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drv_hrt: added hrt_call_init() and hrt_call_delay() APIs 

hrt_call_init() can be used to initialise (zero) a hrt_call structure
to ensure safe usage. The hrt_call_every() interface calls this
automatically.

hrt_call_delay() can be used to delay a current callout by the given
number of microseconds
This commit is contained in:
Andrew Tridgell 2013-12-06 20:51:00 +11:00 committed by Lorenz Meier
parent 513d014f03
commit 4956feffdf
2 changed files with 32 additions and 1 deletions
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14
src/drivers/drv_hrt.h
View File

@ -141,6 +141,20 @@ __EXPORT extern bool hrt_called(struct hrt_call *entry);
*/
__EXPORT extern void hrt_cancel(struct hrt_call *entry);
/*
* initialise a hrt_call structure
*/
__EXPORT extern void hrt_call_init(struct hrt_call *entry);
/*
* delay a hrt_call_every() periodic call by the given number of
* microseconds. This should be called from within the callout to
* cause the callout to be re-scheduled for a later time. The periodic
* callouts will then continue from that new base time at the
* previously specified period.
*/
__EXPORT extern void hrt_call_delay(struct hrt_call *entry, hrt_abstime delay);
/*
* Initialise the HRT.
*/

19
src/drivers/stm32/drv_hrt.c
View File

@ -720,6 +720,7 @@ hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, v
void
hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg)
{
hrt_call_init(entry);
hrt_call_internal(entry,
hrt_absolute_time() + delay,
interval,
@ -839,7 +840,12 @@ hrt_call_invoke(void)
/* if the callout has a non-zero period, it has to be re-entered */
if (call->period != 0) {
call->deadline = deadline + call->period;
// re-check call->deadline to allow for
// callouts to re-schedule themselves
// using hrt_call_delay()
if (call->deadline <= now) {
call->deadline = deadline + call->period;
}
hrt_call_enter(call);
}
}
@ -906,5 +912,16 @@ hrt_latency_update(void)
latency_counters[index]++;
}
void
hrt_call_init(struct hrt_call *entry)
{
memset(entry, 0, sizeof(*entry));
}
void
hrt_call_delay(struct hrt_call *entry, hrt_abstime delay)
{
entry->deadline = hrt_absolute_time() + delay;
}
#endif /* HRT_TIMER */