Nicolas Borla / Mbed OS ROME2_Robot_Firmware

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mbed-os/drivers/InterruptManager.h@3:6fe17b8a6d62, 2021-03-09 (annotated)

Committer:
boro
Date:
Tue Mar 09 13:10:40 2021 +0000
Revision:
3:6fe17b8a6d62
Parent:
0:4beb2ea291ec 
SDBlockDevice added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 0:4beb2ea291ec 1 /* mbed Microcontroller Library
boro 0:4beb2ea291ec 2 * Copyright (c) 2006-2013 ARM Limited
boro 0:4beb2ea291ec 3 *
boro 0:4beb2ea291ec 4 * Licensed under the Apache License, Version 2.0 (the "License");
boro 0:4beb2ea291ec 5 * you may not use this file except in compliance with the License.
boro 0:4beb2ea291ec 6 * You may obtain a copy of the License at
boro 0:4beb2ea291ec 7 *
boro 0:4beb2ea291ec 8 * http://www.apache.org/licenses/LICENSE-2.0
boro 0:4beb2ea291ec 9 *
boro 0:4beb2ea291ec 10 * Unless required by applicable law or agreed to in writing, software
boro 0:4beb2ea291ec 11 * distributed under the License is distributed on an "AS IS" BASIS,
boro 0:4beb2ea291ec 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
boro 0:4beb2ea291ec 13 * See the License for the specific language governing permissions and
boro 0:4beb2ea291ec 14 * limitations under the License.
boro 0:4beb2ea291ec 15 */
boro 0:4beb2ea291ec 16 #ifndef MBED_INTERRUPTMANAGER_H
boro 0:4beb2ea291ec 17 #define MBED_INTERRUPTMANAGER_H
boro 0:4beb2ea291ec 18
boro 0:4beb2ea291ec 19 #include "cmsis.h"
boro 0:4beb2ea291ec 20 #include "platform/CallChain.h"
boro 0:4beb2ea291ec 21 #include "platform/PlatformMutex.h"
boro 0:4beb2ea291ec 22 #include "platform/NonCopyable.h"
boro 0:4beb2ea291ec 23 #include <string.h>
boro 0:4beb2ea291ec 24
boro 0:4beb2ea291ec 25 namespace mbed {
boro 0:4beb2ea291ec 26 /** \addtogroup drivers */
boro 0:4beb2ea291ec 27
boro 0:4beb2ea291ec 28 /** Use this singleton if you need to chain interrupt handlers.
boro 0:4beb2ea291ec 29 *
boro 0:4beb2ea291ec 30 * @note Synchronization level: Thread safe
boro 0:4beb2ea291ec 31 *
boro 0:4beb2ea291ec 32 * Example (for LPC1768):
boro 0:4beb2ea291ec 33 * @code
boro 0:4beb2ea291ec 34 * #include "InterruptManager.h"
boro 0:4beb2ea291ec 35 * #include "mbed.h"
boro 0:4beb2ea291ec 36 *
boro 0:4beb2ea291ec 37 * Ticker flipper;
boro 0:4beb2ea291ec 38 * DigitalOut led1(LED1);
boro 0:4beb2ea291ec 39 * DigitalOut led2(LED2);
boro 0:4beb2ea291ec 40 *
boro 0:4beb2ea291ec 41 * void flip(void) {
boro 0:4beb2ea291ec 42 * led1 = !led1;
boro 0:4beb2ea291ec 43 * }
boro 0:4beb2ea291ec 44 *
boro 0:4beb2ea291ec 45 * void handler(void) {
boro 0:4beb2ea291ec 46 * led2 = !led1;
boro 0:4beb2ea291ec 47 * }
boro 0:4beb2ea291ec 48 *
boro 0:4beb2ea291ec 49 * int main() {
boro 0:4beb2ea291ec 50 * led1 = led2 = 0;
boro 0:4beb2ea291ec 51 * flipper.attach(&flip, 1.0);
boro 0:4beb2ea291ec 52 * InterruptManager::get()->add_handler(handler, TIMER3_IRQn);
boro 0:4beb2ea291ec 53 * }
boro 0:4beb2ea291ec 54 * @endcode
boro 0:4beb2ea291ec 55 * @ingroup drivers
boro 0:4beb2ea291ec 56 */
boro 0:4beb2ea291ec 57 class InterruptManager : private NonCopyable<InterruptManager> {
boro 0:4beb2ea291ec 58 public:
boro 0:4beb2ea291ec 59 /** Get the instance of InterruptManager Class
boro 0:4beb2ea291ec 60 *
boro 0:4beb2ea291ec 61 * @return the only instance of this class
boro 0:4beb2ea291ec 62 */
boro 0:4beb2ea291ec 63 MBED_DEPRECATED_SINCE("mbed-os-5.6", "This class is not part of the "
boro 0:4beb2ea291ec 64 "public API of mbed-os and is being removed in the future.")
