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HAL_AVR: updates for new scheduler API

This commit is contained in:
Andrew Tridgell 2013-09-28 16:24:02 +10:00
parent f0f5761e8d
commit 0ade02a624
6 changed files with 40 additions and 38 deletions
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14
libraries/AP_HAL_AVR/AnalogIn.h
View File

@ -70,13 +70,13 @@ public:
AP_HAL::AnalogSource* channel(int16_t n);
protected:
static ADCSource* _create_channel(int16_t num);
static void _register_channel(ADCSource*);
static void _timer_event(uint32_t);
static ADCSource* _channels[AVR_INPUT_MAX_CHANNELS];
static int16_t _num_channels;
static int16_t _active_channel;
static uint16_t _channel_repeat_count;
ADCSource* _create_channel(int16_t num);
void _register_channel(ADCSource*);
void _timer_event(void);
ADCSource* _channels[AVR_INPUT_MAX_CHANNELS];
int16_t _num_channels;
int16_t _active_channel;
uint16_t _channel_repeat_count;
private:
ADCSource _vcc;

13
libraries/AP_HAL_AVR/AnalogIn_Common.cpp
View File

@ -16,19 +16,14 @@ extern const AP_HAL::HAL& hal;
* This seems to be determined empirically */
#define CHANNEL_READ_REPEAT 2
/* Static variable instances */
ADCSource* AVRAnalogIn::_channels[AVR_INPUT_MAX_CHANNELS] = {NULL};
int16_t AVRAnalogIn::_num_channels = 0;
int16_t AVRAnalogIn::_active_channel = 0;
uint16_t AVRAnalogIn::_channel_repeat_count = 0;
AVRAnalogIn::AVRAnalogIn() :
_vcc(ADCSource(ANALOG_INPUT_BOARD_VCC))
{}
void AVRAnalogIn::init(void* machtnichts) {
void AVRAnalogIn::init(void* machtnichts)
{
/* Register AVRAnalogIn::_timer_event with the scheduler. */
hal.scheduler->register_timer_process(_timer_event);
hal.scheduler->register_timer_process(reinterpret_cast<AP_HAL::TimedProc>(&AVRAnalogIn::_timer_event), this);
/* Register each private channel with AVRAnalogIn. */
_register_channel(&_vcc);
}
@ -62,7 +57,7 @@ void AVRAnalogIn::_register_channel(ADCSource* ch) {
}
}
void AVRAnalogIn::_timer_event(uint32_t t)
void AVRAnalogIn::_timer_event(void)
{
if (_channels[_active_channel]->_pin == ANALOG_INPUT_NONE) {
_channels[_active_channel]->new_sample(0);

20
libraries/AP_HAL_AVR/Scheduler.cpp
View File

@ -25,6 +25,7 @@ volatile bool AVRScheduler::_timer_suspended = false;
volatile bool AVRScheduler::_timer_event_missed = false;
volatile bool AVRScheduler::_in_timer_proc = false;
AP_HAL::TimedProc AVRScheduler::_timer_proc[AVR_SCHEDULER_MAX_TIMER_PROCS] = {NULL};
void *AVRScheduler::_timer_arg[AVR_SCHEDULER_MAX_TIMER_PROCS] = {NULL};
uint8_t AVRScheduler::_num_timer_procs = 0;
@ -88,7 +89,8 @@ void AVRScheduler::register_delay_callback(AP_HAL::Proc proc,
_min_delay_cb_ms = min_time_ms;
}
void AVRScheduler::register_timer_process(AP_HAL::TimedProc proc) {
void AVRScheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg)
{
for (int i = 0; i < _num_timer_procs; i++) {
if (_timer_proc[i] == proc) {
return;
@ -100,21 +102,22 @@ void AVRScheduler::register_timer_process(AP_HAL::TimedProc proc) {
* because that memory won't be used until _num_timer_procs is
* incremented. */
_timer_proc[_num_timer_procs] = proc;
_timer_arg[_num_timer_procs] = arg;
/* _num_timer_procs is used from interrupt, and multiple bytes long. */
uint8_t sreg = SREG;
cli();
_num_timer_procs++;
sei();
SREG = sreg;
}
}
void AVRScheduler::register_io_process(AP_HAL::TimedProc proc)
void AVRScheduler::register_io_process(AP_HAL::TimedProc proc, void *arg)
{
// IO processes not supported on AVR
}
void AVRScheduler::register_timer_failsafe(
AP_HAL::TimedProc failsafe, uint32_t period_us) {
void AVRScheduler::register_timer_failsafe(AP_HAL::TimedProc failsafe, uint32_t period_us) {
/* XXX Assert period_us == 1000 */
_failsafe = failsafe;
}
@ -150,7 +153,6 @@ void AVRScheduler::_timer_isr_event() {
void AVRScheduler::_run_timer_procs(bool called_from_isr) {
uint32_t tnow = _timer.micros();
if (_in_timer_proc) {
// the timer calls took longer than the period of the
// timer. This is bad, and may indicate a serious
@ -163,7 +165,7 @@ void AVRScheduler::_run_timer_procs(bool called_from_isr) {
// block. If it does then we will recurse and die when
// we run out of stack
if (_failsafe != NULL) {
_failsafe(tnow);
_failsafe(NULL);
}
return;
}
@ -174,7 +176,7 @@ void AVRScheduler::_run_timer_procs(bool called_from_isr) {
// now call the timer based drivers
for (int i = 0; i < _num_timer_procs; i++) {
if (_timer_proc[i] != NULL) {
_timer_proc[i](tnow);
_timer_proc[i](_timer_arg[i]);
}
}
} else if (called_from_isr) {
@ -183,7 +185,7 @@ void AVRScheduler::_run_timer_procs(bool called_from_isr) {
// and the failsafe, if one is setup
if (_failsafe != NULL) {
_failsafe(tnow);
_failsafe(NULL);
}
_in_timer_proc = false;

