MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/drivers/InterruptManager.cpp@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #include "cmsis.h"
sahilmgandhi 18:6a4db94011d3 17 #if defined(NVIC_NUM_VECTORS)
sahilmgandhi 18:6a4db94011d3 18
sahilmgandhi 18:6a4db94011d3 19 #include "drivers/InterruptManager.h"
sahilmgandhi 18:6a4db94011d3 20 #include "platform/mbed_critical.h"
sahilmgandhi 18:6a4db94011d3 21 #include <string.h>
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 #define CHAIN_INITIAL_SIZE 4
sahilmgandhi 18:6a4db94011d3 24
sahilmgandhi 18:6a4db94011d3 25 namespace mbed {
sahilmgandhi 18:6a4db94011d3 26
sahilmgandhi 18:6a4db94011d3 27 typedef void (*pvoidf)(void);
sahilmgandhi 18:6a4db94011d3 28
sahilmgandhi 18:6a4db94011d3 29 InterruptManager* InterruptManager::_instance = (InterruptManager*)NULL;
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 InterruptManager* InterruptManager::get() {
sahilmgandhi 18:6a4db94011d3 32
sahilmgandhi 18:6a4db94011d3 33 if (NULL == _instance) {
sahilmgandhi 18:6a4db94011d3 34 InterruptManager* temp = new InterruptManager();
sahilmgandhi 18:6a4db94011d3 35
sahilmgandhi 18:6a4db94011d3 36 // Atomically set _instance
sahilmgandhi 18:6a4db94011d3 37 core_util_critical_section_enter();
sahilmgandhi 18:6a4db94011d3 38 if (NULL == _instance) {
sahilmgandhi 18:6a4db94011d3 39 _instance = temp;
sahilmgandhi 18:6a4db94011d3 40 }
sahilmgandhi 18:6a4db94011d3 41 core_util_critical_section_exit();
sahilmgandhi 18:6a4db94011d3 42
sahilmgandhi 18:6a4db94011d3 43 // Another thread got there first so delete ours
sahilmgandhi 18:6a4db94011d3 44 if (temp != _instance) {
sahilmgandhi 18:6a4db94011d3 45 delete temp;
sahilmgandhi 18:6a4db94011d3 46 }
sahilmgandhi 18:6a4db94011d3 47
sahilmgandhi 18:6a4db94011d3 48 }
sahilmgandhi 18:6a4db94011d3 49 return _instance;
sahilmgandhi 18:6a4db94011d3 50 }
sahilmgandhi 18:6a4db94011d3 51
sahilmgandhi 18:6a4db94011d3 52 InterruptManager::InterruptManager() {
sahilmgandhi 18:6a4db94011d3 53 // No mutex needed in constructor
sahilmgandhi 18:6a4db94011d3 54 memset(_chains, 0, NVIC_NUM_VECTORS * sizeof(CallChain*));
sahilmgandhi 18:6a4db94011d3 55 }
sahilmgandhi 18:6a4db94011d3 56
sahilmgandhi 18:6a4db94011d3 57 void InterruptManager::destroy() {
sahilmgandhi 18:6a4db94011d3 58 // Not a good idea to call this unless NO interrupt at all
sahilmgandhi 18:6a4db94011d3 59 // is under the control of the handler; otherwise, a system crash
sahilmgandhi 18:6a4db94011d3 60 // is very likely to occur
sahilmgandhi 18:6a4db94011d3 61 if (NULL != _instance) {
sahilmgandhi 18:6a4db94011d3 62 delete _instance;
sahilmgandhi 18:6a4db94011d3 63 _instance = (InterruptManager*)NULL;
sahilmgandhi 18:6a4db94011d3 64 }
sahilmgandhi 18:6a4db94011d3 65 }
sahilmgandhi 18:6a4db94011d3 66
sahilmgandhi 18:6a4db94011d3 67 InterruptManager::~InterruptManager() {
sahilmgandhi 18:6a4db94011d3 68 for(int i = 0; i < NVIC_NUM_VECTORS; i++)
sahilmgandhi 18:6a4db94011d3 69 if (NULL != _chains[i])
sahilmgandhi 18:6a4db94011d3 70 delete _chains[i];
sahilmgandhi 18:6a4db94011d3 71 }
sahilmgandhi 18:6a4db94011d3 72
sahilmgandhi 18:6a4db94011d3 73 bool InterruptManager::must_replace_vector(IRQn_Type irq) {
sahilmgandhi 18:6a4db94011d3 74 lock();
sahilmgandhi 18:6a4db94011d3 75
