ardupilot/libraries/AP_HAL_AVR/Scheduler.h

58 lines
1.8 KiB
C++

#ifndef __AP_HAL_AVR_SCHEDULER_H__
#define __AP_HAL_AVR_SCHEDULER_H__
#include <AP_HAL.h>
#include "AP_HAL_AVR_Namespace.h"
#define AVR_SCHEDULER_MAX_TIMER_PROCS 4
class AP_HAL_AVR::AVRScheduler : public AP_HAL::Scheduler {
public:
AVRScheduler();
/* AP_HAL::Scheduler methods */
/* init: implementation-specific void* argument expected to be an
* AP_HAL_AVR::ISRRegistry*. */
void init(void *isrregistry);
void delay(uint32_t ms);
uint32_t millis();
uint32_t micros();
void delay_microseconds(uint16_t us);
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
void register_timer_process(AP_HAL::TimedProc);
bool defer_timer_process(AP_HAL::TimedProc);
void register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
void suspend_timer_procs();
void resume_timer_procs();
void begin_atomic();
void end_atomic();
void reboot();
private:
/* Implementation specific methods: */
/* timer_event() is static so it can be called from an interrupt.
* (This is effectively a singleton class.)
* _prefix: this method must be public */
static void _timer_event();
/* _micros() is the implementation of micros() as a static private method
* so we can use it from inside _timer_event() without virtual dispatch. */
static uint32_t _micros();
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
static AP_HAL::TimedProc _failsafe;
static volatile bool _timer_suspended;
static AP_HAL::TimedProc _timer_proc[AVR_SCHEDULER_MAX_TIMER_PROCS];
static AP_HAL::TimedProc _defered_timer_proc;
static uint8_t _num_timer_procs;
static bool _in_timer_proc;
uint8_t _nested_atomic_ctr;
};
#endif // __AP_HAL_AVR_SCHEDULER_H__