2010-12-26 20:59:17 -04:00
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< title > ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_Common/AP_Loop.cpp Source File< / title >
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< a href = "_a_p___loop_8cpp.html" > Go to the documentation of this file.< / a > < div class = "fragment" > < pre class = "fragment" > < a name = "l00001" > < / a > 00001 < span class = "comment" > /*< / span >
< a name = "l00002" > < / a > 00002 < span class = "comment" > * AP_Loop.pde< / span >
< a name = "l00003" > < / a > 00003 < span class = "comment" > * Copyright (C) James Goppert 2010 < james.goppert@gmail.com> < / span >
< a name = "l00004" > < / a > 00004 < span class = "comment" > *< / span >
< a name = "l00005" > < / a > 00005 < span class = "comment" > * This file is free software: you can redistribute it and/or modify it< / span >
< a name = "l00006" > < / a > 00006 < span class = "comment" > * under the terms of the GNU General Public License as published by the< / span >
< a name = "l00007" > < / a > 00007 < span class = "comment" > * Free Software Foundation, either version 3 of the License, or< / span >
< a name = "l00008" > < / a > 00008 < span class = "comment" > * (at your option) any later version.< / span >
< a name = "l00009" > < / a > 00009 < span class = "comment" > *< / span >
< a name = "l00010" > < / a > 00010 < span class = "comment" > * This file is distributed in the hope that it will be useful, but< / span >
< a name = "l00011" > < / a > 00011 < span class = "comment" > * WITHOUT ANY WARRANTY; without even the implied warranty of< / span >
< a name = "l00012" > < / a > 00012 < span class = "comment" > * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.< / span >
< a name = "l00013" > < / a > 00013 < span class = "comment" > * See the GNU General Public License for more details.< / span >
< a name = "l00014" > < / a > 00014 < span class = "comment" > *< / span >
< a name = "l00015" > < / a > 00015 < span class = "comment" > * You should have received a copy of the GNU General Public License along< / span >
< a name = "l00016" > < / a > 00016 < span class = "comment" > * with this program. If not, see < http://www.gnu.org/licenses/> .< / span >
< a name = "l00017" > < / a > 00017 < span class = "comment" > */< / span >
< a name = "l00018" > < / a > 00018
< a name = "l00019" > < / a > 00019 < span class = "preprocessor" > #include " < a class = "code" href = "_a_p___loop_8h.html" > AP_Loop.h< / a > " < / span >
< a name = "l00020" > < / a > 00020
< a name = "l00021" > < / a > < a class = "code" href = "namespaceapo.html" > 00021< / a > < span class = "keyword" > namespace < / span > apo
< a name = "l00022" > < / a > 00022 {
< a name = "l00023" > < / a > 00023
< a name = "l00024" > < / a > < a class = "code" href = "classapo_1_1_loop.html#a75dc072e1d02ad2fe0cd56c6f3926ca3" > 00024< / a > < a class = "code" href = "classapo_1_1_loop.html#a4a6ea4aeec32061bf86df9c9c32c5b24" > Loop::Loop< / a > (< span class = "keywordtype" > float< / span > frequency, < span class = "keywordtype" > void< / span > (*fptr)(< span class = "keywordtype" > void< / span > *), < span class = "keywordtype" > void< / span > * data) :
< a name = "l00025" > < / a > 00025 _fptr(fptr),
< a name = "l00026" > < / a > 00026 _data(data),
< a name = "l00027" > < / a > 00027 _period(1.0e6/frequency),
< a name = "l00028" > < / a > 00028 _timeStamp(micros()),
< a name = "l00029" > < / a > 00029 _subLoops(),
< a name = "l00030" > < / a > 00030 _load(0),
< a name = "l00031" > < / a > 00031 _dt(0)
< a name = "l00032" > < / a > 00032 {
< a name = "l00033" > < / a > 00033 }
< a name = "l00034" > < / a > 00034
< a name = "l00035" > < / a > < a class = "code" href = "classapo_1_1_loop.html#a9e46986a766ed78a9fff0667d9dcf813" > 00035< / a > < span class = "keywordtype" > void< / span > < a class = "code" href = "classapo_1_1_loop.html#a9e46986a766ed78a9fff0667d9dcf813" > Loop::update< / a > ()
< a name = "l00036" > < / a > 00036 {
< a name = "l00037" > < / a > 00037 < span class = "comment" > // quick exit if not ready< / span >
< a name = "l00038" > < / a > 00038 < span class = "keywordflow" > if< / span > (micros() - _timeStamp < _period) < span class = "keywordflow" > return< / span > ;
< a name = "l00039" > < / a > 00039
< a name = "l00040" > < / a > 00040 < span class = "comment" > // update time stamp< / span >
< a name = "l00041" > < / a > 00041 uint32_t timeStamp0 = _timeStamp;
< a name = "l00042" > < / a > 00042 _timeStamp = micros();
< a name = "l00043" > < / a > 00043 _dt = (_timeStamp - timeStamp0)/1.0e6;
< a name = "l00044" > < / a > 00044
< a name = "l00045" > < / a > 00045 < span class = "comment" > // update sub loops< / span >
< a name = "l00046" > < / a > 00046 < span class = "keywordflow" > for< / span > (< span class = "keywordtype" > int< / span > i=0; i< _subLoops.< a class = "code" href = "class_vector.html#a63d372a3caf5492712708ca15da7ac1c" > getSize< / a > (); i++) _subLoops[i]-> < a class = "code" href = "classapo_1_1_loop.html#a9e46986a766ed78a9fff0667d9dcf813" > update< / a > ();
< a name = "l00047" > < / a > 00047
< a name = "l00048" > < / a > 00048 < span class = "comment" > // callback function< / span >
< a name = "l00049" > < / a > 00049 < span class = "keywordflow" > if< / span > (_fptr) _fptr(_data);
< a name = "l00050" > < / a > 00050
< a name = "l00051" > < / a > 00051 < span class = "comment" > // calculated load with a low pass filter< / span >
< a name = "l00052" > < / a > 00052 _load = 0.9*_load + 10*(float(micros()-_timeStamp)/(_timeStamp-timeStamp0));
< a name = "l00053" > < / a > 00053 }
< a name = "l00054" > < / a > 00054
< a name = "l00055" > < / a > 00055 } < span class = "comment" > // apo< / span >
< a name = "l00056" > < / a > 00056
< a name = "l00057" > < / a > 00057 < span class = "comment" > // vim:ts=4:sw=4:expandtab< / span >
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2010-12-26 22:59:34 -04:00
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2010-12-26 20:59:17 -04:00
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