inport from local
Dependents: Hobbyking_Cheetah_0511
drivers/Ticker.h@0:85b3fd62ea1a, 2020-03-16 (annotated)
- Committer:
- NYX
- Date:
- Mon Mar 16 06:35:48 2020 +0000
- Revision:
- 0:85b3fd62ea1a
reinport to mbed;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NYX | 0:85b3fd62ea1a | 1 | /* mbed Microcontroller Library |
NYX | 0:85b3fd62ea1a | 2 | * Copyright (c) 2006-2013 ARM Limited |
NYX | 0:85b3fd62ea1a | 3 | * |
NYX | 0:85b3fd62ea1a | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
NYX | 0:85b3fd62ea1a | 5 | * you may not use this file except in compliance with the License. |
NYX | 0:85b3fd62ea1a | 6 | * You may obtain a copy of the License at |
NYX | 0:85b3fd62ea1a | 7 | * |
NYX | 0:85b3fd62ea1a | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
NYX | 0:85b3fd62ea1a | 9 | * |
NYX | 0:85b3fd62ea1a | 10 | * Unless required by applicable law or agreed to in writing, software |
NYX | 0:85b3fd62ea1a | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
NYX | 0:85b3fd62ea1a | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
NYX | 0:85b3fd62ea1a | 13 | * See the License for the specific language governing permissions and |
NYX | 0:85b3fd62ea1a | 14 | * limitations under the License. |
NYX | 0:85b3fd62ea1a | 15 | */ |
NYX | 0:85b3fd62ea1a | 16 | #ifndef MBED_TICKER_H |
NYX | 0:85b3fd62ea1a | 17 | #define MBED_TICKER_H |
NYX | 0:85b3fd62ea1a | 18 | |
NYX | 0:85b3fd62ea1a | 19 | #include "drivers/TimerEvent.h" |
NYX | 0:85b3fd62ea1a | 20 | #include "platform/Callback.h" |
NYX | 0:85b3fd62ea1a | 21 | #include "platform/mbed_toolchain.h" |
NYX | 0:85b3fd62ea1a | 22 | #include "platform/NonCopyable.h" |
NYX | 0:85b3fd62ea1a | 23 | #include "platform/mbed_sleep.h" |
NYX | 0:85b3fd62ea1a | 24 | #include "hal/lp_ticker_api.h" |
NYX | 0:85b3fd62ea1a | 25 | #include "platform/mbed_critical.h" |
NYX | 0:85b3fd62ea1a | 26 | |
NYX | 0:85b3fd62ea1a | 27 | namespace mbed { |
NYX | 0:85b3fd62ea1a | 28 | /** \addtogroup drivers */ |
NYX | 0:85b3fd62ea1a | 29 | |
NYX | 0:85b3fd62ea1a | 30 | /** A Ticker is used to call a function at a recurring interval |
NYX | 0:85b3fd62ea1a | 31 | * |
NYX | 0:85b3fd62ea1a | 32 | * You can use as many separate Ticker objects as you require. |
NYX | 0:85b3fd62ea1a | 33 | * |
NYX | 0:85b3fd62ea1a | 34 | * @note Synchronization level: Interrupt safe |
NYX | 0:85b3fd62ea1a | 35 | * |
NYX | 0:85b3fd62ea1a | 36 | * Example: |
NYX | 0:85b3fd62ea1a | 37 | * @code |
NYX | 0:85b3fd62ea1a | 38 | * // Toggle the blinking led after 5 seconds |
NYX | 0:85b3fd62ea1a | 39 | * |
NYX | 0:85b3fd62ea1a | 40 | * #include "mbed.h" |
NYX | 0:85b3fd62ea1a | 41 | * |
NYX | 0:85b3fd62ea1a | 42 | * Ticker timer; |
NYX | 0:85b3fd62ea1a | 43 | * DigitalOut led1(LED1); |
NYX | 0:85b3fd62ea1a | 44 | * DigitalOut led2(LED2); |
NYX | 0:85b3fd62ea1a | 45 | * |
NYX | 0:85b3fd62ea1a | 46 | * int flip = 0; |
NYX | 0:85b3fd62ea1a | 47 | * |
NYX | 0:85b3fd62ea1a | 48 | * void attime() { |
NYX | 0:85b3fd62ea1a | 49 | * flip = !flip; |
NYX | 0:85b3fd62ea1a | 50 | * } |
NYX | 0:85b3fd62ea1a | 51 | * |
NYX | 0:85b3fd62ea1a | 52 | * int main() { |
NYX | 0:85b3fd62ea1a | 53 | * timer.attach(&attime, 5); |
NYX | 0:85b3fd62ea1a | 54 | * while(1) { |
NYX | 0:85b3fd62ea1a | 55 | * if(flip == 0) { |
NYX | 0:85b3fd62ea1a | 56 | * led1 = !led1; |
