threads_linux.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <string.h>
#include <time.h>
#include <sys/time.h>
#include "gmatrix.h"
#include "imu.h"
#include "magnetometer.h"
#include "gps.h"
#include "sonar.h"
#include "sensors.h"
#include "calibration.h"
#include "protocol.h"
#include "estimation.h"
#include "control.h"
#include "datalogger.h"
#include "ui.h"
#include "mavlink_module.h"
#include "threads_linux.h"

Include dependency graph for threads_linux.c:

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Macros
#define	TASK1_PERIOD_US   20000
#define	TASK2_PERIOD_US   100000

Functions
void	threads_linux_timer_task_1 (union sigval sigval)
void	threads_linux_timer_task_2 (union sigval sigval)
int	threads_linux_init (void)
int	threads_linux_periodic_task_1 (void)
int	threads_linux_periodic_task_2 (void)
void	threads_linux_timer_task_1 (union sigval sigval)
void	threads_linux_timer_task_2 (union sigval sigval)
void	threads_linux_timer_start_task_1 (void)
void	threads_linux_timer_start_task_2 (void)
void	threads_linux_timer_stop_task_1 (void)
void	threads_linux_timer_stop_task_2 (void)
void	threads_linux_timer_function_task_1 (void)
void	threads_linux_timer_function_task_2 (void)
int	threads_reset_timer (void)
int	threads_get_time (double *time_control_task_s, double *Ts_control_task_s, double *mean_time_control_task_s, double *t0_control_task_s)

Variables
unsigned char	quittask
int	total = 0
int	failure = 0
timer_t	timer_task_1
volatile double	t_task_1_global = 0.0
volatile double	T_task_1_exec_global = 0.0
volatile double	T_task_1_mean_global = 0.0
volatile double	T_task_1_min_global = 0.0
volatile double	T_task_1_max_global = 0.0
volatile int	task_1_period_us = TASK1_PERIOD_US
volatile int	flag_task_1_firstexecution = 1
volatile double	t0 = 0.0
timer_t	timer_task_2
volatile double	t_task_2_global = 0.0
volatile double	T_task_2_exec_global = 0.0
volatile double	T_task_2_mean_global = 0.0
volatile double	T_task_2_min_global = 0.0
volatile double	T_task_2_max_global = 0.0
volatile int	task_2_period_us = TASK2_PERIOD_US
volatile int	flag_task_2_firstexecution = 1
unsigned int	telemetry_mode = UI_NCURSES_MODE
BATTERY_DATA_STRUCT	battery_data
GPS_DATA_STRUCT	gps_data
IMU_DATA_STRUCT	imu_data
PITOT_DATA_STRUCT	pitot_data
PWM_READ_DATA_STRUCT	pwm_read_data
PWM_WRITE_DATA_STRUCT	pwm_write_data
SCP1000_DATA_STRUCT	scp1000_data
SONAR_DATA_STRUCT	sonar_data
GPSMEASURE	gps_measure
IMUMEASURE	imu_measure
MAGNETOMETERMEASURE	magnetometer_measure
SONARMEASURE	sonar_measure
CALIBRATION_ALTIMETER_STRUCT	calibration_altimeter_data
CALIBRATION_LOCAL_COORDINATE_SYSTEM_STRUCT	calibration_local_coordinate_system_data
CALIBRATION_LOCAL_FIELDS_STRUCT	calibration_local_fields_data
ESTIMATION_DATA_STRUCT	estimation_data
CONTROL_DATA_STRUCT	control_data

Macro Definition Documentation

#define TASK1_PERIOD_US   20000

Definition at line 32 of file threads_linux.c.

Referenced by threads_linux_init().

#define TASK2_PERIOD_US   100000

Definition at line 33 of file threads_linux.c.

Referenced by threads_linux_init().

Function Documentation

int threads_get_time	(	double *	time_control_task_s,
		double *	Ts_control_task_s,
		double *	mean_time_control_task_s,
		double *	t0_control_task_s
	)

Definition at line 576 of file threads_linux.c.

References t0, t_task_1_global, T_task_1_mean_global, and task_1_period_us.

{
    *time_control_task_s = t_task_1_global;
    *Ts_control_task_s = task_1_period_us/1e6;
    *mean_time_control_task_s = T_task_1_mean_global;
    *t0_control_task_s = t0;
    return THREADS_LINUX_SUCCESS;
}

int threads_linux_init

(

void

)

Definition at line 94 of file threads_linux.c.

