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AP_HAL_Linux: move delay callback handling to base HAL Scheduler class

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This commit is contained in:
Peter Barker 2018-05-08 15:55:11 +10:00 committed by Andrew Tridgell
parent f2d73bb9b0
commit d5cad015dc
2 changed files with 1 additions and 15 deletions
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11
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -164,9 +164,7 @@ void Scheduler::delay(uint16_t ms)
// this yields the CPU to other apps // this yields the CPU to other apps
microsleep(1000); microsleep(1000);
if (_min_delay_cb_ms <= ms) { if (_min_delay_cb_ms <= ms) {
if (_delay_cb) { call_delay_cb();
_delay_cb();
}
} }
} }
} }
@ -179,13 +177,6 @@ void Scheduler::delay_microseconds(uint16_t us)
microsleep(us); microsleep(us);
} }
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++) {

5
libraries/AP_HAL_Linux/Scheduler.h
View File

@ -27,8 +27,6 @@ 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);
@ -69,9 +67,6 @@ private:
void _debug_stack(); void _debug_stack();
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
AP_HAL::Proc _failsafe; AP_HAL::Proc _failsafe;
bool _initialized; bool _initialized;