NYX | 0:85b3fd62ea1a | 57 | * } else { |
NYX | 0:85b3fd62ea1a | 58 | * led2 = !led2; |
NYX | 0:85b3fd62ea1a | 59 | * } |
NYX | 0:85b3fd62ea1a | 60 | * wait(0.2); |
NYX | 0:85b3fd62ea1a | 61 | * } |
NYX | 0:85b3fd62ea1a | 62 | * } |
NYX | 0:85b3fd62ea1a | 63 | * @endcode |
NYX | 0:85b3fd62ea1a | 64 | * @ingroup drivers |
NYX | 0:85b3fd62ea1a | 65 | */ |
NYX | 0:85b3fd62ea1a | 66 | class Ticker : public TimerEvent, private NonCopyable<Ticker> { |
NYX | 0:85b3fd62ea1a | 67 | |
NYX | 0:85b3fd62ea1a | 68 | public: |
NYX | 0:85b3fd62ea1a | 69 | Ticker() : TimerEvent(), _function(0), _lock_deepsleep(true) { |
NYX | 0:85b3fd62ea1a | 70 | } |
NYX | 0:85b3fd62ea1a | 71 | |
NYX | 0:85b3fd62ea1a | 72 | // When low power ticker is in use, then do not disable deep-sleep. |
NYX | 0:85b3fd62ea1a | 73 | Ticker(const ticker_data_t *data) : TimerEvent(data), _function(0), _lock_deepsleep(true) { |
NYX | 0:85b3fd62ea1a | 74 | data->interface->init(); |
NYX | 0:85b3fd62ea1a | 75 | #if DEVICE_LOWPOWERTIMER |
NYX | 0:85b3fd62ea1a | 76 | _lock_deepsleep = (data != get_lp_ticker_data()); |
NYX | 0:85b3fd62ea1a | 77 | #endif |
NYX | 0:85b3fd62ea1a | 78 | } |
NYX | 0:85b3fd62ea1a | 79 | |
NYX | 0:85b3fd62ea1a | 80 | /** Attach a function to be called by the Ticker, specifying the interval in seconds |
NYX | 0:85b3fd62ea1a | 81 | * |
NYX | 0:85b3fd62ea1a | 82 | * @param func pointer to the function to be called |
NYX | 0:85b3fd62ea1a | 83 | * @param t the time between calls in seconds |
NYX | 0:85b3fd62ea1a | 84 | */ |
NYX | 0:85b3fd62ea1a | 85 | void attach(Callback<void()> func, float t) { |
NYX | 0:85b3fd62ea1a | 86 | attach_us(func, t * 1000000.0f); |
NYX | 0:85b3fd62ea1a | 87 | } |
NYX | 0:85b3fd62ea1a | 88 | |
NYX | 0:85b3fd62ea1a | 89 | /** Attach a member function to be called by the Ticker, specifying the interval in seconds |
NYX | 0:85b3fd62ea1a | 90 | * |
NYX | 0:85b3fd62ea1a | 91 | * @param obj pointer to the object to call the member function on |
NYX | 0:85b3fd62ea1a | 92 | * @param method pointer to the member function to be called |
NYX | 0:85b3fd62ea1a | 93 | * @param t the time between calls in seconds |
NYX | 0:85b3fd62ea1a | 94 | * @deprecated |
NYX | 0:85b3fd62ea1a | 95 | * The attach function does not support cv-qualifiers. Replaced by |
NYX | 0:85b3fd62ea1a | 96 | * attach(callback(obj, method), t). |
NYX | 0:85b3fd62ea1a | 97 | */ |
NYX | 0:85b3fd62ea1a | 98 | template<typename T, typename M> |
NYX | 0:85b3fd62ea1a | 99 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
NYX | 0:85b3fd62ea1a | 100 | "The attach function does not support cv-qualifiers. Replaced by " |
NYX | 0:85b3fd62ea1a | 101 | "attach(callback(obj, method), t).") |
NYX | 0:85b3fd62ea1a | 102 | void attach(T *obj, M method, float t) { |
NYX | 0:85b3fd62ea1a | 103 | attach(callback(obj, method), t); |
NYX | 0:85b3fd62ea1a | 104 | } |
NYX | 0:85b3fd62ea1a | 105 | |
NYX | 0:85b3fd62ea1a | 106 | /** Attach a function to be called by the Ticker, specifying the interval in micro-seconds |
NYX | 0:85b3fd62ea1a | 107 | * |
NYX | 0:85b3fd62ea1a | 108 | * @param func pointer to the function to be called |
NYX | 0:85b3fd62ea1a | 109 | * @param t the time between calls in micro-seconds |
NYX | 0:85b3fd62ea1a | 110 | * |