boro 0:4beb2ea291ec 65 static InterruptManager* get();
boro 0:4beb2ea291ec 66
boro 0:4beb2ea291ec 67 /** Destroy the current instance of the interrupt manager
boro 0:4beb2ea291ec 68 */
boro 0:4beb2ea291ec 69 MBED_DEPRECATED_SINCE("mbed-os-5.6", "This class is not part of the "
boro 0:4beb2ea291ec 70 "public API of mbed-os and is being removed in the future.")
boro 0:4beb2ea291ec 71 static void destroy();
boro 0:4beb2ea291ec 72
boro 0:4beb2ea291ec 73 /** Add a handler for an interrupt at the end of the handler list
boro 0:4beb2ea291ec 74 *
boro 0:4beb2ea291ec 75 * @param function the handler to add
boro 0:4beb2ea291ec 76 * @param irq interrupt number
boro 0:4beb2ea291ec 77 *
boro 0:4beb2ea291ec 78 * @returns
boro 0:4beb2ea291ec 79 * The function object created for 'function'
boro 0:4beb2ea291ec 80 */
boro 0:4beb2ea291ec 81 MBED_DEPRECATED_SINCE("mbed-os-5.6", "This class is not part of the "
boro 0:4beb2ea291ec 82 "public API of mbed-os and is being removed in the future.")
boro 0:4beb2ea291ec 83 pFunctionPointer_t add_handler(void (*function)(void), IRQn_Type irq) {
boro 0:4beb2ea291ec 84 // Underlying call is thread safe
boro 0:4beb2ea291ec 85 return add_common(function, irq);
boro 0:4beb2ea291ec 86 }
boro 0:4beb2ea291ec 87
boro 0:4beb2ea291ec 88 /** Add a handler for an interrupt at the beginning of the handler list
boro 0:4beb2ea291ec 89 *
boro 0:4beb2ea291ec 90 * @param function the handler to add
boro 0:4beb2ea291ec 91 * @param irq interrupt number
boro 0:4beb2ea291ec 92 *
boro 0:4beb2ea291ec 93 * @returns
boro 0:4beb2ea291ec 94 * The function object created for 'function'
boro 0:4beb2ea291ec 95 */
boro 0:4beb2ea291ec 96 MBED_DEPRECATED_SINCE("mbed-os-5.6", "This class is not part of the "
boro 0:4beb2ea291ec 97 "public API of mbed-os and is being removed in the future.")
boro 0:4beb2ea291ec 98 pFunctionPointer_t add_handler_front(void (*function)(void), IRQn_Type irq) {
boro 0:4beb2ea291ec 99 // Underlying call is thread safe
boro 0:4beb2ea291ec 100 return add_common(function, irq, true);
boro 0:4beb2ea291ec 101 }
boro 0:4beb2ea291ec 102
boro 0:4beb2ea291ec 103 /** Add a handler for an interrupt at the end of the handler list
boro 0:4beb2ea291ec 104 *
boro 0:4beb2ea291ec 105 * @param tptr pointer to the object that has the handler function
boro 0:4beb2ea291ec 106 * @param mptr pointer to the actual handler function
boro 0:4beb2ea291ec 107 * @param irq interrupt number
boro 0:4beb2ea291ec 108 *
boro 0:4beb2ea291ec 109 * @returns
boro 0:4beb2ea291ec 110 * The function object created for 'tptr' and 'mptr'
boro 0:4beb2ea291ec 111 */
boro 0:4beb2ea291ec 112 template<typename T>
boro 0:4beb2ea291ec 113 MBED_DEPRECATED_SINCE("mbed-os-5.6", "This class is not part of the "
boro 0:4beb2ea291ec 114 "public API of mbed-os and is being removed in the future.")
