Nicolas Borla / Mbed OS ROME2_Robot_Firmware

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mbed-os/rtos/RtosTimer.h@0:4beb2ea291ec, 2020-03-16 (annotated)

Committer:
boro
Date:
Mon Mar 16 13:12:31 2020 +0000
Revision:
0:4beb2ea291ec
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 0:4beb2ea291ec 1 /* mbed Microcontroller Library
boro 0:4beb2ea291ec 2 * Copyright (c) 2006-2012 ARM Limited
boro 0:4beb2ea291ec 3 *
boro 0:4beb2ea291ec 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
boro 0:4beb2ea291ec 5 * of this software and associated documentation files (the "Software"), to deal
boro 0:4beb2ea291ec 6 * in the Software without restriction, including without limitation the rights
boro 0:4beb2ea291ec 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
boro 0:4beb2ea291ec 8 * copies of the Software, and to permit persons to whom the Software is
boro 0:4beb2ea291ec 9 * furnished to do so, subject to the following conditions:
boro 0:4beb2ea291ec 10 *
boro 0:4beb2ea291ec 11 * The above copyright notice and this permission notice shall be included in
boro 0:4beb2ea291ec 12 * all copies or substantial portions of the Software.
boro 0:4beb2ea291ec 13 *
boro 0:4beb2ea291ec 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
boro 0:4beb2ea291ec 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
boro 0:4beb2ea291ec 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
boro 0:4beb2ea291ec 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
boro 0:4beb2ea291ec 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
boro 0:4beb2ea291ec 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
boro 0:4beb2ea291ec 20 * SOFTWARE.
boro 0:4beb2ea291ec 21 */
boro 0:4beb2ea291ec 22 #ifndef RTOS_TIMER_H
boro 0:4beb2ea291ec 23 #define RTOS_TIMER_H
boro 0:4beb2ea291ec 24
boro 0:4beb2ea291ec 25 #include <stdint.h>
boro 0:4beb2ea291ec 26 #include "cmsis_os2.h"
boro 0:4beb2ea291ec 27 #include "mbed_rtos_storage.h"
boro 0:4beb2ea291ec 28 #include "platform/Callback.h"
boro 0:4beb2ea291ec 29 #include "platform/NonCopyable.h"
boro 0:4beb2ea291ec 30 #include "platform/mbed_toolchain.h"
boro 0:4beb2ea291ec 31 #include "mbed_rtos1_types.h"
boro 0:4beb2ea291ec 32
boro 0:4beb2ea291ec 33 namespace rtos {
boro 0:4beb2ea291ec 34 /** \addtogroup rtos */
boro 0:4beb2ea291ec 35 /** @{*/
boro 0:4beb2ea291ec 36 /**
boro 0:4beb2ea291ec 37 * \defgroup rtos_RtosTimer RtosTimer class
boro 0:4beb2ea291ec 38 * @{
boro 0:4beb2ea291ec 39 */
boro 0:4beb2ea291ec 40
boro 0:4beb2ea291ec 41 /** The RtosTimer class allow creating and and controlling of timer functions in the system.
boro 0:4beb2ea291ec 42 A timer function is called when a time period expires whereby both on-shot and
boro 0:4beb2ea291ec 43 periodic timers are possible. A timer can be started, restarted, or stopped.
boro 0:4beb2ea291ec 44
boro 0:4beb2ea291ec 45 Timers are handled in the thread osTimerThread.
boro 0:4beb2ea291ec 46 Callback functions run under control of this thread and may use CMSIS-RTOS API calls.
boro 0:4beb2ea291ec 47
boro 0:4beb2ea291ec 48 @deprecated
boro 0:4beb2ea291ec 49 The RtosTimer has been superseded by the EventQueue. The RtosTimer and EventQueue duplicate
boro 0:4beb2ea291ec 50 the functionality of timing events outside of interrupt context, however the EventQueue
boro 0:4beb2ea291ec 51 has additional features to handle deferring other events to multiple contexts.
