ardupilot/libraries/AP_HAL_AVR/Scheduler.h

78 lines
2.1 KiB
C++

#ifndef __AP_HAL_AVR_SCHEDULER_H__
#define __AP_HAL_AVR_SCHEDULER_H__
#include <AP_HAL.h>
#include "AP_HAL_AVR_Namespace.h"
#define AVR_SCHEDULER_MAX_TIMER_PROCS 4
/* Class for managing the AVR Timers: */
class AP_HAL_AVR::AVRTimer {
public:
static void init();
static uint32_t millis();
static uint32_t micros();
static void delay_microseconds(uint16_t us);
};
/* Scheduler implementation: */
class AP_HAL_AVR::AVRScheduler : public AP_HAL::Scheduler {
public:
AVRScheduler();
/* AP_HAL::Scheduler methods */
/* init: implementation-specific void* argument expected to be an
* AP_HAL_AVR::ISRRegistry*. */
void init(void *isrregistry);
void delay(uint16_t ms);
uint32_t millis();
uint32_t micros();
uint64_t millis64();
uint64_t micros64();
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_io_process(AP_HAL::MemberProc);
void suspend_timer_procs();
void resume_timer_procs();
bool in_timerprocess();
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
bool system_initializing();
void system_initialized();
void panic(const prog_char_t *errormsg);
void reboot(bool hold_in_bootloader);
void set_timer_speed(uint16_t timer_hz);
private:
static AVRTimer _timer;
static volatile bool _in_timer_proc;
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
bool _initialized;
/* _timer_isr_event() and _run_timer_procs are static so they can be
* called from an interrupt. */
static void _timer_isr_event();
static void _run_timer_procs(bool called_from_isr);
static AP_HAL::Proc _failsafe;
static volatile bool _timer_suspended;
static volatile bool _timer_event_missed;
static AP_HAL::MemberProc _timer_proc[AVR_SCHEDULER_MAX_TIMER_PROCS];
static uint8_t _num_timer_procs;
static volatile uint8_t _timer2_reset_value;
};
#endif // __AP_HAL_AVR_SCHEDULER_H__