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AP_PeriodicProcess: AP_TimerProcess can register multiple callbacks.

This commit is contained in:
Pat Hickey 2011-12-08 21:27:50 -08:00
parent 67436d7ff2
commit a7b9c8b9cd
4 changed files with 22 additions and 10 deletions
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6
libraries/AP_PeriodicProcess/AP_TimerAperiodicProcess.cpp
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@ -34,6 +34,8 @@ void AP_TimerAperiodicProcess::run(void)
_timer_offset = (_timer_offset + 49) % 32; _timer_offset = (_timer_offset + 49) % 32;
_period = TCNT2_781_HZ + _timer_offset; _period = TCNT2_781_HZ + _timer_offset;
TCNT2 = _period; TCNT2 = _period;
if (_proc != NULL) for (int i = 0; i < _pidx; i++) {
_proc(); if (_proc[i] != NULL)
_proc[i]();
}
} }

17
libraries/AP_PeriodicProcess/AP_TimerProcess.cpp
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@ -8,12 +8,12 @@ extern "C" {
} }
int AP_TimerProcess::_period; int AP_TimerProcess::_period;
void (*AP_TimerProcess::_proc)(void); ap_procedure AP_TimerProcess::_proc[AP_TIMERPROCESS_MAX_PROCS];
int AP_TimerProcess::_pidx = 0;
AP_TimerProcess::AP_TimerProcess(int period) AP_TimerProcess::AP_TimerProcess(int period)
{ {
_period = period; _period = period;
_proc = NULL;
} }
void AP_TimerProcess::init( Arduino_Mega_ISR_Registry * isr_reg ) void AP_TimerProcess::init( Arduino_Mega_ISR_Registry * isr_reg )
@ -26,18 +26,23 @@ void AP_TimerProcess::init( Arduino_Mega_ISR_Registry * isr_reg )
TIFR2 = _BV(TOV2); // clear pending interrupts; TIFR2 = _BV(TOV2); // clear pending interrupts;
TIMSK2 = _BV(TOIE2); // enable the overflow interrupt TIMSK2 = _BV(TOIE2); // enable the overflow interrupt
for (int i = 0; i < AP_TIMERPROCESS_MAX_PROCS; i++)
_proc[i] = NULL;
isr_reg->register_signal( ISR_REGISTRY_TIMER2_OVF, AP_TimerProcess::run); isr_reg->register_signal( ISR_REGISTRY_TIMER2_OVF, AP_TimerProcess::run);
} }
void AP_TimerProcess::register_process(void (*proc)(void) ) void AP_TimerProcess::register_process(void (*proc)(void) )
{ {
_proc = proc; if (_pidx < AP_TIMERPROCESS_MAX_PROCS)
TCNT2 = 1; // Should go off almost immediately. _proc[_pidx++] = proc;
} }
void AP_TimerProcess::run(void) void AP_TimerProcess::run(void)
{ {
TCNT2 = _period; TCNT2 = _period;
if (_proc != NULL) for (int i = 0; i < _pidx; i++) {
_proc(); if (_proc[i] != NULL)
_proc[i]();
}
} }

7
libraries/AP_PeriodicProcess/AP_TimerProcess.h
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@ -8,6 +8,8 @@
/* XXX this value is a total guess, will look up. */ /* XXX this value is a total guess, will look up. */
#define TIMERPROCESS_PER_DEFAULT (256) #define TIMERPROCESS_PER_DEFAULT (256)
#define AP_TIMERPROCESS_MAX_PROCS 3
class AP_TimerProcess : public AP_PeriodicProcess class AP_TimerProcess : public AP_PeriodicProcess
{ {
public: public:
@ -16,8 +18,9 @@ class AP_TimerProcess : public AP_PeriodicProcess
void register_process(void (* proc)(void)); void register_process(void (* proc)(void));
static void run(void); static void run(void);
protected: protected:
static int _period; static int _period;
static void (*_proc)(void); static ap_procedure _proc[AP_TIMERPROCESS_MAX_PROCS];
static int _pidx;
}; };
#endif // __AP_TIMERPROCESS_H__ #endif // __AP_TIMERPROCESS_H__

2
libraries/AP_PeriodicProcess/PeriodicProcess.h
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@ -2,6 +2,8 @@
#ifndef __PERIODICPROCESS_H__ #ifndef __PERIODICPROCESS_H__
#define __PERIODICPROCESS_H__ #define __PERIODICPROCESS_H__
typedef void (*ap_procedure)(void);
class AP_PeriodicProcess class AP_PeriodicProcess
{ {
public: public: