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This commit is contained in:
rusefillc 2025-03-06 20:50:52 -05:00
parent 964414d2b1
commit b697cfba58
1 changed files with 6 additions and 13 deletions
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19
firmware/controllers/system/periodic_thread_controller.h
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@ -1,6 +1,6 @@
/** /**
* @file periodic_thread_controller.h * @file periodic_thread_controller.h
* *
* @date Jan 5, 2019 * @date Jan 5, 2019
* @author Matthew Kennedy, (c) 2019 * @author Matthew Kennedy, (c) 2019
*/ */
@ -13,18 +13,18 @@
/** /**
* @brief Base class for a controller that needs to run periodically to perform work. * @brief Base class for a controller that needs to run periodically to perform work.
* *
* For example, if we have some PID loop that needs to run at a specified frequency, * For example, if we have some PID loop that needs to run at a specified frequency,
* inherit this class, and perform your period update in PeriodicTask. Any one-time * inherit this class, and perform your period update in PeriodicTask. Any one-time
* setup work can be performed in OnStarted(). * setup work can be performed in OnStarted().
* *
* Each instance has one underlying thread meaning that task could be blocking/synchronous. * Each instance has one underlying thread meaning that task could be blocking/synchronous.
* This class effectively implements this functionality: * This class effectively implements this functionality:
* *
* void thread() * void thread()
* { * {
* OnStarted(); * OnStarted();
* *
* while(true) * while(true)
* { * {
* PeriodicTask(getTimeNowNt()); * PeriodicTask(getTimeNowNt());
@ -38,12 +38,8 @@ class PeriodicController : public ThreadController<TStackSize>
private: private:
// time in ChibiOS time units, see CH_CFG_ST_FREQUENCY // time in ChibiOS time units, see CH_CFG_ST_FREQUENCY
systime_t m_period; systime_t m_period;
protected: protected:
/**
* The target period between calls to PeriodicTask.
*/
// const float m_periodSeconds;
/** /**
* @brief Called before running the periodic task. Optionally override this method to set up. * @brief Called before running the periodic task. Optionally override this method to set up.
@ -87,9 +83,6 @@ public:
: ThreadController<TStackSize>(name, priority) : ThreadController<TStackSize>(name, priority)
// First compute the period in systime_t // First compute the period in systime_t
, m_period(CH_CFG_ST_FREQUENCY / frequencyHz) , m_period(CH_CFG_ST_FREQUENCY / frequencyHz)
// Then compute the float period off of the integer one to
// get the ACTUAL period, which may be slightly different than requested.
// , m_periodSeconds(m_period / (float)CH_CFG_ST_FREQUENCY)
{ {
} }