Keisuke Sehara
/
STM32_Whisking
fast-feedback virtual target task code on STM Nucleo
core/scheduler.cpp@27:b31ea8d74f9e, 2018-07-21 (annotated)
- Committer:
- gwappa
- Date:
- Sat Jul 21 00:36:38 2018 +0000
- Revision:
- 27:b31ea8d74f9e
- Child:
- 28:797536a42b9f
add scheduler in order to fix the zero-latency bug
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gwappa | 27:b31ea8d74f9e | 1 | #include "scheduler.h" |
gwappa | 27:b31ea8d74f9e | 2 | |
gwappa | 27:b31ea8d74f9e | 3 | namespace scheduler |
gwappa | 27:b31ea8d74f9e | 4 | { |
gwappa | 27:b31ea8d74f9e | 5 | Timeout timeout_; |
gwappa | 27:b31ea8d74f9e | 6 | |
gwappa | 27:b31ea8d74f9e | 7 | void set(const us_timestamp_t& timeout_us, Callback<void ()> func) |
gwappa | 27:b31ea8d74f9e | 8 | { |
gwappa | 27:b31ea8d74f9e | 9 | if (timeout_us == 0) { |
gwappa | 27:b31ea8d74f9e | 10 | func(); |
gwappa | 27:b31ea8d74f9e | 11 | } else { |
gwappa | 27:b31ea8d74f9e | 12 | timeout_.attach(func, timeout_us); |
gwappa | 27:b31ea8d74f9e | 13 | } |
gwappa | 27:b31ea8d74f9e | 14 | } |
gwappa | 27:b31ea8d74f9e | 15 | |
gwappa | 27:b31ea8d74f9e | 16 | void reset() |
gwappa | 27:b31ea8d74f9e | 17 | { |
gwappa | 27:b31ea8d74f9e | 18 | timeout_.detach(); |
gwappa | 27:b31ea8d74f9e | 19 | } |
gwappa | 27:b31ea8d74f9e | 20 | } |