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More FreeRTOS Stuff.
Added in the initial OpenPilot files. Added HooksTask. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@49 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy
gussy
parent
7b8b2155ec
commit
28e9081872
@ -56,6 +56,8 @@ OUTDIR = Build
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TARGET = OpenPilot
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# Paths
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OPENPILOT = OpenPilot
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OPENPILOTINC = $(OPENPILOT)/inc
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PIOS = PiOS
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PIOSINC = $(PIOS)/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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@ -79,17 +81,20 @@ RTOSINCDIR = $(RTOSSRCDIR)/include
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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## OPENPILOT:
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SRC = $(OPENPILOT)/openpilot.c
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## PIOS:
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SRC = $(PIOS)/pios.c
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SRC += $(PIOS)/pios.c
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## PIOS Hardware (STM32F10x)
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SRC += $(PIOSSTM32F10X)/pios_sys.c
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SRC += $(PIOSSTM32F10X)/pios_settings.c
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SRC += $(PIOSSTM32F10X)/pios_led.c
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SRC += $(PIOSSTM32F10X)/pios_usart.c
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SRC += $(PIOSSTM32F10X)/pios_irq.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_settings.c
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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@ -167,7 +172,9 @@ ASRCARM =
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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EXTRAINCDIRS = $(PIOS)
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EXTRAINCDIRS = $(OPENPILOT)
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EXTRAINCDIRS += $(OPENPILOTINC)
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(PIOSCOMMON)
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47
flight/OpenPilot/inc/openpilot.h
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47
flight/OpenPilot/inc/openpilot.h
Normal file
@ -0,0 +1,47 @@
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/**
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******************************************************************************
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*
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* @file openpilot.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
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* @brief Main OpenPilot header.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef OPENPILOT_H
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#define OPENPILOT_H
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/* PIOS Includes */
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#include "pios.h"
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/* OpenPilot Includes */
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/* We use this to include all OpenPilot head files */
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/* FreeRTOS Includes */
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#include <FreeRTOS.h>
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#include <task.h>
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#include <queue.h>
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/* Function Prototypes */
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extern void OpenPilotInit(void);
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extern void vApplicationIdleHook(void);
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#endif /* OPENPILOT_H */
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86
flight/OpenPilot/openpilot.c
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86
flight/OpenPilot/openpilot.c
Normal file
@ -0,0 +1,86 @@
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/**
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******************************************************************************
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*
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* @file openpilot.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
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* @brief Sets up ans runs main OpenPilot tasks.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* OpenPilot Includes */
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#include "openpilot.h"
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/* Local Variables */
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static unsigned long ulIdleCycleCount = 0UL;
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/* Local Functions */
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static void ServosTask(void *pvParameters);
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/**
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* Main function
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*/
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void OpenPilotInit(void)
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{
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xTaskCreate(ServosTask, (signed portCHAR *) "Servos", configMINIMAL_STACK_SIZE, NULL, 2, NULL);
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}
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/**
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* Task to update servo positions at 50Hz
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*/
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static void ServosTask(void *pvParameters)
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{
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portTickType xLastWakeTime;
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/* The xLastWakeTime variable needs to be initialized with the current tick count. */
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xLastWakeTime = xTaskGetTickCount();
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for(;;)
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{
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/* Update Servo positions */
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/* This task should execute exactly every 20 milliseconds or 50Hz
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There is no need to update the servos any faster than this */
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vTaskDelayUntil(&xLastWakeTime, (20 / portTICK_RATE_MS));
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}
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}
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/**
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* Idle hook function
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*/
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void vApplicationIdleHook(void)
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{
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uint32_t IdleTimePercent = 0;
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/* Called when the scheduler has no tasks to run */
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/* In here we could implement stats for FreeRTOS */
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/* This can give a basic indication of how much time the system spends in idle */
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/* IdleTimePercent is the percentage of time spent in idle since the scheduler started */
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ulIdleCycleCount++;
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IdleTimePercent = ((ulIdleCycleCount / xTaskGetTickCount()) * 100);
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}
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@ -28,20 +28,15 @@
