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TimerProcess: added suspend_timer()/resume_timer()

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this will be used to avoid races in driver initialisation
This commit is contained in:
Andrew Tridgell 2012-04-30 16:11:05 +10:00
parent 1ae2f130b3
commit 57ac39649a
5 changed files with 35 additions and 10 deletions
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2
libraries/AP_PeriodicProcess/AP_PeriodicProcessStub.cpp
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@ -4,4 +4,6 @@ AP_PeriodicProcessStub::AP_PeriodicProcessStub(uint8_t period) {}
void AP_PeriodicProcessStub::init( Arduino_Mega_ISR_Registry * isr_reg ){}
void AP_PeriodicProcessStub::register_process(ap_procedure proc) {}
void AP_PeriodicProcessStub::set_failsafe(ap_procedure proc) {}
void AP_PeriodicProcessStub::suspend_timer(void) {}
void AP_PeriodicProcessStub::resume_timer(void) {}
void AP_PeriodicProcessStub::run(void) {}

3
libraries/AP_PeriodicProcess/AP_PeriodicProcessStub.h
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@ -13,11 +13,14 @@ class AP_PeriodicProcessStub : public AP_PeriodicProcess
void init( Arduino_Mega_ISR_Registry * isr_reg );
void register_process(ap_procedure proc);
void set_failsafe(ap_procedure proc);
void suspend_timer(void);
void resume_timer(void);
static void run(void);
protected:
static uint8_t _period;
static void (*_proc)(void);
static void (*_failsafe)(void);
static bool _suspended;
};
#endif

28
libraries/AP_PeriodicProcess/AP_TimerProcess.cpp
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@ -18,6 +18,7 @@ ap_procedure AP_TimerProcess::_proc[AP_TIMERPROCESS_MAX_PROCS];
ap_procedure AP_TimerProcess::_failsafe;
bool AP_TimerProcess::_in_timer_call;
uint8_t AP_TimerProcess::_pidx = 0;
bool AP_TimerProcess::_suspended;
AP_TimerProcess::AP_TimerProcess(uint8_t period)
{
@ -34,7 +35,8 @@ void AP_TimerProcess::init( Arduino_Mega_ISR_Registry * isr_reg )
TIFR2 = _BV(TOV2); // clear pending interrupts;
TIMSK2 = _BV(TOIE2); // enable the overflow interrupt
_failsafe = NULL;
_failsafe = NULL;
_suspended = false;
_in_timer_call = false;
for (uint8_t i = 0; i < AP_TIMERPROCESS_MAX_PROCS; i++)
@ -64,6 +66,16 @@ void AP_TimerProcess::set_failsafe(ap_procedure proc)
_failsafe = proc;
}
void AP_TimerProcess::suspend_timer(void)
{
_suspended = true;
}
void AP_TimerProcess::resume_timer(void)
{
_suspended = false;
}
void AP_TimerProcess::run(void)
{
// we enable the interrupt again immediately and also enable
@ -95,12 +107,14 @@ void AP_TimerProcess::run(void)
}
_in_timer_call = true;
// now call the timer based drivers
for (int i = 0; i < _pidx; i++) {
if (_proc[i] != NULL) {
_proc[i](tnow);
}
}
if (!_suspended) {
// now call the timer based drivers
for (int i = 0; i < _pidx; i++) {
if (_proc[i] != NULL) {
_proc[i](tnow);
}
}
}
// and the failsafe, if one is setup
if (_failsafe != NULL) {

3
libraries/AP_PeriodicProcess/AP_TimerProcess.h
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@ -17,6 +17,8 @@ class AP_TimerProcess : public AP_PeriodicProcess
void init( Arduino_Mega_ISR_Registry * isr_reg );
void register_process(ap_procedure proc);
void set_failsafe(ap_procedure proc);
void suspend_timer(void);
void resume_timer(void);
static void run(void);
protected:
static uint8_t _period;
@ -24,6 +26,7 @@ class AP_TimerProcess : public AP_PeriodicProcess
static ap_procedure _failsafe;
static uint8_t _pidx;
static bool _in_timer_call;
static bool _suspended;
};
#endif // __AP_TIMERPROCESS_H__

9
libraries/AP_PeriodicProcess/PeriodicProcess.h
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@ -1,3 +1,4 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __PERIODICPROCESS_H__
#define __PERIODICPROCESS_H__
@ -10,9 +11,11 @@ typedef void (*ap_procedure)(uint32_t );
class AP_PeriodicProcess
{
public:
virtual void register_process(ap_procedure proc) = 0;
virtual void set_failsafe(ap_procedure proc) = 0;
public:
virtual void register_process(ap_procedure proc) = 0;
virtual void set_failsafe(ap_procedure proc) = 0;
virtual void suspend_timer(void) = 0;
virtual void resume_timer(void) = 0;
};
#endif // __PERIODICPROCESS_H__