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42591b0edf
Started to add some FreeRTOS stuff into pios.c git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@47 ebee16cc-31ac-478f-84a7-5cbb03baadba
126 lines
3.4 KiB
C
126 lines
3.4 KiB
C
/**
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******************************************************************************
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*
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* @file pios.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
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* @brief Sets up main tasks, tickhook, and contains the Main function.
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* - It all starts from here!
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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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/* Project Includes */
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#include "pios.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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/* 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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/**
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* Main function
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*/
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int main()
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{
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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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/* 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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/* If we do get here, it will most likley be because we ran out of heap space. */
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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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{
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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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* 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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/* 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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