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https://bitbucket.org/librepilot/librepilot.git
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143 lines
4.0 KiB
C
143 lines
4.0 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup FaultModule Fault Module
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* @brief Insert various fault conditions for testing
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* @{
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*
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* @file Fault.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Fault module, inserts faults for testing
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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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#include "openpilot.h"
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#include <stdbool.h>
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#include "hwsettings.h"
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#include "faultsettings.h"
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static bool module_enabled;
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static uint8_t active_fault;
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static int32_t fault_initialize(void)
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{
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#ifdef MODULE_FAULT_BUILTIN
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module_enabled = true;
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#else
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HwSettingsInitialize();
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uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
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HwSettingsOptionalModulesGet(optionalModules);
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if (optionalModules[HWSETTINGS_OPTIONALMODULES_FAULT] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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module_enabled = true;
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} else {
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module_enabled = false;
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}
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#endif
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/* Do this outside the module_enabled test so that it
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* can be changed even when the module has been disabled.
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* This is important so we can remove faults even when
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* we've booted in BootFault recovery mode with all optional
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* modules disabled.
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*/
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FaultSettingsInitialize();
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if (module_enabled) {
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FaultSettingsActivateFaultGet(&active_fault);
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switch (active_fault) {
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case FAULTSETTINGS_ACTIVATEFAULT_MODULEINITASSERT:
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/* Simulate an assert during module init */
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PIOS_Assert(0);
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break;
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case FAULTSETTINGS_ACTIVATEFAULT_INITOUTOFMEMORY:
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/* Leak all available memory */
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while (pvPortMalloc(10)) {
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;
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}
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break;
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case FAULTSETTINGS_ACTIVATEFAULT_INITBUSERROR:
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{
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/* Force a bad access */
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uint32_t *bad_ptr = (uint32_t *)0xFFFFFFFF;
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*bad_ptr = 0xAA55AA55;
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}
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break;
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}
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}
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return 0;
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}
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static void fault_task(void *parameters);
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static int32_t fault_start(void)
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{
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xTaskHandle fault_task_handle;
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if (module_enabled) {
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switch (active_fault) {
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case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK:
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case FAULTSETTINGS_ACTIVATEFAULT_TASKOUTOFMEMORY:
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xTaskCreate(fault_task,
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(signed char *)"Fault",
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configMINIMAL_STACK_SIZE,
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NULL,
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configMAX_PRIORITIES - 1,
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&fault_task_handle);
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return 0;
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break;
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}
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}
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return -1;
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}
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MODULE_INITCALL(fault_initialize, fault_start);
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static void fault_task(__attribute__((unused)) void *parameters)
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{
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switch (active_fault) {
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case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK:
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/* Consume all realtime, not letting the systemtask run */
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while (1) {
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;
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}
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break;
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case FAULTSETTINGS_ACTIVATEFAULT_TASKOUTOFMEMORY:
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/* Leak all available memory and then sleep */
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while (pvPortMalloc(10)) {
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;
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}
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while (1) {
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vTaskDelay(1000);
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}
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break;
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}
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}
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/**
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* @}
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* @}
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*/
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