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AP_Scheduler: eliminate MAIN_LOOP_SECONDS macro

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Peter Barker 2017-08-29 22:42:55 +10:00 committed by Andrew Tridgell
parent 996115c0d3
commit a6ac37d0ba
1 changed files with 15 additions and 1 deletions
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16
libraries/AP_Scheduler/AP_Scheduler.h
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@ -22,6 +22,7 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_HAL/Util.h> #include <AP_HAL/Util.h>
#include <AP_Math/AP_Math.h>
#define AP_SCHEDULER_NAME_INITIALIZER(_name) .name = #_name, #define AP_SCHEDULER_NAME_INITIALIZER(_name) .name = #_name,
@ -96,6 +97,13 @@ public:
uint32_t get_loop_period_us() const { uint32_t get_loop_period_us() const {
return 1000000UL / _loop_rate_hz; return 1000000UL / _loop_rate_hz;
} }
// get the time-allowed-per-loop:
float get_loop_period_s() {
if (is_zero(_loop_period_s)) {
_loop_period_s = 1.0 / _loop_rate_hz;
}
return _loop_period_s;
}
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -107,7 +115,13 @@ private:
AP_Int8 _debug; AP_Int8 _debug;
// overall scheduling rate in Hz // overall scheduling rate in Hz
AP_Int16 _loop_rate_hz; // The value of this variable can be changed with the non-initialization. (Ex. Tuning by GDB) // The value of this variable can be changed with the
// non-initialization. (Ex. Tuning by GDB). However, if you do,
// make sure you update _loop_period_us at the same time. And all
// the other places which take a copy of this at startup and don't
// get refreshed. So, really, don't.
AP_Int16 _loop_rate_hz;
float _loop_period_s;
// progmem list of tasks to run // progmem list of tasks to run
const struct Task *_tasks; const struct Task *_tasks;