Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-31 04:58:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL Scheduler fixes & AP_HAL_AVR Scheduler changed to match

Browse Source
This commit is contained in:
Pat Hickey 2012-09-06 11:20:12 -07:00 committed by Andrew Tridgell
parent 2adfc4fbc5
commit 187571cca9
3 changed files with 21 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_HAL/Scheduler.h
View File

@ -8,7 +8,7 @@
class AP_HAL::Scheduler {
public:
Scheduler( AP_HAL::Periodic ) {}
Scheduler() {}
virtual void init() = 0;
virtual void delay(uint32_t ms) = 0;
virtual uint32_t millis() = 0;

25
libraries/AP_HAL_AVR/Scheduler.cpp
View File

@ -10,9 +10,9 @@ using namespace AP_HAL_AVR;
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
static volatile unsigned long timer0_overflow_count = 0;
static volatile unsigned long timer0_millis = 0;
static unsigned char timer0_fract = 0;
static volatile uint32_t timer0_overflow_count = 0;
static volatile uint32_t timer0_millis = 0;
static uint8_t timer0_fract = 0;
void ArduinoScheduler::init() {
// this needs to be called before setup() or some functions won't
@ -92,8 +92,8 @@ SIGNAL(TIMER0_OVF_vect)
{
// copy these to local variables so they can be stored in registers
// (volatile variables must be read from memory on every access)
unsigned long m = timer0_millis;
unsigned char f = timer0_fract;
uint32_t m = timer0_millis;
uint8_t f = timer0_fract;
m += MILLIS_INC;
f += FRACT_INC;
@ -107,9 +107,9 @@ SIGNAL(TIMER0_OVF_vect)
timer0_overflow_count++;
}
unsigned long ArduinoScheduler::millis()
uint32_t ArduinoScheduler::millis()
{
unsigned long m;
uint32_t m;
uint8_t oldSREG = SREG;
// disable interrupts while we read timer0_millis or we might get an
@ -121,8 +121,8 @@ unsigned long ArduinoScheduler::millis()
return m;
}
unsigned long ArduinoScheduler::micros() {
unsigned long m;
uint32_t ArduinoScheduler::micros() {
uint32_t m;
uint8_t oldSREG = SREG, t;
cli();
@ -137,7 +137,7 @@ unsigned long ArduinoScheduler::micros() {
return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond());
}
void ArduinoScheduler::delay(unsigned long ms)
void ArduinoScheduler::delay(uint32_t ms)
{
uint16_t start = (uint16_t)micros();
@ -150,7 +150,7 @@ void ArduinoScheduler::delay(unsigned long ms)
}
/* Delay for the given number of microseconds. Assumes a 8 or 16 MHz clock. */
void ArduinoScheduler::delayMicroseconds(unsigned int us)
void ArduinoScheduler::delay_microseconds(uint16_t us)
{
// calling avrlib's delay_us() function with low values (e.g. 1 or
// 2 microseconds) gives delays longer than desired.
@ -178,3 +178,6 @@ void ArduinoScheduler::delayMicroseconds(unsigned int us)
);
}
void ArduinoScheduler::register_delay_callback(void(*cb)(void)) {
/* XXX need to implement */
}

11
libraries/AP_HAL_AVR/Scheduler.h
View File

@ -9,11 +9,12 @@ class AP_HAL_AVR::ArduinoScheduler : public AP_HAL::Scheduler {
public:
ArduinoScheduler() {}
/* AP_HAL::Scheduler methods */
void init();
void delay(unsigned long ms);
unsigned long millis();
unsigned long micros();
void delayMicroseconds(unsigned int us);
void init();
void delay(uint32_t ms);
uint32_t millis();
uint32_t micros();
void delay_microseconds(uint16_t us);
void register_delay_callback(void(*cb)(void));
};
#endif // __AP_HAL_AVR_SCHEDULER_H__