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 <pios_struct_helper.h>
  32 #include "inc/alarms.h"
  33
  34 // Private constants
  35 #ifndef PIOS_ALARM_GRACETIME
  36 // alarm cannot be turned off for at least 1000 milliseconds
  37 // to prevent event system overload through flapping alarms
  38         #define PIOS_ALARM_GRACETIME 1000
  39 #endif // PIOS_ALARM_GRACETIME
  40
  41 // Private types
  42
  43 // Private variables
  44 static xSemaphoreHandle lock;
  45 static volatile uint16_t lastAlarmChange[SYSTEMALARMS_ALARM_NUMELEM] = { 0 }; // this deliberately overflows every 2^16 milliseconds to save memory
  46
  47 // Private functions
  48 static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
  49
  50 /**
  51  * Initialize the alarms library
  52  */
  53 int32_t AlarmsInitialize(void)
  54 {
  55     SystemAlarmsInitialize();
  56
  57     lock = xSemaphoreCreateRecursiveMutex();
  58     // do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
  59     // AlarmsClearAll();
  60     // AlarmsDefaultAll();
  61     return 0;
  62 }
  63
  64 /**
  65  * Set an alarm
  66  * @param alarm The system alarm to be modified
  67  * @param severity The alarm severity
  68  * @return 0 if success, -1 if an error
  69  */
  70 int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
  71 {
  72     SystemAlarmsAlarmData alarms;
  73
  74     // Check that this is a valid alarm
  75     if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
  76         return -1;
  77     }
  78
  79     // Lock
  80     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
  81
  82     // Read alarm and update its severity only if it was changed
  83     SystemAlarmsAlarmGet(&alarms);
  84     uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory
  85     if (((uint16_t)(flightTime - lastAlarmChange[alarm]) > PIOS_ALARM_GRACETIME &&
  86          cast_struct_to_array(alarms, alarms.Actuator)[alarm] != severity)
  87         || cast_struct_to_array(alarms, alarms.Actuator)[alarm] < severity) {
  88         cast_struct_to_array(alarms, alarms.Actuator)[alarm] = severity;
  89         lastAlarmChange[alarm] = flightTime;
  90         SystemAlarmsAlarmSet(&alarms);
  91     }
  92
  93     // Release lock
  94     xSemaphoreGiveRecursive(lock);
  95     return 0;
  96 }
  97
  98 /**
  99  * Set an Extended Alarm
 100  * @param alarm The system alarm to be modified
 101  * @param severity The alarm severity
 102  * @param status The Extended alarm status field
 103  * @param subStatus The Extended alarm substatus field
 104  * @return 0 if success, -1 if an error
 105  */
 106 int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
 107                           SystemAlarmsAlarmOptions severity,
 108                           SystemAlarmsExtendedAlarmStatusOptions status,
 109                           uint8_t subStatus)
 110 {
 111     SystemAlarmsData alarms;
 112
 113     // Check that this is a valid alarm
 114     if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
 115         return -1;
 116     }
 117
 118     // Lock
 119     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 120
 121     // Read alarm and update its severity only if it was changed
 122     SystemAlarmsGet(&alarms);
 123     uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory
 124     if (((uint16_t)(flightTime - lastAlarmChange[alarm]) > PIOS_ALARM_GRACETIME &&
 125          cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity)
 126         || cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] < severity) {
 127         cast_struct_to_array(alarms.ExtendedAlarmStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm]    = status;
 128         cast_struct_to_array(alarms.ExtendedAlarmSubStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = subStatus;
 129         cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity;
 130         lastAlarmChange[alarm] = flightTime;
 131         SystemAlarmsSet(&alarms);
 132     }
 133
 134     // Release lock
 135     xSemaphoreGiveRecursive(lock);
 136     return 0;
 137 }
 138
 139 /**
 140  * Get an alarm
 141  * @param alarm The system alarm to be read
 142  * @return Alarm severity
 143  */
