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| author | px4dev <px4@purgatory.org> | 2013-01-13 18:57:27 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-01-13 19:05:01 -0800 |
| commit | 4e38615595abd9d27d0cb000caafb98cc3670abe (patch) | |
| tree | d2b9719a348501a68821c6759d33779b6a8a325e /apps/px4io/px4io.c | |
| parent | 8ebe21b27b279b5d941d4829e5ebee28b84b146c (diff) | |
| download | px4-firmware-4e38615595abd9d27d0cb000caafb98cc3670abe.tar.gz px4-firmware-4e38615595abd9d27d0cb000caafb98cc3670abe.tar.bz2 px4-firmware-4e38615595abd9d27d0cb000caafb98cc3670abe.zip | |
Major workover of the PX4IO firmware for I2C operation.
Diffstat (limited to 'apps/px4io/px4io.c')
| -rw-r--r-- | apps/px4io/px4io.c | 32 |
1 files changed, 19 insertions, 13 deletions
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c index e51c1c73c..13f46939a 100644 --- a/apps/px4io/px4io.c +++ b/apps/px4io/px4io.c @@ -37,22 +37,22 @@ */ #include <nuttx/config.h> -#include <stdio.h> + +#include <stdio.h> // required for task_create #include <stdbool.h> -#include <fcntl.h> -#include <unistd.h> -#include <debug.h> #include <stdlib.h> #include <errno.h> #include <string.h> - -#include <nuttx/clock.h> +#include <poll.h> #include <drivers/drv_pwm_output.h> #include <drivers/drv_hrt.h> +#include <systemlib/perf_counter.h> + #include <stm32_uart.h> +#define DEBUG #include "px4io.h" __EXPORT int user_start(int argc, char *argv[]); @@ -70,8 +70,6 @@ int user_start(int argc, char *argv[]) /* reset all to zero */ memset(&system_state, 0, sizeof(system_state)); - /* default to 50 Hz PWM outputs */ - system_state.servo_rate = 50; /* configure the high-resolution time/callout interface */ hrt_init(); @@ -83,7 +81,7 @@ int user_start(int argc, char *argv[]) hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); /* print some startup info */ - lib_lowprintf("\nPX4IO: starting\n"); + debug("\nPX4IO: starting\n"); /* default all the LEDs to off while we start */ LED_AMBER(false); @@ -108,11 +106,19 @@ int user_start(int argc, char *argv[]) struct mallinfo minfo = mallinfo(); - lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks); + debug("free %u largest %u\n", minfo.mxordblk, minfo.fordblks); - /* start the i2c test code */ + /* start the i2c handler */ i2c_init(); - /* we're done here, go run the communications loop */ - comms_main(); + /* add a performance counter for mixing */ + perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix"); + + /* run the mixer at 100Hz (for now...) */ + for (;;) { + poll(NULL, 0, 10); + perf_begin(mixer_perf); + mixer_tick(); + perf_end(mixer_perf); + } }
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