MoJo / ER2_Robot_gnuarmeclipse_lpc1768-V2

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Dependencies:   mbed

ER2_Robot/mbed/hal/ticker_api.h@1:96ef3513d0d5, 2019-05-24 (annotated)

Committer:
joehatier
Date:
Fri May 24 10:57:58 2019 +0000
Revision:
1:96ef3513d0d5
Parent:
0:1a801a2a7b4b 
Ligne;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joehatier 0:1a801a2a7b4b 1
joehatier 0:1a801a2a7b4b 2 /** \addtogroup hal */
joehatier 0:1a801a2a7b4b 3 /** @{*/
joehatier 0:1a801a2a7b4b 4 /* mbed Microcontroller Library
joehatier 0:1a801a2a7b4b 5 * Copyright (c) 2015 ARM Limited
joehatier 0:1a801a2a7b4b 6 *
joehatier 0:1a801a2a7b4b 7 * Licensed under the Apache License, Version 2.0 (the "License");
joehatier 0:1a801a2a7b4b 8 * you may not use this file except in compliance with the License.
joehatier 0:1a801a2a7b4b 9 * You may obtain a copy of the License at
joehatier 0:1a801a2a7b4b 10 *
joehatier 0:1a801a2a7b4b 11 * http://www.apache.org/licenses/LICENSE-2.0
joehatier 0:1a801a2a7b4b 12 *
joehatier 0:1a801a2a7b4b 13 * Unless required by applicable law or agreed to in writing, software
joehatier 0:1a801a2a7b4b 14 * distributed under the License is distributed on an "AS IS" BASIS,
joehatier 0:1a801a2a7b4b 15 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
joehatier 0:1a801a2a7b4b 16 * See the License for the specific language governing permissions and
joehatier 0:1a801a2a7b4b 17 * limitations under the License.
joehatier 0:1a801a2a7b4b 18 */
joehatier 0:1a801a2a7b4b 19 #ifndef MBED_TICKER_API_H
joehatier 0:1a801a2a7b4b 20 #define MBED_TICKER_API_H
joehatier 0:1a801a2a7b4b 21
joehatier 0:1a801a2a7b4b 22 #include <stdint.h>
joehatier 0:1a801a2a7b4b 23 #include <stdbool.h>
joehatier 0:1a801a2a7b4b 24 #include "device.h"
joehatier 0:1a801a2a7b4b 25
joehatier 0:1a801a2a7b4b 26 /**
joehatier 0:1a801a2a7b4b 27 * Legacy format representing a timestamp in us.
joehatier 0:1a801a2a7b4b 28 * Given it is modeled as a 32 bit integer, this type can represent timestamp
joehatier 0:1a801a2a7b4b 29 * up to 4294 seconds (71 minutes).
joehatier 0:1a801a2a7b4b 30 * Prefer using us_timestamp_t which store timestamp as 64 bits integer.
joehatier 0:1a801a2a7b4b 31 */
joehatier 0:1a801a2a7b4b 32 typedef uint32_t timestamp_t;
joehatier 0:1a801a2a7b4b 33
joehatier 0:1a801a2a7b4b 34 /**
joehatier 0:1a801a2a7b4b 35 * A us timestamp stored in a 64 bit integer.
joehatier 0:1a801a2a7b4b 36 * Can store timestamp up to 584810 years.
joehatier 0:1a801a2a7b4b 37 */
joehatier 0:1a801a2a7b4b 38 typedef uint64_t us_timestamp_t;
joehatier 0:1a801a2a7b4b 39
joehatier 0:1a801a2a7b4b 40 /** Ticker's event structure
joehatier 0:1a801a2a7b4b 41 */
joehatier 0:1a801a2a7b4b 42 typedef struct ticker_event_s {
joehatier 0:1a801a2a7b4b 43 us_timestamp_t timestamp; /**< Event's timestamp */
joehatier 0:1a801a2a7b4b 44 uint32_t id; /**< TimerEvent object */
joehatier 0:1a801a2a7b4b 45 struct ticker_event_s *next; /**< Next event in the queue */
joehatier 0:1a801a2a7b4b 46 } ticker_event_t;
joehatier 0:1a801a2a7b4b 47
joehatier 0:1a801a2a7b4b 48 typedef void (*ticker_event_handler)(uint32_t id);
joehatier 0:1a801a2a7b4b 49
joehatier 0:1a801a2a7b4b 50 /** Information about the ticker implementation
joehatier 0:1a801a2a7b4b 51 */
joehatier 0:1a801a2a7b4b 52 typedef struct {
joehatier 0:1a801a2a7b4b 53 uint32_t frequency; /**< Frequency in Hz this ticker runs at */
joehatier 0:1a801a2a7b4b 54 uint32_t bits; /**< Number of bits this ticker supports */
