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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | /* |
| 2 | * AP_Loop.pde |
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| 3 | * Copyright (C) James Goppert 2010 <james.goppert@gmail.com> |
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| 4 | * |
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| 5 | * This file is free software: you can redistribute it and/or modify it |
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| 6 | * under the terms of the GNU General Public License as published by the |
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| 7 | * Free Software Foundation, either version 3 of the License, or |
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| 8 | * (at your option) any later version. |
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| 9 | * |
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| 10 | * This file is distributed in the hope that it will be useful, but |
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| 11 | * WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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| 13 | * See the GNU General Public License for more details. |
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| 14 | * |
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| 15 | * You should have received a copy of the GNU General Public License along |
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| 16 | * with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 17 | */ |
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| 18 | |||
| 19 | #include "AP_Loop.h" |
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| 20 | |||
| 21 | Loop::Loop(float _frequency, void (*fptr)(void *), void * data) : |
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| 22 | _fptr(fptr), |
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| 23 | _data(data), |
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| 24 | _period(1.0e6/_frequency), |
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| 25 | _subLoops(), |
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| 26 | _timeStamp(micros()), |
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| 27 | _load(0), |
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| 28 | _dt(0) |
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| 29 | { |
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| 30 | } |
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| 31 | |||
| 32 | void Loop::update() |
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| 33 | { |
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| 34 | // quick exit if not ready |
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| 35 | if (micros() - _timeStamp < _period) return; |
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| 36 | |||
| 37 | // update time stamp |
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| 38 | uint32_t timeStamp0 = _timeStamp; |
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| 39 | _timeStamp = micros(); |
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| 40 | _dt = (_timeStamp - timeStamp0)/1.0e6; |
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| 41 | |||
| 42 | // update sub loops |
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| 43 | for (uint8_t i=0; i<_subLoops.getSize(); i++) _subLoops[i]->update(); |
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| 44 | |||
| 45 | // callback function |
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| 46 | if (_fptr) _fptr(_data); |
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| 47 | |||
| 48 | // calculated load with a low pass filter |
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| 49 | _load = 0.9*_load + 10*(float(micros()-_timeStamp)/(_timeStamp-timeStamp0)); |
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| 50 | } |
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| 51 | |||
| 52 | // vim:ts=4:sw=4:expandtab |