2010/4/7 m...@watty <[email protected]>:
>
> The full Catpad program will maybe have more than 6 concurrent
> "threads".
Only 6? ;) ;)
Below is the main loop (C, sorry...) of the largest robot I am working
on, which has 12 tasks and will have a few more in time...
Joep
for (;;) {
if (PrevIsrCounter != IsrCounter) {
PrevIsrCounter = IsrCounter;
// -----------------------------------------------------------------
// 1ms takt
// -----------------------------------------------------------------
CommandoTakt(0) ; // Takt voor numeric keyboard
if (!IsrCountDown1) {
IsrCountDown1 = 10;
// --------------------------------------------------------------
// 10ms takt
// --------------------------------------------------------------
TaktFase++; // 0 = asynchroon, 1 t/m 5 is fase in 10 ms stappen
if (TaktFase > 5) {
TaktFase = 1;
TaktArray[6] = TaktArray[5];
TaktArray[5] = 0;
}
DoeTaak(TaktFase) ;
OdoTakt(TaktFase) ;
MD23Takt(TaktFase) ;
WandSensorTakt(TaktFase);
UpsTakt(TaktFase) ;
UltrasonicTakt(TaktFase) ;
FsmTakt();
BgFE.Takt();
Bootstrap(); // check if we need to bootstrap
}
} // end of ms loop
CliFE.Takt();
FileTakt();
}
} // end of for(;;)
return 0;
}
//------------------------------------------------------------------------
// DumpTaktArray -
//------------------------------------------------------------------------
//------------------------------------------------------------------------
void DumpTaktArray(void)
{ int i;
long sum;
// bepaal som, om later percentage te kunnen bepalen.
sum = 0;
for (i = 0; i < 5; i++) {
sum = sum + TaktArray[i];
}
printf("//-------------------------\n");
for (i = 0; i < 5; i++) {
printf("Takt fase %d, Relatief: %d%%, (%u)\r\n", i+1, (int)((100
* (long)TaktArray[i]) / sum), TaktArray[i]);
}
printf("Last full itteration: %u\r\n", TaktArray[6]);
}
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