 144 SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
 145 {
 146     SystemAlarmsAlarmData alarms;
 147
 148     // Check that this is a valid alarm
 149     if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
 150         return 0;
 151     }
 152
 153     // Read alarm
 154     SystemAlarmsAlarmGet(&alarms);
 155     return cast_struct_to_array(alarms, alarms.Actuator)[alarm];
 156 }
 157
 158 /**
 159  * Set an alarm to it's default value
 160  * @param alarm The system alarm to be modified
 161  * @return 0 if success, -1 if an error
 162  */
 163 int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
 164 {
 165     return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
 166 }
 167
 168 /**
 169  * Default all alarms
 170  */
 171 void AlarmsDefaultAll()
 172 {
 173     for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
 174         AlarmsDefault(n);
 175     }
 176 }
 177
 178 /**
 179  * Clear an alarm
 180  * @param alarm The system alarm to be modified
 181  * @return 0 if success, -1 if an error
 182  */
 183 int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
 184 {
 185     if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
 186         return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE, 0);
 187     } else {
 188         return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
 189     }
 190 }
 191
 192 /**
 193  * Clear all alarms
 194  */
 195 void AlarmsClearAll()
 196 {
 197     for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
 198         AlarmsClear(n);
 199     }
 200 }
 201
 202 /**
 203  * Check if there are any alarms with the given or higher severity
 204  * @return 0 if no alarms are found, 1 if at least one alarm is found
 205  */
 206 int32_t AlarmsHasWarnings()
 207 {
 208     return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
 209 }
 210
 211 /**
 212  * Check if there are any alarms with error or higher severity
 213  * @return 0 if no alarms are found, 1 if at least one alarm is found
 214  */
 215 int32_t AlarmsHasErrors()
 216 {
 217     return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
 218 }
 219
 220
 221 /**
 222  * Check if there are any alarms with critical or higher severity
 223  * @return 0 if no alarms are found, 1 if at least one alarm is found
 224  */
 225 int32_t AlarmsHasCritical()
 226 {
 227     return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
 228 }
 229
 230
 231 /**
 232  * Check if there are any alarms with the given or higher severity
 233  * @return 0 if no alarms are found, 1 if at least one alarm is found
 234  */
 235 static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
 236 {
 237     SystemAlarmsAlarmData alarms;
 238
 239     // Lock
 240     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 241
 242     // Read alarms
 243     SystemAlarmsAlarmGet(&alarms);
 244
 245     // Go through alarms and check if any are of the given severity or higher
 246     for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
 247         if (cast_struct_to_array(alarms, alarms.Actuator)[n] >= severity) {
 248             xSemaphoreGiveRecursive(lock);
 249             return 1;
 250         }
 251     }
 252
 253     // If this point is reached then no alarms found
 254     xSemaphoreGiveRecursive(lock);
 255     return 0;
 256 }
 257 /**
 258  * Get the highest alarm severity
 259  * @return
 260  */
 261 SystemAlarmsAlarmOptions AlarmsGetHighestSeverity()
 262 {
 263     SystemAlarmsAlarmData alarmsData;
 264     SystemAlarmsAlarmOptions highest = SYSTEMALARMS_ALARM_UNINITIALISED;
 265
 266     // Lock
 267     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 268
 269     // Read alarms
 270     SystemAlarmsAlarmGet(&alarmsData);
 271
 272     // Go through alarms and find the highest severity
 273     uint32_t n = 0;
 274     while (n < SYSTEMALARMS_ALARM_NUMELEM && highest != SYSTEMALARMS_ALARM_CRITICAL) {
 275         if (cast_struct_to_array(alarmsData, alarmsData.Actuator)[n] > highest) {
 276             highest = cast_struct_to_array(alarmsData, alarmsData.Actuator)[n];
 277         }
 278         n++;
 279     }
 280
 281     xSemaphoreGiveRecursive(lock);
 282     return highest;
 283 }
 284
 285 /**
 286  * @}
 287  * @}
 288  */