flight/libraries/alarms.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotSystem OpenPilot System
   4  * @{
   5  * @addtogroup OpenPilotLibraries OpenPilot System Libraries
   6  * @brief OpenPilot System libraries are available to all OP modules.
   7  * @{
   8  * @file       alarms.c
   9  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  10  * @brief      Library for setting and clearing system alarms
  11  * @see        The GNU Public License (GPL) Version 3
  12  *
  13  *****************************************************************************/
  14 /*
  15  * This program is free software; you can redistribute it and/or modify
  16  * it under the terms of the GNU General Public License as published by
  17  * the Free Software Foundation; either version 3 of the License, or
  18  * (at your option) any later version.
  19  *
  20  * This program is distributed in the hope that it will be useful, but
  21  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  22  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  23  * for more details.
  24  *
  25  * You should have received a copy of the GNU General Public License along
  26  * with this program; if not, write to the Free Software Foundation, Inc.,
  27  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  28  */
  29
  30 #include <openpilot.h>
  31 #include "inc/alarms.h"
  32
  33 // Private constants
  34 #ifndef PIOS_ALARM_GRACETIME
  35 // alarm cannot be turned off for at least 1000 milliseconds
  36 // to prevent event system overload through flapping alarms
  37         #define PIOS_ALARM_GRACETIME 1000
  38 #endif // PIOS_ALARM_GRACETIME
  39
  40 // Private types
  41
  42 // Private variables
  43 static xSemaphoreHandle lock;
  44 static volatile uint16_t lastAlarmChange[SYSTEMALARMS_ALARM_NUMELEM] = { 0 }; // this deliberately overflows every 2^16 milliseconds to save memory
  45
  46 // Private functions
  47 static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
  48
  49 /**
  50  * Initialize the alarms library
  51  */
  52 int32_t AlarmsInitialize(void)
  53 {
  54     SystemAlarmsInitialize();
  55
  56     lock = xSemaphoreCreateRecursiveMutex();
  57     // do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
  58     // AlarmsClearAll();
  59     // AlarmsDefaultAll();
  60     return 0;
  61 }
  62
  63 /**
  64  * Set an alarm
  65  * @param alarm The system alarm to be modified
  66  * @param severity The alarm severity
  67  * @return 0 if success, -1 if an error
  68  */
  69 int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
  70 {
  71     SystemAlarmsAlarmData alarms;
  72
  73     // Check that this is a valid alarm
  74     if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
  75         return -1;
  76     }
  77
  78     // Lock
  79     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
  80
  81     // Read alarm and update its severity only if it was changed
  82     SystemAlarmsAlarmGet(&alarms);
  83     uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory
  84     if (((uint16_t)(flightTime - lastAlarmChange[alarm]) > PIOS_ALARM_GRACETIME &&
  85          SystemAlarmsAlarmToArray(alarms)[alarm] != severity)
  86         || SystemAlarmsAlarmToArray(alarms)[alarm] < severity) {
  87         SystemAlarmsAlarmToArray(alarms)[alarm] = severity;
  88         lastAlarmChange[alarm] = flightTime;
  89         SystemAlarmsAlarmSet(&alarms);
  90     }
  91
  92     // Release lock
  93     xSemaphoreGiveRecursive(lock);
  94     return 0;
  95 }
  96
  97 /**
  98  * Set an Extended Alarm
  99  * @param alarm The system alarm to be modified
 100  * @param severity The alarm severity
 101  * @param status The Extended alarm status field
 102  * @param subStatus The Extended alarm substatus field
 103  * @return 0 if success, -1 if an error
 104  */
 105 int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
 106                           SystemAlarmsAlarmOptions severity,
 107                           SystemAlarmsExtendedAlarmStatusOptions status,
 108                           uint8_t subStatus)
 109 {
 110     SystemAlarmsData alarms;
 111
 112     // Check that this is a valid alarm
 113     if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
 114         return -1;
 115     }
 116
 117     // Lock
 118     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 119
 120     // Read alarm and update its severity only if it was changed
 121     SystemAlarmsGet(&alarms);
 122     uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory
 123     if (((uint16_t)(flightTime - lastAlarmChange[alarm]) > PIOS_ALARM_GRACETIME &&
 124          SystemAlarmsAlarmToArray(alarms.Alarm)[alarm] != severity)
 125         || SystemAlarmsAlarmToArray(alarms.Alarm)[alarm] < severity) {
