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56 lines
1.6 KiB
56 lines
1.6 KiB
12 years ago
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#ifndef __AP_HAL_PX4_SCHEDULER_H__
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#define __AP_HAL_PX4_SCHEDULER_H__
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "AP_HAL_PX4_Namespace.h"
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#include <sys/time.h>
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#include <signal.h>
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#define PX4_SCHEDULER_MAX_TIMER_PROCS 4
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/* Scheduler implementation: */
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class PX4::PX4Scheduler : public AP_HAL::Scheduler {
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public:
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PX4Scheduler();
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/* AP_HAL::Scheduler methods */
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void init(void *unused);
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void delay(uint16_t ms);
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uint32_t millis();
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uint32_t micros();
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void delay_microseconds(uint16_t us);
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void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
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void register_timer_process(AP_HAL::TimedProc);
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void register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
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void suspend_timer_procs();
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void resume_timer_procs();
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void begin_atomic();
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void end_atomic();
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void reboot();
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void panic(const prog_char_t *errormsg);
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bool interrupts_are_blocked(void) { return _nested_atomic_ctr != 0; }
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private:
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uint8_t _nested_atomic_ctr;
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AP_HAL::Proc _delay_cb;
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uint16_t _min_delay_cb_ms;
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static struct timeval _sketch_start_time;
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static AP_HAL::TimedProc _failsafe;
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static volatile bool _timer_suspended;
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static AP_HAL::TimedProc _timer_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
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static uint8_t _num_timer_procs;
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static bool _in_timer_proc;
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// callable from interrupt handler
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static uint32_t _micros();
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static void _timer_event(int signo, siginfo_t *info, void *ucontext);
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};
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#endif
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#endif // __AP_HAL_PX4_SCHEDULER_H__
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