コード例 #1
0
ファイル: systemmod.c プロジェクト: PhilippePetit/openpilot
/**
 * Called periodically to update the system stats
 */
static void updateStats()
{
	static portTickType lastTickCount = 0;
	SystemStatsData stats;

	// Get stats and update
	SystemStatsGet(&stats);
	stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
	// POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
	stats.HeapRemaining = 10240;
#else
	stats.HeapRemaining = xPortGetFreeHeapSize();
#endif

	// Get Irq stack status
	stats.IRQStackRemaining = GetFreeIrqStackSize();

	// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
	if (idleCounterClear) {
		idleCounter = 0;
	}

	portTickType now = xTaskGetTickCount();
	if (now > lastTickCount) {
		uint32_t dT = (xTaskGetTickCount() - lastTickCount) * portTICK_RATE_MS;	// in ms
		stats.CPULoad =
			100 - (uint8_t) roundf(100.0f * ((float)idleCounter / ((float)dT / 1000.0f)) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
	} //else: TickCount has wrapped, do not calc now
	lastTickCount = now;
	idleCounterClear = 1;
	
#if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
#if defined(STM32F2XX) || defined(STM32F4XX)
	// STM32F2XX and STM32F4XX sensor values
	float temp_voltage = 3.3f * PIOS_ADC_PinGet(5) / ((1 << 12) - 1);
	const float STM32_TEMP_V25 = 0.76f; /* V */
	const float STM32_TEMP_AVG_SLOPE = 2.5f; /* mV/C */
	stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000.0f / STM32_TEMP_AVG_SLOPE + 25.0f;
#else
	float temp_voltage = 3.3f * PIOS_ADC_PinGet(0) / ((1 << 12) - 1);
	const float STM32_TEMP_V25 = 1.43f; /* V */
	const float STM32_TEMP_AVG_SLOPE = 4.3f; /* mV/C */
	stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000.0f / STM32_TEMP_AVG_SLOPE + 25.0f;
#endif
#endif
	SystemStatsSet(&stats);
}
コード例 #2
0
ファイル: systemmod.c プロジェクト: CheBuzz/TauLabs
/**
 * Called periodically to update the system stats
 */
static void updateStats()
{
	static uint32_t lastTickCount = 0;
	SystemStatsData stats;

	// Get stats and update
	SystemStatsGet(&stats);
	stats.FlightTime = PIOS_Thread_Systime();
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
	// POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
	stats.HeapRemaining = 10240;
#else
	stats.HeapRemaining = PIOS_heap_get_free_size();
#endif

	// Get Irq stack status
	stats.IRQStackRemaining = GetFreeIrqStackSize();

	// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
	if (idleCounterClear) {
		idleCounter = 0;
	}

	uint32_t now = PIOS_Thread_Systime();
	if (now > lastTickCount) {
		float dT = (PIOS_Thread_Systime() - lastTickCount) / 1000.0f;

		// In the case of a slightly miscalibrated max idle count, make sure CPULoad does
		// not go negative and set an alarm inappropriately.
		float idleFraction = ((float)idleCounter / dT) / (float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD;
		if (idleFraction > 1)
			stats.CPULoad = 0;
		else
			stats.CPULoad = 100 - roundf(100.0f * idleFraction);
	} //else: TickCount has wrapped, do not calc now
	lastTickCount = now;
	idleCounterClear = 1;
	
#if defined(PIOS_INCLUDE_ADC) && defined(PIOS_ADC_USE_TEMP_SENSOR)
	float temp_voltage = 3.3 * PIOS_ADC_DevicePinGet(PIOS_INTERNAL_ADC, 0) / ((1 << 12) - 1);
	const float STM32_TEMP_V25 = 1.43; /* V */
	const float STM32_TEMP_AVG_SLOPE = 4.3; /* mV/C */
	stats.CPUTemp = (temp_voltage-STM32_TEMP_V25) * 1000 / STM32_TEMP_AVG_SLOPE + 25;
#endif
	SystemStatsSet(&stats);
}
コード例 #3
0
ファイル: systemmod.c プロジェクト: CheBuzz/TauLabs
/**
 * Update system alarms
 */
static void updateSystemAlarms()
{
	SystemStatsData stats;
	UAVObjStats objStats;
	EventStats evStats;
	SystemStatsGet(&stats);

	// Check heap, IRQ stack and malloc failures
	if (PIOS_heap_malloc_failed_p()
	     || (stats.HeapRemaining < HEAP_LIMIT_CRITICAL)
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
	     || (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL)
#endif
	    ) {
		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
	} else if (
		(stats.HeapRemaining < HEAP_LIMIT_WARNING)
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
	     || (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING)
#endif
	    ) {
		AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
	} else {
		AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
	}

	// Check CPU load
	if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
		AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);
	} else if (stats.CPULoad > CPULOAD_LIMIT_WARNING) {
		AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_WARNING);
	} else {
		AlarmsClear(SYSTEMALARMS_ALARM_CPUOVERLOAD);
	}

	// Check for stack overflow
	if (stackOverflow) {
		AlarmsSet(SYSTEMALARMS_ALARM_STACKOVERFLOW, SYSTEMALARMS_ALARM_CRITICAL);
	} else {
		AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
	}

	// Check for event errors
	UAVObjGetStats(&objStats);
	EventGetStats(&evStats);
	UAVObjClearStats();
	EventClearStats();
	if (objStats.eventCallbackErrors > 0 || objStats.eventQueueErrors > 0  || evStats.eventErrors > 0) {
		AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
	} else {
		AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
	}
	
	if (objStats.lastCallbackErrorID || objStats.lastQueueErrorID || evStats.lastErrorID) {
		SystemStatsData sysStats;
		SystemStatsGet(&sysStats);
		sysStats.EventSystemWarningID = evStats.lastErrorID;
		sysStats.ObjectManagerCallbackID = objStats.lastCallbackErrorID;
		sysStats.ObjectManagerQueueID = objStats.lastQueueErrorID;
		SystemStatsSet(&sysStats);
	}
		
}