/**
* Handle the compare interrupt by calling the callout dispatcher
* and then re-scheduling the next deadline.
*/
static int
hrt_tim_isr(int irq, void *context)
{
uint32_t status;
/* grab the timer for latency tracking purposes */
latency_actual = rCNT;
/* copy interrupt status */
status = rSR;
/* ack the interrupts we just read */
rSR = ~status;
#ifdef HRT_PPM_CHANNEL
/* was this a PPM edge? */
if (status & (SR_INT_PPM | SR_OVF_PPM)) {
/* if required, flip edge sensitivity */
# ifdef PPM_EDGE_FLIP
rCCER ^= CCER_PPM_FLIP;
# endif
hrt_ppm_decode(status);
}
#endif
/* was this a timer tick? */
if (status & SR_INT_HRT) {
/* do latency calculations */
hrt_latency_update();
/* run any callouts that have met their deadline */
hrt_call_invoke();
/* and schedule the next interrupt */
hrt_call_reschedule();
}
return OK;
}
/**
* Handle the compare interrupt by calling the callout dispatcher
* and then re-scheduling the next deadline.
*/
static int
hrt_tim_isr(int irq, void *context, void *arg)
{
/* grab the timer for latency tracking purposes */
latency_actual = rCNT;
/* copy interrupt status */
uint32_t status = rSTATUS;
/* ack the interrupts we just read */
rSTATUS = status;
#ifdef HRT_PPM_CHANNEL
/* was this a PPM edge? */
if (status & (STATUS_PPM)) {
hrt_ppm_decode(status);
}
#endif
/* was this a timer tick? */
if (status & STATUS_HRT) {
/* do latency calculations */
hrt_latency_update();
/* run any callouts that have met their deadline */
hrt_call_invoke();
/* and schedule the next interrupt */
hrt_call_reschedule();
}
return OK;
}
