mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.1 KiB
C++
78 lines
2.1 KiB
C++
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#ifndef __AP_HAL_AVR_SCHEDULER_H__
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#define __AP_HAL_AVR_SCHEDULER_H__
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_AVR_Namespace.h"
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#define AVR_SCHEDULER_MAX_TIMER_PROCS 4
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/* Class for managing the AVR Timers: */
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class AP_HAL_AVR::AVRTimer {
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public:
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static void init();
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static uint32_t millis();
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static uint32_t micros();
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static void delay_microseconds(uint16_t us);
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};
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/* Scheduler implementation: */
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class AP_HAL_AVR::AVRScheduler : public AP_HAL::Scheduler {
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public:
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AVRScheduler();
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/* AP_HAL::Scheduler methods */
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/* init: implementation-specific void* argument expected to be an
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* AP_HAL_AVR::ISRRegistry*. */
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void init(void *isrregistry);
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void delay(uint16_t ms);
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uint32_t millis();
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uint32_t micros();
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uint64_t millis64();
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uint64_t micros64();
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void delay_microseconds(uint16_t us);
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void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
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void register_timer_process(AP_HAL::MemberProc);
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void register_io_process(AP_HAL::MemberProc);
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void suspend_timer_procs();
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void resume_timer_procs();
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bool in_timerprocess();
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
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bool system_initializing();
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void system_initialized();
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void panic(const prog_char_t *errormsg) NORETURN;
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void reboot(bool hold_in_bootloader);
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void set_timer_speed(uint16_t timer_hz);
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private:
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static AVRTimer _timer;
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static volatile bool _in_timer_proc;
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AP_HAL::Proc _delay_cb;
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uint16_t _min_delay_cb_ms;
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bool _initialized;
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/* _timer_isr_event() and _run_timer_procs are static so they can be
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* called from an interrupt. */
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static void _timer_isr_event();
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static void _run_timer_procs(bool called_from_isr);
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static AP_HAL::Proc _failsafe;
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static volatile bool _timer_suspended;
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static volatile bool _timer_event_missed;
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static AP_HAL::MemberProc _timer_proc[AVR_SCHEDULER_MAX_TIMER_PROCS];
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static uint8_t _num_timer_procs;
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static volatile uint8_t _timer2_reset_value;
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};
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#endif // __AP_HAL_AVR_SCHEDULER_H__
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