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https://github.com/ArduPilot/ardupilot
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d288b8870d
this library provides a clean API for drivers to request periodic timer driven calls at whatever rate they need
24 lines
638 B
C++
24 lines
638 B
C++
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#ifndef __AP_TIMERPROCESS_H__
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#define __AP_TIMERPROCESS_H__
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#include "PeriodicProcess.h"
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#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
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/* XXX this value is a total guess, will look up. */
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#define TIMERPROCESS_PER_DEFAULT (256)
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class AP_TimerProcess : public AP_PeriodicProcess
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{
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public:
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AP_TimerProcess(int period = TIMERPROCESS_PER_DEFAULT);
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void init( Arduino_Mega_ISR_Registry * isr_reg );
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void register_process(void (* proc)(void));
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static void run(void);
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protected:
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static int _period;
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static void (*_proc)(void);
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};
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#endif // __AP_TIMERPROCESS_H__
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