5
libraries/AP_HAL_AVR/Scheduler.h
View File

@ -31,8 +31,8 @@ public:
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 register_timer_process(AP_HAL::TimedProc, void *);
void register_io_process(AP_HAL::TimedProc, void *);
void suspend_timer_procs();
void resume_timer_procs();
@ -65,6 +65,7 @@ private:
static volatile bool _timer_suspended;
static volatile bool _timer_event_missed;
static AP_HAL::TimedProc _timer_proc[AVR_SCHEDULER_MAX_TIMER_PROCS];
static void *_timer_arg[AVR_SCHEDULER_MAX_TIMER_PROCS];
static uint8_t _num_timer_procs;
};

14
libraries/AP_HAL_AVR/examples/Scheduler/Scheduler.pde
View File

@ -30,7 +30,7 @@ void delay_toggle() {
hal.gpio->write(DELAY_TOGGLE_PIN, 0);
}
void failsafe_toggle(uint32_t machtnichts) {
void failsafe_toggle(void *) {
volatile int i;
hal.gpio->write(FAILSAFE_TOGGLE_PIN, 1);
for (i = 0; i < 10; i++);
@ -38,21 +38,21 @@ void failsafe_toggle(uint32_t machtnichts) {
}
void schedule_toggle_1(uint32_t machtnichts) {
void schedule_toggle_1(void *) {
volatile int i;
hal.gpio->write(SCHEDULED_TOGGLE_PIN_1, 1);
for (i = 0; i < 10; i++);
hal.gpio->write(SCHEDULED_TOGGLE_PIN_1, 0);
}
void schedule_toggle_2(uint32_t machtnichts) {
void schedule_toggle_2(void *) {
volatile int i;
hal.gpio->write(SCHEDULED_TOGGLE_PIN_2, 1);
for (i = 0; i < 10; i++);
hal.gpio->write(SCHEDULED_TOGGLE_PIN_2, 0);
}
void schedule_toggle_hang(uint32_t machtnichts) {
void schedule_toggle_hang(void *) {
hal.gpio->write(SCHEDULED_TOGGLE_PIN_2, 1);
for(;;);
}
@ -95,8 +95,8 @@ void setup (void) {
hal.console->printf_P(PSTR("Pin %d should toggle at 1khz.\r\n"),
(int) SCHEDULED_TOGGLE_PIN_2);
hal.scheduler->register_timer_process(schedule_toggle_1);
hal.scheduler->register_timer_process(schedule_toggle_2);
hal.scheduler->register_timer_process(schedule_toggle_1, NULL);
hal.scheduler->register_timer_process(schedule_toggle_2, NULL);
hal.scheduler->delay(100);
@ -105,7 +105,7 @@ void setup (void) {
"dominates the processor."));
hal.console->printf_P(PSTR("Pin %d should toggle then go high forever.\r\n"),
(int) SCHEDULED_TOGGLE_PIN_2);
hal.scheduler->register_timer_process(schedule_toggle_hang);
hal.scheduler->register_timer_process(schedule_toggle_hang, NULL);
}
void loop (void) { }

12
libraries/AP_HAL_AVR/examples/Semaphore/Semaphore.pde
View File

@ -82,15 +82,19 @@ void setup (void) {
hal.scheduler->panic(PSTR("Error: No SPIDeviceDriver semaphore!"));
}
hal.scheduler->register_timer_process(async_blinker);
hal.scheduler->register_timer_process(async_blinker, NULL);
}
uint32_t async_last_run = 0;
void async_blinker(uint32_t millis) {
if (async_last_run - millis < 5) {
static uint32_t async_last_run;
void async_blinker(void *)
{
uint32_t now = hal.scheduler->millis();
if ((now - async_last_run) < 5) {
return;
}
async_last_run = now;
if (sem->take_nonblocking()) {
blink_a0();