/*******************************************************************************
* CheckRecorderStatus
*
* Called by TzCtrl task periodically (every 100 ms - seems reasonable).
* Checks a number of diagnostic variables and give warnings as user events,
* in most cases including a suggested solution.
******************************************************************************/
static void CheckRecorderStatus(void)
{
if (NoRoomForSymbol > NoRoomForSymbol_last)
{
vTracePrintF(trcWarningChannel, "TRC_SYMBOL_TABLE_SLOTS too small. Add %d slots.",
NoRoomForSymbol);
NoRoomForSymbol_last = NoRoomForSymbol;
}
if (NoRoomForObjectData > NoRoomForObjectData_last)
{
vTracePrintF(trcWarningChannel, "TRC_OBJECT_DATA_SLOTS too small. Add %d slots.",
NoRoomForObjectData);
NoRoomForObjectData_last = NoRoomForObjectData;
}
if (LongestSymbolName > LongestSymbolName_last)
{
if (LongestSymbolName > TRC_SYMBOL_MAX_LENGTH)
{
vTracePrintF(trcWarningChannel, "TRC_SYMBOL_MAX_LENGTH too small. Add %d chars.",
LongestSymbolName);
}
LongestSymbolName_last = LongestSymbolName;
}
if (MaxBytesTruncated > MaxBytesTruncated_last)
{
/* Some string event generated a too long string that was truncated.
This may happen for the following functions:
- vTracePrintF
- vTracePrintF
- vTraceStoreKernelObjectName
- vTraceStoreUserEventChannelName
- vTraceSetISRProperties
A PSF event may store maximum 60 bytes payload, including data arguments
and string characters. For User Events, also the User Event Channel ptr
must be squeezed in, if a channel is specified. */
vTracePrintF(trcWarningChannel, "String event too long, up to %d bytes truncated.",
MaxBytesTruncated);
MaxBytesTruncated_last = MaxBytesTruncated;
}
#if ((TRC_STREAM_PORT_BLOCKING_TRANSFER==1) && (TRC_MEASURE_BLOCKING_TIME))
if (blockingCount > 0)
{
/* At least one case of blocking since the last check and this is
the longest case. */
vTracePrintF(trcDiagnosticsChannel, "Longest since last: %d us",
(uint32_t)blockingCyclesMax/(TRACE_CPU_CLOCK_HZ/1000000));
blockingCyclesMax = 0;
}
#endif
}
/*******************************************************************************
* prvCheckRecorderStatus
*
* Called by TzCtrl task periodically (every 100 ms - seems reasonable).
* Checks a number of diagnostic variables and give warnings as user events,
* in most cases including a suggested solution.
******************************************************************************/
static void prvCheckRecorderStatus(void)
{
if (NoRoomForSymbol > NoRoomForSymbol_last)
{
vTracePrintF(trcWarningChannel, "TRC_CFG_SYMBOL_TABLE_SLOTS too small. Add %d slots.",
NoRoomForSymbol);
NoRoomForSymbol_last = NoRoomForSymbol;
}
if (NoRoomForObjectData > NoRoomForObjectData_last)
{
vTracePrintF(trcWarningChannel, "TRC_CFG_OBJECT_DATA_SLOTS too small. Add %d slots.",
NoRoomForObjectData);
NoRoomForObjectData_last = NoRoomForObjectData;
}
if (LongestSymbolName > LongestSymbolName_last)
{
if (LongestSymbolName > TRC_CFG_SYMBOL_MAX_LENGTH)
{
vTracePrintF(trcWarningChannel, "TRC_CFG_SYMBOL_MAX_LENGTH too small. Add %d chars.",
LongestSymbolName);
}
LongestSymbolName_last = LongestSymbolName;
}
if (MaxBytesTruncated > MaxBytesTruncated_last)
{
/* Some string event generated a too long string that was truncated.
