mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.4 KiB
C
80 lines
2.4 KiB
C
|
/*
|
||
|
|
This program is free software: you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation, either version 3 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
This program is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
/*
|
||
|
|
Flymaple port by Mike McCauley
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef __AP_HAL_FLYMAPLE_SCHEDULER_H__
|
||
|
|
#define __AP_HAL_FLYMAPLE_SCHEDULER_H__
|
||
|
|
|
||
|
|
#include <AP_HAL_FLYMAPLE.h>
|
||
|
|
|
||
|
|
#define FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS 4
|
||
|
|
|
||
|
|
class AP_HAL_FLYMAPLE_NS::FLYMAPLEScheduler : public AP_HAL::Scheduler {
|
||
|
|
public:
|
||
|
|
FLYMAPLEScheduler();
|
||
|
|
void init(void* machtnichts);
|
||
|
|
void delay(uint16_t ms);
|
||
|
|
uint32_t millis();
|
||
|
|
uint32_t micros();
|
||
|
|
void delay_microseconds(uint16_t us);
|
||
|
|
void register_delay_callback(AP_HAL::Proc,
|
||
|
|
uint16_t min_time_ms);
|
||
|
|
|
||
|
|
void register_timer_process(AP_HAL::TimedProc);
|
||
|
|
|
||
|
|
void register_io_process(AP_HAL::TimedProc);
|
||
|
|
|
||
|
|
void suspend_timer_procs();
|
||
|
|
void resume_timer_procs();
|
||
|
|
|
||
|
|
bool in_timerprocess();
|
||
|
|
|
||
|
|
void register_timer_failsafe(AP_HAL::TimedProc,
|
||
|
|
uint32_t period_us);
|
||
|
|
|
||
|
|
void begin_atomic();
|
||
|
|
void end_atomic();
|
||
|
|
|
||
|
|
bool system_initializing();
|
||
|
|
void system_initialized();
|
||
|
|
|
||
|
|
void panic(const prog_char_t *errormsg);
|
||
|
|
void reboot(bool hold_in_bootloader);
|
||
|
|
|
||
|
|
private:
|
||
|
|
static volatile bool _in_timer_proc;
|
||
|
|
|
||
|
|
AP_HAL::Proc _delay_cb;
|
||
|
|
uint16_t _min_delay_cb_ms;
|
||
|
|
bool _initialized;
|
||
|
|
|
||
|
|
/* _timer_procs_timer_event() and _run_timer_procs are static so they can be
|
||
|
|
* called from an interrupt. */
|
||
|
|
static void _timer_procs_timer_event();
|
||
|
|
static void _run_timer_procs(bool called_from_isr);
|
||
|
|
|
||
|
|
static void _failsafe_timer_event();
|
||
|
|
static AP_HAL::TimedProc _failsafe;
|
||
|
|
|
||
|
|
static volatile bool _timer_suspended;
|
||
|
|
static volatile bool _timer_event_missed;
|
||
|
|
static AP_HAL::TimedProc _timer_proc[FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS];
|
||
|
|
static uint8_t _num_timer_procs;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // __AP_HAL_FLYMAPLE_SCHEDULER_H__
|