Biomimetics MBED Library w/ Added Support for CAN3
Dependents: CAN_TEST SPIne_Plus_DYNO_SENSORS SPIne_Plus_v2 SPIne_Plus_Dyno_v2
hal/ticker_api.h
- Committer:
- adimmit
- Date:
- 2021-03-09
- Revision:
- 3:993b4d6ff61e
- Parent:
- 0:083111ae2a11
File content as of revision 3:993b4d6ff61e:
/** \addtogroup hal */ /** @{*/ /* mbed Microcontroller Library * Copyright (c) 2015 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_TICKER_API_H #define MBED_TICKER_API_H #include <stdint.h> #include <stdbool.h> #include "device.h" /** * Maximum delta (in us) between too interrupts. */ #define MBED_TICKER_INTERRUPT_TIMESTAMP_MAX_DELTA 0x70000000ULL /** * Legacy format representing a timestamp in us. * Given it is modeled as a 32 bit integer, this type can represent timestamp * up to 4294 seconds (71 minutes). * Prefer using us_timestamp_t which store timestamp as 64 bits integer. */ typedef uint32_t timestamp_t; /** * A us timestamp stored in a 64 bit integer. * Can store timestamp up to 584810 years. */ typedef uint64_t us_timestamp_t; /** Ticker's event structure */ typedef struct ticker_event_s { us_timestamp_t timestamp; /**< Event's timestamp */ uint32_t id; /**< TimerEvent object */ struct ticker_event_s *next; /**< Next event in the queue */ } ticker_event_t; typedef void (*ticker_event_handler)(uint32_t id); /** Ticker's interface structure - required API for a ticker */ typedef struct { void (*init)(void); /**< Init function */ uint32_t (*read)(void); /**< Read function */ void (*disable_interrupt)(void); /**< Disable interrupt function */ void (*clear_interrupt)(void); /**< Clear interrupt function */ void (*set_interrupt)(timestamp_t timestamp); /**< Set interrupt function */ void (*fire_interrupt)(void); /**< Fire interrupt right-away */ } ticker_interface_t; /** Ticker's event queue structure */ typedef struct { ticker_event_handler event_handler; /**< Event handler */ ticker_event_t *head; /**< A pointer to head */ us_timestamp_t present_time; /**< Store the timestamp used for present time */ bool initialized; /**< Indicate if the instance is initialized */ } ticker_event_queue_t; /** Ticker's data structure */ typedef struct { const ticker_interface_t *interface; /**< Ticker's interface */ ticker_event_queue_t *queue; /**< Ticker's event queue */ } ticker_data_t; #ifdef __cplusplus extern "C" { #endif /** * \defgroup hal_ticker Ticker HAL functions * @{ */ /** Initialize a ticker and set the event handler * * @param ticker The ticker object. * @param handler A handler to be set */ void ticker_set_handler(const ticker_data_t *const ticker, ticker_event_handler handler); /** IRQ handler that goes through the events to trigger overdue events. * * @param ticker The ticker object. */ void ticker_irq_handler(const ticker_data_t *const ticker); /** Remove an event from the queue * * @param ticker The ticker object. * @param obj The event object to be removed from the queue */ void ticker_remove_event(const ticker_data_t *const ticker, ticker_event_t *obj); /** Insert an event to the queue * * The event will be executed in timestamp - ticker_read(). * * @warning This function does not consider timestamp in the past. If an event * is inserted with a timestamp less than the current timestamp then the event * will be executed in timestamp - ticker_read() us. * The internal counter wrap very quickly it is hard to decide weither an * event is in the past or in 1 hour. * * @note prefer the use of ticker_insert_event_us which allows registration of * absolute timestamp. * * @param ticker The ticker object. * @param obj The event object to be inserted to the queue * @param timestamp The event's timestamp * @param id The event object */ void ticker_insert_event(const ticker_data_t *const ticker, ticker_event_t *obj, timestamp_t timestamp, uint32_t id); /** Insert an event to the queue * * The event will be executed in timestamp - ticker_read_us() us. * * @warning If an event is inserted with a timestamp less than the current * timestamp then the event will **not** be inserted. * * @param ticker The ticker object. * @param obj The event object to be inserted to the queue * @param timestamp The event's timestamp * @param id The event object */ void ticker_insert_event_us(const ticker_data_t *const ticker, ticker_event_t *obj, us_timestamp_t timestamp, uint32_t id); /** Read the current (relative) ticker's timestamp * * @warning Return a relative timestamp because the counter wrap every 4294 * seconds. * * @param ticker The ticker object. * @return The current timestamp */ timestamp_t ticker_read(const ticker_data_t *const ticker); /** Read the current (absolute) ticker's timestamp * * @warning Return an absolute timestamp counting from the initialization of the * ticker. * * @param ticker The ticker object. * @return The current timestamp */ us_timestamp_t ticker_read_us(const ticker_data_t *const ticker); /** Read the next event's timestamp * * @param ticker The ticker object. * @param timestamp The timestamp object. * @return 1 if timestamp is pending event, 0 if there's no event pending */ int ticker_get_next_timestamp(const ticker_data_t *const ticker, timestamp_t *timestamp); /**@}*/ #ifdef __cplusplus } #endif #endif /** @}*/