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Beat Küng
e4cef9f303
- reduce boost priority to PX4_WQ_HP_BASE - 6 - add cli command 'trigger_watchdog' to manually trigger watchdog - add perf counters when triggering watchdog - reduce top measurement to 300ms - restore priorities after 1.5s There are precautions in case the SD card code itself has a busy-loop.
85 lines
3.2 KiB
C++
85 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <drivers/drv_hrt.h>
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#ifdef __PX4_NUTTX
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#include <nuttx/sched.h>
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#include <px4_platform/cpuload.h>
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#endif /* __PX4_NUTTX */
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namespace px4
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{
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namespace logger
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{
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struct watchdog_data_t {
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#ifdef __PX4_NUTTX
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int logger_main_task_index = -1;
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int logger_writer_task_index = -1;
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hrt_abstime ready_to_run_timestamp = hrt_absolute_time();
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hrt_abstime sem_counter_saturated_start = hrt_absolute_time();
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uint8_t last_state = TSTATE_TASK_INVALID;
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int log_writer_priority = 0;
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int logger_main_priority = 0;
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hrt_abstime trigger_time = 0; ///< timestamp when it was triggered
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bool manual_watchdog_trigger = false;
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#endif /* __PX4_NUTTX */
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};
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/**
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* Initialize the watchdog, fill in watchdog_data.
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*/
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void watchdog_initialize(const pid_t pid_logger_main, const pthread_t writer_thread, watchdog_data_t &watchdog_data);
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/**
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* Update the watchdog and trigger it if necessary. It is triggered when the log writer task is in
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* ready state for a certain period of time, but did not get scheduled. It means that most likely
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* some other higher-prio task runs busy.
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* When the watchdog triggers, it boosts the priority of the logger's main & writer tasks to maximum, so
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* that they get scheduled again.
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*
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* Expected to be called from IRQ context.
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*
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* @param watchdog_data
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* @param semaphore_value_saturated if the scheduling semaphore counter is saturated
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* @return true if watchdog is triggered, false otherwise
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*/
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bool watchdog_update(watchdog_data_t &watchdog_data, bool semaphore_value_saturated);
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} //namespace logger
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} //namespace px4
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