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AP_HAL Readme: documentation for Scheduler added

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Pat Hickey 2012-09-16 12:46:17 -07:00 committed by Andrew Tridgell
parent 52adb462a9
commit 95bfe29298
1 changed files with 20 additions and 1 deletions
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README_AP_HAL.md
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@ -384,8 +384,27 @@ AP\_HAL::Scheduler
--------------
The `AP_HAL::Scheduler` class is pure virtual and can be found in
`/libraries/AP_HAL/Scheduler.h`.
`/libraries/AP_HAL/Scheduler.h`. The `AP_HAL::Scheduler` interface
is designed to encapsulate both the timing utilities previously provided
by the Arduino core (i.e. `millis` and `delay`), as well as scheduling
asynchronous processes as a replacment to the ArduPilot `AP_PeriodicProcess`
driver.
The following methods are exposed by the `AP_HAL::Scheduler` interface:
* `void init(void* implspecific)` : Initializer should setup all hardware.
This should be the very first initializer called by AP_HAL::HAL::init.
* `void delay(uint32_t ms)` : Duplicates Arduino core `delay`. Will call
delay callback, if registered.
* `uint32_t millis()` : Duplicates Arduino core `millis`
* `uint32_t micros()` : Duplicates Arduino core `micros`
* `void delay_microseconds(uint16_t us)` : Duplicates Arduino core `delayMicros`
* `void register_delay_callback(AP_HAL::Proc)` : Register a callback to be
used during calls to `delay`. Callback will be called at a 1ms period.
* `void register_timer_process(AP_HAL::TimedProc, uint32_t period_us, uint16_t phase)` : Duplicates `AP_PeriodicProcess::register_process`
* `void register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us)` : Duplicates `AP_PeriodicProcess::set_failsafe`
* `void suspend_timer_procs()` : Duplicates `AP_PeriodicProcess::suspend_timer`
* `void resume_timer_procs()` : Duplicates `AP_PeriodicProcess:resume_timer`
Remaining ArduPilot AVR dependencies