boro 0:4beb2ea291ec 115 pFunctionPointer_t add_handler(T* tptr, void (T::*mptr)(void), IRQn_Type irq) {
boro 0:4beb2ea291ec 116 // Underlying call is thread safe
boro 0:4beb2ea291ec 117 return add_common(tptr, mptr, irq);
boro 0:4beb2ea291ec 118 }
boro 0:4beb2ea291ec 119
boro 0:4beb2ea291ec 120 /** Add a handler for an interrupt at the beginning of the handler list
boro 0:4beb2ea291ec 121 *
boro 0:4beb2ea291ec 122 * @param tptr pointer to the object that has the handler function
boro 0:4beb2ea291ec 123 * @param mptr pointer to the actual handler function
boro 0:4beb2ea291ec 124 * @param irq interrupt number
boro 0:4beb2ea291ec 125 *
boro 0:4beb2ea291ec 126 * @returns
boro 0:4beb2ea291ec 127 * The function object created for 'tptr' and 'mptr'
boro 0:4beb2ea291ec 128 */
boro 0:4beb2ea291ec 129 template<typename T>
boro 0:4beb2ea291ec 130 MBED_DEPRECATED_SINCE("mbed-os-5.6", "This class is not part of the "
boro 0:4beb2ea291ec 131 "public API of mbed-os and is being removed in the future.")
boro 0:4beb2ea291ec 132 pFunctionPointer_t add_handler_front(T* tptr, void (T::*mptr)(void), IRQn_Type irq) {
boro 0:4beb2ea291ec 133 // Underlying call is thread safe
boro 0:4beb2ea291ec 134 return add_common(tptr, mptr, irq, true);
boro 0:4beb2ea291ec 135 }
boro 0:4beb2ea291ec 136
boro 0:4beb2ea291ec 137 /** Remove a handler from an interrupt
boro 0:4beb2ea291ec 138 *
boro 0:4beb2ea291ec 139 * @param handler the function object for the handler to remove
boro 0:4beb2ea291ec 140 * @param irq the interrupt number
boro 0:4beb2ea291ec 141 *
boro 0:4beb2ea291ec 142 * @returns
boro 0:4beb2ea291ec 143 * true if the handler was found and removed, false otherwise
boro 0:4beb2ea291ec 144 */
boro 0:4beb2ea291ec 145 MBED_DEPRECATED_SINCE("mbed-os-5.6", "This class is not part of the "
boro 0:4beb2ea291ec 146 "public API of mbed-os and is being removed in the future.")
boro 0:4beb2ea291ec 147 bool remove_handler(pFunctionPointer_t handler, IRQn_Type irq);
boro 0:4beb2ea291ec 148
boro 0:4beb2ea291ec 149 private:
boro 0:4beb2ea291ec 150 InterruptManager();
boro 0:4beb2ea291ec 151 ~InterruptManager();
boro 0:4beb2ea291ec 152
boro 0:4beb2ea291ec 153 void lock();
boro 0:4beb2ea291ec 154 void unlock();
boro 0:4beb2ea291ec 155
boro 0:4beb2ea291ec 156 template<typename T>
boro 0:4beb2ea291ec 157 pFunctionPointer_t add_common(T *tptr, void (T::*mptr)(void), IRQn_Type irq, bool front=false) {
boro 0:4beb2ea291ec 158 _mutex.lock();
boro 0:4beb2ea291ec 159 int irq_pos = get_irq_index(irq);
boro 0:4beb2ea291ec 160 bool change = must_replace_vector(irq);
boro 0:4beb2ea291ec 161
boro 0:4beb2ea291ec 162 pFunctionPointer_t pf = front ? _chains[irq_pos]->add_front(tptr, mptr) : _chains[irq_pos]->add(tptr, mptr);
boro 0:4beb2ea291ec 163 if (change)
boro 0:4beb2ea291ec 164 NVIC_SetVector(irq, (uint32_t)&InterruptManager::static_irq_helper);
boro 0:4beb2ea291ec 165 _mutex.unlock();
boro 0:4beb2ea291ec 166 return pf;
boro 0:4beb2ea291ec 167 }
boro 0:4beb2ea291ec 168
boro 0:4beb2ea291ec 169 pFunctionPointer_t add_common(void (*function)(void), IRQn_Type irq, bool front=false);
boro 0:4beb2ea291ec 170 bool must_replace_vector(IRQn_Type irq);
boro 0:4beb2ea291ec 171 int get_irq_index(IRQn_Type irq);
boro 0:4beb2ea291ec 172 void irq_helper();
boro 0:4beb2ea291ec 173 void add_helper(void (*function)(void), IRQn_Type irq, bool front=false);
boro 0:4beb2ea291ec 174 static void static_irq_helper();
boro 0:4beb2ea291ec 175
boro 0:4beb2ea291ec 176 CallChain* _chains[NVIC_NUM_VECTORS];
boro 0:4beb2ea291ec 177 static InterruptManager* _instance;
boro 0:4beb2ea291ec 178 PlatformMutex _mutex;
boro 0:4beb2ea291ec 179 };
boro 0:4beb2ea291ec 180
boro 0:4beb2ea291ec 181 } // namespace mbed
boro 0:4beb2ea291ec 182
boro 0:4beb2ea291ec 183 #endif