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[firmwares] rotorcraft: separate modules "task", fw/rc: if PRINT_CONFIG, show some more configured frequencies

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This commit is contained in:
Felix Ruess
2013-02-13 14:37:00 +01:00
parent 214f5e5e13
commit 80b72f36a7
3 changed files with 25 additions and 6 deletions
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sw/airborne/firmwares/fixedwing/autopilot.h
-4
View File
@@ -135,8 +135,4 @@ extern bool_t power_switch;
#define NAVIGATION_FREQUENCY 4
#endif
#ifndef MODULES_FREQUENCY
#define MODULES_FREQUENCY 60
#endif
#endif /* AUTOPILOT_H */
sw/airborne/firmwares/fixedwing/main_ap.c
+10
View File
@@ -85,6 +85,16 @@
#include "gpio.h"
#include "led.h"
/* if PRINT_CONFIG is defined, print some config options */
PRINT_CONFIG_VAR(PERIODIC_FREQUENCY)
PRINT_CONFIG_VAR(NAVIGATION_FREQUENCY)
PRINT_CONFIG_VAR(CONTROL_FREQUENCY)
#ifndef MODULES_FREQUENCY
#define MODULES_FREQUENCY 60
#endif
PRINT_CONFIG_VAR(MODULES_FREQUENCY)
#if USE_AHRS && USE_IMU
sw/airborne/firmwares/rotorcraft/main.c
+15 -2
View File
@@ -71,9 +71,20 @@
#include "generated/modules.h"
/* if PRINT_CONFIG is defined, print some config options */
PRINT_CONFIG_VAR(PERIODIC_FREQUENCY)
#ifndef MODULES_FREQUENCY
#define MODULES_FREQUENCY 512
#endif
PRINT_CONFIG_VAR(MODULES_FREQUENCY)
#ifndef BARO_PERIODIC_FREQUENCY
#define BARO_PERIODIC_FREQUENCY 50
#endif
PRINT_CONFIG_VAR(BARO_PERIODIC_FREQUENCY)
static inline void on_gyro_event( void );
static inline void on_accel_event( void );
@@ -84,6 +95,7 @@ static inline void on_mag_event( void );
tid_t main_periodic_tid; ///< id for main_periodic() timer
tid_t modules_tid; ///< id for modules_periodic_task() timer
tid_t failsafe_tid; ///< id for failsafe_check() timer
tid_t radio_control_tid; ///< id for radio_control_periodic_task() timer
tid_t electrical_tid; ///< id for electrical_periodic() timer
@@ -146,6 +158,7 @@ STATIC_INLINE void main_init( void ) {
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
radio_control_tid = sys_time_register_timer((1./60.), NULL);
failsafe_tid = sys_time_register_timer(0.05, NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
@@ -156,6 +169,8 @@ STATIC_INLINE void main_init( void ) {
STATIC_INLINE void handle_periodic_tasks( void ) {
if (sys_time_check_and_ack_timer(main_periodic_tid))
main_periodic();
if (sys_time_check_and_ack_timer(modules_tid))
modules_periodic_task();
if (sys_time_check_and_ack_timer(radio_control_tid))
radio_control_periodic_task();
if (sys_time_check_and_ack_timer(failsafe_tid))
@@ -178,8 +193,6 @@ STATIC_INLINE void main_periodic( void ) {
//actuators_set(autopilot_motors_on);
SetActuatorsFromCommands(commands);
modules_periodic_task();
if (autopilot_in_flight) {
RunOnceEvery(PERIODIC_FREQUENCY, { autopilot_flight_time++; datalink_time++; });
}