Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_QURT: move delay callback handling to base HAL Scheduler class

This commit is contained in:
Peter Barker 2018-05-08 15:55:58 +10:00 committed by Andrew Tridgell
parent 83bb6e4a9a
commit 31621ee21e
2 changed files with 1 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_HAL_QURT/Scheduler.cpp
View File

@ -80,20 +80,11 @@ void Scheduler::delay(uint16_t ms)
while (((now=AP_HAL::micros64()) - start)/1000 < ms) { while (((now=AP_HAL::micros64()) - start)/1000 < ms) {
delay_microseconds(1000); delay_microseconds(1000);
if (_min_delay_cb_ms <= ms) { if (_min_delay_cb_ms <= ms) {
if (_delay_cb) { call_delay_cb();
_delay_cb();
}
} }
} }
} }
void Scheduler::register_delay_callback(AP_HAL::Proc proc,
uint16_t min_time_ms)
{
_delay_cb = proc;
_min_delay_cb_ms = min_time_ms;
}
void Scheduler::register_timer_process(AP_HAL::MemberProc proc) void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
{ {
for (uint8_t i = 0; i < _num_timer_procs; i++) { for (uint8_t i = 0; i < _num_timer_procs; i++) {

1
libraries/AP_HAL_QURT/Scheduler.h
View File

@ -23,7 +23,6 @@ public:
void init(); void init();
void delay(uint16_t ms); void delay(uint16_t ms);
void delay_microseconds(uint16_t us); void delay_microseconds(uint16_t us);
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
void register_timer_process(AP_HAL::MemberProc); void register_timer_process(AP_HAL::MemberProc);
void register_io_process(AP_HAL::MemberProc); void register_io_process(AP_HAL::MemberProc);
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us); void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);