ardupilot/libraries/AP_HAL_PX4/Scheduler.h

59 lines
1.5 KiB
C++

#ifndef __AP_HAL_PX4_SCHEDULER_H__
#define __AP_HAL_PX4_SCHEDULER_H__
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "AP_HAL_PX4_Namespace.h"
#include <sys/time.h>
#include <signal.h>
#include <pthread.h>
#define PX4_SCHEDULER_MAX_TIMER_PROCS 8
/* Scheduler implementation: */
class PX4::PX4Scheduler : public AP_HAL::Scheduler {
public:
PX4Scheduler();
/* AP_HAL::Scheduler methods */
void init(void *unused);
void delay(uint16_t ms);
uint32_t millis();
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 register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
void suspend_timer_procs();
void resume_timer_procs();
void reboot();
void panic(const prog_char_t *errormsg);
bool in_timerprocess();
bool system_initializing();
void system_initialized();
private:
bool _initialized;
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
AP_HAL::TimedProc _failsafe;
pthread_t _thread;
volatile bool _timer_pending;
uint64_t _sketch_start_time;
volatile bool _timer_suspended;
AP_HAL::TimedProc _timer_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
uint8_t _num_timer_procs;
volatile bool _in_timer_proc;
volatile bool _timer_event_missed;
void *_timer_thread(void);
void _run_timers(bool called_from_timer_thread);
};
#endif
#endif // __AP_HAL_PX4_SCHEDULER_H__