C++ (Cpp) AlarmsHasWarnings Examples

Example #1

File: systemmod.c Project: PhilippePetit/openpilot

/**
 * 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);
		}
	}
}

Example #2

File: systemmod.c Project: trogalko/SVentas_OP_naze32

/**
 * 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);
		}
	}
}

Example #3

File: systemmod.c Project: ICRS/OpenPilot-Clone

/**
 * 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);
        }
    }
}