joehatier 0:1a801a2a7b4b 55 } ticker_info_t;
joehatier 0:1a801a2a7b4b 56
joehatier 0:1a801a2a7b4b 57
joehatier 0:1a801a2a7b4b 58 /** Ticker's interface structure - required API for a ticker
joehatier 0:1a801a2a7b4b 59 */
joehatier 0:1a801a2a7b4b 60 typedef struct {
joehatier 0:1a801a2a7b4b 61 void (*init)(void); /**< Init function */
joehatier 0:1a801a2a7b4b 62 uint32_t (*read)(void); /**< Read function */
joehatier 0:1a801a2a7b4b 63 void (*disable_interrupt)(void); /**< Disable interrupt function */
joehatier 0:1a801a2a7b4b 64 void (*clear_interrupt)(void); /**< Clear interrupt function */
joehatier 0:1a801a2a7b4b 65 void (*set_interrupt)(timestamp_t timestamp); /**< Set interrupt function */
joehatier 0:1a801a2a7b4b 66 void (*fire_interrupt)(void); /**< Fire interrupt right-away */
joehatier 0:1a801a2a7b4b 67 void (*free)(void); /**< Disable function */
joehatier 0:1a801a2a7b4b 68 const ticker_info_t *(*get_info)(void); /**< Return info about this ticker's implementation */
joehatier 0:1a801a2a7b4b 69 } ticker_interface_t;
joehatier 0:1a801a2a7b4b 70
joehatier 0:1a801a2a7b4b 71 /** Ticker's event queue structure
joehatier 0:1a801a2a7b4b 72 */
joehatier 0:1a801a2a7b4b 73 typedef struct {
joehatier 0:1a801a2a7b4b 74 ticker_event_handler event_handler; /**< Event handler */
joehatier 0:1a801a2a7b4b 75 ticker_event_t *head; /**< A pointer to head */
joehatier 0:1a801a2a7b4b 76 uint32_t frequency; /**< Frequency of the timer in Hz */
joehatier 0:1a801a2a7b4b 77 uint32_t bitmask; /**< Mask to be applied to time values read */
joehatier 0:1a801a2a7b4b 78 uint32_t max_delta; /**< Largest delta in ticks that can be used when scheduling */
joehatier 0:1a801a2a7b4b 79 uint64_t max_delta_us; /**< Largest delta in us that can be used when scheduling */
joehatier 0:1a801a2a7b4b 80 uint32_t tick_last_read; /**< Last tick read */
joehatier 0:1a801a2a7b4b 81 uint64_t tick_remainder; /**< Ticks that have not been added to base_time */
joehatier 0:1a801a2a7b4b 82 us_timestamp_t present_time; /**< Store the timestamp used for present time */
joehatier 0:1a801a2a7b4b 83 bool initialized; /**< Indicate if the instance is initialized */
joehatier 0:1a801a2a7b4b 84 bool dispatching; /**< The function ticker_irq_handler is dispatching */
joehatier 0:1a801a2a7b4b 85 bool suspended; /**< Indicate if the instance is suspended */
joehatier 0:1a801a2a7b4b 86 uint8_t frequency_shifts; /**< If frequency is a value of 2^n, this is n, otherwise 0 */
joehatier 0:1a801a2a7b4b 87 } ticker_event_queue_t;
joehatier 0:1a801a2a7b4b 88
joehatier 0:1a801a2a7b4b 89 /** Ticker's data structure
joehatier 0:1a801a2a7b4b 90 */
joehatier 0:1a801a2a7b4b 91 typedef struct {
joehatier 0:1a801a2a7b4b 92 const ticker_interface_t *interface; /**< Ticker's interface */
joehatier 0:1a801a2a7b4b 93 ticker_event_queue_t *queue; /**< Ticker's event queue */
joehatier 0:1a801a2a7b4b 94 } ticker_data_t;
joehatier 0:1a801a2a7b4b 95
joehatier 0:1a801a2a7b4b 96 #ifdef __cplusplus
joehatier 0:1a801a2a7b4b 97 extern "C" {
joehatier 0:1a801a2a7b4b 98 #endif
joehatier 0:1a801a2a7b4b 99
joehatier 0:1a801a2a7b4b 100 /**
joehatier 0:1a801a2a7b4b 101 * \defgroup hal_ticker Ticker HAL functions
joehatier 0:1a801a2a7b4b 102 * @{
joehatier 0:1a801a2a7b4b 103 */
joehatier 0:1a801a2a7b4b 104
joehatier 0:1a801a2a7b4b 105 /** Initialize a ticker and set the event handler
joehatier 0:1a801a2a7b4b 106 *
joehatier 0:1a801a2a7b4b 107 * @param ticker The ticker object.