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/* Project Includes */
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#include "pios.h"
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/* OpenPilot Includes */
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#include "openpilot.h"
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/* FreeRTOS Includes */
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#include <FreeRTOS.h>
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#include <task.h>
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#include <queue.h>
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/* Local Variables */
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static unsigned long ulIdleCycleCount = 0UL;
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/* Task Priorities */
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#define PRIORITY_TASK_HOOKS ( tskIDLE_PRIORITY + 3 )
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/* Function Prototypes */
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void PiosMainTask(void *pvParameters);
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void SensorTask(void *pvParameters);
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void ServosTask(void *pvParameters);
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void vApplicationIdleHook(void);
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static void HooksTask(void *pvParameters);
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/**
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* Main function
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@ -51,12 +46,13 @@ int main()
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/* Setup Hardware */
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SysInit();
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/* Start Main tasks. */
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xTaskCreate(PiosMainTask, (signed portCHAR *) "PiosMain", configMINIMAL_STACK_SIZE, NULL, 2, NULL);
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xTaskCreate(SensorTask, (signed portCHAR *) "Sensor", configMINIMAL_STACK_SIZE, NULL, 2, NULL);
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xTaskCreate(ServosTask, (signed portCHAR *) "Servos", configMINIMAL_STACK_SIZE, NULL, 2, NULL);
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/* Initialise OpenPilot */
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OpenPilotInit();
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/* *tart the task which calls the application hooks */
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xTaskCreate(HooksTask, (signed portCHAR *)"Hooks", configMINIMAL_STACK_SIZE, NULL, PRIORITY_TASK_HOOKS, NULL);
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/* Start the scheduler. */
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/* Start the scheduler */
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vTaskStartScheduler();
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/* If all is well we will never reach here as the scheduler will now be running. */
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@ -64,62 +60,25 @@ int main()
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return 0;
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}
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/**
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* PiosMainTask
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*/
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void PiosMainTask(void *pvParameters)
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static void HooksTask(void *pvParameters)
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{
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portTickType xLastExecutionTime;
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while(1)
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{
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}
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}
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// Initialise the xLastExecutionTime variable on task entry
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xLastExecutionTime = xTaskGetTickCount();
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/**
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* SensorTask
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*/
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void SensorTask(void *pvParameters)
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{
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while(1)
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{
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}
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}
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/**
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* Task to update servo positions at 50Hz
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*/
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void ServosTask(void *pvParameters)
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{
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portTickType xLastWakeTime;
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/* The xLastWakeTime variable needs to be initialized with the current tick count. */
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xLastWakeTime = xTaskGetTickCount();
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for(;;)
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{
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/* Update Servo positions */
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while(1) {
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vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);
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/* Skip delay gap if we had to wait for more than 5 ticks to avoid */
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/* unnecessary repeats until xLastExecutionTime reached xTaskGetTickCount() again */
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portTickType xCurrentTickCount = xTaskGetTickCount();
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if(xLastExecutionTime < (xCurrentTickCount - 5)) {
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xLastExecutionTime = xCurrentTickCount;
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}
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/* This task should execute exactly every 20 milliseconds or 50Hz
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There is no need to update the servos any faster than this */
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vTaskDelayUntil(&xLastWakeTime, (20 / portTICK_RATE_MS));
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/* Check for incoming COM messages */
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COMReceiveHandler();
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}
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}
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/**
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* Idle hook function
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*/
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void vApplicationIdleHook(void)
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{
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uint32_t IdleTimePercent = 0;
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/* Called when the scheduler has no tasks to run */
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/* In here we could implement stats for FreeRTOS */
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/* This can give a basic indication of how much time the system spends in idle */
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/* IdleTimePercent is the percentage of time spent in idle since the scheduler started */
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ulIdleCycleCount++;
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IdleTimePercent = ((ulIdleCycleCount / xTaskGetTickCount()) * 100);
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}
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}
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