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AP_HAL Scheduler fixes & AP_HAL_AVR Scheduler changed to match

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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
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2
libraries/AP_HAL/Scheduler.h
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@ -8,7 +8,7 @@
class AP_HAL::Scheduler { class AP_HAL::Scheduler {
public: public:
Scheduler( AP_HAL::Periodic ) {} Scheduler() {}
virtual void init() = 0; virtual void init() = 0;
virtual void delay(uint32_t ms) = 0; virtual void delay(uint32_t ms) = 0;
virtual uint32_t millis() = 0; virtual uint32_t millis() = 0;

25
libraries/AP_HAL_AVR/Scheduler.cpp
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@ -10,9 +10,9 @@ using namespace AP_HAL_AVR;
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#define sbi(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 uint32_t timer0_overflow_count = 0;
static volatile unsigned long timer0_millis = 0; static volatile uint32_t timer0_millis = 0;
static unsigned char timer0_fract = 0; static uint8_t timer0_fract = 0;
void ArduinoScheduler::init() { void ArduinoScheduler::init() {
// this needs to be called before setup() or some functions won't // 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 // copy these to local variables so they can be stored in registers
// (volatile variables must be read from memory on every access) // (volatile variables must be read from memory on every access)
unsigned long m = timer0_millis; uint32_t m = timer0_millis;
unsigned char f = timer0_fract; uint8_t f = timer0_fract;
m += MILLIS_INC; m += MILLIS_INC;
f += FRACT_INC; f += FRACT_INC;
@ -107,9 +107,9 @@ SIGNAL(TIMER0_OVF_vect)
timer0_overflow_count++; timer0_overflow_count++;
} }
unsigned long ArduinoScheduler::millis() uint32_t ArduinoScheduler::millis()
{ {
unsigned long m; uint32_t m;
uint8_t oldSREG = SREG; uint8_t oldSREG = SREG;
// disable interrupts while we read timer0_millis or we might get an // disable interrupts while we read timer0_millis or we might get an
@ -121,8 +121,8 @@ unsigned long ArduinoScheduler::millis()
return m; return m;
} }
unsigned long ArduinoScheduler::micros() { uint32_t ArduinoScheduler::micros() {
unsigned long m; uint32_t m;
uint8_t oldSREG = SREG, t; uint8_t oldSREG = SREG, t;
cli(); cli();
@ -137,7 +137,7 @@ unsigned long ArduinoScheduler::micros() {
return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond()); return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond());
} }
void ArduinoScheduler::delay(unsigned long ms) void ArduinoScheduler::delay(uint32_t ms)
{ {
uint16_t start = (uint16_t)micros(); 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. */ /* 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 // calling avrlib's delay_us() function with low values (e.g. 1 or
// 2 microseconds) gives delays longer than desired. // 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: public:
ArduinoScheduler() {} ArduinoScheduler() {}
/* AP_HAL::Scheduler methods */ /* AP_HAL::Scheduler methods */
void init(); void init();
void delay(unsigned long ms); void delay(uint32_t ms);
unsigned long millis(); uint32_t millis();
unsigned long micros(); uint32_t micros();
void delayMicroseconds(unsigned int us); void delay_microseconds(uint16_t us);
void register_delay_callback(void(*cb)(void));
}; };
#endif // __AP_HAL_AVR_SCHEDULER_H__ #endif // __AP_HAL_AVR_SCHEDULER_H__