References battery_data, calibration_altimeter_data, calibration_local_coordinate_system_data, calibration_local_fields_data, control_data, datalogger_close(), datalogger_init(), DATALOGGER_RUNNING, datalogger_status(), DATALOGGER_SUCCESS, datalogger_update_IPC(), datalogger_write_file(), estimation_data, gps_data, gps_measure, imu_measure, magnetometer_measure, pitot_data, pwm_read_data, pwm_write_data, quittask, scp1000_data, sonar_data, sonar_measure, status, TASK1_PERIOD_US, TASK2_PERIOD_US, task_1_period_us, threads_linux_timer_start_task_1(), threads_linux_timer_start_task_2(), threads_linux_timer_stop_task_1(), threads_linux_timer_stop_task_2(), ui_close(), and ui_init().

{
    int status = 0;
    int n = 0;
    int return_value = THREADS_LINUX_SUCCESS;

    // Init data
    status = sensors_init(&battery_data, &gps_data, &imu_data, &pitot_data, &pwm_read_data, &pwm_write_data, &scp1000_data, &sonar_data);
    if(status != SENSORS_SUCCESS)
    {
        return_value = THREADS_LINUX_FAILURE;
    }

    if(return_value != THREADS_LINUX_FAILURE)
    {
        status = calibration_init(&calibration_local_coordinate_system_data, &calibration_local_fields_data, &calibration_altimeter_data);
        if(status != CALIBRATION_SUCCESS)
        {
            return_value = THREADS_LINUX_FAILURE;
        }
    }

    if(return_value != THREADS_LINUX_FAILURE)
    {
        status = gps_init(&gps_measure);
        if(status != 1)
        {
            return_value = THREADS_LINUX_FAILURE;
        }
    }

    if(return_value != THREADS_LINUX_FAILURE)
    {
        status = imu_init(&imu_measure);
        if(status != 1)
        {
            return_value = THREADS_LINUX_FAILURE;
        }
    }

    if(return_value != THREADS_LINUX_FAILURE)
    {
        status = magnetometer_init(&magnetometer_measure);
        if(status != 1)
        {
            return_value = THREADS_LINUX_FAILURE;
        }
    }

    if(return_value != THREADS_LINUX_FAILURE)
    {
        status = sonar_init(&sonar_measure);
        if(status != 1)
        {
                return_value = THREADS_LINUX_FAILURE;
        }
    }

    if(return_value != THREADS_LINUX_FAILURE)
    {
        status = estimation_init(ESTIMATION_DO_NOT_ESTIMATE_ACCEL_BIAS, &estimation_data);
        if(status != ESTIMATION_SUCCESS)
        {
            return_value = THREADS_LINUX_FAILURE;
        }
    }

    if(return_value != THREADS_LINUX_FAILURE)
    {
        status = control_init(&control_data);
        if(status != CONTROL_SUCCESS)
        {
            return_value = THREADS_LINUX_FAILURE;
        }
    }

    if(return_value != THREADS_LINUX_FAILURE)
    {
        status = protocol_init();
        if(status != PROTOCOL_SUCCESS)
        {
            return_value = THREADS_LINUX_FAILURE;
        }
    }

    if(return_value != THREADS_LINUX_FAILURE)
    {
        status = ui_init();
        if(status != UI_SUCCESS)
        {
            return_value = THREADS_LINUX_FAILURE;
        }
    }

    if(return_value != THREADS_LINUX_FAILURE)
    {
        status = datalogger_init();
        if(status != DATALOGGER_SUCCESS)
        {
            return_value = THREADS_LINUX_FAILURE;
        }
    }

