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<title>ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/AP_Common/AP_Loop.cpp Source File</title>
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<h1>/home/jgoppert/Projects/ap/libraries/AP_Common/AP_Loop.cpp</h1> </div>
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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>
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<a name="l00002"></a>00002 <span class="comment"> * AP_Loop.pde</span>
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<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) James Goppert 2010 <james.goppert@gmail.com></span>
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<a name="l00004"></a>00004 <span class="comment"> *</span>
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<a name="l00005"></a>00005 <span class="comment"> * This file is free software: you can redistribute it and/or modify it</span>
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<a name="l00006"></a>00006 <span class="comment"> * under the terms of the GNU General Public License as published by the</span>
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<a name="l00007"></a>00007 <span class="comment"> * Free Software Foundation, either version 3 of the License, or</span>
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<a name="l00008"></a>00008 <span class="comment"> * (at your option) any later version.</span>
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<a name="l00009"></a>00009 <span class="comment"> *</span>
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<a name="l00010"></a>00010 <span class="comment"> * This file is distributed in the hope that it will be useful, but</span>
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<a name="l00011"></a>00011 <span class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00012"></a>00012 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.</span>
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<a name="l00013"></a>00013 <span class="comment"> * See the GNU General Public License for more details.</span>
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<a name="l00014"></a>00014 <span class="comment"> *</span>
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<a name="l00015"></a>00015 <span class="comment"> * You should have received a copy of the GNU General Public License along</span>
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<a name="l00016"></a>00016 <span class="comment"> * with this program. If not, see <http://www.gnu.org/licenses/>.</span>
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<a name="l00017"></a>00017 <span class="comment"> */</span>
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<a name="l00018"></a>00018
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<a name="l00019"></a>00019 <span class="preprocessor">#include "<a class="code" href="_a_p___loop_8h.html">AP_Loop.h</a>"</span>
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<a name="l00020"></a>00020
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<a name="l00021"></a><a class="code" href="namespaceapo.html">00021</a> <span class="keyword">namespace </span>apo
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<a name="l00022"></a>00022 {
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<a name="l00023"></a>00023
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<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) :
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<a name="l00025"></a>00025 _fptr(fptr),
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<a name="l00026"></a>00026 _data(data),
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<a name="l00027"></a>00027 _period(1.0e6/frequency),
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<a name="l00028"></a>00028 _timeStamp(micros()),
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<a name="l00029"></a>00029 _subLoops(),
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<a name="l00030"></a>00030 _load(0),
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<a name="l00031"></a>00031 _dt(0)
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<a name="l00032"></a>00032 {
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<a name="l00033"></a>00033 }
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<a name="l00034"></a>00034
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<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>()
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<a name="l00036"></a>00036 {
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<a name="l00037"></a>00037 <span class="comment">// quick exit if not ready</span>
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<a name="l00038"></a>00038 <span class="keywordflow">if</span> (micros() - _timeStamp < _period) <span class="keywordflow">return</span>;
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<a name="l00039"></a>00039
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<a name="l00040"></a>00040 <span class="comment">// update time stamp</span>
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<a name="l00041"></a>00041 uint32_t timeStamp0 = _timeStamp;
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<a name="l00042"></a>00042 _timeStamp = micros();
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<a name="l00043"></a>00043 _dt = (_timeStamp - timeStamp0)/1.0e6;
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<a name="l00044"></a>00044
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<a name="l00045"></a>00045 <span class="comment">// update sub loops</span>
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<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>();
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<a name="l00047"></a>00047
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<a name="l00048"></a>00048 <span class="comment">// callback function</span>
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<a name="l00049"></a>00049 <span class="keywordflow">if</span> (_fptr) _fptr(_data);
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<a name="l00050"></a>00050
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<a name="l00051"></a>00051 <span class="comment">// calculated load with a low pass filter</span>
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<a name="l00052"></a>00052 _load = 0.9*_load + 10*(float(micros()-_timeStamp)/(_timeStamp-timeStamp0));
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<a name="l00053"></a>00053 }
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<a name="l00054"></a>00054
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<a name="l00055"></a>00055 } <span class="comment">// apo</span>
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<a name="l00056"></a>00056
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<a name="l00057"></a>00057 <span class="comment">// vim:ts=4:sw=4:expandtab</span>
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</pre></div></div>
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<hr class="footer"/><address class="footer"><small>Generated on Sun Dec 26 2010 21:58:34 for ArduPilot Libraries by
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.1 </small></address>
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