mirror of https://github.com/ArduPilot/ardupilot
30 lines
831 B
C++
30 lines
831 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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// default to 1kHz timer interrupt
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#define TIMERPROCESS_PER_DEFAULT (256-62) // 1kHz
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#define AP_TIMERPROCESS_MAX_PROCS 3
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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(ap_procedure proc);
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void set_failsafe(ap_procedure proc);
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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 ap_procedure _proc[AP_TIMERPROCESS_MAX_PROCS];
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static ap_procedure _failsafe;
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static int _pidx;
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static bool _in_timer_call;
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};
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#endif // __AP_TIMERPROCESS_H__
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