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HAL_PX4: updates for AP_HAL::MemberProc

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This commit is contained in:
Andrew Tridgell 2013-09-30 20:36:19 +10:00
parent f2ebb2ca87
commit 942ae70651
2 changed files with 12 additions and 16 deletions
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14
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -128,7 +128,7 @@ void PX4Scheduler::register_delay_callback(AP_HAL::Proc proc,
_min_delay_cb_ms = min_time_ms;
}
void PX4Scheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg)
void PX4Scheduler::register_timer_process(AP_HAL::MemberProc proc)
{
for (uint8_t i = 0; i < _num_timer_procs; i++) {
if (_timer_proc[i] == proc) {
@ -138,14 +138,13 @@ void PX4Scheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg)
if (_num_timer_procs < PX4_SCHEDULER_MAX_TIMER_PROCS) {
_timer_proc[_num_timer_procs] = proc;
_timer_arg[_num_timer_procs] = arg;
_num_timer_procs++;
} else {
hal.console->printf("Out of timer processes\n");
}
}
void PX4Scheduler::register_io_process(AP_HAL::TimedProc proc, void *arg)
void PX4Scheduler::register_io_process(AP_HAL::MemberProc proc)
{
for (uint8_t i = 0; i < _num_io_procs; i++) {
if (_io_proc[i] == proc) {
@ -155,14 +154,13 @@ void PX4Scheduler::register_io_process(AP_HAL::TimedProc proc, void *arg)
if (_num_io_procs < PX4_SCHEDULER_MAX_TIMER_PROCS) {
_io_proc[_num_io_procs] = proc;
_io_arg[_num_io_procs] = arg;
_num_io_procs++;
} else {
hal.console->printf("Out of IO processes\n");
}
}
void PX4Scheduler::register_timer_failsafe(AP_HAL::TimedProc failsafe, uint32_t period_us)
void PX4Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
{
_failsafe = failsafe;
}
@ -197,7 +195,7 @@ void PX4Scheduler::_run_timers(bool called_from_timer_thread)
// now call the timer based drivers
for (int i = 0; i < _num_timer_procs; i++) {
if (_timer_proc[i] != NULL) {
_timer_proc[i](_timer_arg[i]);
_timer_proc[i]();
}
}
} else if (called_from_timer_thread) {
@ -206,7 +204,7 @@ void PX4Scheduler::_run_timers(bool called_from_timer_thread)
// and the failsafe, if one is setup
if (_failsafe != NULL) {
_failsafe(NULL);
_failsafe();
}
// process analog input
@ -245,7 +243,7 @@ void PX4Scheduler::_run_io(void)
// now call the IO based drivers
for (int i = 0; i < _num_io_procs; i++) {
if (_io_proc[i] != NULL) {
_io_proc[i](_io_arg[i]);
_io_proc[i]();
}
}
}

14
libraries/AP_HAL_PX4/Scheduler.h
View File

@ -31,9 +31,9 @@ public:
uint32_t micros();
void delay_microseconds(uint16_t us);
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
void register_timer_process(AP_HAL::TimedProc, void *);
void register_io_process(AP_HAL::TimedProc, void *);
void register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
void register_timer_process(AP_HAL::MemberProc);
void register_io_process(AP_HAL::MemberProc);
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
void suspend_timer_procs();
void resume_timer_procs();
void reboot(bool hold_in_bootloader);
@ -47,19 +47,17 @@ private:
bool _initialized;
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
AP_HAL::TimedProc _failsafe;
AP_HAL::Proc _failsafe;
volatile bool _timer_pending;
uint64_t _sketch_start_time;
volatile bool _timer_suspended;
AP_HAL::TimedProc _timer_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
void * _timer_arg[PX4_SCHEDULER_MAX_TIMER_PROCS];
AP_HAL::MemberProc _timer_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
uint8_t _num_timer_procs;
volatile bool _in_timer_proc;
AP_HAL::TimedProc _io_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
void * _io_arg[PX4_SCHEDULER_MAX_TIMER_PROCS];
AP_HAL::MemberProc _io_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
uint8_t _num_io_procs;
volatile bool _in_io_proc;