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7a39f5f55c
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@52 ebee16cc-31ac-478f-84a7-5cbb03baadba
77 lines
2.2 KiB
C
77 lines
2.2 KiB
C
/**
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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 uint16_t adc_pin_values[4];
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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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* This hook is called every time the
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*/
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void ADCNotifyChange(uint32_t pin, uint32_t pin_value)
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{
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/* All we really need to do here is store the values in a local array. */
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adc_pin_values[pin] = (uint16_t) pin_value;
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}
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