 126         SystemAlarmsExtendedAlarmStatusToArray(alarms.ExtendedAlarmStatus)[alarm] = status;
 127         SystemAlarmsExtendedAlarmSubStatusToArray(alarms.ExtendedAlarmSubStatus)[alarm] = subStatus;
 128         SystemAlarmsAlarmToArray(alarms.Alarm)[alarm] = severity;
 129         lastAlarmChange[alarm] = flightTime;
 130         SystemAlarmsSet(&alarms);
 131     }
 132
 133     // Release lock
 134     xSemaphoreGiveRecursive(lock);
 135     return 0;
 136 }
 137
 138 /**
 139  * Get an alarm
 140  * @param alarm The system alarm to be read
 141  * @return Alarm severity
 142  */
 143 SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
 144 {
 145     SystemAlarmsAlarmData alarms;
 146
 147     // Check that this is a valid alarm
 148     if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
 149         return 0;
 150     }
 151
 152     // Read alarm
 153     SystemAlarmsAlarmGet(&alarms);
 154     return SystemAlarmsAlarmToArray(alarms)[alarm];
 155 }
 156
 157 /**
 158  * Set an alarm to it's default value
 159  * @param alarm The system alarm to be modified
 160  * @return 0 if success, -1 if an error
 161  */
 162 int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
 163 {
 164     return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
 165 }
 166
 167 /**
 168  * Default all alarms
 169  */
 170 void AlarmsDefaultAll()
 171 {
 172     for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
 173         AlarmsDefault(n);
 174     }
 175 }
 176
 177 /**
 178  * Clear an alarm
 179  * @param alarm The system alarm to be modified
 180  * @return 0 if success, -1 if an error
 181  */
 182 int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
 183 {
 184     if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
 185         return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE, 0);
 186     } else {
 187         return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
 188     }
 189 }
 190
 191 /**
 192  * Clear all alarms
 193  */
 194 void AlarmsClearAll()
 195 {
 196     for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
 197         AlarmsClear(n);
 198     }
 199 }
 200
 201 /**
 202  * Check if there are any alarms with the given or higher severity
 203  * @return 0 if no alarms are found, 1 if at least one alarm is found
 204  */
 205 int32_t AlarmsHasWarnings()
 206 {
 207     return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
 208 }
 209
 210 /**
 211  * Check if there are any alarms with error or higher severity
 212  * @return 0 if no alarms are found, 1 if at least one alarm is found
 213  */
 214 int32_t AlarmsHasErrors()
 215 {
 216     return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
 217 }
 218
 219
 220 /**
 221  * Check if there are any alarms with critical or higher severity
 222  * @return 0 if no alarms are found, 1 if at least one alarm is found
 223  */
 224 int32_t AlarmsHasCritical()
 225 {
 226     return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
 227 }
 228
 229
 230 /**
 231  * Check if there are any alarms with the given or higher severity
 232  * @return 0 if no alarms are found, 1 if at least one alarm is found
 233  */
 234 static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
 235 {
 236     SystemAlarmsAlarmData alarms;
 237
 238     // Lock
 239     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 240
 241     // Read alarms
 242     SystemAlarmsAlarmGet(&alarms);
 243
 244     // Go through alarms and check if any are of the given severity or higher
 245     for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
 246         if (SystemAlarmsAlarmToArray(alarms)[n] >= severity) {
 247             xSemaphoreGiveRecursive(lock);
 248             return 1;
 249         }
 250     }
 251
 252     // If this point is reached then no alarms found
 253     xSemaphoreGiveRecursive(lock);
 254     return 0;
 255 }
 256 /**
 257  * Get the highest alarm severity
 258  * @return
 259  */
 260 SystemAlarmsAlarmOptions AlarmsGetHighestSeverity()
 261 {
 262     SystemAlarmsAlarmData alarmsData;
 263     SystemAlarmsAlarmOptions highest = SYSTEMALARMS_ALARM_UNINITIALISED;
 264
 265     // Lock
 266     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 267
 268     // Read alarms
 269     SystemAlarmsAlarmGet(&alarmsData);
 270
 271     // Go through alarms and find the highest severity
 272     uint32_t n = 0;
 273     while (n < SYSTEMALARMS_ALARM_NUMELEM && highest != SYSTEMALARMS_ALARM_CRITICAL) {
 274         if (SystemAlarmsAlarmToArray(alarmsData)[n] > highest) {
 275             highest = SystemAlarmsAlarmToArray(alarmsData)[n];
 276         }
 277         n++;
 278     }
 279
 280     xSemaphoreGiveRecursive(lock);
 281     return highest;
 282 }
 283
 284 /**
 285  * @}
 286  * @}
 287  */