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58 lines
1.6 KiB
58 lines
1.6 KiB
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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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#include <drivers/drv_hrt.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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static 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 AP_HAL::TimedProc _failsafe; |
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struct hrt_call _call; |
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static bool _timer_pending; |
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static uint64_t _sketch_start_time; |
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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(void *arg); |
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}; |
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#endif |
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#endif // __AP_HAL_PX4_SCHEDULER_H__ |
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