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43 lines
1.1 KiB
43 lines
1.1 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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} |
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int AP_TimerProcess::_period; |
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void (*AP_TimerProcess::_proc)(void); |
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AP_TimerProcess::AP_TimerProcess(int period) |
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{ |
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_period = period; |
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_proc = NULL; |
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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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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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_proc = proc; |
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TCNT2 = 1; // Should go off almost immediately. |
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} |
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void AP_TimerProcess::run(void) |
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{ |
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TCNT2 = _period; |
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if (_proc != NULL) |
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_proc(); |
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}
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