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834eecfc1f
and stabilization that is monitored by watchdog. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2078 ebee16cc-31ac-478f-84a7-5cbb03baadba
99 lines
2.7 KiB
C
99 lines
2.7 KiB
C
/**
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******************************************************************************
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*
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* @file watchdog.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Watchdog module which must run every 250 ms
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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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/**
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* Input object: none
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* Output object: none
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*
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* This module initializes the PIOS Watchdog and then periodically resets the timeout
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*
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* The module executes in its own thread in this example.
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*/
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#include "openpilot.h"
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#include "pios_wdg.h"
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#include "watchdog.h"
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// Private constants
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// TODO: Look up maximum task priority and set this to it. Not trying to replicate CPU load.
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#define TASK_PRIORITY (tskIDLE_PRIORITY+5)
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#define STACK_SIZE configMINIMAL_STACK_SIZE
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#define WATCHDOG_TIMEOUT 250
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// Private functions
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static void watchdogTask(void *parameters);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t WatchdogInitialize()
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{
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actuator_updated = 0;
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stabilization_updated = 0;
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ahrs_updated = 0;
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manual_updated = 0;
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// Start main task
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xTaskCreate(watchdogTask, (signed char *)"Watchdog", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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return 0;
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}
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/**
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* @brief Module thread, should not return.
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*
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* Initializes the PIOS watchdog and periodically resets it
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*/
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static void watchdogTask(void *parameters)
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{
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uint32_t delay;
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portTickType lastSysTime;
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delay = PIOS_WDG_Init(WATCHDOG_TIMEOUT) / portTICK_RATE_MS;
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1) {
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if(actuator_updated && stabilization_updated &&
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ahrs_updated && manual_updated) {
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PIOS_WDG_Clear();
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actuator_updated = 0;
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stabilization_updated = 0;
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ahrs_updated = 0;
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manual_updated = 0;
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}
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vTaskDelayUntil(&lastSysTime, delay);
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}
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}
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