EL4121 Embedded System / mbed-os

mbed-os

Dependents:   cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more

features/FEATURE_COMMON_PAL/nanostack-hal-mbed-cmsis-rtos/arm_hal_timer.cpp@0:b74591d5ab33, 2017-12-11 (annotated)

Committer:
be_bryan
Date:
Mon Dec 11 17:54:04 2017 +0000
Revision:
0:b74591d5ab33
motor ++

Who changed what in which revision?

UserRevisionLine numberNew contents of line
be_bryan 0:b74591d5ab33 1 /*
be_bryan 0:b74591d5ab33 2 * Copyright (c) 2016 ARM Limited, All Rights Reserved
be_bryan 0:b74591d5ab33 3 */
be_bryan 0:b74591d5ab33 4
be_bryan 0:b74591d5ab33 5 // Include before mbed.h to properly get UINT*_C()
be_bryan 0:b74591d5ab33 6 #include "ns_types.h"
be_bryan 0:b74591d5ab33 7
be_bryan 0:b74591d5ab33 8 #include "mbed.h"
be_bryan 0:b74591d5ab33 9 #include "platform/arm_hal_timer.h"
be_bryan 0:b74591d5ab33 10 #include "platform/arm_hal_interrupt.h"
be_bryan 0:b74591d5ab33 11 #include <mbed_assert.h>
be_bryan 0:b74591d5ab33 12
be_bryan 0:b74591d5ab33 13 static Timer timer;
be_bryan 0:b74591d5ab33 14 static Timeout timeout;
be_bryan 0:b74591d5ab33 15 static EventQueue *equeue;
be_bryan 0:b74591d5ab33 16 static uint32_t due;
be_bryan 0:b74591d5ab33 17 static void (*arm_hal_callback)(void);
be_bryan 0:b74591d5ab33 18
be_bryan 0:b74591d5ab33 19 // Called once at boot
be_bryan 0:b74591d5ab33 20 void platform_timer_enable(void)
be_bryan 0:b74591d5ab33 21 {
be_bryan 0:b74591d5ab33 22 equeue = mbed_highprio_event_queue();
be_bryan 0:b74591d5ab33 23 MBED_ASSERT(equeue != NULL);
be_bryan 0:b74591d5ab33 24 }
be_bryan 0:b74591d5ab33 25
be_bryan 0:b74591d5ab33 26 // Actually cancels a timer, not the opposite of enable
be_bryan 0:b74591d5ab33 27 void platform_timer_disable(void)
be_bryan 0:b74591d5ab33 28 {
be_bryan 0:b74591d5ab33 29 timeout.detach();
be_bryan 0:b74591d5ab33 30 }
be_bryan 0:b74591d5ab33 31
be_bryan 0:b74591d5ab33 32 // Not called while running, fortunately
be_bryan 0:b74591d5ab33 33 void platform_timer_set_cb(void (*new_fp)(void))
be_bryan 0:b74591d5ab33 34 {
be_bryan 0:b74591d5ab33 35 arm_hal_callback = new_fp;
be_bryan 0:b74591d5ab33 36 }
be_bryan 0:b74591d5ab33 37
be_bryan 0:b74591d5ab33 38 static void timer_callback(void)
be_bryan 0:b74591d5ab33 39 {
be_bryan 0:b74591d5ab33 40 due = 0;
be_bryan 0:b74591d5ab33 41 equeue->call(arm_hal_callback);
be_bryan 0:b74591d5ab33 42 }
be_bryan 0:b74591d5ab33 43
be_bryan 0:b74591d5ab33 44 // This is called from inside platform_enter_critical - IRQs can't happen
be_bryan 0:b74591d5ab33 45 void platform_timer_start(uint16_t slots)
be_bryan 0:b74591d5ab33 46 {
be_bryan 0:b74591d5ab33 47 timer.reset();
be_bryan 0:b74591d5ab33 48 due = slots * UINT32_C(50);
be_bryan 0:b74591d5ab33 49 timeout.attach_us(timer_callback, due);
be_bryan 0:b74591d5ab33 50 }
be_bryan 0:b74591d5ab33 51
be_bryan 0:b74591d5ab33 52 // This is called from inside platform_enter_critical - IRQs can't happen
be_bryan 0:b74591d5ab33 53 uint16_t platform_timer_get_remaining_slots(void)
be_bryan 0:b74591d5ab33 54 {
be_bryan 0:b74591d5ab33 55 uint32_t elapsed = timer.read_us();
be_bryan 0:b74591d5ab33 56 if (elapsed < due) {
be_bryan 0:b74591d5ab33 57 return (uint16_t) ((due - elapsed) / 50);
be_bryan 0:b74591d5ab33 58 } else {
be_bryan 0:b74591d5ab33 59 return 0;
be_bryan 0:b74591d5ab33 60 }
be_bryan 0:b74591d5ab33 61 }
be_bryan 0:b74591d5ab33 62