mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
53 lines
1.2 KiB
C++
53 lines
1.2 KiB
C++
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#include <stdlib.h>
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#include <avr/interrupt.h>
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#include "ISRRegistry.h"
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using namespace AP_HAL_AVR;
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proc_ptr ISRRegistry::_registry[ISR_REGISTRY_NUM_SLOTS];
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void ISRRegistry::init() {
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for(int i = 0; i < ISR_REGISTRY_NUM_SLOTS; i++) {
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_registry[i] = NULL;
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}
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}
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int ISRRegistry::register_signal(int signal, proc_ptr proc)
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{
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if (signal >= 0 && signal < ISR_REGISTRY_NUM_SLOTS) {
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_registry[signal] = proc;
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return 0;
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}
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return -1;
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}
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int ISRRegistry::unregister_signal(int signal)
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{
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if (signal >= 0 && signal < ISR_REGISTRY_NUM_SLOTS) {
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_registry[signal] = NULL;
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return 0;
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}
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return -1;
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}
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/* ========== ISR IMPLEMENTATIONS ========== */
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extern "C" ISR(TIMER2_OVF_vect) {
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if ( ISRRegistry::_registry[ISR_REGISTRY_TIMER2_OVF] != NULL)
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ISRRegistry::_registry[ISR_REGISTRY_TIMER2_OVF]();
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}
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extern "C" ISR(TIMER4_CAPT_vect) {
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if ( ISRRegistry::_registry[ISR_REGISTRY_TIMER4_CAPT] != NULL)
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ISRRegistry::_registry[ISR_REGISTRY_TIMER4_CAPT]();
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}
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extern "C" ISR(TIMER5_CAPT_vect) {
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if ( ISRRegistry::_registry[ISR_REGISTRY_TIMER5_CAPT] != NULL)
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ISRRegistry::_registry[ISR_REGISTRY_TIMER5_CAPT]();
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}
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