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35 lines
1.3 KiB
35 lines
1.3 KiB
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#ifndef __AP_TIMERPROCESS_H__ |
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#define __AP_TIMERPROCESS_H__ |
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#include "PeriodicProcess.h" |
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#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h" |
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// default to 1kHz timer interrupt |
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#define TIMERPROCESS_PER_DEFAULT (256-62) // 1kHz |
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#define AP_TIMERPROCESS_MAX_PROCS 5 |
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class AP_TimerProcess : public AP_PeriodicProcess |
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{ |
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public: |
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AP_TimerProcess(uint8_t period = TIMERPROCESS_PER_DEFAULT); |
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void init( Arduino_Mega_ISR_Registry * isr_reg ); |
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void register_process(ap_procedure proc); |
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bool queue_process(ap_procedure proc); // queue process to run as soon as possible after any currently running ap_processes complete. returns true if it ran immediately |
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void set_failsafe(ap_procedure proc); |
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void suspend_timer(void); |
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void resume_timer(void); |
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bool running(); |
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static void run(void); |
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protected: |
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static uint8_t _period; |
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static ap_procedure _proc[AP_TIMERPROCESS_MAX_PROCS]; |
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static ap_procedure _failsafe; |
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static ap_procedure _queued_proc; |
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static uint8_t _pidx; |
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static bool _in_timer_call; |
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static bool _suspended; |
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}; |
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#endif // __AP_TIMERPROCESS_H__
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