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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
commit | 13fc6703862862f4263d8d5d085b7a16b87190e1 (patch) | |
tree | 47f3a17cb6f38b1aafe22e1cdef085cd73cd3a1d /apps/drivers/drv_hrt.h | |
parent | f57439b90e23de260259dec051d3e2ead2d61c8c (diff) | |
download | px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.gz px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.bz2 px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.zip |
Moved last libs, drivers and headers, cleaned up IO build
Diffstat (limited to 'apps/drivers/drv_hrt.h')
-rw-r--r-- | apps/drivers/drv_hrt.h | 149 |
1 files changed, 0 insertions, 149 deletions
diff --git a/apps/drivers/drv_hrt.h b/apps/drivers/drv_hrt.h deleted file mode 100644 index 8a99eeca7..000000000 --- a/apps/drivers/drv_hrt.h +++ /dev/null @@ -1,149 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file drv_hrt.h - * - * High-resolution timer with callouts and timekeeping. - */ - -#pragma once - -#include <sys/types.h> -#include <stdbool.h> - -#include <time.h> -#include <queue.h> - -__BEGIN_DECLS - -/* - * Absolute time, in microsecond units. - * - * Absolute time is measured from some arbitrary epoch shortly after - * system startup. It should never wrap or go backwards. - */ -typedef uint64_t hrt_abstime; - -/* - * Callout function type. - * - * Note that callouts run in the timer interrupt context, so - * they are serialised with respect to each other, and must not - * block. - */ -typedef void (* hrt_callout)(void *arg); - -/* - * Callout record. - */ -typedef struct hrt_call { - struct sq_entry_s link; - - hrt_abstime deadline; - hrt_abstime period; - hrt_callout callout; - void *arg; -} *hrt_call_t; - -/* - * Get absolute time. - */ -__EXPORT extern hrt_abstime hrt_absolute_time(void); - -/* - * Convert a timespec to absolute time. - */ -__EXPORT extern hrt_abstime ts_to_abstime(struct timespec *ts); - -/* - * Convert absolute time to a timespec. - */ -__EXPORT extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime); - -/* - * Compute the delta between a timestamp taken in the past - * and now. - * - * This function is safe to use even if the timestamp is updated - * by an interrupt during execution. - */ -__EXPORT extern hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then); - -/* - * Store the absolute time in an interrupt-safe fashion. - * - * This function ensures that the timestamp cannot be seen half-written by an interrupt handler. - */ -__EXPORT extern hrt_abstime hrt_store_absolute_time(volatile hrt_abstime *now); - -/* - * Call callout(arg) after delay has elapsed. - * - * If callout is NULL, this can be used to implement a timeout by testing the call - * with hrt_called(). - */ -__EXPORT extern void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg); - -/* - * Call callout(arg) at absolute time calltime. - */ -__EXPORT extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg); - -/* - * Call callout(arg) after delay, and then after every interval. - * - * Note thet the interval is timed between scheduled, not actual, call times, so the call rate may - * jitter but should not drift. - */ -__EXPORT extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg); - -/* - * If this returns true, the entry has been invoked and removed from the callout list, - * or it has never been entered. - * - * Always returns false for repeating callouts. - */ -__EXPORT extern bool hrt_called(struct hrt_call *entry); - -/* - * Remove the entry from the callout list. - */ -__EXPORT extern void hrt_cancel(struct hrt_call *entry); - -/* - * Initialise the HRT. - */ -__EXPORT extern void hrt_init(void); - -__END_DECLS |