boro 0:4beb2ea291ec 52
boro 0:4beb2ea291ec 53 For an example, the following code shows a simple use of the RtosTimer:
boro 0:4beb2ea291ec 54 @code
boro 0:4beb2ea291ec 55 DigitalOut led(LED1);
boro 0:4beb2ea291ec 56 void blink() {
boro 0:4beb2ea291ec 57 led = !led;
boro 0:4beb2ea291ec 58 }
boro 0:4beb2ea291ec 59
boro 0:4beb2ea291ec 60 RtosTimer timer(&blink);
boro 0:4beb2ea291ec 61 int main() {
boro 0:4beb2ea291ec 62 timer.start(1000); // call blink every 1s
boro 0:4beb2ea291ec 63 wait_ms(5000);
boro 0:4beb2ea291ec 64 timer.stop(); // stop after 5s
boro 0:4beb2ea291ec 65 }
boro 0:4beb2ea291ec 66 @endcode
boro 0:4beb2ea291ec 67
boro 0:4beb2ea291ec 68 This is the above example rewritten to use the EventQueue:
boro 0:4beb2ea291ec 69 @code
boro 0:4beb2ea291ec 70 DigitalOut led(LED1);
boro 0:4beb2ea291ec 71 void blink() {
boro 0:4beb2ea291ec 72 led = !led;
boro 0:4beb2ea291ec 73 }
boro 0:4beb2ea291ec 74
boro 0:4beb2ea291ec 75 EventQueue queue(4*EVENTS_EVENT_SIZE);
boro 0:4beb2ea291ec 76 int main() {
boro 0:4beb2ea291ec 77 int blink_id = queue.call_every(1000, &blink); // call blink every 1s
boro 0:4beb2ea291ec 78 queue.dispatch(5000);
boro 0:4beb2ea291ec 79 queue.cancel(blink_id); // stop after 5s
boro 0:4beb2ea291ec 80 }
boro 0:4beb2ea291ec 81 @endcode
boro 0:4beb2ea291ec 82
boro 0:4beb2ea291ec 83 @note
boro 0:4beb2ea291ec 84 Memory considerations: The timer control structures will be created on current thread's stack, both for the mbed OS
boro 0:4beb2ea291ec 85 and underlying RTOS objects (static or dynamic RTOS memory pools are not being used).
boro 0:4beb2ea291ec 86 */
boro 0:4beb2ea291ec 87 class RtosTimer : private mbed::NonCopyable<RtosTimer> {
boro 0:4beb2ea291ec 88 public:
boro 0:4beb2ea291ec 89 /** Create timer.
boro 0:4beb2ea291ec 90 @param func function to be executed by this timer.
boro 0:4beb2ea291ec 91 @param type osTimerOnce for one-shot or osTimerPeriodic for periodic behaviour. (default: osTimerPeriodic)
boro 0:4beb2ea291ec 92 @param argument argument to the timer call back function. (default: NULL)
boro 0:4beb2ea291ec 93 @deprecated Replaced with RtosTimer(Callback<void()>, os_timer_type)
boro 0:4beb2ea291ec 94 @deprecated
boro 0:4beb2ea291ec 95 The RtosTimer has been superseded by the EventQueue. See RtosTimer.h for more details
boro 0:4beb2ea291ec 96 */
boro 0:4beb2ea291ec 97 MBED_DEPRECATED_SINCE("mbed-os-5.1",
boro 0:4beb2ea291ec 98 "Replaced with RtosTimer(Callback<void()>, os_timer_type)")
boro 0:4beb2ea291ec 99 MBED_DEPRECATED_SINCE("mbed-os-5.2",
boro 0:4beb2ea291ec 100 "The RtosTimer has been superseded by the EventQueue. See RtosTimer.h for more details")
boro 0:4beb2ea291ec 101 RtosTimer(void (*func)(void const *argument), os_timer_type type=osTimerPeriodic, void *argument=NULL) {
boro 0:4beb2ea291ec 102 constructor(mbed::callback((void (*)(void *))func, argument), type);
boro 0:4beb2ea291ec 103 }
boro 0:4beb2ea291ec 104
boro 0:4beb2ea291ec 105 /** Create timer.
boro 0:4beb2ea291ec 106 @param func function to be executed by this timer.
boro 0:4beb2ea291ec 107 @param type osTimerOnce for one-shot or osTimerPeriodic for periodic behaviour. (default: osTimerPeriodic)
boro 0:4beb2ea291ec 108 @deprecated
boro 0:4beb2ea291ec 109 The RtosTimer has been superseded by the EventQueue. See RtosTimer.h for more details
boro 0:4beb2ea291ec 110 */
boro 0:4beb2ea291ec 111 MBED_DEPRECATED_SINCE("mbed-os-5.2",
boro 0:4beb2ea291ec 112 "The RtosTimer has been superseded by the EventQueue. See RtosTimer.h for more details")
boro 0:4beb2ea291ec 113 RtosTimer(mbed::Callback<void()> func, os_timer_type type=osTimerPeriodic) {
boro 0:4beb2ea291ec 114 constructor(func, type);
boro 0:4beb2ea291ec 115 }
boro 0:4beb2ea291ec 116
boro 0:4beb2ea291ec 117 /** Create timer.
