mbed library sources. Supersedes mbed-src.
Dependents: Hobbyking_Cheetah_Compact Hobbyking_Cheetah_Compact_DRV8323_14bit Hobbyking_Cheetah_Compact_DRV8323_V51_201907 HKC_MiniCheetah ... more
Fork of mbed-dev by
drivers/Ticker.h@181:36facd806e4a, 2018-07-30 (annotated)
- Committer:
- benkatz
- Date:
- Mon Jul 30 20:31:44 2018 +0000
- Revision:
- 181:36facd806e4a
- Parent:
- 175:af195413fb11
going on the robot. fixed a dumb bug in float_to_uint
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
<> | 149:156823d33999 | 1 | /* mbed Microcontroller Library |
<> | 149:156823d33999 | 2 | * Copyright (c) 2006-2013 ARM Limited |
<> | 149:156823d33999 | 3 | * |
<> | 149:156823d33999 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
<> | 149:156823d33999 | 5 | * you may not use this file except in compliance with the License. |
<> | 149:156823d33999 | 6 | * You may obtain a copy of the License at |
<> | 149:156823d33999 | 7 | * |
<> | 149:156823d33999 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
<> | 149:156823d33999 | 9 | * |
<> | 149:156823d33999 | 10 | * Unless required by applicable law or agreed to in writing, software |
<> | 149:156823d33999 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
<> | 149:156823d33999 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
<> | 149:156823d33999 | 13 | * See the License for the specific language governing permissions and |
<> | 149:156823d33999 | 14 | * limitations under the License. |
<> | 149:156823d33999 | 15 | */ |
<> | 149:156823d33999 | 16 | #ifndef MBED_TICKER_H |
<> | 149:156823d33999 | 17 | #define MBED_TICKER_H |
<> | 149:156823d33999 | 18 | |
<> | 149:156823d33999 | 19 | #include "drivers/TimerEvent.h" |
<> | 149:156823d33999 | 20 | #include "platform/Callback.h" |
<> | 160:d5399cc887bb | 21 | #include "platform/mbed_toolchain.h" |
AnnaBridge | 168:9672193075cf | 22 | #include "platform/NonCopyable.h" |
AnnaBridge | 174:b96e65c34a4d | 23 | #include "platform/mbed_sleep.h" |
AnnaBridge | 175:af195413fb11 | 24 | #include "hal/lp_ticker_api.h" |
AnnaBridge | 175:af195413fb11 | 25 | #include "platform/mbed_critical.h" |
<> | 149:156823d33999 | 26 | |
<> | 149:156823d33999 | 27 | namespace mbed { |
<> | 149:156823d33999 | 28 | /** \addtogroup drivers */ |
<> | 149:156823d33999 | 29 | |
<> | 149:156823d33999 | 30 | /** A Ticker is used to call a function at a recurring interval |
<> | 149:156823d33999 | 31 | * |
AnnaBridge | 175:af195413fb11 | 32 | * You can use as many separate Ticker objects as you require. |
<> | 149:156823d33999 | 33 | * |
AnnaBridge | 167:e84263d55307 | 34 | * @note Synchronization level: Interrupt safe |
<> | 149:156823d33999 | 35 | * |
<> | 149:156823d33999 | 36 | * Example: |
<> | 149:156823d33999 | 37 | * @code |
<> | 149:156823d33999 | 38 | * // Toggle the blinking led after 5 seconds |
<> | 149:156823d33999 | 39 | * |
<> | 149:156823d33999 | 40 | * #include "mbed.h" |
<> | 149:156823d33999 | 41 | * |
<> | 149:156823d33999 | 42 | * Ticker timer; |
<> | 149:156823d33999 | 43 | * DigitalOut led1(LED1); |
<> | 149:156823d33999 | 44 | * DigitalOut led2(LED2); |
<> | 149:156823d33999 | 45 | * |
<> | 149:156823d33999 | 46 | * int flip = 0; |
<> | 149:156823d33999 | 47 | * |
<> | 149:156823d33999 | 48 | * void attime() { |
<> | 149:156823d33999 | 49 | * flip = !flip; |
<> | 149:156823d33999 | 50 | * } |
<> | 149:156823d33999 | 51 | * |
<> | 149:156823d33999 | 52 | * int main() { |
<> | 149:156823d33999 | 53 | * timer.attach(&attime, 5); |
