mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.0 KiB
C++
83 lines
2.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* main loop scheduler for APM
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* Author: Andrew Tridgell, January 2013
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*
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* This firmware is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*/
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#ifndef AP_SCHEDULER_H
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#define AP_SCHEDULER_H
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#include <AP_Param.h>
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/*
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A task scheduler for APM main loops
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Sketches should call scheduler.init() on startup, then call
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scheduler.tick() at regular intervals (typically every 10ms).
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To run tasks use scheduler.run(), passing the amount of time that
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the scheduler is allowed to use before it must return
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*/
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class AP_Scheduler
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{
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public:
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typedef void (*task_fn_t)(void);
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struct Task {
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task_fn_t function;
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uint16_t interval_ticks;
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uint16_t max_time_micros;
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};
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// initialise scheduler
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void init(const Task *tasks, uint8_t num_tasks);
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// call when one tick has passed
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void tick(void);
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// run the tasks. Call this once per 'tick'.
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// time_available is the amount of time available to run
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// tasks in microseconds
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void run(uint16_t time_available);
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// return the number of microseconds available for the current task
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uint16_t time_available_usec(void);
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// return debug parameter
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uint8_t debug(void) { return _debug; }
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// used to enable scheduler debugging
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AP_Int8 _debug;
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// progmem list of tasks to run
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const struct Task *_tasks;
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// number of tasks in _tasks list
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uint8_t _num_tasks;
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// number of 'ticks' that have passed (number of times that
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// tick() has been called
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uint16_t _tick_counter;
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// tick counter at the time we last ran each task
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uint16_t *_last_run;
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// number of microseconds allowed for the current task
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uint16_t _task_time_allowed;
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// the time in microseconds when the task started
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uint32_t _task_time_started;
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};
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#endif // AP_SCHEDULER_H
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