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AP HAL Readme: updated for changes to scheduler

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commit 50afe0687cb397620087e7458a4c2b722ab7855d 1 parent 7e6896d
Pat Hickey pchickey authored tridge committed
Showing with 6 additions and 5 deletions.
  1. +6 −5 README_AP_HAL.md
11 README_AP_HAL.md
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@@ -427,11 +427,12 @@ The following methods are exposed by the `AP_HAL::Scheduler` interface:
* `uint32_t micros()` : Duplicates Arduino core `micros`
* `void delay_microseconds(uint16_t us)` : Duplicates Arduino core
`delayMicros`
-* `void register_delay_callback(AP_HAL::Proc)` : Register a callback
- to be used during calls to `delay`. Callback will be called at a 1ms
- period.
-* `void register_timer_process(AP_HAL::TimedProc, uint32_t period_us,
- uint16_t phase)` : Duplicates `AP_PeriodicProcess::register_process`
+* `void register_delay_callback(AP_HAL::Proc, uint16_t min_ms)`: Register
+ a callback to be used during calls to `delay`. Callback will be called at
+ a 1ms period. Second argument is the minimum length of time expected to
+ delay - set this to the ceiling of the runtime for the callback.
+* `void register_timer_process(AP_HAL::TimedProc)` : Duplicates
+ `AP_PeriodicProcess::register_process`
* `void register_timer_failsafe(AP_HAL::TimedProc,
uint32_t period_us)` : Duplicates `AP_PeriodicProcess::set_failsafe`
* `void suspend_timer_procs()` : Duplicates
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