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LibrePilot/flight/OpenPilot/Modules/System/systemmod.c
cwabbott 0b985b2168 PiOS.win32: Various fixes to get it working again, added a sim_win32 option to the main makefile.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2249 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-18 18:41:37 +00:00

330 lines
9.7 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 "manualcontrolcommand.h"
#include "systemstats.h"
#include "i2cstats.h"
// Private constants
#define SYSTEM_UPDATE_PERIOD_MS 1000
#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.
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
#define HEAP_LIMIT_WARNING 4000
#define HEAP_LIMIT_CRITICAL 1000
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
// Private types
// Private variables
static uint32_t idleCounter;
static uint32_t idleCounterClear;
static xTaskHandle systemTaskHandle;
static int32_t stackOverflow;
// Private functions
static void objectUpdatedCb(UAVObjEvent * ev);
static void updateStats();
static void updateI2Cstats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
/**
* Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed
*/
int32_t SystemModInitialize(void)
{
// Initialize vars
stackOverflow = 0;
// Create system task
xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE, NULL, TASK_PRIORITY, &systemTaskHandle);
return 0;
}
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void systemTask(void *parameters)
{
portTickType lastSysTime;
// System initialization
OpenPilotInit();
// 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();
updateI2Cstats();
// Flash the heartbeat LED
PIOS_LED_Toggle(LED1);
// Turn on the error LED if an alarm is set
if (AlarmsHasWarnings()) {
PIOS_LED_On(LED2);
} else {
PIOS_LED_Off(LED2);
}
ManualControlCommandData manualControlCommandData;
ManualControlCommandGet(&manualControlCommandData);
// Wait until next period
if(manualControlCommandData.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE) {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / 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);
// 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
UAVObjLoad(obj, objper.InstanceID);
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
UAVObjLoadSettings();
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
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
UAVObjSave(obj, objper.InstanceID);
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
UAVObjSaveSettings();
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
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
UAVObjDelete(obj, objper.InstanceID);
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
UAVObjDeleteSettings();
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLMETAOBJECTS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
UAVObjDeleteMetaobjects();
}
}
}
}
/**
* Called periodically to update the I2C statistics
*/
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
static void updateI2Cstats() {}
#else
static void updateI2Cstats()
{
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.event_log[i] = history.event[i];
i2cStats.state_log[i] = history.state[i];
}
i2cStats.last_error_type = history.type;
I2CStatsSet(&i2cStats);
}
#endif
/**
* Called periodically to update the system stats
*/
static void updateStats()
{
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
stats.CPULoad =
100 - (uint8_t) round(100.0 * ((float)idleCounter / (float)(SYSTEM_UPDATE_PERIOD_MS / 1000)) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
idleCounterClear = 1;
SystemStatsSet(&stats);
}
/**
* Update system alarms
*/
static void updateSystemAlarms()
{
SystemStatsData stats;
UAVObjStats objStats;
EventStats evStats;
SystemStatsGet(&stats);
// Check heap
if (stats.HeapRemaining < HEAP_LIMIT_CRITICAL) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
} else if (stats.HeapRemaining < HEAP_LIMIT_WARNING) {
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 == 1) {
AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
}
// Check for SD card
if (POIS_SDCARD_IsMounted() == 0) {
AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_SDCARD);
}
// 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.
*/
void vApplicationStackOverflowHook(xTaskHandle * pxTask, signed portCHAR * pcTaskName)
{
stackOverflow = 1;
}
/**
* @}
* @}
*/