ardupilot/libraries/AP_HAL_SMACCM/Scheduler.h

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/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
/*
* Scheduler.h --- AP_HAL_SMACCM scheduler.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*
* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
*/
#ifndef __AP_HAL_SMACCM_SCHEDULER_H__
#define __AP_HAL_SMACCM_SCHEDULER_H__
#include <AP_HAL_SMACCM.h>
#define SMACCM_SCHEDULER_MAX_TIMER_PROCS 4
class SMACCM::SMACCMScheduler : public AP_HAL::Scheduler
{
public:
SMACCMScheduler();
/**
* Initialize the scheduler. This initializes the HWF4 timer
* driver.
*
* @param arg reserved, pass NULL
*/
void init(void *arg);
/** Delay for "ms" milliseconds. */
void delay(uint16_t ms);
/** Delay for "us" microseconds. */
void delay_microseconds(uint16_t us);
/** Return the time since init in milliseconds. */
uint32_t millis();
/** Return the time since init in microseconds. */
uint32_t micros();
/**
* Register a callback to run every millisecond during a call to
* "delay" as long as the delay remaining is at least "min_time_ms".
*
* The callback is executed in the thread that calls "delay".
*/
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
/** Register a callback to run every 1ms (1kHz). */
void register_timer_process(AP_HAL::TimedProc);
/**
* Register a callback to run if a timer process takes too long to
* execute. The second argument is ignored.
*/
void register_timer_failsafe(AP_HAL::TimedProc, uint32_t);
/**
* Suspend execution of timed procedures. Calls to this function do
* not nest.
*/
void suspend_timer_procs();
/**
* Resume execution of timed procedures. Calls to this function do
* not nest.
*/
void resume_timer_procs();
/**
* Enter a critical section where timed processes will not be run.
* Calls to this function nest.
*/
void begin_atomic();
/**
* Leave a critical section, re-enabling timed processes. Calls to
* this function nest.
*/
void end_atomic();
/** Print an error message and halt execution. */
void panic(const prog_char_t *errormsg);
/** Reboot the firmware. Not implemented. */
void reboot();
/**
* Run timed and deferred processes. This should not be called from
* client code.
*/
void run_callbacks();
/**
* Run the failsafe callback. This should not be called from client
* code.
*/
void run_failsafe_cb();
/**
* Run the delay callback. This should not be called from client
* code.
*/
void run_delay_cb();
/** Return true if in the context of a timer process. */
bool in_timerprocess();
/** Return true if the system is initializing. */
bool system_initializing();
/** Set the system initializing flag to false. */
void system_initialized();
private:
AP_HAL::Proc m_delay_cb; /* delay callback */
void *m_task; /* opaque scheduler task handle */
void *m_delay_cb_task; /* opaque delay cb task handle */
AP_HAL::TimedProc m_procs[SMACCM_SCHEDULER_MAX_TIMER_PROCS];
AP_HAL::TimedProc m_failsafe_cb;
uint8_t m_num_procs; /* number of entries in "m_procs" */
bool m_initializing; /* true if initializing */
};
#endif // __AP_HAL_SMACCM_SCHEDULER_H__