AP_HAL Scheduler: simplify register_timer_process, min time for delay cb

libraries/AP_HAL/Scheduler.h

@@ -14,9 +14,9 @@ public:
     virtual uint32_t millis() = 0;
     virtual uint32_t micros() = 0;
     virtual void     delay_microseconds(uint16_t us) = 0;
-    virtual void     register_delay_callback(AP_HAL::Proc) = 0;
-    virtual void     register_timer_process(AP_HAL::TimedProc,
-                        uint32_t period_us, uint16_t phase) = 0;
+    virtual void     register_delay_callback(AP_HAL::Proc,
+                        uint16_t min_time_ms) = 0;
+    virtual void     register_timer_process(AP_HAL::TimedProc) = 0;
     virtual bool     defer_timer_process(AP_HAL::TimedProc) = 0;
     virtual void     register_timer_failsafe(AP_HAL::TimedProc,
                         uint32_t period_us) = 0;

libraries/AP_HAL_AVR/AnalogIn_APM1.cpp

@@ -14,7 +14,7 @@ APM1AnalogIn::APM1AnalogIn () :
 
 void APM1AnalogIn::init(void* machtnichts) {
     /* Register AVRAnalogIn::_timer_event with the scheduler. */
-    hal.scheduler->register_timer_process(_timer_event, 1000, 0);
+    hal.scheduler->register_timer_process(_timer_event);
     /* Register each private channel with AVRAnalogIn. */
     _register_channel(&_bat_voltage);
     _register_channel(&_bat_current);

libraries/AP_HAL_AVR/AnalogIn_APM2.cpp

@@ -17,7 +17,7 @@ APM2AnalogIn::APM2AnalogIn () :
 
 void APM2AnalogIn::init(void * machtichts) {
     /* Register AVRAnalogIn::_timer_event with the scheduler. */
-    hal.scheduler->register_timer_process(_timer_event, 1000, 0);
+    hal.scheduler->register_timer_process(_timer_event);
     /* Register each private channel with AVRAnalogIn. */
     _register_channel(&_pitot);
     _register_channel(&_bat_voltage);

libraries/AP_HAL_AVR/Scheduler.cpp

@@ -173,16 +173,18 @@ uint32_t ArduinoScheduler::_micros() {
 void ArduinoScheduler::delay(uint32_t ms)
 {
 	uint16_t start = (uint16_t)micros();
-
-	while (ms > 0) {
-		if (((uint16_t)micros() - start) >= 1000) {
-			ms--;
-			start += 1000;
-            if (_delay_cb) {
-                _delay_cb();
+    
+    while (ms > 0) {
+        if (((uint16_t)micros() - start) >= 1000) {
+            ms--;
+            start += 1000;
+            if (_min_delay_cb_ms >= ms) {
+                if (_delay_cb) {
+                    _delay_cb();
+                }
             }
-		}
-	}
+        }
+    }
 }
 
 /* Delay for the given number of microseconds.  Assumes a 16 MHz clock. */
@@ -209,14 +211,13 @@ void ArduinoScheduler::delay_microseconds(uint16_t us)
 	);
 }
 
-void ArduinoScheduler::register_delay_callback(AP_HAL::Proc proc) {
+void ArduinoScheduler::register_delay_callback(AP_HAL::Proc proc,
+        uint16_t min_time_ms) {
     _delay_cb = proc;
+    _min_delay_cb_ms = min_time_ms;
 }
 
-void ArduinoScheduler::register_timer_process(
-        AP_HAL::TimedProc proc, uint32_t period_us, uint16_t phase) {
-    /* XXX Assert period_us == 1000 */
-    /* XXX phase meaningless */
+void ArduinoScheduler::register_timer_process(AP_HAL::TimedProc proc) {
     for (int i = 0; i < _num_timer_procs; i++) {
         if (_timer_proc[i] == proc) {
             return;

libraries/AP_HAL_AVR/Scheduler.h

@@ -19,9 +19,8 @@ public:
     uint32_t millis();
     uint32_t micros();
     void     delay_microseconds(uint16_t us);
-    void     register_delay_callback(AP_HAL::Proc);
-    void     register_timer_process(AP_HAL::TimedProc,
-                uint32_t period_us, uint16_t phase);
+    void     register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
+    void     register_timer_process(AP_HAL::TimedProc);
     bool     defer_timer_process(AP_HAL::TimedProc);
     void     register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
     void     suspend_timer_procs();
@@ -39,6 +38,7 @@ private:
     static uint32_t _micros();
 
     AP_HAL::Proc _delay_cb;
+    uint16_t _min_delay_cb_ms;
     static AP_HAL::TimedProc _failsafe;
 
     static volatile bool _timer_suspended;

libraries/AP_HAL_AVR/examples/Scheduler/Scheduler.pde

@@ -71,7 +71,7 @@ void setup (void) {
                 "Pin %d should toggle at 1khz:\r\n"),
             (int) DELAY_TOGGLE_PIN);
 
-    hal.scheduler->register_delay_callback(delay_toggle);
+    hal.scheduler->register_delay_callback(delay_toggle,0);
 
     hal.scheduler->delay(100);
 
@@ -89,8 +89,8 @@ void setup (void) {
     hal.console->printf_P(PSTR("Pin %d should toggle at 1khz.\r\n"),
             (int) SCHEDULED_TOGGLE_PIN_2);
 
-    hal.scheduler->register_timer_process(schedule_toggle_1, 1000, 0);
-    hal.scheduler->register_timer_process(schedule_toggle_2, 1000, 0);
+    hal.scheduler->register_timer_process(schedule_toggle_1);
+    hal.scheduler->register_timer_process(schedule_toggle_2);
 
     hal.scheduler->delay(100);
 
@@ -99,7 +99,7 @@ void setup (void) {
                 "dominates the processor."));
     hal.console->printf_P(PSTR("Pin %d should toggle then go high forever.\r\n"),
             (int) SCHEDULED_TOGGLE_PIN_2);
-    hal.scheduler->register_timer_process(schedule_toggle_hang, 1000, 0);
+    hal.scheduler->register_timer_process(schedule_toggle_hang);
 }
 
 void loop (void) { }