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57 lines
1.5 KiB
57 lines
1.5 KiB
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#include "AP_TimerProcess.h" |
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extern "C" { |
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#include <inttypes.h> |
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#include <stdint.h> |
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#include "WConstants.h" |
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#include <avr/interrupt.h> |
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} |
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int AP_TimerProcess::_period; |
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ap_procedure AP_TimerProcess::_proc[AP_TIMERPROCESS_MAX_PROCS]; |
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int AP_TimerProcess::_pidx = 0; |
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AP_TimerProcess::AP_TimerProcess(int period) |
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{ |
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_period = period; |
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} |
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void AP_TimerProcess::init( Arduino_Mega_ISR_Registry * isr_reg ) |
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{ |
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// Enable Timer2 Overflow interrupt to trigger process. |
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TIMSK2 = 0; // Disable interrupts |
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TCCR2A = 0; // normal counting mode |
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TCCR2B = _BV(CS21) | _BV(CS22); // Set prescaler of clk/256 |
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TCNT2 = 0; // Set count to zero, so it goes off right away. |
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TIFR2 = _BV(TOV2); // clear pending interrupts; |
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TIMSK2 = _BV(TOIE2); // enable the overflow interrupt |
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for (int i = 0; i < AP_TIMERPROCESS_MAX_PROCS; i++) |
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_proc[i] = NULL; |
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isr_reg->register_signal( ISR_REGISTRY_TIMER2_OVF, AP_TimerProcess::run); |
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} |
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void AP_TimerProcess::register_process(void (*proc)(void) ) |
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{ |
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if (_pidx < AP_TIMERPROCESS_MAX_PROCS) |
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_proc[_pidx++] = proc; |
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} |
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void AP_TimerProcess::run(void) |
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{ |
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// we re-enable interrupts here as some of these functions |
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// take a long time, and we don't want to block other critical |
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// interrupts, especially the serial interrupt |
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sei(); |
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for (int i = 0; i < _pidx; i++) { |
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if (_proc[i] != NULL) |
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_proc[i](); |
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} |
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// to prevent recursion, we don't enable the timer interrupt |
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// again until we've completed the tasks |
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TCNT2 = _period; |
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}
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