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More FreeRTOS Stuff.

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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 2009-12-02 11:07:56 +00:00 committed by gussy
parent 7b8b2155ec
commit 28e9081872
4 changed files with 171 additions and 72 deletions
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13
flight/Makefile
View File

@ -56,6 +56,8 @@ OUTDIR = Build
TARGET = OpenPilot TARGET = OpenPilot
# Paths # Paths
OPENPILOT = OpenPilot
OPENPILOTINC = $(OPENPILOT)/inc
PIOS = PiOS PIOS = PiOS
PIOSINC = $(PIOS)/inc PIOSINC = $(PIOS)/inc
PIOSSTM32F10X = $(PIOS)/STM32F10x PIOSSTM32F10X = $(PIOS)/STM32F10x
@ -79,17 +81,20 @@ RTOSINCDIR = $(RTOSSRCDIR)/include
# List C source files here. (C dependencies are automatically generated.) # List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files # use file-extension c for "c-only"-files
## OPENPILOT:
SRC = $(OPENPILOT)/openpilot.c
## PIOS: ## PIOS:
SRC = $(PIOS)/pios.c SRC += $(PIOS)/pios.c
## PIOS Hardware (STM32F10x) ## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c SRC += $(PIOSSTM32F10X)/pios_sys.c
SRC += $(PIOSSTM32F10X)/pios_settings.c
SRC += $(PIOSSTM32F10X)/pios_led.c SRC += $(PIOSSTM32F10X)/pios_led.c
SRC += $(PIOSSTM32F10X)/pios_usart.c SRC += $(PIOSSTM32F10X)/pios_usart.c
SRC += $(PIOSSTM32F10X)/pios_irq.c SRC += $(PIOSSTM32F10X)/pios_irq.c
## PIOS Hardware (Common) ## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_settings.c
SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/printf-stdarg.c SRC += $(PIOSCOMMON)/printf-stdarg.c
@ -167,7 +172,9 @@ ASRCARM =
# List any extra directories to look for include files here. # List any extra directories to look for include files here.
# Each directory must be seperated by a space. # Each directory must be seperated by a space.
EXTRAINCDIRS = $(PIOS) EXTRAINCDIRS = $(OPENPILOT)
EXTRAINCDIRS += $(OPENPILOTINC)
EXTRAINCDIRS += $(PIOS)
EXTRAINCDIRS += $(PIOSINC) EXTRAINCDIRS += $(PIOSINC)
EXTRAINCDIRS += $(PIOSSTM32F10X) EXTRAINCDIRS += $(PIOSSTM32F10X)
EXTRAINCDIRS += $(PIOSCOMMON) EXTRAINCDIRS += $(PIOSCOMMON)

47
flight/OpenPilot/inc/openpilot.h Normal file
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@ -0,0 +1,47 @@
/**
******************************************************************************
*
* @file openpilot.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
* @brief Main OpenPilot header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef OPENPILOT_H
#define OPENPILOT_H
/* PIOS Includes */
#include "pios.h"
/* OpenPilot Includes */
/* We use this to include all OpenPilot head files */
/* FreeRTOS Includes */
#include <FreeRTOS.h>
#include <task.h>
#include <queue.h>
/* Function Prototypes */
extern void OpenPilotInit(void);
extern void vApplicationIdleHook(void);
#endif /* OPENPILOT_H */

86
flight/OpenPilot/openpilot.c Normal file
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@ -0,0 +1,86 @@
/**
******************************************************************************
*
* @file openpilot.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
* @brief Sets up ans runs main OpenPilot tasks.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* OpenPilot Includes */
#include "openpilot.h"
/* Local Variables */
static unsigned long ulIdleCycleCount = 0UL;
/* Local Functions */
static void ServosTask(void *pvParameters);
/**
* Main function
*/
void OpenPilotInit(void)
{
xTaskCreate(ServosTask, (signed portCHAR *) "Servos", configMINIMAL_STACK_SIZE, NULL, 2, NULL);
}
/**
* Task to update servo positions at 50Hz
*/
static void ServosTask(void *pvParameters)
{
portTickType xLastWakeTime;
/* The xLastWakeTime variable needs to be initialized with the current tick count. */
xLastWakeTime = xTaskGetTickCount();
for(;;)
{
/* Update Servo positions */
/* This task should execute exactly every 20 milliseconds or 50Hz
There is no need to update the servos any faster than this */
vTaskDelayUntil(&xLastWakeTime, (20 / portTICK_RATE_MS));
}
}
/**
* Idle hook function
*/
void vApplicationIdleHook(void)
{
uint32_t IdleTimePercent = 0;
/* Called when the scheduler has no tasks to run */
/* In here we could implement stats for FreeRTOS */
/* This can give a basic indication of how much time the system spends in idle */
/* IdleTimePercent is the percentage of time spent in idle since the scheduler started */
ulIdleCycleCount++;
IdleTimePercent = ((ulIdleCycleCount / xTaskGetTickCount()) * 100);
}

