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78 lines
2.3 KiB
78 lines
2.3 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Flymaple port by Mike McCauley |
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*/ |
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#ifndef __AP_HAL_FLYMAPLE_SCHEDULER_H__ |
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#define __AP_HAL_FLYMAPLE_SCHEDULER_H__ |
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#include <AP_HAL_FLYMAPLE.h> |
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#define FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS 4 |
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class AP_HAL_FLYMAPLE_NS::FLYMAPLEScheduler : public AP_HAL::Scheduler { |
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public: |
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FLYMAPLEScheduler(); |
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void init(void* machtnichts); |
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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, |
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uint16_t min_time_ms); |
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void register_timer_process(AP_HAL::MemberProc); |
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void register_io_process(AP_HAL::MemberProc); |
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void suspend_timer_procs(); |
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void resume_timer_procs(); |
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bool in_timerprocess(); |
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us); |
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void begin_atomic(); |
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void end_atomic(); |
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bool system_initializing(); |
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void system_initialized(); |
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void panic(const prog_char_t *errormsg); |
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void reboot(bool hold_in_bootloader); |
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private: |
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static volatile bool _in_timer_proc; |
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AP_HAL::Proc _delay_cb; |
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uint16_t _min_delay_cb_ms; |
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bool _initialized; |
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/* _timer_procs_timer_event() and _run_timer_procs are static so they can be |
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* called from an interrupt. */ |
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static void _timer_procs_timer_event(); |
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static void _run_timer_procs(bool called_from_isr); |
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static void _failsafe_timer_event(); |
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static AP_HAL::Proc _failsafe; |
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static volatile bool _timer_suspended; |
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static volatile bool _timer_event_missed; |
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static AP_HAL::MemberProc _timer_proc[FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS]; |
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static uint8_t _num_timer_procs; |
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}; |
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#endif // __AP_HAL_FLYMAPLE_SCHEDULER_H__
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