mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
a084d21804
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1281 ebee16cc-31ac-478f-84a7-5cbb03baadba
88 lines
2.4 KiB
C
88 lines
2.4 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @file watchdog.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Watchdog module which must run every 250 ms
|
|
*
|
|
* @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
|
|
*/
|
|
|
|
/**
|
|
* Input object: none
|
|
* Output object: none
|
|
*
|
|
* This module initializes the PIOS Watchdog and then periodically resets the timeout
|
|
*
|
|
* The module executes in its own thread in this example.
|
|
*/
|
|
|
|
#include "openpilot.h"
|
|
#include "watchdog.h"
|
|
#include "pios_wdg.h"
|
|
|
|
// Private constants
|
|
// TODO: Look up maximum task priority and set this to it. Not trying to replicate CPU load.
|
|
#define TASK_PRIORITY (tskIDLE_PRIORITY+5)
|
|
#define STACK_SIZE configMINIMAL_STACK_SIZE
|
|
#define WATCHDOG_TIMEOUT 250
|
|
|
|
// Private types
|
|
|
|
// Private variables
|
|
static xTaskHandle taskHandle;
|
|
|
|
// Private functions
|
|
static void watchdogTask(void* parameters);
|
|
|
|
/**
|
|
* Initialise the module, called on startup
|
|
* \returns 0 on success or -1 if initialisation failed
|
|
*/
|
|
int32_t WatchdogInitialize()
|
|
{
|
|
// Start main task
|
|
xTaskCreate(watchdogTask, (signed char*)"Watchdog", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @brief Module thread, should not return.
|
|
*
|
|
* Initializes the PIOS watchdog and periodically resets it
|
|
*/
|
|
static void watchdogTask(void* parameters)
|
|
{
|
|
uint32_t delay;
|
|
portTickType lastSysTime;
|
|
|
|
delay = PIOS_WDG_Init( WATCHDOG_TIMEOUT ) / portTICK_RATE_MS;
|
|
|
|
// Main task loop
|
|
lastSysTime = xTaskGetTickCount();
|
|
while (1)
|
|
{
|
|
PIOS_WDG_Clear();
|
|
|
|
vTaskDelayUntil(&lastSysTime, delay );
|
|
}
|
|
}
|
|
|