mirror of https://github.com/ArduPilot/ardupilot
80 lines
2.2 KiB
C++
80 lines
2.2 KiB
C++
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#ifndef __AP_HAL_SITL_SCHEDULER_H__
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#define __AP_HAL_SITL_SCHEDULER_H__
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#include "AP_HAL_AVR_SITL_Namespace.h"
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#include <sys/time.h>
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#define SITL_SCHEDULER_MAX_TIMER_PROCS 4
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/* Scheduler implementation: */
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class AVR_SITL::SITLScheduler : public AP_HAL::Scheduler {
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public:
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SITLScheduler();
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/* AP_HAL::Scheduler methods */
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void init(void *unused);
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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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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 reboot(bool hold_in_bootloader);
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void panic(const prog_char_t *errormsg);
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bool interrupts_are_blocked(void) { return _nested_atomic_ctr != 0; }
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void sitl_begin_atomic() { _nested_atomic_ctr++; }
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void sitl_end_atomic();
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// callable from interrupt handler
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static uint32_t _micros();
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static void timer_event() { _run_timer_procs(true); _run_io_procs(true); }
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private:
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uint8_t _nested_atomic_ctr;
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AP_HAL::Proc _delay_cb;
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uint16_t _min_delay_cb_ms;
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static struct timeval _sketch_start_time;
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static AP_HAL::Proc _failsafe;
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static void _run_timer_procs(bool called_from_isr);
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static void _run_io_procs(bool called_from_isr);
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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[SITL_SCHEDULER_MAX_TIMER_PROCS];
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static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
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static uint8_t _num_timer_procs;
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static uint8_t _num_io_procs;
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static bool _in_timer_proc;
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static bool _in_io_proc;
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#ifdef __CYGWIN__
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static double _cyg_freq;
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static long _cyg_start;
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static double _cyg_sec();
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#endif
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bool _initialized;
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};
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#endif
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#endif // __AP_HAL_SITL_SCHEDULER_H__
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