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7a39f5f55c
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@52 ebee16cc-31ac-478f-84a7-5cbb03baadba
112 lines
3.6 KiB
C
112 lines
3.6 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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/* OpenPilot Includes */
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#include "openpilot.h"
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/* Task Priorities */
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#define PRIORITY_TASK_HOOKS ( tskIDLE_PRIORITY + 3 )
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/* Local Variables */
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static uint32_t ulIdleCycleCount = 0;
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static uint32_t IdleTimePercent = 0;
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/* Function Prototypes */
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static void HooksTask(void *pvParameters);
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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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COMInit();
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ADCInit();
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/* Initialise OpenPilot */
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OpenPilotInit();
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/* *tart the task which calls the application hooks */
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xTaskCreate(HooksTask, (signed portCHAR *)"Hooks", configMINIMAL_STACK_SIZE, NULL, PRIORITY_TASK_HOOKS, 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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static void HooksTask(void *pvParameters)
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{
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portTickType xLastExecutionTime;
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// Initialise the xLastExecutionTime variable on task entry
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xLastExecutionTime = xTaskGetTickCount();
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while(1) {
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vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);
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/* Skip delay gap if we had to wait for more than 5 ticks to avoid */
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/* unnecessary repeats until xLastExecutionTime reached xTaskGetTickCount() again */
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portTickType xCurrentTickCount = xTaskGetTickCount();
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if(xLastExecutionTime < (xCurrentTickCount - 5)) {
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xLastExecutionTime = xCurrentTickCount;
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}
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/* Check for ADC pin changes, call ADCNotifyChange on each pin change */
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ADCHandler(ADCNotifyChange);
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/* Check for incoming COM messages */
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COMReceiveHandler();
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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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/* Called when the scheduler has no tasks to run */
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/* In here we could implement full stats for FreeRTOS
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Although this would need us to enable stats in FreeRTOS
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which is *very* costly. With the function below we can
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either print it out or just watch the variable using JTAG */
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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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/* For example a value of 75 would mean we are spending 75% of FreeRTOS Cycles in idle */
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ulIdleCycleCount++;
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IdleTimePercent = ((ulIdleCycleCount / xTaskGetTickCount()) * 100);
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}
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