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LibrePilot/flight/OpenPilot/Modules/Example/examplemodperiodic.c
vassilis 99b67388bf Flight/UAVObjects Added support for default field values (used to initialize settings with defaults)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@558 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-04-28 01:54:24 +00:00

127 lines
4.0 KiB
C

/**
******************************************************************************
*
* @file examplemodperiodic.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Example module to be used as a template for actual modules.
* Threaded periodic version.
*
* @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
*/
/**
* Input object: ExampleSettings
* Output object: ExampleObject2
*
* This module will periodically update the value of the ExampleObject object.
* The module settings can configure how the ExampleObject is manipulated.
*
* The module executes in its own thread in this example.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "openpilot.h"
#include "examplemodperiodic.h"
#include "exampleobject2.h" // object that will be updated by the module
#include "examplesettings.h" // object holding module settings
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void exampleTask(void* parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t ExampleModPeriodicInitialize()
{
// Start main task
xTaskCreate(exampleTask, (signed char*)"ExamplePeriodic", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module thread, should not return.
*/
static void exampleTask(void* parameters)
{
ExampleSettingsData settings;
ExampleObject2Data data;
int32_t step;
portTickType lastSysTime;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
// Update settings with latest value
ExampleSettingsGet(&settings);
// Get the object data
ExampleObject2Get(&data);
// Determine how to update the data
if ( settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP )
{
step = settings.StepSize;
}
else
{
step = -settings.StepSize;
}
// Update the data
data.Field1 += step;
data.Field2 += step;
data.Field3 += step;
data.Field4[0] += step;
data.Field4[1] += step;
// Update the ExampleObject, after this function is called
// notifications to any other modules listening to that object
// will be sent and the GCS object will be updated through the
// telemetry link. All operations will take place asynchronously
// and the following call will return immediately.
ExampleObject2Set(&data);
// Since this module executes at fixed time intervals, we need to
// block the task until it is time for the next update.
// The settings field is in ms, to convert to RTOS ticks we need
// to divide by portTICK_RATE_MS.
vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS );
}
}