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Code Issues Releases Activity

Back to a basic setup, lets walk before running.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@106 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
dankers 2009-12-23 07:14:52 +00:00 committed by dankers
parent 8a0d906647
commit 3a0ecba2cc
1 changed files with 11 additions and 28 deletions
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39
flight/PiOS/pios.c
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@ -32,7 +32,6 @@
#include <openpilot.h> #include <openpilot.h>
/* Task Priorities */ /* Task Priorities */
#define PRIORITY_TASK_HOOKS ( tskIDLE_PRIORITY + 3 )
/* Local Variables */ /* Local Variables */
static uint32_t ulIdleCycleCount = 0; static uint32_t ulIdleCycleCount = 0;
@ -42,8 +41,7 @@ static uint32_t IdleTimePercent = 0;
void vApplicationIdleHook(void); void vApplicationIdleHook(void);
/* Function Prototypes */ /* Function Prototypes */
static void HooksTask(void *pvParameters); void TestTask( void *pvParameters );
/** /**
* Main function * Main function
*/ */
@ -55,7 +53,7 @@ int main()
PIOS_SYS_Init(); PIOS_SYS_Init();
/* Enables the SDCard */ /* Enables the SDCard */
PIOS_SDCARD_Init(); // PIOS_SDCARD_Init();
/* Call LoadSettings which populates System Vars /* Call LoadSettings which populates System Vars
so the rest of the hardware can be configured. */ so the rest of the hardware can be configured. */
@ -69,9 +67,8 @@ int main()
/* Initialise OpenPilot application */ /* Initialise OpenPilot application */
// OpenPilotInit(); // OpenPilotInit();
/* Start the task which calls the application hooks */ xTaskCreate( TestTask, ( signed portCHAR * ) "Test", configMINIMAL_STACK_SIZE, NULL, 2, NULL );
xTaskCreate(HooksTask, (signed portCHAR *)"Hooks", configMINIMAL_STACK_SIZE, NULL, PRIORITY_TASK_HOOKS, NULL);
/* Start the FreeRTOS scheduler */ /* Start the FreeRTOS scheduler */
vTaskStartScheduler(); vTaskStartScheduler();
@ -81,29 +78,15 @@ int main()
return 0; return 0;
} }
static void HooksTask(void *pvParameters) void TestTask( void *pvParameters )
{ {
portTickType xLastExecutionTime; const portTickType xDelay = 500 / portTICK_RATE_MS;
// Initialise the xLastExecutionTime variable on task entry while(1)
xLastExecutionTime = xTaskGetTickCount(); {
PIOS_LED_Toggle(LED1);
while(1) { vTaskDelay(xDelay);
vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS); }
/* Skip delay gap if we had to wait for more than 5 ticks to avoid */
/* unnecessary repeats until xLastExecutionTime reached xTaskGetTickCount() again */
portTickType xCurrentTickCount = xTaskGetTickCount();
if(xLastExecutionTime < (xCurrentTickCount - 5)) {
xLastExecutionTime = xCurrentTickCount;
}
/* Check for ADC pin changes, call ADCNotifyChange on each pin change */
//ADCHandler(ADCNotifyChange);
/* Check for incoming COM messages */
PIOS_COM_ReceiveHandler();
}
} }