    // Main Loop
    if(return_value != THREADS_LINUX_FAILURE)
    {
        threads_linux_timer_start_task_1();
        usleep(0.5*task_1_period_us);
        threads_linux_timer_start_task_2();
        usleep(5*task_1_period_us);

        while(quittask == 0)
        {
            #if ANU_COMPILE_FOR_OVERO
            #else
            if(datalogger_status() == DATALOGGER_RUNNING) datalogger_update_IPC();
            #endif
            if(++n>100)
            {
                if(datalogger_status() == DATALOGGER_RUNNING) datalogger_write_file();
                n = 0;
            }
            usleep(5*task_1_period_us);
        }

        threads_linux_timer_stop_task_1();
        usleep(TASK1_PERIOD_US);
        threads_linux_timer_stop_task_2();
        usleep(TASK2_PERIOD_US);
    }

    status = datalogger_close();
    if(status != DATALOGGER_SUCCESS)
    {
        return_value = THREADS_LINUX_FAILURE;
    }

    status = ui_close();
    if(status != UI_SUCCESS)
    {
        return_value = THREADS_LINUX_FAILURE;
    }

    status = protocol_close();
    if(status != PROTOCOL_SUCCESS)
    {
        return_value = THREADS_LINUX_FAILURE;
    }

    status = control_close();
    if(status != CONTROL_SUCCESS)
    {
        return_value = THREADS_LINUX_FAILURE;
    }

    status = estimation_close(&estimation_data);
    if(status != ESTIMATION_SUCCESS)
    {
        return_value = THREADS_LINUX_FAILURE;
    }

    status = magnetometer_close(&magnetometer_measure);
    if(status != 1)
    {
        return_value = THREADS_LINUX_FAILURE;
    }

    status = imu_close(&imu_measure);
    if(status != 1)
    {
        return_value = THREADS_LINUX_FAILURE;
    }
    status = gps_close(&gps_measure);
    if(status != 1)
    {
        return_value = THREADS_LINUX_FAILURE;
    }

    status = calibration_close(&calibration_local_coordinate_system_data, &calibration_local_fields_data, &calibration_altimeter_data);
    if(status != CALIBRATION_SUCCESS)
    {
        return_value = THREADS_LINUX_FAILURE;
    }

    status = sensors_close();
    if(status != SENSORS_SUCCESS)
    {
        return_value = THREADS_LINUX_FAILURE;
    }

    return return_value;
}

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int threads_linux_periodic_task_1

(

void

)

Definition at line 287 of file threads_linux.c.

References battery_data, calibration_altimeter_data, calibration_local_coordinate_system_data, calibration_local_fields_data, control_data, DATALOGGER_NOT_RUNNING, DATALOGGER_RUNNING, datalogger_set_Ts(), datalogger_status(), datalogger_update(), estimation_data, failure, gps_data, gps_measure, imu_measure, magnetometer_measure, pitot_data, pwm_read_data, pwm_write_data, scp1000_data, sonar_data, sonar_measure, t0, T_task_1_exec_global, t_task_1_global, T_task_2_exec_global, task_1_period_us, threads_reset_timer(), and total.

Referenced by threads_linux_timer_function_task_1().

{
    static int previous_calibration_status = CALIBRATION_NOT_RUNNING;
    int current_calibration_status; // Used to detect lowering edge
    static int previous_datalogger_status = DATALOGGER_NOT_RUNNING;
    int current_datalogger_status; // Used to detect rising edge

    // Main communication/control thread

    //Acquire
    total++;
    if(protocol_request_all_data(&battery_data, &gps_data, &imu_data, &pitot_data, &pwm_read_data, &pwm_write_data, &scp1000_data, &sonar_data) != PROTOCOL_SUCCESS)
    {
        failure++;
    }

    // Calibrate and Estimate
    calibration_calibrate_all(&pwm_read_data, &scp1000_data, &battery_data, &gps_data, &imu_data, &pitot_data, &sonar_data, &calibration_local_coordinate_system_data, &calibration_altimeter_data, &calibration_local_fields_data, &gps_measure, &imu_measure, &magnetometer_measure);
    estimation_update_state_estimate(&estimation_data, &gps_measure, &imu_measure, &magnetometer_measure, &sonar_measure, &calibration_local_fields_data, task_1_period_us/(double)1e6);

    // Control
    control_main_task(t_task_1_global, &pwm_write_data, &pwm_read_data, &control_data, &estimation_data);

    // Actuate
    protocol_send_actuation_data(&pwm_write_data);