sahilmgandhi 18:6a4db94011d3 76 int ret = false;
sahilmgandhi 18:6a4db94011d3 77 int irq_pos = get_irq_index(irq);
sahilmgandhi 18:6a4db94011d3 78 if (NULL == _chains[irq_pos]) {
sahilmgandhi 18:6a4db94011d3 79 _chains[irq_pos] = new CallChain(CHAIN_INITIAL_SIZE);
sahilmgandhi 18:6a4db94011d3 80 _chains[irq_pos]->add((pvoidf)NVIC_GetVector(irq));
sahilmgandhi 18:6a4db94011d3 81 ret = true;
sahilmgandhi 18:6a4db94011d3 82 }
sahilmgandhi 18:6a4db94011d3 83 unlock();
sahilmgandhi 18:6a4db94011d3 84 return ret;
sahilmgandhi 18:6a4db94011d3 85 }
sahilmgandhi 18:6a4db94011d3 86
sahilmgandhi 18:6a4db94011d3 87 pFunctionPointer_t InterruptManager::add_common(void (*function)(void), IRQn_Type irq, bool front) {
sahilmgandhi 18:6a4db94011d3 88 lock();
sahilmgandhi 18:6a4db94011d3 89 int irq_pos = get_irq_index(irq);
sahilmgandhi 18:6a4db94011d3 90 bool change = must_replace_vector(irq);
sahilmgandhi 18:6a4db94011d3 91
sahilmgandhi 18:6a4db94011d3 92 pFunctionPointer_t pf = front ? _chains[irq_pos]->add_front(function) : _chains[irq_pos]->add(function);
sahilmgandhi 18:6a4db94011d3 93 if (change)
sahilmgandhi 18:6a4db94011d3 94 NVIC_SetVector(irq, (uint32_t)&InterruptManager::static_irq_helper);
sahilmgandhi 18:6a4db94011d3 95 unlock();
sahilmgandhi 18:6a4db94011d3 96 return pf;
sahilmgandhi 18:6a4db94011d3 97 }
sahilmgandhi 18:6a4db94011d3 98
sahilmgandhi 18:6a4db94011d3 99 bool InterruptManager::remove_handler(pFunctionPointer_t handler, IRQn_Type irq) {
sahilmgandhi 18:6a4db94011d3 100 int irq_pos = get_irq_index(irq);
sahilmgandhi 18:6a4db94011d3 101 bool ret = false;
sahilmgandhi 18:6a4db94011d3 102
sahilmgandhi 18:6a4db94011d3 103 lock();
sahilmgandhi 18:6a4db94011d3 104 if (_chains[irq_pos] != NULL) {
sahilmgandhi 18:6a4db94011d3 105 if (_chains[irq_pos]->remove(handler)) {
sahilmgandhi 18:6a4db94011d3 106 ret = true;
sahilmgandhi 18:6a4db94011d3 107 }
sahilmgandhi 18:6a4db94011d3 108 }
sahilmgandhi 18:6a4db94011d3 109 unlock();
sahilmgandhi 18:6a4db94011d3 110
sahilmgandhi 18:6a4db94011d3 111 return ret;
sahilmgandhi 18:6a4db94011d3 112 }
sahilmgandhi 18:6a4db94011d3 113
sahilmgandhi 18:6a4db94011d3 114 void InterruptManager::irq_helper() {
sahilmgandhi 18:6a4db94011d3 115 _chains[__get_IPSR()]->call();
sahilmgandhi 18:6a4db94011d3 116 }
sahilmgandhi 18:6a4db94011d3 117
sahilmgandhi 18:6a4db94011d3 118 int InterruptManager::get_irq_index(IRQn_Type irq) {
sahilmgandhi 18:6a4db94011d3 119 // Pure function - no lock needed
sahilmgandhi 18:6a4db94011d3 120 return (int)irq + NVIC_USER_IRQ_OFFSET;
sahilmgandhi 18:6a4db94011d3 121 }
sahilmgandhi 18:6a4db94011d3 122
sahilmgandhi 18:6a4db94011d3 123 void InterruptManager::static_irq_helper() {
sahilmgandhi 18:6a4db94011d3 124 InterruptManager::get()->irq_helper();
sahilmgandhi 18:6a4db94011d3 125 }
sahilmgandhi 18:6a4db94011d3 126
sahilmgandhi 18:6a4db94011d3 127 void InterruptManager::lock() {
sahilmgandhi 18:6a4db94011d3 128 _mutex.lock();
sahilmgandhi 18:6a4db94011d3 129 }
sahilmgandhi 18:6a4db94011d3 130
sahilmgandhi 18:6a4db94011d3 131 void InterruptManager::unlock() {
sahilmgandhi 18:6a4db94011d3 132 _mutex.unlock();
sahilmgandhi 18:6a4db94011d3 133 }
sahilmgandhi 18:6a4db94011d3 134
sahilmgandhi 18:6a4db94011d3 135 } // namespace mbed
sahilmgandhi 18:6a4db94011d3 136
sahilmgandhi 18:6a4db94011d3 137 #endif