NYX | 0:85b3fd62ea1a | 111 | * @note setting @a t to a value shorter that it takes to process the ticker callback |
NYX | 0:85b3fd62ea1a | 112 | * will cause the system to hang. Ticker callback will be called constantly with no time |
NYX | 0:85b3fd62ea1a | 113 | * for threads scheduling. |
NYX | 0:85b3fd62ea1a | 114 | * |
NYX | 0:85b3fd62ea1a | 115 | */ |
NYX | 0:85b3fd62ea1a | 116 | void attach_us(Callback<void()> func, us_timestamp_t t) { |
NYX | 0:85b3fd62ea1a | 117 | core_util_critical_section_enter(); |
NYX | 0:85b3fd62ea1a | 118 | // lock only for the initial callback setup and this is not low power ticker |
NYX | 0:85b3fd62ea1a | 119 | if(!_function && _lock_deepsleep) { |
NYX | 0:85b3fd62ea1a | 120 | sleep_manager_lock_deep_sleep(); |
NYX | 0:85b3fd62ea1a | 121 | } |
NYX | 0:85b3fd62ea1a | 122 | _function = func; |
NYX | 0:85b3fd62ea1a | 123 | setup(t); |
NYX | 0:85b3fd62ea1a | 124 | core_util_critical_section_exit(); |
NYX | 0:85b3fd62ea1a | 125 | } |
NYX | 0:85b3fd62ea1a | 126 | |
NYX | 0:85b3fd62ea1a | 127 | /** Attach a member function to be called by the Ticker, specifying the interval in micro-seconds |
NYX | 0:85b3fd62ea1a | 128 | * |
NYX | 0:85b3fd62ea1a | 129 | * @param obj pointer to the object to call the member function on |
NYX | 0:85b3fd62ea1a | 130 | * @param method pointer to the member function to be called |
NYX | 0:85b3fd62ea1a | 131 | * @param t the time between calls in micro-seconds |
NYX | 0:85b3fd62ea1a | 132 | * @deprecated |
NYX | 0:85b3fd62ea1a | 133 | * The attach_us function does not support cv-qualifiers. Replaced by |
NYX | 0:85b3fd62ea1a | 134 | * attach_us(callback(obj, method), t). |
NYX | 0:85b3fd62ea1a | 135 | */ |
NYX | 0:85b3fd62ea1a | 136 | template<typename T, typename M> |
NYX | 0:85b3fd62ea1a | 137 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
NYX | 0:85b3fd62ea1a | 138 | "The attach_us function does not support cv-qualifiers. Replaced by " |
NYX | 0:85b3fd62ea1a | 139 | "attach_us(callback(obj, method), t).") |
NYX | 0:85b3fd62ea1a | 140 | void attach_us(T *obj, M method, us_timestamp_t t) { |
NYX | 0:85b3fd62ea1a | 141 | attach_us(Callback<void()>(obj, method), t); |
NYX | 0:85b3fd62ea1a | 142 | } |
NYX | 0:85b3fd62ea1a | 143 | |
NYX | 0:85b3fd62ea1a | 144 | virtual ~Ticker() { |
NYX | 0:85b3fd62ea1a | 145 | detach(); |
NYX | 0:85b3fd62ea1a | 146 | } |
NYX | 0:85b3fd62ea1a | 147 | |
NYX | 0:85b3fd62ea1a | 148 | /** Detach the function |
NYX | 0:85b3fd62ea1a | 149 | */ |
NYX | 0:85b3fd62ea1a | 150 | void detach(); |
NYX | 0:85b3fd62ea1a | 151 | |
NYX | 0:85b3fd62ea1a | 152 | protected: |
NYX | 0:85b3fd62ea1a | 153 | void setup(us_timestamp_t t); |
NYX | 0:85b3fd62ea1a | 154 | virtual void handler(); |
NYX | 0:85b3fd62ea1a | 155 | |
NYX | 0:85b3fd62ea1a | 156 | protected: |
NYX | 0:85b3fd62ea1a | 157 | us_timestamp_t _delay; /**< Time delay (in microseconds) for re-setting the multi-shot callback. */ |
NYX | 0:85b3fd62ea1a | 158 | Callback<void()> _function; /**< Callback. */ |
NYX | 0:85b3fd62ea1a | 159 | bool _lock_deepsleep; /**< Flag which indicates if deep-sleep should be disabled. */ |
NYX | 0:85b3fd62ea1a | 160 | }; |
NYX | 0:85b3fd62ea1a | 161 | |
NYX | 0:85b3fd62ea1a | 162 | } // namespace mbed |
NYX | 0:85b3fd62ea1a | 163 | |
NYX | 0:85b3fd62ea1a | 164 | #endif |