joehatier 0:1a801a2a7b4b 108 * @param handler A handler to be set
joehatier 0:1a801a2a7b4b 109 */
joehatier 0:1a801a2a7b4b 110 void ticker_set_handler(const ticker_data_t *const ticker, ticker_event_handler handler);
joehatier 0:1a801a2a7b4b 111
joehatier 0:1a801a2a7b4b 112 /** IRQ handler that goes through the events to trigger overdue events.
joehatier 0:1a801a2a7b4b 113 *
joehatier 0:1a801a2a7b4b 114 * @param ticker The ticker object.
joehatier 0:1a801a2a7b4b 115 */
joehatier 0:1a801a2a7b4b 116 void ticker_irq_handler(const ticker_data_t *const ticker);
joehatier 0:1a801a2a7b4b 117
joehatier 0:1a801a2a7b4b 118 /** Remove an event from the queue
joehatier 0:1a801a2a7b4b 119 *
joehatier 0:1a801a2a7b4b 120 * @param ticker The ticker object.
joehatier 0:1a801a2a7b4b 121 * @param obj The event object to be removed from the queue
joehatier 0:1a801a2a7b4b 122 */
joehatier 0:1a801a2a7b4b 123 void ticker_remove_event(const ticker_data_t *const ticker, ticker_event_t *obj);
joehatier 0:1a801a2a7b4b 124
joehatier 0:1a801a2a7b4b 125 /** Insert an event to the queue
joehatier 0:1a801a2a7b4b 126 *
joehatier 0:1a801a2a7b4b 127 * The event will be executed in timestamp - ticker_read().
joehatier 0:1a801a2a7b4b 128 *
joehatier 0:1a801a2a7b4b 129 * @warning This function does not consider timestamp in the past. If an event
joehatier 0:1a801a2a7b4b 130 * is inserted with a timestamp less than the current timestamp then the event
joehatier 0:1a801a2a7b4b 131 * will be executed in timestamp - ticker_read() us.
joehatier 0:1a801a2a7b4b 132 * The internal counter wrap very quickly it is hard to decide weither an
joehatier 0:1a801a2a7b4b 133 * event is in the past or in 1 hour.
joehatier 0:1a801a2a7b4b 134 *
joehatier 0:1a801a2a7b4b 135 * @note prefer the use of ticker_insert_event_us which allows registration of
joehatier 0:1a801a2a7b4b 136 * absolute timestamp.
joehatier 0:1a801a2a7b4b 137 *
joehatier 0:1a801a2a7b4b 138 * @param ticker The ticker object.
joehatier 0:1a801a2a7b4b 139 * @param obj The event object to be inserted to the queue
joehatier 0:1a801a2a7b4b 140 * @param timestamp The event's timestamp
joehatier 0:1a801a2a7b4b 141 * @param id The event object
joehatier 0:1a801a2a7b4b 142 */
joehatier 0:1a801a2a7b4b 143 void ticker_insert_event(const ticker_data_t *const ticker, ticker_event_t *obj, timestamp_t timestamp, uint32_t id);
joehatier 0:1a801a2a7b4b 144
joehatier 0:1a801a2a7b4b 145 /** Insert an event to the queue
joehatier 0:1a801a2a7b4b 146 *
joehatier 0:1a801a2a7b4b 147 * The event will be executed in timestamp - ticker_read_us() us.
joehatier 0:1a801a2a7b4b 148 *
joehatier 0:1a801a2a7b4b 149 * @note If an event is inserted with a timestamp less than the current
joehatier 0:1a801a2a7b4b 150 * timestamp then the event will be scheduled immediately resulting in
joehatier 0:1a801a2a7b4b 151 * an instant call to event handler.
joehatier 0:1a801a2a7b4b 152 *
joehatier 0:1a801a2a7b4b 153 * @param ticker The ticker object.
joehatier 0:1a801a2a7b4b 154 * @param obj The event object to be inserted to the queue
joehatier 0:1a801a2a7b4b 155 * @param timestamp The event's timestamp
joehatier 0:1a801a2a7b4b 156 * @param id The event object
joehatier 0:1a801a2a7b4b 157 */
joehatier 0:1a801a2a7b4b 158 void ticker_insert_event_us(const ticker_data_t *const ticker, ticker_event_t *obj, us_timestamp_t timestamp, uint32_t id);
joehatier 0:1a801a2a7b4b 159
joehatier 0:1a801a2a7b4b 160 /** Read the current (relative) ticker's timestamp
joehatier 0:1a801a2a7b4b 161 *
joehatier 0:1a801a2a7b4b 162 * @warning Return a relative timestamp because the counter wrap every 4294
joehatier 0:1a801a2a7b4b 163 * seconds.
joehatier 0:1a801a2a7b4b 164 *
joehatier 0:1a801a2a7b4b 165 * @param ticker The ticker object.
