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