/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void systemTask(void *parameters)
{
portTickType lastSysTime;
/* create all modules thread */
MODULE_TASKCREATE_ALL
// 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();
#if defined(DIAGNOSTICS)
updateI2Cstats();
updateWDGstats();
#endif
// Update the task status object
TaskMonitorUpdateAll();
// Flash the heartbeat LED
PIOS_LED_Toggle(LED1);
// Turn on the error LED if an alarm is set
#if (PIOS_LED_NUM > 1)
if (AlarmsHasErrors()) {
PIOS_LED_Toggle(LED2);
} else if (AlarmsHasWarnings()) {
PIOS_LED_On(LED2);
} else {
PIOS_LED_Off(LED2);
}
#endif
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
// Wait until next period
if(flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) );
} else {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
}
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void systemTask(void *parameters)
{
/* create all modules thread */
MODULE_TASKCREATE_ALL;
if (mallocFailed) {
/* We failed to malloc during task creation,
* system behaviour is undefined. Reset and let
* the BootFault code recover for us.
*/
PIOS_SYS_Reset();
}
#if defined(PIOS_INCLUDE_IAP)
/* Record a successful boot */
PIOS_IAP_WriteBootCount(0);
#endif
// Initialize vars
idleCounter = 0;
idleCounterClear = 0;
// Listen for SettingPersistance object updates, connect a callback function
ObjectPersistenceConnectQueue(objectPersistenceQueue);
// Main system loop
while (1) {
// Update the system statistics
updateStats();
// Update the system alarms
updateSystemAlarms();
#if defined(I2C_WDG_STATS_DIAGNOSTICS)
updateI2Cstats();
updateWDGstats();
#endif
#if defined(DIAG_TASKS)
// Update the task status object
TaskMonitorUpdateAll();
#endif
// Flash the heartbeat LED
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
// Turn on the error LED if an alarm is set
#if defined (PIOS_LED_ALARM)
if (AlarmsHasWarnings()) {
PIOS_LED_On(PIOS_LED_ALARM);
} else {
PIOS_LED_Off(PIOS_LED_ALARM);
}
#endif /* PIOS_LED_ALARM */
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
UAVObjEvent ev;
int delayTime = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED ?
SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) :
SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS;
if(xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) {
// If object persistence is updated call the callback
objectUpdatedCb(&ev);
}
}
}
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
static void systemTask(void *parameters)
{
portTickType lastSysTime;
/* create all modules thread */
MODULE_TASKCREATE_ALL;
if (mallocFailed) {
/* We failed to malloc during task creation,
* system behaviour is undefined. Reset and let
* the BootFault code recover for us.
*/
PIOS_SYS_Reset();
}
#if defined(PIOS_INCLUDE_IAP)
/* Record a successful boot */
PIOS_IAP_WriteBootCount(0);
#endif
// 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();
#if defined(DIAGNOSTICS)
updateI2Cstats();
updateWDGstats();
#endif
#if defined(DIAG_TASKS)
// Update the task status object
TaskMonitorUpdateAll();
#endif
// Flash the heartbeat LED
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
// Turn on the error LED if an alarm is set
#if defined (PIOS_LED_ALARM)
if (AlarmsHasWarnings()) {
PIOS_LED_On(PIOS_LED_ALARM);
} else {
PIOS_LED_Off(PIOS_LED_ALARM);
}
#endif /* PIOS_LED_ALARM */
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
// Wait until next period
if(flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) );
} else {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
}