<> | 149:156823d33999 | 54 | * while(1) { |
<> | 149:156823d33999 | 55 | * if(flip == 0) { |
<> | 149:156823d33999 | 56 | * led1 = !led1; |
<> | 149:156823d33999 | 57 | * } else { |
<> | 149:156823d33999 | 58 | * led2 = !led2; |
<> | 149:156823d33999 | 59 | * } |
<> | 149:156823d33999 | 60 | * wait(0.2); |
<> | 149:156823d33999 | 61 | * } |
<> | 149:156823d33999 | 62 | * } |
<> | 149:156823d33999 | 63 | * @endcode |
AnnaBridge | 167:e84263d55307 | 64 | * @ingroup drivers |
<> | 149:156823d33999 | 65 | */ |
AnnaBridge | 168:9672193075cf | 66 | class Ticker : public TimerEvent, private NonCopyable<Ticker> { |
<> | 149:156823d33999 | 67 | |
<> | 149:156823d33999 | 68 | public: |
AnnaBridge | 175:af195413fb11 | 69 | Ticker() : TimerEvent(), _function(0), _lock_deepsleep(true) { |
<> | 149:156823d33999 | 70 | } |
<> | 149:156823d33999 | 71 | |
AnnaBridge | 175:af195413fb11 | 72 | // When low power ticker is in use, then do not disable deep-sleep. |
AnnaBridge | 175:af195413fb11 | 73 | Ticker(const ticker_data_t *data) : TimerEvent(data), _function(0), _lock_deepsleep(true) { |
<> | 149:156823d33999 | 74 | data->interface->init(); |
AnnaBridge | 175:af195413fb11 | 75 | #if DEVICE_LOWPOWERTIMER |
AnnaBridge | 175:af195413fb11 | 76 | _lock_deepsleep = (data != get_lp_ticker_data()); |
AnnaBridge | 175:af195413fb11 | 77 | #endif |
<> | 149:156823d33999 | 78 | } |
<> | 149:156823d33999 | 79 | |
AnnaBridge | 175:af195413fb11 | 80 | /** Attach a function to be called by the Ticker, specifying the interval in seconds |
<> | 149:156823d33999 | 81 | * |
<> | 149:156823d33999 | 82 | * @param func pointer to the function to be called |
<> | 149:156823d33999 | 83 | * @param t the time between calls in seconds |
<> | 149:156823d33999 | 84 | */ |
<> | 149:156823d33999 | 85 | void attach(Callback<void()> func, float t) { |
<> | 149:156823d33999 | 86 | attach_us(func, t * 1000000.0f); |
<> | 149:156823d33999 | 87 | } |
<> | 149:156823d33999 | 88 | |
AnnaBridge | 175:af195413fb11 | 89 | /** Attach a member function to be called by the Ticker, specifying the interval in seconds |
<> | 149:156823d33999 | 90 | * |
<> | 149:156823d33999 | 91 | * @param obj pointer to the object to call the member function on |
<> | 149:156823d33999 | 92 | * @param method pointer to the member function to be called |
<> | 149:156823d33999 | 93 | * @param t the time between calls in seconds |
<> | 149:156823d33999 | 94 | * @deprecated |
<> | 149:156823d33999 | 95 | * The attach function does not support cv-qualifiers. Replaced by |
<> | 149:156823d33999 | 96 | * attach(callback(obj, method), t). |
<> | 149:156823d33999 | 97 | */ |
<> | 149:156823d33999 | 98 | template<typename T, typename M> |
<> | 149:156823d33999 | 99 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
<> | 149:156823d33999 | 100 | "The attach function does not support cv-qualifiers. Replaced by " |
<> | 149:156823d33999 | 101 | "attach(callback(obj, method), t).") |
<> | 149:156823d33999 | 102 | void attach(T *obj, M method, float t) { |
<> | 149:156823d33999 | 103 | attach(callback(obj, method), t); |
<> | 149:156823d33999 | 104 | } |
<> | 149:156823d33999 | 105 | |
AnnaBridge | 175:af195413fb11 | 106 | /** Attach a function to be called by the Ticker, specifying the interval in micro-seconds |
<> | 149:156823d33999 | 107 | * |
AnnaBridge | 167:e84263d55307 | 108 | * @param func pointer to the function to be called |
<> | 149:156823d33999 | 109 | * @param t the time between calls in micro-seconds |