    // Log
    current_datalogger_status = datalogger_status();
    if(current_datalogger_status == DATALOGGER_RUNNING)
    {
        if(previous_datalogger_status == DATALOGGER_NOT_RUNNING) // Rising edge
        {
            datalogger_set_Ts(task_1_period_us/1e6);
            datalogger_set_initial_altimeter_parameters(&calibration_altimeter_data);
            datalogger_set_local_coordinate_system(&calibration_local_coordinate_system_data);
            datalogger_set_local_fields(&calibration_local_fields_data);
            threads_reset_timer();
        }
        datalogger_update(t_task_1_global, T_task_1_exec_global, T_task_2_exec_global, t0, &battery_data, &gps_data, &imu_data, &pitot_data, &pwm_read_data, &pwm_write_data, &scp1000_data, &sonar_data, &gps_measure, &imu_measure, &magnetometer_measure, &estimation_data, &control_data);
    }
    previous_datalogger_status = current_datalogger_status;

    current_calibration_status = calibration_get_status();
    if(current_calibration_status == CALIBRATION_RUNNING)
    {
        calibration_imu_add_sample_bias_estimate(&imu_data);
        calibration_altimeter_add_sample_initial_pressure(&scp1000_data, &calibration_altimeter_data);
    }
    else // Calibration not running
    {
        if(previous_calibration_status == CALIBRATION_RUNNING) // Lowering edge
        {
            calibration_imu_finish_bias_estimate(&imu_data);
            calibration_altimeter_finish_initial_pressure_estimate(&calibration_altimeter_data);
        }
    }
    previous_calibration_status = current_calibration_status;

    return THREADS_LINUX_SUCCESS;
}

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int threads_linux_periodic_task_2

(

void

)

Definition at line 348 of file threads_linux.c.

References battery_data, calibration_altimeter_data, calibration_local_coordinate_system_data, calibration_local_fields_data, control_data, estimation_data, failure, gps_data, gps_measure, imu_measure, magnetometer_measure, pitot_data, pwm_read_data, pwm_write_data, scp1000_data, sonar_data, t0, t_task_1_global, telemetry_mode, total, UI_NCURSES_MODE, and ui_update().

Referenced by threads_linux_timer_function_task_2().

{
    // UI thread
    if(telemetry_mode == UI_NCURSES_MODE)
    {
        ui_update(&battery_data, &gps_data, &imu_data, &pitot_data, &pwm_read_data, &pwm_write_data, &scp1000_data, &sonar_data, &gps_measure, &imu_measure, &magnetometer_measure, &calibration_local_coordinate_system_data, &calibration_local_fields_data, &calibration_altimeter_data, &estimation_data, &control_data, total, failure);
    }
    if(telemetry_mode == UI_MAVLINK_MODE)
    {
        mavlink_module_update(t_task_1_global, t0, &battery_data, &gps_data, &imu_data, &pitot_data, &pwm_read_data, &pwm_write_data, &scp1000_data, &sonar_data, &gps_measure, &imu_measure, &magnetometer_measure, &estimation_data, &control_data);
    }

    return THREADS_LINUX_SUCCESS;
}

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void threads_linux_timer_function_task_1

(

void

)

Definition at line 457 of file threads_linux.c.

References flag_task_1_firstexecution, status, t0, T_task_1_exec_global, t_task_1_global, T_task_1_max_global, T_task_1_mean_global, T_task_1_min_global, and threads_linux_periodic_task_1().

Referenced by threads_linux_timer_task_1().

{
    int status = 0;
    static struct timeval timereset;
    static struct timeval time;
    static struct timeval time_exec_start;
    static struct timeval time_exec_end;
    static double T_task,t_task,t_task_previous;
    static double T_task_mean,T_task_min,T_task_max,T_task_exec;

    gettimeofday(&time_exec_start, NULL);

    // Time calculation
    if(flag_task_1_firstexecution)
    {
        gettimeofday(&timereset, NULL);
        t_task = 0.0;
        T_task_mean = 0.0;
        T_task_min = 0.0;
        T_task_max = 0.0;
        T_task_exec = 0.0;
    }

    gettimeofday(&time, NULL);
    t_task = ((time.tv_sec - timereset.tv_sec) + (time.tv_usec - timereset.tv_usec)*1e-6);
    T_task = t_task - t_task_previous;
    t_task_previous = t_task;

    if(flag_task_1_firstexecution)
    {
        T_task_mean = T_task;
        T_task_min  = 1e200;
        T_task_max  = 0.0;
        t0 = t_task;
    }
    else
    {
        T_task_mean = 0.05*T_task + 0.95*T_task_mean;
        if(T_task < T_task_min) T_task_min  = T_task;
        if(T_task > T_task_max) T_task_max  = T_task;
    }

