mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.1 KiB
C++
44 lines
1.1 KiB
C++
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#include "AP_TimerProcess.h"
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extern "C" {
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#include <inttypes.h>
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#include <stdint.h>
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#include "WConstants.h"
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}
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int AP_TimerProcess::_period;
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void (*AP_TimerProcess::_proc)(void);
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AP_TimerProcess::AP_TimerProcess(int period)
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{
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_period = period;
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_proc = NULL;
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}
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void AP_TimerProcess::init( Arduino_Mega_ISR_Registry * isr_reg )
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{
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// Enable Timer2 Overflow interrupt to trigger process.
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TIMSK2 = 0; // Disable interrupts
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TCCR2A = 0; // normal counting mode
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TCCR2B = _BV(CS21) | _BV(CS22); // Set prescaler of clk/256
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TCNT2 = 0; // Set count to zero, so it goes off right away.
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TIFR2 = _BV(TOV2); // clear pending interrupts;
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TIMSK2 = _BV(TOIE2); // enable the overflow interrupt
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isr_reg->register_signal( ISR_REGISTRY_TIMER2_OVF, AP_TimerProcess::run);
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}
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void AP_TimerProcess::register_process(void (*proc)(void) )
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{
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_proc = proc;
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TCNT2 = 1; // Should go off almost immediately.
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}
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void AP_TimerProcess::run(void)
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{
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TCNT2 = _period;
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if (_proc != NULL)
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_proc();
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}
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