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     uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
  47
  48     HwSettingsOptionalModulesGet(optionalModules);
  49
  50     if (optionalModules[HWSETTINGS_OPTIONALMODULES_FAULT] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
  51         module_enabled = true;
  52     } else {
  53         module_enabled = false;
  54     }
  55 #endif
  56
  57     /* Do this outside the module_enabled test so that it
  58      * can be changed even when the module has been disabled.
  59      * This is important so we can remove faults even when
  60      * we've booted in BootFault recovery mode with all optional
  61      * modules disabled.
  62      */
  63
  64     if (module_enabled) {
  65         FaultSettingsActivateFaultGet(&active_fault);
  66
  67         switch (active_fault) {
  68         case FAULTSETTINGS_ACTIVATEFAULT_MODULEINITASSERT:
  69             /* Simulate an assert during module init */
  70             PIOS_Assert(0);
  71             break;
  72         case FAULTSETTINGS_ACTIVATEFAULT_INITOUTOFMEMORY:
  73             /* Leak all available memory */
  74             while (pios_malloc(10)) {
  75                 ;
  76             }
  77             break;
  78         case FAULTSETTINGS_ACTIVATEFAULT_INITBUSERROR:
  79         {
  80             /* Force a bad access */
  81             uint32_t *bad_ptr = (uint32_t *)0xFFFFFFFF;
  82             *bad_ptr = 0xAA55AA55;
  83         }
  84         break;
  85         }
  86     }
  87
  88     return 0;
  89 }
  90
  91 static void fault_task(void *parameters);
  92
  93 static int32_t fault_start(void)
  94 {
  95     xTaskHandle fault_task_handle;
  96
  97     if (module_enabled) {
  98         switch (active_fault) {
  99         case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK:
 100         case FAULTSETTINGS_ACTIVATEFAULT_TASKOUTOFMEMORY:
 101             xTaskCreate(fault_task,
 102                         (signed char *)"Fault",
 103                         configMINIMAL_STACK_SIZE,
 104                         NULL,
 105                         configMAX_PRIORITIES - 1,
 106                         &fault_task_handle);
 107             return 0;
 108
 109             break;
 110         }
 111     }
 112     return -1;
 113 }
 114 MODULE_INITCALL(fault_initialize, fault_start);
 115
 116 static void fault_task(__attribute__((unused)) void *parameters)
 117 {
 118     switch (active_fault) {
 119     case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK:
 120         /* Consume all realtime, not letting the systemtask run */
 121         while (1) {
 122             ;
 123         }
 124         break;
 125     case FAULTSETTINGS_ACTIVATEFAULT_TASKOUTOFMEMORY:
 126         /* Leak all available memory and then sleep */
 127         while (pios_malloc(10)) {
 128             ;
 129         }
 130         while (1) {
 131             vTaskDelay(1000);
 132         }
 133         break;
 134     }
 135 }
 136
 137 /**
 138  * @}
 139  * @}
 140  */