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px4-firmware
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IO: Fix access to free memory 

The free memory was accessed from interrupt context where it should not be accessed from. We build the statistic now at a fixed rate while not armed.
This commit is contained in:
Lorenz Meier 2017-05-04 22:32:52 +02:00
parent 8bfa84f73f
commit 1bb56e775e
2 changed files with 25 additions and 4 deletions
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25
src/modules/px4iofirmware/px4io.c
View File

@ -89,6 +89,7 @@ static char msg[NUM_MSG][CONFIG_USART1_TXBUFSIZE];
static void heartbeat_blink(void);
static void ring_blink(void);
static void update_mem_usage(void);
/*
* add a debug message to be printed on the console
@ -128,6 +129,27 @@ show_debug_messages(void)
}
}
/*
* Get the memory usage at 2 Hz while not armed
*/
static void
update_mem_usage(void)
{
if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
/* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
return;
}
static uint64_t last_mem_time = 0;
uint64_t now = hrt_absolute_time();
if (now - last_mem_time > (500 * 1000)) {
struct mallinfo minfo = mallinfo();
r_page_status[PX4IO_P_STATUS_FREEMEM] = minfo.fordblks;
last_mem_time = now;
}
}
static void
heartbeat_blink(void)
{
@ -311,6 +333,7 @@ user_start(int argc, char *argv[])
perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop");
struct mallinfo minfo = mallinfo();
r_page_status[PX4IO_P_STATUS_FREEMEM] = minfo.mxordblk;
syslog(LOG_INFO, "MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
/* initialize PWM limit lib */
@ -418,6 +441,8 @@ user_start(int argc, char *argv[])
LED_BLUE(true);
}
update_mem_usage();
ring_blink();
check_reboot();

4
src/modules/px4iofirmware/registers.c
View File

@ -880,10 +880,6 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
*/
case PX4IO_PAGE_STATUS:
/* PX4IO_P_STATUS_FREEMEM */
{
struct mallinfo minfo = mallinfo();
r_page_status[PX4IO_P_STATUS_FREEMEM] = minfo.fordblks;
}
/* XXX PX4IO_P_STATUS_CPULOAD */