    // Run the thread
    status = threads_linux_periodic_task_1();

    gettimeofday(&time_exec_end, NULL);
    T_task_exec = ((time_exec_end.tv_sec - time_exec_start.tv_sec) + (time_exec_end.tv_usec - time_exec_start.tv_usec)*1e-6);

    t_task_1_global = t_task;
    T_task_1_mean_global = T_task_mean;
    T_task_1_min_global = T_task_min;
    T_task_1_max_global = T_task_max;
    T_task_1_exec_global = T_task_exec;

    flag_task_1_firstexecution = 0;
}

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void threads_linux_timer_function_task_2

(

void

)

Definition at line 514 of file threads_linux.c.

References flag_task_2_firstexecution, status, T_task_2_exec_global, t_task_2_global, T_task_2_max_global, T_task_2_mean_global, T_task_2_min_global, and threads_linux_periodic_task_2().

Referenced by threads_linux_timer_task_2().

{
    int status = 0;
    static struct timeval timereset;
    static struct timeval time;
    static struct timeval time_exec_start;
    static struct timeval time_exec_end;
    static double T_task,t_task,t_task_previous;
    static double T_task_mean,T_task_min,T_task_max,T_task_exec;

    gettimeofday(&time_exec_start, NULL);

    // Time calculation
    if(flag_task_2_firstexecution)
    {
        gettimeofday(&timereset, NULL);
        t_task = 0.0;
        T_task_mean = 0.0;
        T_task_min = 0.0;
        T_task_max = 0.0;
        T_task_exec = 0.0;
    }

    gettimeofday(&time, NULL);
    t_task = ((time.tv_sec - timereset.tv_sec) + (time.tv_usec - timereset.tv_usec)*1e-6);
    T_task = t_task - t_task_previous;
    t_task_previous = t_task;

    if(flag_task_2_firstexecution)
    {
        T_task_mean = T_task;
        T_task_min  = 1e200;
        T_task_max  = 0.0;
    }
    else
    {
        T_task_mean = 0.05*T_task + 0.95*T_task_mean;
        if(T_task < T_task_min) T_task_min  = T_task;
        if(T_task > T_task_max) T_task_max  = T_task;
    }

    // Run the thread
    status = threads_linux_periodic_task_2();

    gettimeofday(&time_exec_end, NULL);
    T_task_exec = ((time_exec_end.tv_sec - time_exec_start.tv_sec) + (time_exec_end.tv_usec - time_exec_start.tv_usec)*1e-6);

    t_task_2_global = t_task;
    T_task_2_mean_global = T_task_mean;
    T_task_2_min_global = T_task_min;
    T_task_2_max_global = T_task_max;
    T_task_2_exec_global = T_task_exec;

    flag_task_2_firstexecution = 0;
}

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void threads_linux_timer_start_task_1

(

void

)

Definition at line 375 of file threads_linux.c.

References flag_task_1_firstexecution, task_1_period_us, threads_linux_timer_task_1(), and timer_task_1.

Referenced by threads_linux_init().

{
    struct itimerspec itimer;
    struct sigevent sigev;
    int errno = 0;

    flag_task_1_firstexecution = 1;

    itimer.it_interval.tv_sec=0;
    itimer.it_interval.tv_nsec=task_1_period_us * 1000;
    itimer.it_value=itimer.it_interval;

    memset(&sigev, 0, sizeof (struct sigevent));
    sigev.sigev_value.sival_int = 0;
    sigev.sigev_notify = SIGEV_THREAD;
    sigev.sigev_notify_attributes = NULL;
    sigev.sigev_notify_function = threads_linux_timer_task_1;

    if (timer_create(CLOCK_REALTIME, &sigev, &timer_task_1) < 0)
    {
        fprintf(stderr, "[%d]: %s\n", __LINE__, strerror(errno));
        exit(errno);
    }

    if(timer_settime(timer_task_1, 0, &itimer, NULL) < 0)
    {
        fprintf(stderr, "[%d]: %s\n", __LINE__, strerror(errno));
        exit(errno);
    }
}

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void threads_linux_timer_start_task_2

(

void

)

Definition at line 406 of file threads_linux.c.

References flag_task_2_firstexecution, task_2_period_us, threads_linux_timer_task_2(), and timer_task_2.

