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40beb15129
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@519 ebee16cc-31ac-478f-84a7-5cbb03baadba
129 lines
3.6 KiB
C
129 lines
3.6 KiB
C
/**
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******************************************************************************
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*
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* @file systemmod.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief System module
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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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#include "systemmod.h"
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#include "settingspersistence.h"
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#include "systemstats.h"
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// Private constants
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#define STATS_UPDATE_PERIOD_MS 1000
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#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
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// must be updated if the FreeRTOS or compiler
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// optimisation options are changed.
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// Private types
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// Private variables
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static uint32_t idleCounter;
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static uint32_t idleCounterClear;
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static xSemaphoreHandle mutex;
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// Private functions
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static void ObjectUpdatedCb(UAVObjEvent* ev);
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static void StatsUpdateCb(UAVObjEvent* ev);
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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 SystemModInitialize(void)
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{
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UAVObjEvent ev;
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// Create the mutex
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mutex = xSemaphoreCreateRecursiveMutex();
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// Listen for ExampleObject1 updates, connect a callback function
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SettingsPersistenceConnectCallback(&ObjectUpdatedCb);
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// Create periodic event that will be used to update the system stats
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idleCounter = 0;
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idleCounterClear = 0;
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memset(&ev, 0, sizeof(UAVObjEvent));
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EventPeriodicCallbackCreate(&ev, StatsUpdateCb, STATS_UPDATE_PERIOD_MS);
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return 0;
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}
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/**
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* Function called in response to object updates
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*/
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static void ObjectUpdatedCb(UAVObjEvent* ev)
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{
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SettingsPersistenceData setper;
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// If the object updated was the SettingsPersistence execute requested action
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if ( ev->obj == SettingsPersistenceHandle() )
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{
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// Get object data
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SettingsPersistenceGet(&setper);
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// Execute action
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if ( setper.Operation == SETTINGSPERSISTENCE_OPERATION_LOAD)
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{
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UAVObjLoadSettings();
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}
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else if ( setper.Operation == SETTINGSPERSISTENCE_OPERATION_SAVE)
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{
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UAVObjSaveSettings();
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}
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}
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}
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/**
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* Called periodically to update the system stats
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*/
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static void StatsUpdateCb(UAVObjEvent* ev)
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{
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SystemStatsData stats;
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// Get stats and update
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SystemStatsGet(&stats);
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stats.FlightTime = xTaskGetTickCount()*portTICK_RATE_MS;
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stats.HeapRemaining = xPortGetFreeHeapSize();
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stats.CPULoad = 100 - (uint8_t)round(100.0*((float)idleCounter/(float)(STATS_UPDATE_PERIOD_MS/1000))/(float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
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idleCounterClear = 1;
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SystemStatsSet(&stats);
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}
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/**
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* Called by the RTOS when the CPU is idle, used to measure the CPU idle time.
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*/
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void vApplicationIdleHook(void)
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{
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// Called when the scheduler has no tasks to run
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if (idleCounterClear == 0)
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{
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++idleCounter;
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}
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else
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{
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idleCounter = 0;
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idleCounterClear = 0;
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}
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}
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