flight/modules/Fault/Fault.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup FaultModule Fault Module
   6  * @brief Insert various fault conditions for testing
   7  * @{
   8  *
   9  * @file       Fault.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  11  * @brief      Fault module, inserts faults for testing
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 // ****************
  32
  33 #include "openpilot.h"
  34 #include <stdbool.h>
  35 #include "hwsettings.h"
  36 #include "faultsettings.h"
  37
  38 static bool module_enabled;
  39 static uint8_t active_fault;
  40
  41 static int32_t fault_initialize(void)
  42 {
  43 #ifdef MODULE_FAULT_BUILTIN
  44     module_enabled = true;
  45 #else
  46     HwSettingsInitialize();
  47     uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
  48
  49     HwSettingsOptionalModulesGet(optionalModules);
  50
  51     if (optionalModules[HWSETTINGS_OPTIONALMODULES_FAULT] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
  52         module_enabled = true;
  53     } else {
  54         module_enabled = false;
  55     }
  56 #endif
  57
  58     /* Do this outside the module_enabled test so that it
  59      * can be changed even when the module has been disabled.
  60      * This is important so we can remove faults even when
  61      * we've booted in BootFault recovery mode with all optional
  62      * modules disabled.
  63      */
  64     FaultSettingsInitialize();
  65
  66     if (module_enabled) {
  67         FaultSettingsActivateFaultGet(&active_fault);
  68
  69         switch (active_fault) {
  70         case FAULTSETTINGS_ACTIVATEFAULT_MODULEINITASSERT:
  71             /* Simulate an assert during module init */
  72             PIOS_Assert(0);
  73             break;
  74         case FAULTSETTINGS_ACTIVATEFAULT_INITOUTOFMEMORY:
  75             /* Leak all available memory */
  76             while (pios_malloc(10)) {
  77                 ;
  78             }
  79             break;
  80         case FAULTSETTINGS_ACTIVATEFAULT_INITBUSERROR:
  81         {
  82             /* Force a bad access */
  83             uint32_t *bad_ptr = (uint32_t *)0xFFFFFFFF;
  84             *bad_ptr = 0xAA55AA55;
  85         }
  86         break;
  87         }
  88     }
  89
  90     return 0;
  91 }
  92
  93 static void fault_task(void *parameters);
  94
  95 static int32_t fault_start(void)
  96 {
  97     xTaskHandle fault_task_handle;
  98
  99     if (module_enabled) {
 100         switch (active_fault) {
 101         case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK:
 102         case FAULTSETTINGS_ACTIVATEFAULT_TASKOUTOFMEMORY:
 103             xTaskCreate(fault_task,
 104                         (signed char *)"Fault",
 105                         configMINIMAL_STACK_SIZE,
 106                         NULL,
 107                         configMAX_PRIORITIES - 1,
 108                         &fault_task_handle);
 109             return 0;
 110
 111             break;
 112         }
 113     }
 114     return -1;
 115 }
 116 MODULE_INITCALL(fault_initialize, fault_start);
 117
 118 static void fault_task(__attribute__((unused)) void *parameters)
 119 {
 120     switch (active_fault) {
 121     case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK:
 122         /* Consume all realtime, not letting the systemtask run */
 123         while (1) {
 124             ;
 125         }
 126         break;
 127     case FAULTSETTINGS_ACTIVATEFAULT_TASKOUTOFMEMORY:
 128         /* Leak all available memory and then sleep */
 129         while (pios_malloc(10)) {
 130             ;
 131         }
 132         while (1) {
 133             vTaskDelay(1000);
 134         }
 135         break;
 136     }
 137 }
 138
 139 /**
 140  * @}
 141  * @}
 142  */