Referenced by threads_linux_init().

{
    struct itimerspec itimer;
    struct sigevent sigev;
    int errno = 0;

    flag_task_2_firstexecution = 1;

    itimer.it_interval.tv_sec=0;
    itimer.it_interval.tv_nsec=task_2_period_us * 1000;
    itimer.it_value=itimer.it_interval;

    memset (&sigev, 0, sizeof (struct sigevent));
    sigev.sigev_value.sival_int = 0;
    sigev.sigev_notify = SIGEV_THREAD;
    sigev.sigev_notify_attributes = NULL;
    sigev.sigev_notify_function = threads_linux_timer_task_2;

    if(timer_create(CLOCK_REALTIME, &sigev, &timer_task_2) < 0)
    {
        fprintf(stderr, "[%d]: %s\n", __LINE__, strerror(errno));
        exit(errno);
    }

    if(timer_settime(timer_task_2, 0, &itimer, NULL) < 0)
    {
        fprintf(stderr, "[%d]: %s\n", __LINE__, strerror(errno));
        exit(errno);
    }
}

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void threads_linux_timer_stop_task_1

(

void

)

Definition at line 437 of file threads_linux.c.

References timer_task_1.

Referenced by threads_linux_init().

{
    int errno = 0;
    if(timer_delete(timer_task_1) < 0)
    {
        fprintf(stderr, "[%d]: %s\n", __LINE__, strerror(errno));
        exit(errno);
    }
}

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void threads_linux_timer_stop_task_2

(

void

)

Definition at line 447 of file threads_linux.c.

References timer_task_2.

Referenced by threads_linux_init().

{
    int errno = 0;
    if(timer_delete(timer_task_2) < 0)
    {
        fprintf(stderr, "[%d]: %s\n", __LINE__, strerror(errno));
        exit(errno);
    }
}

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void threads_linux_timer_task_1

(

union sigval

sigval

)

Definition at line 363 of file threads_linux.c.

References threads_linux_timer_function_task_1().

Referenced by threads_linux_timer_start_task_1().

{
    sigval.sival_int = 0; // Remove warning
    threads_linux_timer_function_task_1();
}

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void threads_linux_timer_task_1

(

union sigval sigval

)

Definition at line 363 of file threads_linux.c.

References threads_linux_timer_function_task_1().

Referenced by threads_linux_timer_start_task_1().

{
    sigval.sival_int = 0; // Remove warning
    threads_linux_timer_function_task_1();
}

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void threads_linux_timer_task_2

(

union sigval

sigval

)

Definition at line 369 of file threads_linux.c.

References threads_linux_timer_function_task_2().

Referenced by threads_linux_timer_start_task_2().

{
    sigval.sival_int = 0; // Remove warning
    threads_linux_timer_function_task_2();
}

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void threads_linux_timer_task_2

(

union sigval sigval

)

Definition at line 369 of file threads_linux.c.

References threads_linux_timer_function_task_2().

Referenced by threads_linux_timer_start_task_2().

{
    sigval.sival_int = 0; // Remove warning
    threads_linux_timer_function_task_2();
}

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int threads_reset_timer

(

void

)

Definition at line 570 of file threads_linux.c.

References t0, and t_task_1_global.

Referenced by threads_linux_periodic_task_1().

{
    t0 = t_task_1_global;
    return THREADS_LINUX_SUCCESS;
}

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Variable Documentation

BATTERY_DATA_STRUCT battery_data

Definition at line 68 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

CALIBRATION_ALTIMETER_STRUCT calibration_altimeter_data

Definition at line 84 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

CALIBRATION_LOCAL_COORDINATE_SYSTEM_STRUCT calibration_local_coordinate_system_data

Definition at line 85 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

CALIBRATION_LOCAL_FIELDS_STRUCT calibration_local_fields_data

Definition at line 86 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

CONTROL_DATA_STRUCT control_data

Definition at line 92 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

ESTIMATION_DATA_STRUCT estimation_data

Definition at line 89 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

int failure = 0

Definition at line 42 of file threads_linux.c.

Referenced by threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

volatile int flag_task_1_firstexecution = 1

Definition at line 52 of file threads_linux.c.

Referenced by threads_linux_timer_function_task_1(), and threads_linux_timer_start_task_1().

volatile int flag_task_2_firstexecution = 1

Definition at line 63 of file threads_linux.c.

