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49 lines
1.2 KiB
49 lines
1.2 KiB
#include <AP_HAL.h> |
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#if (CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2) |
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#include <stdlib.h> |
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#include <avr/interrupt.h> |
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#include "ISRRegistry.h" |
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using namespace AP_HAL_AVR; |
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AP_HAL::Proc ISRRegistry::_registry[ISR_REGISTRY_NUM_SLOTS] = {NULL}; |
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int ISRRegistry::register_signal(int signal, AP_HAL::Proc proc) |
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{ |
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if (signal >= 0 && signal < ISR_REGISTRY_NUM_SLOTS) { |
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_registry[signal] = proc; |
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return 0; |
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} |
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return -1; |
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} |
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int ISRRegistry::unregister_signal(int signal) |
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{ |
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if (signal >= 0 && signal < ISR_REGISTRY_NUM_SLOTS) { |
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_registry[signal] = NULL; |
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return 0; |
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} |
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return -1; |
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} |
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/* ========== ISR IMPLEMENTATIONS ========== */ |
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extern "C" ISR(TIMER2_OVF_vect) { |
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if ( ISRRegistry::_registry[ISR_REGISTRY_TIMER2_OVF] != NULL) |
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ISRRegistry::_registry[ISR_REGISTRY_TIMER2_OVF](); |
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} |
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extern "C" ISR(TIMER4_CAPT_vect) { |
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if ( ISRRegistry::_registry[ISR_REGISTRY_TIMER4_CAPT] != NULL) |
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ISRRegistry::_registry[ISR_REGISTRY_TIMER4_CAPT](); |
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} |
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extern "C" ISR(TIMER5_CAPT_vect) { |
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if ( ISRRegistry::_registry[ISR_REGISTRY_TIMER5_CAPT] != NULL) |
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ISRRegistry::_registry[ISR_REGISTRY_TIMER5_CAPT](); |
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} |
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#endif
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