mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
275 lines
8.8 KiB
C
275 lines
8.8 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @brief The OpenPilot Modules do the majority of the control in OpenPilot. The
|
|
* @ref OPLinkModule The OPLink Module is the equivalanet of the System
|
|
* Module for the OPLink modem. it starts all the other modules.
|
|
# This is done through the @ref PIOS "PIOS Hardware abstraction layer",
|
|
# which then contains hardware specific implementations
|
|
* (currently only STM32 supported)
|
|
*
|
|
* @{
|
|
* @addtogroup OPLinkModule OPLink Module
|
|
* @brief Initializes PIOS and other modules runs monitoring
|
|
* After initializing all the modules runs basic monitoring and
|
|
* alarms.
|
|
* @{
|
|
*
|
|
* @file oplinkmod.c
|
|
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
|
|
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
|
* @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 <pios.h>
|
|
|
|
#include <uavobjectmanager.h>
|
|
#include <openpilot.h>
|
|
|
|
#include <oplinkstatus.h>
|
|
#include <taskinfo.h>
|
|
|
|
#include <pios_rfm22b.h>
|
|
#include <pios_board_info.h>
|
|
|
|
// Private constants
|
|
#define SYSTEM_UPDATE_PERIOD_MS 1000
|
|
|
|
#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 xTaskHandle systemTaskHandle;
|
|
static bool stackOverflow;
|
|
static bool mallocFailed;
|
|
volatile int initTaskDone = 0;
|
|
static uint8_t previousRFXtalCap;
|
|
|
|
// Private functions
|
|
static void systemTask(void *parameters);
|
|
static void oplinkSettingsUpdatedCb(UAVObjEvent *ev);
|
|
|
|
/**
|
|
* Create the module task.
|
|
* \returns 0 on success or -1 if initialization failed
|
|
*/
|
|
int32_t OPLinkModStart(void)
|
|
{
|
|
// Initialize vars
|
|
stackOverflow = false;
|
|
mallocFailed = false;
|
|
// Create oplink system task
|
|
xTaskCreate(systemTask, "OPLink", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &systemTaskHandle);
|
|
// Register task
|
|
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Initialize the module, called on startup.
|
|
* \returns 0 on success or -1 if initialization failed
|
|
*/
|
|
int32_t OPLinkModInitialize(void)
|
|
{
|
|
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
|
|
|
|
// Call the module start function.
|
|
OPLinkModStart();
|
|
|
|
return 0;
|
|
}
|
|
|
|
MODULE_INITCALL(OPLinkModInitialize, 0);
|
|
|
|
/**
|
|
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
|
|
*/
|
|
static void systemTask(__attribute__((unused)) void *parameters)
|
|
{
|
|
portTickType lastSysTime;
|
|
uint16_t prev_tx_count = 0;
|
|
uint16_t prev_rx_count = 0;
|
|
uint16_t prev_tx_seq = 0;
|
|
uint16_t prev_rx_seq = 0;
|
|
bool first_time = true;
|
|
|
|
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;
|
|
|
|
/* start the delayed callback scheduler */
|
|
PIOS_CALLBACKSCHEDULER_Start();
|
|
|
|
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();
|
|
}
|
|
|
|
// Initialize previousRFXtalCap used by callback
|
|
OPLinkSettingsRFXtalCapGet(&previousRFXtalCap);
|
|
OPLinkSettingsConnectCallback(oplinkSettingsUpdatedCb);
|
|
|
|
// Initialize vars
|
|
lastSysTime = xTaskGetTickCount();
|
|
|
|
// Main system loop
|
|
while (1) {
|
|
// Update the OPLinkStatus UAVO