joehatier 0:1a801a2a7b4b 166 * @return The current timestamp
joehatier 0:1a801a2a7b4b 167 */
joehatier 0:1a801a2a7b4b 168 timestamp_t ticker_read(const ticker_data_t *const ticker);
joehatier 0:1a801a2a7b4b 169
joehatier 0:1a801a2a7b4b 170 /** Read the current (absolute) ticker's timestamp
joehatier 0:1a801a2a7b4b 171 *
joehatier 0:1a801a2a7b4b 172 * @warning Return an absolute timestamp counting from the initialization of the
joehatier 0:1a801a2a7b4b 173 * ticker.
joehatier 0:1a801a2a7b4b 174 *
joehatier 0:1a801a2a7b4b 175 * @param ticker The ticker object.
joehatier 0:1a801a2a7b4b 176 * @return The current timestamp
joehatier 0:1a801a2a7b4b 177 */
joehatier 0:1a801a2a7b4b 178 us_timestamp_t ticker_read_us(const ticker_data_t *const ticker);
joehatier 0:1a801a2a7b4b 179
joehatier 0:1a801a2a7b4b 180 /** Read the next event's timestamp
joehatier 0:1a801a2a7b4b 181 *
joehatier 0:1a801a2a7b4b 182 * @param ticker The ticker object.
joehatier 0:1a801a2a7b4b 183 * @param timestamp The timestamp object.
joehatier 0:1a801a2a7b4b 184 * @return 1 if timestamp is pending event, 0 if there's no event pending
joehatier 0:1a801a2a7b4b 185 */
joehatier 0:1a801a2a7b4b 186 int ticker_get_next_timestamp(const ticker_data_t *const ticker, timestamp_t *timestamp);
joehatier 0:1a801a2a7b4b 187
joehatier 0:1a801a2a7b4b 188 /** Suspend this ticker
joehatier 0:1a801a2a7b4b 189 *
joehatier 0:1a801a2a7b4b 190 * When suspended reads will always return the same time and no
joehatier 0:1a801a2a7b4b 191 * events will be dispatched. When suspended the common layer
joehatier 0:1a801a2a7b4b 192 * will only ever call the interface function clear_interrupt()
joehatier 0:1a801a2a7b4b 193 * and that is only if ticker_irq_handler is called.
joehatier 0:1a801a2a7b4b 194 *
joehatier 0:1a801a2a7b4b 195 *
joehatier 0:1a801a2a7b4b 196 * @param ticker The ticker object.
joehatier 0:1a801a2a7b4b 197 */
joehatier 0:1a801a2a7b4b 198 void ticker_suspend(const ticker_data_t *const ticker);
joehatier 0:1a801a2a7b4b 199
joehatier 0:1a801a2a7b4b 200 /** Resume this ticker
joehatier 0:1a801a2a7b4b 201 *
joehatier 0:1a801a2a7b4b 202 * When resumed the ticker will ignore any time that has passed
joehatier 0:1a801a2a7b4b 203 * and continue counting up where it left off.
joehatier 0:1a801a2a7b4b 204 *
joehatier 0:1a801a2a7b4b 205 * @param ticker The ticker object.
joehatier 0:1a801a2a7b4b 206 */
joehatier 0:1a801a2a7b4b 207 void ticker_resume(const ticker_data_t *const ticker);
joehatier 0:1a801a2a7b4b 208
joehatier 0:1a801a2a7b4b 209 /* Private functions
joehatier 0:1a801a2a7b4b 210 *
joehatier 0:1a801a2a7b4b 211 * @cond PRIVATE
joehatier 0:1a801a2a7b4b 212 *
joehatier 0:1a801a2a7b4b 213 */
joehatier 0:1a801a2a7b4b 214
joehatier 0:1a801a2a7b4b 215 int _ticker_match_interval_passed(timestamp_t prev_tick, timestamp_t cur_tick, timestamp_t match_tick);
joehatier 0:1a801a2a7b4b 216
joehatier 0:1a801a2a7b4b 217 /*
joehatier 0:1a801a2a7b4b 218 * @endcond PRIVATE
joehatier 0:1a801a2a7b4b 219 *
joehatier 0:1a801a2a7b4b 220 */
joehatier 0:1a801a2a7b4b 221
joehatier 0:1a801a2a7b4b 222 /**@}*/
joehatier 0:1a801a2a7b4b 223
joehatier 0:1a801a2a7b4b 224 #ifdef __cplusplus
joehatier 0:1a801a2a7b4b 225 }
joehatier 0:1a801a2a7b4b 226 #endif
joehatier 0:1a801a2a7b4b 227
joehatier 0:1a801a2a7b4b 228 #endif
joehatier 0:1a801a2a7b4b 229
joehatier 0:1a801a2a7b4b 230 /** @}*/