mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-05 13:24:11 +01:00
99b67388bf
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@558 ebee16cc-31ac-478f-84a7-5cbb03baadba
127 lines
4.0 KiB
C
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 );
|
|
}
|
|
}
|