boro 0:4beb2ea291ec 118 @param obj pointer to the object to call the member function on.
boro 0:4beb2ea291ec 119 @param method member function to be executed by this timer.
boro 0:4beb2ea291ec 120 @param type osTimerOnce for one-shot or osTimerPeriodic for periodic behaviour. (default: osTimerPeriodic)
boro 0:4beb2ea291ec 121 @deprecated
boro 0:4beb2ea291ec 122 The RtosTimer constructor does not support cv-qualifiers. Replaced by
boro 0:4beb2ea291ec 123 RtosTimer(callback(obj, method), os_timer_type).
boro 0:4beb2ea291ec 124 @deprecated
boro 0:4beb2ea291ec 125 The RtosTimer has been superseded by the EventQueue. See RtosTimer.h for more details
boro 0:4beb2ea291ec 126 */
boro 0:4beb2ea291ec 127 template <typename T, typename M>
boro 0:4beb2ea291ec 128 MBED_DEPRECATED_SINCE("mbed-os-5.1",
boro 0:4beb2ea291ec 129 "The RtosTimer constructor does not support cv-qualifiers. Replaced by "
boro 0:4beb2ea291ec 130 "RtosTimer(callback(obj, method), os_timer_type).")
boro 0:4beb2ea291ec 131 MBED_DEPRECATED_SINCE("mbed-os-5.2",
boro 0:4beb2ea291ec 132 "The RtosTimer has been superseded by the EventQueue. See RtosTimer.h for more details")
boro 0:4beb2ea291ec 133 RtosTimer(T *obj, M method, os_timer_type type=osTimerPeriodic) {
boro 0:4beb2ea291ec 134 constructor(mbed::callback(obj, method), type);
boro 0:4beb2ea291ec 135 }
boro 0:4beb2ea291ec 136
boro 0:4beb2ea291ec 137 /** Stop the timer.
boro 0:4beb2ea291ec 138 @return status code that indicates the execution status of the function:
boro 0:4beb2ea291ec 139 @a osOK the timer has been stopped.
boro 0:4beb2ea291ec 140 @a osErrorISR @a stop cannot be called from interrupt service routines.
boro 0:4beb2ea291ec 141 @a osErrorParameter internal error.
boro 0:4beb2ea291ec 142 @a osErrorResource the timer is not running.
boro 0:4beb2ea291ec 143 */
boro 0:4beb2ea291ec 144 osStatus stop(void);
boro 0:4beb2ea291ec 145
boro 0:4beb2ea291ec 146 /** Start or restart the timer.
boro 0:4beb2ea291ec 147 @param millisec non-zero value of the timer.
boro 0:4beb2ea291ec 148 @return status code that indicates the execution status of the function:
boro 0:4beb2ea291ec 149 @a osOK the timer has been started or restarted.
boro 0:4beb2ea291ec 150 @a osErrorISR @a start cannot be called from interrupt service routines.
boro 0:4beb2ea291ec 151 @a osErrorParameter internal error or incorrect parameter value.
boro 0:4beb2ea291ec 152 @a osErrorResource internal error (the timer is in an invalid timer state).
boro 0:4beb2ea291ec 153 */
boro 0:4beb2ea291ec 154 osStatus start(uint32_t millisec);
boro 0:4beb2ea291ec 155
boro 0:4beb2ea291ec 156 ~RtosTimer();
boro 0:4beb2ea291ec 157
boro 0:4beb2ea291ec 158 private:
boro 0:4beb2ea291ec 159 // Required to share definitions without
boro 0:4beb2ea291ec 160 // delegated constructors
boro 0:4beb2ea291ec 161 void constructor(mbed::Callback<void()> func, os_timer_type type);
boro 0:4beb2ea291ec 162
boro 0:4beb2ea291ec 163 osTimerId_t _id;
boro 0:4beb2ea291ec 164 mbed_rtos_storage_timer_t _obj_mem;
boro 0:4beb2ea291ec 165 mbed::Callback<void()> _function;
boro 0:4beb2ea291ec 166 };
boro 0:4beb2ea291ec 167 /** @}*/
boro 0:4beb2ea291ec 168 /** @}*/
boro 0:4beb2ea291ec 169
boro 0:4beb2ea291ec 170 }
boro 0:4beb2ea291ec 171
boro 0:4beb2ea291ec 172 #endif
boro 0:4beb2ea291ec 173
boro 0:4beb2ea291ec 174