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AP_HAL_F4Light: move delay callback handling to base HAL Scheduler class

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This commit is contained in:
Peter Barker 2018-05-08 15:54:33 +10:00 committed by Andrew Tridgell
parent ae56cbc302
commit f2d73bb9b0
2 changed files with 4 additions and 10 deletions
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10
libraries/AP_HAL_F4Light/Scheduler.cpp
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@ -36,9 +36,6 @@ AP_HAL::Proc Scheduler::_failsafe IN_CCM= NULL;
Revo_IO Scheduler::_io_proc[F4Light_SCHEDULER_MAX_IO_PROCS] IN_CCM;
uint8_t Scheduler::_num_io_proc IN_CCM=0;
AP_HAL::Proc Scheduler::_delay_cb IN_CCM=NULL;
uint16_t Scheduler::_min_delay_cb_ms IN_CCM=0;
void * Scheduler::_delay_cb_handle IN_CCM=0;
uint32_t Scheduler::timer5_ovf_cnt IN_CCM=0;
@ -269,8 +266,8 @@ void Scheduler::_delay(uint16_t ms)
uint32_t now;
while((now=_micros()) - start < dt) {
if (_delay_cb && _min_delay_cb_ms <= ms) { // MAVlink callback uses 5ms
_delay_cb();
if (_min_delay_cb_ms <= ms) { // MAVlink callback uses 5ms
call_delay_cb();
yield(1000 - (_micros() - now)); // to not stop MAVlink callback
} else {
yield(dt); // for full time
@ -355,8 +352,7 @@ void Scheduler::register_delay_callback(AP_HAL::Proc proc, uint16_t min_time_ms)
init_done=true;
}
_delay_cb = proc;
_min_delay_cb_ms = min_time_ms;
AP_HAL::register_delay_callback(proc, min_time_ms);
/*

4
libraries/AP_HAL_F4Light/Scheduler.h
View File

@ -192,7 +192,7 @@ public:
inline void suspend_timer_procs(){} // nothing to do in multitask
inline void resume_timer_procs() {}
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms) override;
static void _register_io_process(Handler h, Revo_IO_Flags flags);
void register_io_process(AP_HAL::MemberProc proc) { Revo_handler h = { .mp=proc }; _register_io_process(h.h, IO_PERIODIC); }
@ -502,9 +502,7 @@ protected:
private:
static AP_HAL::Device::PeriodicHandle _register_timer_task(uint32_t period_us, Handler proc, F4Light::Semaphore *sem);
static AP_HAL::Proc _delay_cb;
static void * _delay_cb_handle;
static uint16_t _min_delay_cb_ms;
static bool _initialized;
// ISR functions