UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

mbed/Ticker.h@0:3a767f41cf04, 2018-01-31 (annotated)

Committer:
group-UVic-Assistive-Technolog
Date:
Wed Jan 31 05:24:12 2018 +0000
Revision:
0:3a767f41cf04
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
group-UVic-Assistive-Technolog 0:3a767f41cf04 1 /* mbed Microcontroller Library
group-UVic-Assistive-Technolog 0:3a767f41cf04 2 * Copyright (c) 2006-2013 ARM Limited
group-UVic-Assistive-Technolog 0:3a767f41cf04 3 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 4 * Licensed under the Apache License, Version 2.0 (the "License");
group-UVic-Assistive-Technolog 0:3a767f41cf04 5 * you may not use this file except in compliance with the License.
group-UVic-Assistive-Technolog 0:3a767f41cf04 6 * You may obtain a copy of the License at
group-UVic-Assistive-Technolog 0:3a767f41cf04 7 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 8 * http://www.apache.org/licenses/LICENSE-2.0
group-UVic-Assistive-Technolog 0:3a767f41cf04 9 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 10 * Unless required by applicable law or agreed to in writing, software
group-UVic-Assistive-Technolog 0:3a767f41cf04 11 * distributed under the License is distributed on an "AS IS" BASIS,
group-UVic-Assistive-Technolog 0:3a767f41cf04 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
group-UVic-Assistive-Technolog 0:3a767f41cf04 13 * See the License for the specific language governing permissions and
group-UVic-Assistive-Technolog 0:3a767f41cf04 14 * limitations under the License.
group-UVic-Assistive-Technolog 0:3a767f41cf04 15 */
group-UVic-Assistive-Technolog 0:3a767f41cf04 16 #ifndef MBED_TICKER_H
group-UVic-Assistive-Technolog 0:3a767f41cf04 17 #define MBED_TICKER_H
group-UVic-Assistive-Technolog 0:3a767f41cf04 18
group-UVic-Assistive-Technolog 0:3a767f41cf04 19 #include "TimerEvent.h"
group-UVic-Assistive-Technolog 0:3a767f41cf04 20 #include "FunctionPointer.h"
group-UVic-Assistive-Technolog 0:3a767f41cf04 21
group-UVic-Assistive-Technolog 0:3a767f41cf04 22 namespace mbed {
group-UVic-Assistive-Technolog 0:3a767f41cf04 23
group-UVic-Assistive-Technolog 0:3a767f41cf04 24 /** A Ticker is used to call a function at a recurring interval
group-UVic-Assistive-Technolog 0:3a767f41cf04 25 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 26 * You can use as many seperate Ticker objects as you require.
group-UVic-Assistive-Technolog 0:3a767f41cf04 27 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 28 * Example:
group-UVic-Assistive-Technolog 0:3a767f41cf04 29 * @code
group-UVic-Assistive-Technolog 0:3a767f41cf04 30 * // Toggle the blinking led after 5 seconds
group-UVic-Assistive-Technolog 0:3a767f41cf04 31 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 32 * #include "mbed.h"
group-UVic-Assistive-Technolog 0:3a767f41cf04 33 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 34 * Ticker timer;
group-UVic-Assistive-Technolog 0:3a767f41cf04 35 * DigitalOut led1(LED1);
group-UVic-Assistive-Technolog 0:3a767f41cf04 36 * DigitalOut led2(LED2);
group-UVic-Assistive-Technolog 0:3a767f41cf04 37 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 38 * int flip = 0;
group-UVic-Assistive-Technolog 0:3a767f41cf04 39 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 40 * void attime() {
group-UVic-Assistive-Technolog 0:3a767f41cf04 41 * flip = !flip;
group-UVic-Assistive-Technolog 0:3a767f41cf04 42 * }
group-UVic-Assistive-Technolog 0:3a767f41cf04 43 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 44 * int main() {
group-UVic-Assistive-Technolog 0:3a767f41cf04 45 * timer.attach(&attime, 5);
group-UVic-Assistive-Technolog 0:3a767f41cf04 46 * while(1) {
group-UVic-Assistive-Technolog 0:3a767f41cf04 47 * if(flip == 0) {
group-UVic-Assistive-Technolog 0:3a767f41cf04 48 * led1 = !led1;
group-UVic-Assistive-Technolog 0:3a767f41cf04 49 * } else {
group-UVic-Assistive-Technolog 0:3a767f41cf04 50 * led2 = !led2;
group-UVic-Assistive-Technolog 0:3a767f41cf04 51 * }
group-UVic-Assistive-Technolog 0:3a767f41cf04 52 * wait(0.2);
group-UVic-Assistive-Technolog 0:3a767f41cf04 53 * }
group-UVic-Assistive-Technolog 0:3a767f41cf04 54 * }
group-UVic-Assistive-Technolog 0:3a767f41cf04 55 * @endcode
group-UVic-Assistive-Technolog 0:3a767f41cf04 56 */
group-UVic-Assistive-Technolog 0:3a767f41cf04 57 class Ticker : public TimerEvent {
group-UVic-Assistive-Technolog 0:3a767f41cf04 58
group-UVic-Assistive-Technolog 0:3a767f41cf04 59 public:
group-UVic-Assistive-Technolog 0:3a767f41cf04 60 Ticker() : TimerEvent() {
group-UVic-Assistive-Technolog 0:3a767f41cf04 61 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 62
group-UVic-Assistive-Technolog 0:3a767f41cf04 63 Ticker(const ticker_data_t *data) : TimerEvent(data) {
group-UVic-Assistive-Technolog 0:3a767f41cf04 64 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 65
