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AP_HAL_AVR: add ISRRegistry class, member of HAL_AVR

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* derived from Arduino_Mega_ISR_Registry class
This commit is contained in:
Pat Hickey 2012-08-27 11:45:42 -07:00 committed by Andrew Tridgell
parent db76562cd5
commit 2c14a77693
4 changed files with 79 additions and 0 deletions
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1
libraries/AP_HAL_AVR/AP_HAL_AVR_Namespace.h
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@ -19,6 +19,7 @@ namespace AP_HAL_AVR {
class APM1RCOutput;
class APM2RCOutput;
class ArduinoScheduler;
class ISRRegistry;
}
#endif //__AP_HAL_AVR_NAMESPACE_H__

2
libraries/AP_HAL_AVR/HAL_AVR.h
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@ -4,6 +4,7 @@
#include <AP_HAL.h>
#include "AP_HAL_AVR_Namespace.h"
#include "utility/ISRRegistry.h"
/**
* HAL_AVR class derives from HAL but provides an AVR-specific
@ -33,6 +34,7 @@ public:
_rcout, _scheduler) {}
void init(void* opts) const;
AP_HAL_AVR::ISRRegistry isr_registry;
};
#endif // __AP_HAL_AVR_HAL_AVR_H__

52
libraries/AP_HAL_AVR/utility/ISRRegistry.cpp Normal file
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@ -0,0 +1,52 @@
#include <stdlib.h>
#include <avr/interrupt.h>
#include "ISRRegistry.h"
using namespace AP_HAL_AVR;
proc_ptr ISRRegistry::_registry[ISR_REGISTRY_NUM_SLOTS];
void ISRRegistry::init() {
for(int i = 0; i < ISR_REGISTRY_NUM_SLOTS; i++) {
_registry[i] = NULL;
}
}
int ISRRegistry::register_signal(int signal, proc_ptr proc)
{
if (signal >= 0 && signal < ISR_REGISTRY_NUM_SLOTS) {
_registry[signal] = proc;
return 0;
}
return -1;
}
int ISRRegistry::unregister_signal(int signal)
{
if (signal >= 0 && signal < ISR_REGISTRY_NUM_SLOTS) {
_registry[signal] = NULL;
return 0;
}
return -1;
}
/* ========== ISR IMPLEMENTATIONS ========== */
extern "C" ISR(TIMER2_OVF_vect) {
if ( ISRRegistry::_registry[ISR_REGISTRY_TIMER2_OVF] != NULL)
ISRRegistry::_registry[ISR_REGISTRY_TIMER2_OVF]();
}
extern "C" ISR(TIMER4_CAPT_vect) {
if ( ISRRegistry::_registry[ISR_REGISTRY_TIMER4_CAPT] != NULL)
ISRRegistry::_registry[ISR_REGISTRY_TIMER4_CAPT]();
}
extern "C" ISR(TIMER5_CAPT_vect) {
if ( ISRRegistry::_registry[ISR_REGISTRY_TIMER5_CAPT] != NULL)
ISRRegistry::_registry[ISR_REGISTRY_TIMER5_CAPT]();
}

24
libraries/AP_HAL_AVR/utility/ISRRegistry.h Normal file
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@ -0,0 +1,24 @@
#ifndef __AP_HAL_AVR_ISR_REGISTRY_H__
#define __AP_HAL_AVR_ISR_REGISTRY_H__
#include "AP_HAL_AVR_Namespace.h"
#define ISR_REGISTRY_TIMER2_OVF 0
#define ISR_REGISTRY_TIMER4_CAPT 1
#define ISR_REGISTRY_TIMER5_CAPT 2
#define ISR_REGISTRY_NUM_SLOTS 3
typedef void (*proc_ptr)(void);
class AP_HAL_AVR::ISRRegistry {
public:
void init();
int register_signal(int isr_number, proc_ptr proc);
int unregister_signal(int isr_number);
static proc_ptr _registry[ISR_REGISTRY_NUM_SLOTS];
};
#endif // __AP_HAL_AVR_ISR_REGISTRY_H__