AnnaBridge | 175:af195413fb11 | 110 | * |
AnnaBridge | 175:af195413fb11 | 111 | * @note setting @a t to a value shorter that it takes to process the ticker callback |
AnnaBridge | 175:af195413fb11 | 112 | * will cause the system to hang. Ticker callback will be called constantly with no time |
AnnaBridge | 175:af195413fb11 | 113 | * for threads scheduling. |
AnnaBridge | 175:af195413fb11 | 114 | * |
<> | 149:156823d33999 | 115 | */ |
AnnaBridge | 167:e84263d55307 | 116 | void attach_us(Callback<void()> func, us_timestamp_t t) { |
AnnaBridge | 175:af195413fb11 | 117 | core_util_critical_section_enter(); |
AnnaBridge | 175:af195413fb11 | 118 | // lock only for the initial callback setup and this is not low power ticker |
AnnaBridge | 175:af195413fb11 | 119 | if(!_function && _lock_deepsleep) { |
AnnaBridge | 174:b96e65c34a4d | 120 | sleep_manager_lock_deep_sleep(); |
AnnaBridge | 174:b96e65c34a4d | 121 | } |
<> | 160:d5399cc887bb | 122 | _function = func; |
<> | 149:156823d33999 | 123 | setup(t); |
AnnaBridge | 175:af195413fb11 | 124 | core_util_critical_section_exit(); |
<> | 149:156823d33999 | 125 | } |
<> | 149:156823d33999 | 126 | |
AnnaBridge | 175:af195413fb11 | 127 | /** Attach a member function to be called by the Ticker, specifying the interval in micro-seconds |
<> | 149:156823d33999 | 128 | * |
AnnaBridge | 167:e84263d55307 | 129 | * @param obj pointer to the object to call the member function on |
AnnaBridge | 167:e84263d55307 | 130 | * @param method pointer to the member function to be called |
<> | 149:156823d33999 | 131 | * @param t the time between calls in micro-seconds |
<> | 149:156823d33999 | 132 | * @deprecated |
<> | 149:156823d33999 | 133 | * The attach_us function does not support cv-qualifiers. Replaced by |
<> | 149:156823d33999 | 134 | * attach_us(callback(obj, method), t). |
<> | 149:156823d33999 | 135 | */ |
<> | 149:156823d33999 | 136 | template<typename T, typename M> |
<> | 149:156823d33999 | 137 | MBED_DEPRECATED_SINCE("mbed-os-5.1", |
<> | 149:156823d33999 | 138 | "The attach_us function does not support cv-qualifiers. Replaced by " |
<> | 149:156823d33999 | 139 | "attach_us(callback(obj, method), t).") |
AnnaBridge | 167:e84263d55307 | 140 | void attach_us(T *obj, M method, us_timestamp_t t) { |
<> | 149:156823d33999 | 141 | attach_us(Callback<void()>(obj, method), t); |
<> | 149:156823d33999 | 142 | } |
<> | 149:156823d33999 | 143 | |
<> | 149:156823d33999 | 144 | virtual ~Ticker() { |
<> | 149:156823d33999 | 145 | detach(); |
<> | 149:156823d33999 | 146 | } |
<> | 149:156823d33999 | 147 | |
<> | 149:156823d33999 | 148 | /** Detach the function |
<> | 149:156823d33999 | 149 | */ |
<> | 149:156823d33999 | 150 | void detach(); |
<> | 149:156823d33999 | 151 | |
<> | 149:156823d33999 | 152 | protected: |
AnnaBridge | 167:e84263d55307 | 153 | void setup(us_timestamp_t t); |
<> | 149:156823d33999 | 154 | virtual void handler(); |
<> | 149:156823d33999 | 155 | |
<> | 149:156823d33999 | 156 | protected: |
AnnaBridge | 167:e84263d55307 | 157 | us_timestamp_t _delay; /**< Time delay (in microseconds) for re-setting the multi-shot callback. */ |
<> | 149:156823d33999 | 158 | Callback<void()> _function; /**< Callback. */ |
AnnaBridge | 175:af195413fb11 | 159 | bool _lock_deepsleep; /**< Flag which indicates if deep-sleep should be disabled. */ |
<> | 149:156823d33999 | 160 | }; |
<> | 149:156823d33999 | 161 | |
<> | 149:156823d33999 | 162 | } // namespace mbed |
<> | 149:156823d33999 | 163 | |
<> | 149:156823d33999 | 164 | #endif |