group-UVic-Assistive-Technolog 0:3a767f41cf04 66 /** Attach a function to be called by the Ticker, specifiying the interval in seconds
group-UVic-Assistive-Technolog 0:3a767f41cf04 67 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 68 * @param fptr pointer to the function to be called
group-UVic-Assistive-Technolog 0:3a767f41cf04 69 * @param t the time between calls in seconds
group-UVic-Assistive-Technolog 0:3a767f41cf04 70 */
group-UVic-Assistive-Technolog 0:3a767f41cf04 71 void attach(void (*fptr)(void), float t) {
group-UVic-Assistive-Technolog 0:3a767f41cf04 72 attach_us(fptr, t * 1000000.0f);
group-UVic-Assistive-Technolog 0:3a767f41cf04 73 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 74
group-UVic-Assistive-Technolog 0:3a767f41cf04 75 /** Attach a member function to be called by the Ticker, specifiying the interval in seconds
group-UVic-Assistive-Technolog 0:3a767f41cf04 76 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 77 * @param tptr pointer to the object to call the member function on
group-UVic-Assistive-Technolog 0:3a767f41cf04 78 * @param mptr pointer to the member function to be called
group-UVic-Assistive-Technolog 0:3a767f41cf04 79 * @param t the time between calls in seconds
group-UVic-Assistive-Technolog 0:3a767f41cf04 80 */
group-UVic-Assistive-Technolog 0:3a767f41cf04 81 template<typename T>
group-UVic-Assistive-Technolog 0:3a767f41cf04 82 void attach(T* tptr, void (T::*mptr)(void), float t) {
group-UVic-Assistive-Technolog 0:3a767f41cf04 83 attach_us(tptr, mptr, t * 1000000.0f);
group-UVic-Assistive-Technolog 0:3a767f41cf04 84 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 85
group-UVic-Assistive-Technolog 0:3a767f41cf04 86 /** Attach a function to be called by the Ticker, specifiying the interval in micro-seconds
group-UVic-Assistive-Technolog 0:3a767f41cf04 87 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 88 * @param fptr pointer to the function to be called
group-UVic-Assistive-Technolog 0:3a767f41cf04 89 * @param t the time between calls in micro-seconds
group-UVic-Assistive-Technolog 0:3a767f41cf04 90 */
group-UVic-Assistive-Technolog 0:3a767f41cf04 91 void attach_us(void (*fptr)(void), timestamp_t t) {
group-UVic-Assistive-Technolog 0:3a767f41cf04 92 _function.attach(fptr);
group-UVic-Assistive-Technolog 0:3a767f41cf04 93 setup(t);
group-UVic-Assistive-Technolog 0:3a767f41cf04 94 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 95
group-UVic-Assistive-Technolog 0:3a767f41cf04 96 /** Attach a member function to be called by the Ticker, specifiying the interval in micro-seconds
group-UVic-Assistive-Technolog 0:3a767f41cf04 97 *
group-UVic-Assistive-Technolog 0:3a767f41cf04 98 * @param tptr pointer to the object to call the member function on
group-UVic-Assistive-Technolog 0:3a767f41cf04 99 * @param mptr pointer to the member function to be called
group-UVic-Assistive-Technolog 0:3a767f41cf04 100 * @param t the time between calls in micro-seconds
group-UVic-Assistive-Technolog 0:3a767f41cf04 101 */
group-UVic-Assistive-Technolog 0:3a767f41cf04 102 template<typename T>
group-UVic-Assistive-Technolog 0:3a767f41cf04 103 void attach_us(T* tptr, void (T::*mptr)(void), timestamp_t t) {
group-UVic-Assistive-Technolog 0:3a767f41cf04 104 _function.attach(tptr, mptr);
group-UVic-Assistive-Technolog 0:3a767f41cf04 105 setup(t);
group-UVic-Assistive-Technolog 0:3a767f41cf04 106 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 107
group-UVic-Assistive-Technolog 0:3a767f41cf04 108 virtual ~Ticker() {
group-UVic-Assistive-Technolog 0:3a767f41cf04 109 detach();
group-UVic-Assistive-Technolog 0:3a767f41cf04 110 }
group-UVic-Assistive-Technolog 0:3a767f41cf04 111
group-UVic-Assistive-Technolog 0:3a767f41cf04 112 /** Detach the function
group-UVic-Assistive-Technolog 0:3a767f41cf04 113 */
group-UVic-Assistive-Technolog 0:3a767f41cf04 114 void detach();
group-UVic-Assistive-Technolog 0:3a767f41cf04 115
group-UVic-Assistive-Technolog 0:3a767f41cf04 116 protected:
group-UVic-Assistive-Technolog 0:3a767f41cf04 117 void setup(timestamp_t t);
group-UVic-Assistive-Technolog 0:3a767f41cf04 118 virtual void handler();
group-UVic-Assistive-Technolog 0:3a767f41cf04 119
group-UVic-Assistive-Technolog 0:3a767f41cf04 120 protected:
group-UVic-Assistive-Technolog 0:3a767f41cf04 121 timestamp_t _delay; /**< Time delay (in microseconds) for re-setting the multi-shot callback. */
group-UVic-Assistive-Technolog 0:3a767f41cf04 122 FunctionPointer _function; /**< Callback. */
group-UVic-Assistive-Technolog 0:3a767f41cf04 123 };
group-UVic-Assistive-Technolog 0:3a767f41cf04 124
group-UVic-Assistive-Technolog 0:3a767f41cf04 125 } // namespace mbed
group-UVic-Assistive-Technolog 0:3a767f41cf04 126
group-UVic-Assistive-Technolog 0:3a767f41cf04 127 #endif