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113 lines
2.4 KiB
113 lines
2.4 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// |
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// Simple test for the AP_Scheduler interface |
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// |
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#include <AP_HAL.h> |
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#include <AP_Common.h> |
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#include <AP_Progmem.h> |
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#include <AP_Math.h> |
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#include <AP_Param.h> |
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#include <AP_InertialSensor.h> |
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#include <AP_ADC.h> |
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#include <AP_ADC_AnalogSource.h> |
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#include <AP_Baro.h> |
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#include <AP_GPS.h> |
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#include <AP_AHRS.h> |
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#include <AP_Compass.h> |
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#include <AP_Declination.h> |
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#include <AP_Airspeed.h> |
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#include <AP_Baro.h> |
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#include <GCS_MAVLink.h> |
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#include <AP_Mission.h> |
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#include <StorageManager.h> |
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#include <AP_Terrain.h> |
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#include <Filter.h> |
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#include <SITL.h> |
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#include <AP_Buffer.h> |
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#include <AP_Notify.h> |
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#include <AP_Vehicle.h> |
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#include <DataFlash.h> |
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#include <AP_NavEKF.h> |
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#include <AP_Rally.h> |
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#include <AP_BattMonitor.h> |
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#include <AP_Scheduler.h> |
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#include <AP_RangeFinder.h> |
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#include <AP_HAL_AVR.h> |
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#include <AP_HAL_SITL.h> |
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#include <AP_HAL_Empty.h> |
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#include <AP_HAL_PX4.h> |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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// INS declaration |
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static AP_InertialSensor ins; |
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// loop scheduler object |
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static AP_Scheduler scheduler; |
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// counter for ins_update() |
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static uint32_t ins_counter; |
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/* |
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scheduler table - all regular tasks are listed here, along with how |
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often they should be called (in 20ms units) and the maximum time |
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they are expected to take (in microseconds) |
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*/ |
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static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = { |
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{ ins_update, 1, 1000 }, |
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{ one_hz_print, 50, 1000 }, |
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{ five_second_call, 250, 1800 }, |
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}; |
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void setup(void) |
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{ |
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// we |
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ins.init(AP_InertialSensor::COLD_START, |
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AP_InertialSensor::RATE_50HZ); |
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// initialise the scheduler |
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scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0])); |
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} |
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void loop(void) |
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{ |
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// wait for an INS sample |
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ins.wait_for_sample(); |
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// tell the scheduler one tick has passed |
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scheduler.tick(); |
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// run all tasks that fit in 20ms |
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scheduler.run(20000); |
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} |
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/* |
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update inertial sensor, reading data |
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*/ |
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static void ins_update(void) |
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{ |
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ins_counter++; |
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ins.update(); |
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} |
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/* |
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print something once a second |
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*/ |
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static void one_hz_print(void) |
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{ |
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hal.console->printf("one_hz: t=%lu\n", hal.scheduler->millis()); |
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} |
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/* |
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print something every 5 seconds |
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*/ |
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static void five_second_call(void) |
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{ |
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hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", hal.scheduler->millis(), ins_counter); |
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} |
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AP_HAL_MAIN();
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