i];
i2cStats.event_log[i] = history.event[i];
i2cStats.state_log[i] = history.state[i];
}
i2cStats.last_error_type = history.type;
I2CStatsSet(&i2cStats);
#endif
}
static void updateWDGstats()
{
WatchdogStatusData watchdogStatus;
watchdogStatus.BootupFlags = PIOS_WDG_GetBootupFlags();
watchdogStatus.ActiveFlags = PIOS_WDG_GetActiveFlags();
WatchdogStatusSet(&watchdogStatus);
}
#endif
/**
* Called periodically to update the system stats
*/
static uint16_t GetFreeIrqStackSize(void)
{
uint32_t i = 0x200;
#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
return i;
}
/**
* Called periodically to update the system stats
*/
static void updateStats()
{
static portTickType lastTickCount = 0;
SystemStatsData stats;
// Get stats and update
SystemStatsGet(&stats);
stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
// POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
stats.HeapRemaining = 10240;
#else
stats.HeapRemaining = xPortGetFreeHeapSize();
#endif
// Get Irq stack status
stats.IRQStackRemaining = GetFreeIrqStackSize();
// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
if (idleCounterClear) {
idleCounter = 0;
}
portTickType now = xTaskGetTickCount();
if (now > lastTickCount) {
uint32_t dT = (xTaskGetTickCount() - lastTickCount) * portTICK_RATE_MS; // in ms
stats.CPULoad =
100 - (uint8_t) roundf(100.0f * ((float)idleCounter / ((float)dT / 1000.0f)) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
} //else: TickCount has wrapped, do not calc now
lastTickCount = now;
idleCounterClear = 1;
#if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
float temp_voltage = 3.3 * PIOS_ADC_PinGet(0) / ((1 << 12) - 1);
const float STM32_TEMP_V25 = 1.43; /* V */
const float STM32_TEMP_AVG_SLOPE = 4.3; /* mV/C */
stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25;
#endif
SystemStatsSet(&stats);
}
/**
* Update system alarms
*/
static void updateSystemAlarms()
{
SystemStatsData stats;
UAVObjStats objStats;
EventStats evStats;
SystemStatsGet(&stats);
// Check heap, IRQ stack and malloc failures
if ( mallocFailed
|| (stats.HeapRemaining < HEAP_LIMIT_CRITICAL)
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
|| (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL)
#endif
) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
} else if (
(stats.HeapRemaining < HEAP_LIMIT_WARNING)
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
|| (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING)
#endif
) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
}
// Check CPU load
if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);
} else if (stats.CPULoad > CPULOAD_LIMIT_WARNING) {
AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_CPUOVERLOAD);
}
// Check for stack overflow
if (stackOverflow) {
AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
}
#if defined(PIOS_INCLUDE_SDCARD)
// Check for SD card
if (PIOS_SDCARD_IsMounted() == 0) {
AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_ERROR);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_SDCARD);
}
#endif
// Check for event errors
UAVObjGetStats(&objStats);
EventGetStats(&evStats);
UAVObjClearStats();
EventClearStats();
if (objStats.eventErrors > 0 || evStats.eventErrors > 0) {
AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
}
}
/**
* Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
*/
void vApplicationIdleHook(void)
{
// Called when the scheduler has no tasks to run
if (idleCounterClear == 0) {
++idleCounter;
} else {
idleCounter = 0;
idleCounterClear = 0;
}
}
/**
* Called by the RTOS when a stack overflow is detected.
*/
#define DEBUG_STACK_OVERFLOW 0
void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName)
{
stackOverflow = true;
#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
}
/**
* @}
* @}
*/