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AP_HAL: changed delay() to take a uint16_t

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this allows for up to 32 second delays, and saves a bit of flash space
This commit is contained in:
Andrew Tridgell 2012-12-20 13:16:10 +11:00
parent 772f93ea10
commit 60d3df50ae
7 changed files with 7 additions and 7 deletions
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2
libraries/AP_HAL/Scheduler.h
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@ -11,7 +11,7 @@ class AP_HAL::Scheduler {
public: public:
Scheduler() {} Scheduler() {}
virtual void init(void* implspecific) = 0; virtual void init(void* implspecific) = 0;
virtual void delay(uint32_t ms) = 0; virtual void delay(uint16_t ms) = 0;
virtual uint32_t millis() = 0; virtual uint32_t millis() = 0;
virtual uint32_t micros() = 0; virtual uint32_t micros() = 0;
virtual void delay_microseconds(uint16_t us) = 0; virtual void delay_microseconds(uint16_t us) = 0;

2
libraries/AP_HAL_AVR/Scheduler.cpp
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@ -64,7 +64,7 @@ void AVRScheduler::delay_microseconds(uint16_t us) {
_timer.delay_microseconds(us); _timer.delay_microseconds(us);
} }
void AVRScheduler::delay(uint32_t ms) void AVRScheduler::delay(uint16_t ms)
{ {
uint32_t start = _timer.micros(); uint32_t start = _timer.micros();

2
libraries/AP_HAL_AVR/Scheduler.h
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@ -25,7 +25,7 @@ public:
/* init: implementation-specific void* argument expected to be an /* init: implementation-specific void* argument expected to be an
* AP_HAL_AVR::ISRRegistry*. */ * AP_HAL_AVR::ISRRegistry*. */
void init(void *isrregistry); void init(void *isrregistry);
void delay(uint32_t ms); void delay(uint16_t ms);
uint32_t millis(); uint32_t millis();
uint32_t micros(); uint32_t micros();
void delay_microseconds(uint16_t us); void delay_microseconds(uint16_t us);

2
libraries/AP_HAL_AVR_SITL/Scheduler.cpp
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@ -60,7 +60,7 @@ void SITLScheduler::delay_microseconds(uint16_t usec)
} }
} }
void SITLScheduler::delay(uint32_t ms) void SITLScheduler::delay(uint16_t ms)
{ {
uint32_t start = micros(); uint32_t start = micros();

2
libraries/AP_HAL_AVR_SITL/Scheduler.h
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@ -16,7 +16,7 @@ public:
/* AP_HAL::Scheduler methods */ /* AP_HAL::Scheduler methods */
void init(void *unused); void init(void *unused);
void delay(uint32_t ms); void delay(uint16_t ms);
uint32_t millis(); uint32_t millis();
uint32_t micros(); uint32_t micros();
void delay_microseconds(uint16_t us); void delay_microseconds(uint16_t us);

2
libraries/AP_HAL_Empty/Scheduler.cpp
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@ -11,7 +11,7 @@ EmptyScheduler::EmptyScheduler()
void EmptyScheduler::init(void* machtnichts) void EmptyScheduler::init(void* machtnichts)
{} {}
void EmptyScheduler::delay(uint32_t ms) void EmptyScheduler::delay(uint16_t ms)
{} {}
uint32_t EmptyScheduler::millis() { uint32_t EmptyScheduler::millis() {

2
libraries/AP_HAL_Empty/Scheduler.h
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@ -8,7 +8,7 @@ class Empty::EmptyScheduler : public AP_HAL::Scheduler {
public: public:
EmptyScheduler(); EmptyScheduler();
void init(void* machtnichts); void init(void* machtnichts);
void delay(uint32_t ms); void delay(uint16_t ms);
uint32_t millis(); uint32_t millis();
uint32_t micros(); uint32_t micros();
void delay_microseconds(uint16_t us); void delay_microseconds(uint16_t us);