This may happen for the following functions:
- vTracePrintF
- vTracePrintF
- vTraceStoreKernelObjectName
- vTraceStoreUserEventChannelName
- vTraceSetISRProperties
A PSF event may store maximum 60 bytes payload, including data arguments
and string characters. For User Events, also the User Event Channel ptr
must be squeezed in, if a channel is specified. */
vTracePrintF(trcWarningChannel, "String event too long, up to %d bytes truncated.",
MaxBytesTruncated);
MaxBytesTruncated_last = MaxBytesTruncated;
}
}
void ETH_IRQ_Handler(void)
{
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
if( ETH_GetDMAFlagStatus(ETH_DMA_FLAG_AIS) == SET) {
vTracePrintF(xTraceOpenLabel("ETH IRQ"), "AIS received");
ETH_DMAClearITPendingBit(ETH_DMA_IT_AIS);
if(ETH_GetDMAFlagStatus(ETH_DMA_IT_RBU) == SET) {
vTracePrintF(xTraceOpenLabel("ETH IRQ"), "RBU received");
ETH_DMAClearITPendingBit(ETH_DMA_IT_RBU);
}
if(ETH_GetDMAFlagStatus(ETH_DMA_IT_RPS) == SET) {
vTracePrintF(xTraceOpenLabel("ETH IRQ"), "RPS received");
ETH_DMAClearITPendingBit(ETH_DMA_IT_RPS);
}
if(ETH_GetDMAFlagStatus(ETH_DMA_IT_RO) == SET) {
vTracePrintF(xTraceOpenLabel("ETH IRQ"), "RO received");
ETH_DMAClearITPendingBit(ETH_DMA_IT_RO);
}
if(ETH_GetDMAFlagStatus(ETH_DMA_IT_FBE) == SET) {
vTracePrintF(xTraceOpenLabel("ETH IRQ"), "FBE received");
ETH_DMAClearITPendingBit(ETH_DMA_IT_FBE);
}
}
if( ETH_GetDMAFlagStatus(ETH_DMA_FLAG_NIS) == SET) {
/* Frame received */
if ( ETH_GetDMAFlagStatus(ETH_DMA_FLAG_R) == SET)
{
//vTracePrintF(xTraceOpenLabel("ETH IRQ"), "R received");
/* Give the semaphore to wakeup LwIP task (ethernetif_input)*/
xSemaphoreGiveFromISR( s_xSemaphore, &xHigherPriorityTaskWoken );
/* Clear the interrupt flags. */
/* Clear the Eth DMA Rx IT pending bits */
ETH_DMAClearITPendingBit(ETH_DMA_IT_R);
ETH_DMAClearITPendingBit(ETH_DMA_IT_NIS);
}
}
/* Switch tasks if necessary. */
if( xHigherPriorityTaskWoken != pdFALSE )
{
portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}
}
void Communications(void * pvParameters){
msg.Payload = msgBuff;
vSemaphoreCreateBinary(DataSmphr);
if (DataSmphr==NULL){
while(1);
}
qUART_Register_RBR_Callback(UART_GROUNDCOMM, UART_Rx_Handler);
qUART_EnableRx(UART_GROUNDCOMM);
comms_trcLabel = xTraceOpenLabel("Comms task");
for (;;){
if (pdTRUE == xSemaphoreTake(DataSmphr,500/portTICK_RATE_MS)){
vTracePrintF(comms_trcLabel,"Got joystick package");
switch (msg.Type){
case MSG_TYPE_CONTROL:
memcpy(&quadrotor.joystick,msg.Payload,10);
case MSG_TYPE_DEBUG:
break;
case MSG_TYPE_SYSTEM:
switch (msg.Payload[0]) {
case COMMAND_READ:
commandRead(&msg.Payload[1]);
break;
case COMMAND_WRITE:
commandWrite(&msg.Payload[1]);
break;
default:
break;
}
break;
default:
break;
}
}else{
// Timeout to get a new joystick commands, values to 0
vTracePrintF(comms_trcLabel,"Joystick package timeout");
memset(&quadrotor.joystick,0,sizeof(quadrotor.joystick));
}
}
}