Referenced by threads_linux_timer_function_task_2(), and threads_linux_timer_start_task_2().

GPS_DATA_STRUCT gps_data

Definition at line 69 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

GPSMEASURE gps_measure

Definition at line 78 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

IMU_DATA_STRUCT imu_data

Definition at line 70 of file threads_linux.c.

IMUMEASURE imu_measure

Definition at line 79 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

MAGNETOMETERMEASURE magnetometer_measure

Definition at line 80 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

PITOT_DATA_STRUCT pitot_data

Definition at line 71 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

PWM_READ_DATA_STRUCT pwm_read_data

Definition at line 72 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

PWM_WRITE_DATA_STRUCT pwm_write_data

Definition at line 73 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

unsigned char quittask

Definition at line 39 of file main.c.

Referenced by exit_program(), main(), and threads_linux_init().

SCP1000_DATA_STRUCT scp1000_data

Definition at line 74 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

SONAR_DATA_STRUCT sonar_data

Definition at line 75 of file threads_linux.c.

Referenced by threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().

SONARMEASURE sonar_measure

Definition at line 81 of file threads_linux.c.

Referenced by threads_linux_init(), and threads_linux_periodic_task_1().

volatile double t0 = 0.0

Definition at line 53 of file threads_linux.c.

Referenced by threads_get_time(), threads_linux_periodic_task_1(), threads_linux_periodic_task_2(), threads_linux_timer_function_task_1(), and threads_reset_timer().

volatile double T_task_1_exec_global = 0.0

Definition at line 47 of file threads_linux.c.

Referenced by threads_linux_periodic_task_1(), and threads_linux_timer_function_task_1().

volatile double t_task_1_global = 0.0

Definition at line 46 of file threads_linux.c.

Referenced by threads_get_time(), threads_linux_periodic_task_1(), threads_linux_periodic_task_2(), threads_linux_timer_function_task_1(), and threads_reset_timer().

volatile double T_task_1_max_global = 0.0

Definition at line 50 of file threads_linux.c.

Referenced by threads_linux_timer_function_task_1().

volatile double T_task_1_mean_global = 0.0

Definition at line 48 of file threads_linux.c.

Referenced by threads_get_time(), and threads_linux_timer_function_task_1().

volatile double T_task_1_min_global = 0.0

Definition at line 49 of file threads_linux.c.

Referenced by threads_linux_timer_function_task_1().

volatile double T_task_2_exec_global = 0.0

Definition at line 58 of file threads_linux.c.

Referenced by threads_linux_periodic_task_1(), and threads_linux_timer_function_task_2().

volatile double t_task_2_global = 0.0

Definition at line 57 of file threads_linux.c.

Referenced by threads_linux_timer_function_task_2().

volatile double T_task_2_max_global = 0.0

Definition at line 61 of file threads_linux.c.

Referenced by threads_linux_timer_function_task_2().

volatile double T_task_2_mean_global = 0.0

Definition at line 59 of file threads_linux.c.

Referenced by threads_linux_timer_function_task_2().

volatile double T_task_2_min_global = 0.0

Definition at line 60 of file threads_linux.c.

Referenced by threads_linux_timer_function_task_2().

volatile int task_1_period_us = TASK1_PERIOD_US

Definition at line 51 of file threads_linux.c.

Referenced by threads_get_time(), threads_linux_init(), threads_linux_periodic_task_1(), and threads_linux_timer_start_task_1().

volatile int task_2_period_us = TASK2_PERIOD_US

Definition at line 62 of file threads_linux.c.

Referenced by threads_linux_timer_start_task_2().

unsigned int telemetry_mode = UI_NCURSES_MODE

Definition at line 64 of file threads_linux.c.

Referenced by threads_linux_periodic_task_2().

timer_t timer_task_1

Definition at line 45 of file threads_linux.c.

Referenced by threads_linux_timer_start_task_1(), and threads_linux_timer_stop_task_1().

timer_t timer_task_2

Definition at line 56 of file threads_linux.c.

Referenced by threads_linux_timer_start_task_2(), and threads_linux_timer_stop_task_2().

int total = 0

Definition at line 41 of file threads_linux.c.

Referenced by threads_linux_periodic_task_1(), and threads_linux_periodic_task_2().