Diff: ER2_Robot/mbed/drivers/TimerEvent.h

Revision:

0:1a801a2a7b4b

diff -r 000000000000 -r 1a801a2a7b4b ER2_Robot/mbed/drivers/TimerEvent.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ER2_Robot/mbed/drivers/TimerEvent.h	Fri Feb 15 15:25:57 2019 +0000
@@ -0,0 +1,84 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef MBED_TIMEREVENT_H
+#define MBED_TIMEREVENT_H
+
+#include "hal/ticker_api.h"
+#include "hal/us_ticker_api.h"
+#include "platform/NonCopyable.h"
+
+namespace mbed {
+/** \addtogroup drivers */
+
+/** Base abstraction for timer interrupts
+ *
+ * @note Synchronization level: Interrupt safe
+ * @ingroup drivers
+ */
+class TimerEvent : private NonCopyable<TimerEvent> {
+public:
+    TimerEvent();
+    TimerEvent(const ticker_data_t *data);
+
+    /** The handler registered with the underlying timer interrupt
+     *
+     *  @param id       Timer Event ID
+     */
+    static void irq(uint32_t id);
+
+    /** Destruction removes it...
+     */
+    virtual ~TimerEvent();
+
+protected:
+    // The handler called to service the timer event of the derived class
+    virtual void handler() = 0;
+
+    /** Set relative timestamp of the internal event.
+     * @param   timestamp   event's us timestamp
+     *
+     * @warning
+     * Do not insert more than one timestamp.
+     * The same @a event object is used for every @a insert/insert_absolute call.
+     *
+     * @warning
+     * Ticker's present timestamp is used for reference. For timestamps
+     * from the past the event is scheduled after ticker's overflow.
+     * For reference @see convert_timestamp
+     */
+    void insert(timestamp_t timestamp);
+
+    /** Set absolute timestamp of the internal event.
+     * @param   timestamp   event's us timestamp
+     *
+     * @warning
+     * Do not insert more than one timestamp.
+     * The same @a event object is used for every @a insert/insert_absolute call.
+     */
+    void insert_absolute(us_timestamp_t timestamp);
+
+    /** Remove timestamp.
+     */
+    void remove();
+
+    ticker_event_t event;
+
+    const ticker_data_t *_ticker_data;
+};
+
+} // namespace mbed
+
+#endif