mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
/*
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* AP_Loop.pde
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* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* 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 file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License 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, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Loop.h"
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Loop::Loop(float _frequency, void (*fptr)(void *), void * data) :
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_fptr(fptr),
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_data(data),
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_period(1.0e6/_frequency),
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_subLoops(),
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_timeStamp(micros()),
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_load(0),
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_dt(0)
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{
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}
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void Loop::update()
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{
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// quick exit if not ready
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if (micros() - _timeStamp < _period) return;
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// update time stamp
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uint32_t timeStamp0 = _timeStamp;
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_timeStamp = micros();
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_dt = (_timeStamp - timeStamp0)/1.0e6;
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// update sub loops
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for (uint8_t i=0; i<_subLoops.getSize(); i++) _subLoops[i]->update();
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// callback function
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if (_fptr) _fptr(_data);
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// calculated load with a low pass filter
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_load = 0.9*_load + 10*(float(micros()-_timeStamp)/(_timeStamp-timeStamp0));
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}
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// vim:ts=4:sw=4:expandtab
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