mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.2 KiB
C++
73 lines
2.2 KiB
C++
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#ifndef __AP_HAL_SCHEDULER_H__
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#define __AP_HAL_SCHEDULER_H__
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#include "AP_HAL_Namespace.h"
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#include "AP_HAL_Boards.h"
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#include <stdint.h>
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#include <AP_Progmem.h>
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class AP_HAL::Scheduler {
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public:
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Scheduler() {}
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virtual void init(void* implspecific) = 0;
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virtual void delay(uint16_t ms) = 0;
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virtual uint32_t millis() = 0;
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virtual uint32_t micros() = 0;
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virtual uint64_t millis64() = 0;
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virtual uint64_t micros64() = 0;
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/*
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delay for the given number of microseconds. This needs to be as
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accurate as possible - preferably within 100 microseconds.
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*/
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virtual void delay_microseconds(uint16_t us) = 0;
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/*
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delay for the given number of microseconds. On supported
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platforms this boosts the priority of the main thread for a
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short time when the time completes. The aim is to ensure the
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main thread runs at a higher priority than drivers for the start
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of each loop
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*/
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virtual void delay_microseconds_boost(uint16_t us) { delay_microseconds(us); }
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virtual void register_delay_callback(AP_HAL::Proc,
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uint16_t min_time_ms) = 0;
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// register a high priority timer task
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virtual void register_timer_process(AP_HAL::MemberProc) = 0;
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// register a low priority IO task
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virtual void register_io_process(AP_HAL::MemberProc) = 0;
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// suspend and resume both timer and IO processes
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virtual void suspend_timer_procs() = 0;
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virtual void resume_timer_procs() = 0;
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virtual bool in_timerprocess() = 0;
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virtual void register_timer_failsafe(AP_HAL::Proc,
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uint32_t period_us) = 0;
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virtual bool system_initializing() = 0;
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virtual void system_initialized() = 0;
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virtual void panic(const prog_char_t *errormsg) NORETURN = 0;
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virtual void reboot(bool hold_in_bootloader) = 0;
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/**
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optional function to set timer speed in Hz
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*/
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virtual void set_timer_speed(uint16_t speed_hz) {}
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/**
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optional function to stop clock at a given time, used by log replay
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*/
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virtual void stop_clock(uint64_t time_usec) {}
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};
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#endif // __AP_HAL_SCHEDULER_H__
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