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Code Issues Releases Activity

Merge branch 'saving_queue' into next

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This commit is contained in:
James Cotton 2012-07-25 13:28:17 -05:00
commit 6867068b9e
1 changed files with 14 additions and 9 deletions
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23
flight/Modules/System/systemmod.c
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@ -73,6 +73,7 @@
static uint32_t idleCounter;
static uint32_t idleCounterClear;
static xTaskHandle systemTaskHandle;
static xQueueHandle objectPersistenceQueue;
static bool stackOverflow;
static bool mallocFailed;
@ -122,6 +123,10 @@ int32_t SystemModInitialize(void)
WatchdogStatusInitialize();
#endif
objectPersistenceQueue = xQueueCreate(1, sizeof(UAVObjEvent));
if (objectPersistenceQueue == NULL)
return -1;
SystemModStart();
return 0;
@ -133,8 +138,6 @@ MODULE_INITCALL(SystemModInitialize, 0)
*/
static void systemTask(void *parameters)
{
portTickType lastSysTime;
/* create all modules thread */
MODULE_TASKCREATE_ALL;
@ -154,10 +157,9 @@ static void systemTask(void *parameters)
// Initialize vars
idleCounter = 0;
idleCounterClear = 0;
lastSysTime = xTaskGetTickCount();
// Listen for SettingPersistance object updates, connect a callback function
ObjectPersistenceConnectCallback(&objectUpdatedCb);
ObjectPersistenceConnectQueue(objectPersistenceQueue);
// Main system loop
while (1) {
@ -193,11 +195,14 @@ static void systemTask(void *parameters)
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
// Wait until next period
if(flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) );
} else {
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
UAVObjEvent ev;
int delayTime = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED ?
SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) :
SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS;
if(xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) {
// If object persistence is updated call the callback
objectUpdatedCb(&ev);
}
}
}