97
flight/PiOS/pios.c
View File

@ -28,20 +28,15 @@
/* Project Includes */ /* Project Includes */
#include "pios.h" #include "pios.h"
/* OpenPilot Includes */
#include "openpilot.h"
/* FreeRTOS Includes */ /* Task Priorities */
#include <FreeRTOS.h> #define PRIORITY_TASK_HOOKS ( tskIDLE_PRIORITY + 3 )
#include <task.h>
#include <queue.h>
/* Local Variables */
static unsigned long ulIdleCycleCount = 0UL;
/* Function Prototypes */ /* Function Prototypes */
void PiosMainTask(void *pvParameters); static void HooksTask(void *pvParameters);
void SensorTask(void *pvParameters);
void ServosTask(void *pvParameters);
void vApplicationIdleHook(void);
/** /**
* Main function * Main function
@ -51,12 +46,13 @@ int main()
/* Setup Hardware */ /* Setup Hardware */
SysInit(); SysInit();
/* Start Main tasks. */ /* Initialise OpenPilot */
xTaskCreate(PiosMainTask, (signed portCHAR *) "PiosMain", configMINIMAL_STACK_SIZE, NULL, 2, NULL); OpenPilotInit();
xTaskCreate(SensorTask, (signed portCHAR *) "Sensor", configMINIMAL_STACK_SIZE, NULL, 2, NULL);
xTaskCreate(ServosTask, (signed portCHAR *) "Servos", configMINIMAL_STACK_SIZE, NULL, 2, NULL); /* *tart the task which calls the application hooks */
xTaskCreate(HooksTask, (signed portCHAR *)"Hooks", configMINIMAL_STACK_SIZE, NULL, PRIORITY_TASK_HOOKS, NULL);
/* Start the scheduler. */ /* Start the scheduler */
vTaskStartScheduler(); vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */ /* If all is well we will never reach here as the scheduler will now be running. */
@ -64,62 +60,25 @@ int main()
return 0; return 0;
} }
static void HooksTask(void *pvParameters)
/**
* PiosMainTask
*/
void PiosMainTask(void *pvParameters)
{ {
portTickType xLastExecutionTime;
while(1) // Initialise the xLastExecutionTime variable on task entry
{ xLastExecutionTime = xTaskGetTickCount();
}
}
/** while(1) {
* SensorTask vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);
*/
void SensorTask(void *pvParameters) /* Skip delay gap if we had to wait for more than 5 ticks to avoid */
{ /* unnecessary repeats until xLastExecutionTime reached xTaskGetTickCount() again */
while(1) portTickType xCurrentTickCount = xTaskGetTickCount();
{ if(xLastExecutionTime < (xCurrentTickCount - 5)) {
} xLastExecutionTime = xCurrentTickCount;
} }
/**
* Task to update servo positions at 50Hz
*/
void ServosTask(void *pvParameters)
{
portTickType xLastWakeTime;
/* The xLastWakeTime variable needs to be initialized with the current tick count. */
xLastWakeTime = xTaskGetTickCount();
for(;;)
{
/* Update Servo positions */
/* This task should execute exactly every 20 milliseconds or 50Hz /* Check for incoming COM messages */
There is no need to update the servos any faster than this */ COMReceiveHandler();
vTaskDelayUntil(&xLastWakeTime, (20 / portTICK_RATE_MS));
} }
} }
/**
* Idle hook function
*/
void vApplicationIdleHook(void)
{
uint32_t IdleTimePercent = 0;
/* Called when the scheduler has no tasks to run */
/* In here we could implement stats for FreeRTOS */
/* This can give a basic indication of how much time the system spends in idle */
/* IdleTimePercent is the percentage of time spent in idle since the scheduler started */
ulIdleCycleCount++;
IdleTimePercent = ((ulIdleCycleCount / xTaskGetTickCount()) * 100);
}