mirror of
https://github.com/ArduPilot/ardupilot
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2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
146 lines
3.9 KiB
C++
146 lines
3.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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Lead developers: Matthew Ridley and Andrew Tridgell
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Please contribute your ideas! See http://dev.ardupilot.com for details
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "Tracker.h"
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
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.function = FUNCTOR_BIND(&tracker, &Tracker::func, void),\
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AP_SCHEDULER_NAME_INITIALIZER(func)\
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.interval_ticks = _interval_ticks,\
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.max_time_micros = _max_time_micros,\
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}
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/*
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scheduler table - all regular tasks apart from the fast_loop()
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should be listed here, along with how often they should be called
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(in 20ms units) and the maximum time they are expected to take (in
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microseconds)
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*/
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const AP_Scheduler::Task Tracker::scheduler_tasks[] PROGMEM = {
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SCHED_TASK(update_ahrs, 1, 1000),
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SCHED_TASK(read_radio, 1, 200),
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SCHED_TASK(update_tracking, 1, 1000),
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SCHED_TASK(update_GPS, 5, 4000),
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SCHED_TASK(update_compass, 5, 1500),
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SCHED_TASK(update_barometer, 5, 1500),
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SCHED_TASK(gcs_update, 1, 1700),
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SCHED_TASK(gcs_data_stream_send, 1, 3000),
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SCHED_TASK(compass_accumulate, 1, 1500),
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SCHED_TASK(barometer_accumulate, 1, 900),
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SCHED_TASK(update_notify, 1, 100),
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SCHED_TASK(check_usb_mux, 5, 300),
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SCHED_TASK(gcs_retry_deferred, 1, 1000),
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SCHED_TASK(one_second_loop, 50, 3900),
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SCHED_TASK(compass_cal_update, 1, 100),
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};
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/**
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setup the sketch - called once on startup
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*/
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void Tracker::setup()
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{
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// load the default values of variables listed in var_info[]
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AP_Param::setup_sketch_defaults();
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// initialise notify
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notify.init(false);
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// antenna tracker does not use pre-arm checks or battery failsafe
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AP_Notify::flags.pre_arm_check = true;
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AP_Notify::flags.pre_arm_gps_check = true;
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AP_Notify::flags.failsafe_battery = false;
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init_tracker();
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// initialise the main loop scheduler
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scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
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}
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/**
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loop() is called continuously
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*/
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void Tracker::loop()
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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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scheduler.run(19900UL);
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}
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void Tracker::one_second_loop()
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{
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// send a heartbeat
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gcs_send_message(MSG_HEARTBEAT);
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// make it possible to change orientation at runtime
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ahrs.set_orientation();
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// sync MAVLink system ID
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mavlink_system.sysid = g.sysid_this_mav;
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// updated armed/disarmed status LEDs
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update_armed_disarmed();
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one_second_counter++;
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if (one_second_counter >= 60) {
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if(g.compass_enabled) {
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compass.save_offsets();
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}
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one_second_counter = 0;
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}
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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// needed for APM1 inertialsensor driver
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AP_ADC_ADS7844 apm1_adc;
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#endif
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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Tracker::Tracker(void)
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{
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memset(¤t_loc, 0, sizeof(current_loc));
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memset(&vehicle, 0, sizeof(vehicle));
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}
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Tracker tracker;
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/*
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compatibility with old pde style build
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*/
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void setup(void);
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void loop(void);
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void setup(void)
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{
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tracker.setup();
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}
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void loop(void)
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{
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tracker.loop();
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}
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AP_HAL_MAIN();
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