mirror of https://github.com/ArduPilot/ardupilot
131 lines
3.3 KiB
C++
131 lines
3.3 KiB
C++
/* -*- Mode: C++; indent-tabs-mode: nil; c-basic-offset: 2 -*- */
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/*
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* Scheduler.h --- AP_HAL_SMACCM scheduler.
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*
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* Copyright (C) 2012, Galois, Inc.
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* All Rights Reserved.
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*
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* This software is released under the "BSD3" license. Read the file
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* "LICENSE" for more information.
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*
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* Written by James Bielman <jamesjb@galois.com>, 20 December 2012
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*/
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#ifndef __AP_HAL_SMACCM_SCHEDULER_H__
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#define __AP_HAL_SMACCM_SCHEDULER_H__
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#include <AP_HAL_SMACCM.h>
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#define SMACCM_SCHEDULER_MAX_TIMER_PROCS 4
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class SMACCM::SMACCMScheduler : public AP_HAL::Scheduler
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{
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public:
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SMACCMScheduler();
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/**
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* Initialize the scheduler. This initializes the HWF4 timer
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* driver.
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*
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* @param arg reserved, pass NULL
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*/
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void init(void *arg);
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/** Delay for "ms" milliseconds. */
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void delay(uint16_t ms);
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/** Delay for "us" microseconds. */
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void delay_microseconds(uint16_t us);
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/** Return the time since init in milliseconds. */
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uint32_t millis();
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/** Return the time since init in microseconds. */
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uint32_t micros();
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/**
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* Register a callback to run every millisecond during a call to
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* "delay" as long as the delay remaining is at least "min_time_ms".
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*
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* The callback is executed in the thread that calls "delay".
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*/
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void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
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/** Register a callback to run every 1ms (1kHz). */
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void register_timer_process(AP_HAL::TimedProc);
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/**
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* Register a callback to run if a timer process takes too long to
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* execute. The second argument is ignored.
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*/
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void register_timer_failsafe(AP_HAL::TimedProc, uint32_t);
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/**
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* Suspend execution of timed procedures. Calls to this function do
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* not nest.
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*/
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void suspend_timer_procs();
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/**
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* Resume execution of timed procedures. Calls to this function do
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* not nest.
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*/
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void resume_timer_procs();
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/**
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* Enter a critical section where timed processes will not be run.
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* Calls to this function nest.
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*/
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void begin_atomic();
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/**
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* Leave a critical section, re-enabling timed processes. Calls to
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* this function nest.
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*/
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void end_atomic();
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/** Print an error message and halt execution. */
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void panic(const prog_char_t *errormsg);
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/** Reboot the firmware. Not implemented. */
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void reboot(bool hold_in_bootloader);
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/**
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* Run timed and deferred processes. This should not be called from
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* client code.
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*/
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void run_callbacks();
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/**
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* Run the failsafe callback. This should not be called from client
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* code.
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*/
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void run_failsafe_cb();
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/**
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* Run the delay callback. This should not be called from client
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* code.
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*/
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void run_delay_cb();
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/** Return true if in the context of a timer process. */
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bool in_timerprocess();
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/** Return true if the system is initializing. */
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bool system_initializing();
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/** Set the system initializing flag to false. */
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void system_initialized();
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private:
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AP_HAL::Proc m_delay_cb; /* delay callback */
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void *m_task; /* opaque scheduler task handle */
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void *m_delay_cb_task; /* opaque delay cb task handle */
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AP_HAL::TimedProc m_procs[SMACCM_SCHEDULER_MAX_TIMER_PROCS];
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AP_HAL::TimedProc m_failsafe_cb;
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uint8_t m_num_procs; /* number of entries in "m_procs" */
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bool m_initializing; /* true if initializing */
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};
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#endif // __AP_HAL_SMACCM_SCHEDULER_H__
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