mirror of https://github.com/ArduPilot/ardupilot
76 lines
2.2 KiB
C++
76 lines
2.2 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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*/
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#ifndef __AP_HAL_FLYMAPLE_SCHEDULER_H__
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#define __AP_HAL_FLYMAPLE_SCHEDULER_H__
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#include "AP_HAL_FLYMAPLE.h"
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#define FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS 4
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class AP_HAL_FLYMAPLE_NS::FLYMAPLEScheduler : public AP_HAL::Scheduler {
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public:
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FLYMAPLEScheduler();
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void init();
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void delay(uint16_t ms);
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void delay_microseconds(uint16_t us);
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void register_delay_callback(AP_HAL::Proc,
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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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void begin_atomic();
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void end_atomic();
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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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private:
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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_procs_timer_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_procs_timer_event();
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static void _run_timer_procs(bool called_from_isr);
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static void _failsafe_timer_event();
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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[FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS];
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static uint8_t _num_timer_procs;
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};
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#endif // __AP_HAL_FLYMAPLE_SCHEDULER_H__
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