mirror of https://github.com/ArduPilot/ardupilot
36 lines
2.1 KiB
Plaintext
36 lines
2.1 KiB
Plaintext
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/** \file
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*
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* This file contains special DoxyGen information for the generation of the main page and other special
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* documentation pages. It is not a project source file.
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*/
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/** \page Page_SchedulerOverview LUFA Scheduler Overview
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*
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* <B>THE LUFA SCHEDULER IS NOW DEPRECATED AND WILL BE REMOVED IN A FUTURE RELEASE. EXISTING CODE SHOULD CONVERT
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* TO STANDARD LOOPS AS SHOWN IN THE CURRENT LIBRARY DEMOS.</b>
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*
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*
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* The LUFA library comes with a small, basic round-robbin scheduler which allows for small "tasks" to be executed
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* continuously in sequence, and enabled/disabled at runtime. Unlike a conventional, complex RTOS scheduler, the
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* LUFA scheduler is very simple in design and operation and is essentially a loop conditionally executing a series
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* of functions.
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*
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* Each LUFA scheduler task should be written similar to an ISR; it should execute quickly (so that no one task
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* hogs the processor, preventing another from running before some sort of timeout is exceeded). Unlike normal RTOS
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* tasks, each LUFA scheduler task is a regular function, and thus must be designed to be called, and designed to
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* return to the calling scheduler function repeatedly. Data which must be preserved between task calls should be
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* declared as global or (preferably) as a static local variable inside the task.
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*
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* The scheduler consists of a task list, listing all the tasks which can be executed by the scheduler. Once started,
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* each task is then called one after another, unless the task is stopped by another running task or interrupt.
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*
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*
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* If desired, the LUFA scheduler <b>does not need to be used</b> in a LUFA powered application. A more conventional
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* approach to application design can be used, or a proper scheduling RTOS inserted in the place of the LUFA scheduler.
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* In the case of the former the USB task must be run manually repeatedly to maintain USB communications, and in the
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* case of the latter a proper RTOS task must be set up to do the same.
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*
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*
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* For more information on the LUFA scheduler, see the Scheduler.h file documentation.
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*/
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