|
|
OPLinkStatusData oplinkStatus;
|
|
OPLinkStatusGet(&oplinkStatus);
|
|
|
|
// Get the stats from the radio device
|
|
struct rfm22b_stats radio_stats;
|
|
PIOS_RFM22B_GetStats(pios_rfm22b_id, &radio_stats);
|
|
oplinkStatus.HeapRemaining = xPortGetFreeHeapSize();
|
|
|
|
if (pios_rfm22b_id) {
|
|
// Update the status
|
|
oplinkStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
|
|
oplinkStatus.RxGood = radio_stats.rx_good;
|
|
oplinkStatus.RxCorrected = radio_stats.rx_corrected;
|
|
oplinkStatus.RxErrors = radio_stats.rx_error;
|
|
oplinkStatus.RxMissed = radio_stats.rx_missed;
|
|
oplinkStatus.RxFailure = radio_stats.rx_failure;
|
|
oplinkStatus.TxDropped = radio_stats.tx_dropped;
|
|
oplinkStatus.TxFailure = radio_stats.tx_failure;
|
|
oplinkStatus.Resets = radio_stats.resets;
|
|
oplinkStatus.Timeouts = radio_stats.timeouts;
|
|
oplinkStatus.RSSI = radio_stats.rssi;
|
|
oplinkStatus.LinkQuality = radio_stats.link_quality;
|
|
oplinkStatus.AFCCorrection = radio_stats.afc_correction;
|
|
if (first_time) {
|
|
first_time = false;
|
|
} else {
|
|
uint16_t tx_count = radio_stats.tx_byte_count;
|
|
uint16_t rx_count = radio_stats.rx_byte_count;
|
|
uint16_t tx_packets = radio_stats.tx_seq - prev_tx_seq;
|
|
uint16_t rx_packets = radio_stats.rx_seq - prev_rx_seq;
|
|
uint16_t tx_bytes = (tx_count < prev_tx_count) ? (0xffff - prev_tx_count + tx_count) : (tx_count - prev_tx_count);
|
|
uint16_t rx_bytes = (rx_count < prev_rx_count) ? (0xffff - prev_rx_count + rx_count) : (rx_count - prev_rx_count);
|
|
oplinkStatus.TXRate = (uint16_t)((float)(tx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
|
|
oplinkStatus.RXRate = (uint16_t)((float)(rx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
|
|
oplinkStatus.TXPacketRate = (uint16_t)((float)(tx_packets * 1000) / SYSTEM_UPDATE_PERIOD_MS);
|
|
oplinkStatus.RXPacketRate = (uint16_t)((float)(rx_packets * 1000) / SYSTEM_UPDATE_PERIOD_MS);
|
|
prev_tx_count = tx_count;
|
|
prev_rx_count = rx_count;
|
|
prev_tx_seq = radio_stats.tx_seq;
|
|
prev_rx_seq = radio_stats.rx_seq;
|
|
}
|
|
oplinkStatus.TXSeq = radio_stats.tx_seq;
|
|
oplinkStatus.RXSeq = radio_stats.rx_seq;
|
|
oplinkStatus.LinkState = radio_stats.link_state;
|
|
}
|
|
|
|
// Turn on the link/heartbeat ID if we're connected, otherwise flash it.
|
|
if (radio_stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
|
|
LINK_LED_ON;
|
|
} else {
|
|
LINK_LED_TOGGLE;
|
|
}
|
|
|
|
// Update the object
|
|
OPLinkStatusSet(&oplinkStatus);
|
|
|
|
// Wait until next period
|
|
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
|
|
*/
|
|
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 = 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
|
|
}
|
|
|
|
/**
|
|
* Called whenever OPLink settings changed
|
|
*/
|
|
static void oplinkSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
|
{
|
|
uint8_t currentRFXtalCap;
|
|
|
|
OPLinkSettingsRFXtalCapGet(¤tRFXtalCap);
|
|
|
|
// Check if RFXtalCap value changed
|
|
if (currentRFXtalCap != previousRFXtalCap) {
|
|
PIOS_RFM22B_SetXtalCap(pios_rfm22b_id, currentRFXtalCap);
|
|
PIOS_RFM22B_Reinit(pios_rfm22b_id);
|
|
previousRFXtalCap = currentRFXtalCap;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|