Nicolas Borla / Mbed OS ROME2_Robot_Firmware

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mbed-os/drivers/Ticker.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_TICKER_H
boro 0:4beb2ea291ec 17 #define MBED_TICKER_H
boro 0:4beb2ea291ec 18
boro 0:4beb2ea291ec 19 #include "drivers/TimerEvent.h"
boro 0:4beb2ea291ec 20 #include "platform/Callback.h"
boro 0:4beb2ea291ec 21 #include "platform/mbed_toolchain.h"
boro 0:4beb2ea291ec 22 #include "platform/NonCopyable.h"
boro 0:4beb2ea291ec 23 #include "platform/mbed_sleep.h"
boro 0:4beb2ea291ec 24 #include "hal/lp_ticker_api.h"
boro 0:4beb2ea291ec 25 #include "platform/mbed_critical.h"
boro 0:4beb2ea291ec 26
boro 0:4beb2ea291ec 27 namespace mbed {
boro 0:4beb2ea291ec 28 /** \addtogroup drivers */
boro 0:4beb2ea291ec 29
boro 0:4beb2ea291ec 30 /** A Ticker is used to call a function at a recurring interval
boro 0:4beb2ea291ec 31 *
boro 0:4beb2ea291ec 32 * You can use as many separate Ticker objects as you require.
boro 0:4beb2ea291ec 33 *
boro 0:4beb2ea291ec 34 * @note Synchronization level: Interrupt safe
boro 0:4beb2ea291ec 35 *
boro 0:4beb2ea291ec 36 * Example:
boro 0:4beb2ea291ec 37 * @code
boro 0:4beb2ea291ec 38 * // Toggle the blinking led after 5 seconds
boro 0:4beb2ea291ec 39 *
boro 0:4beb2ea291ec 40 * #include "mbed.h"
boro 0:4beb2ea291ec 41 *
boro 0:4beb2ea291ec 42 * Ticker timer;
boro 0:4beb2ea291ec 43 * DigitalOut led1(LED1);
boro 0:4beb2ea291ec 44 * DigitalOut led2(LED2);
boro 0:4beb2ea291ec 45 *
boro 0:4beb2ea291ec 46 * int flip = 0;
boro 0:4beb2ea291ec 47 *
boro 0:4beb2ea291ec 48 * void attime() {
boro 0:4beb2ea291ec 49 * flip = !flip;
boro 0:4beb2ea291ec 50 * }
boro 0:4beb2ea291ec 51 *
boro 0:4beb2ea291ec 52 * int main() {
boro 0:4beb2ea291ec 53 * timer.attach(&attime, 5);
boro 0:4beb2ea291ec 54 * while(1) {
boro 0:4beb2ea291ec 55 * if(flip == 0) {
boro 0:4beb2ea291ec 56 * led1 = !led1;
boro 0:4beb2ea291ec 57 * } else {
boro 0:4beb2ea291ec 58 * led2 = !led2;
boro 0:4beb2ea291ec 59 * }
boro 0:4beb2ea291ec 60 * wait(0.2);
boro 0:4beb2ea291ec 61 * }
boro 0:4beb2ea291ec 62 * }
boro 0:4beb2ea291ec 63 * @endcode
boro 0:4beb2ea291ec 64 * @ingroup drivers
boro 0:4beb2ea291ec 65 */
boro 0:4beb2ea291ec 66 class Ticker : public TimerEvent, private NonCopyable<Ticker> {
boro 0:4beb2ea291ec 67
boro 0:4beb2ea291ec 68 public:
boro 0:4beb2ea291ec 69 Ticker() : TimerEvent(), _function(0), _lock_deepsleep(true) {
boro 0:4beb2ea291ec 70 }
boro 0:4beb2ea291ec 71
boro 0:4beb2ea291ec 72 // When low power ticker is in use, then do not disable deep-sleep.
boro 0:4beb2ea291ec 73 Ticker(const ticker_data_t *data) : TimerEvent(data), _function(0), _lock_deepsleep(true) {
boro 0:4beb2ea291ec 74 data->interface->init();
boro 0:4beb2ea291ec 75 #if DEVICE_LOWPOWERTIMER
boro 0:4beb2ea291ec 76 _lock_deepsleep = (data != get_lp_ticker_data());
boro 0:4beb2ea291ec 77 #endif
boro 0:4beb2ea291ec 78 }
boro 0:4beb2ea291ec 79
boro 0:4beb2ea291ec 80 /** Attach a function to be called by the Ticker, specifying the interval in seconds
boro 0:4beb2ea291ec 81 *
boro 0:4beb2ea291ec 82 * @param func pointer to the function to be called
boro 0:4beb2ea291ec 83 * @param t the time between calls in seconds
boro 0:4beb2ea291ec 84 */
boro 0:4beb2ea291ec 85 void attach(Callback<void()> func, float t) {
boro 0:4beb2ea291ec 86 attach_us(func, t * 1000000.0f);
boro 0:4beb2ea291ec 87 }
boro 0:4beb2ea291ec 88
boro 0:4beb2ea291ec 89 /** Attach a member function to be called by the Ticker, specifying the interval in seconds
boro 0:4beb2ea291ec 90 *
boro 0:4beb2ea291ec 91 * @param obj pointer to the object to call the member function on
boro 0:4beb2ea291ec 92 * @param method pointer to the member function to be called
boro 0:4beb2ea291ec 93 * @param t the time between calls in seconds
boro 0:4beb2ea291ec 94 * @deprecated
boro 0:4beb2ea291ec 95 * The attach function does not support cv-qualifiers. Replaced by
boro 0:4beb2ea291ec 96 * attach(callback(obj, method), t).
boro 0:4beb2ea291ec 97 */
boro 0:4beb2ea291ec 98 template<typename T, typename M>
boro 0:4beb2ea291ec 99 MBED_DEPRECATED_SINCE("mbed-os-5.1",
boro 0:4beb2ea291ec 100 "The attach function does not support cv-qualifiers. Replaced by "
boro 0:4beb2ea291ec 101 "attach(callback(obj, method), t).")
boro 0:4beb2ea291ec 102 void attach(T *obj, M method, float t) {
boro 0:4beb2ea291ec 103 attach(callback(obj, method), t);
boro 0:4beb2ea291ec 104 }
boro 0:4beb2ea291ec 105
boro 0:4beb2ea291ec 106 /** Attach a function to be called by the Ticker, specifying the interval in micro-seconds
boro 0:4beb2ea291ec 107 *
boro 0:4beb2ea291ec 108 * @param func pointer to the function to be called
boro 0:4beb2ea291ec 109 * @param t the time between calls in micro-seconds
boro 0:4beb2ea291ec 110 *
boro 0:4beb2ea291ec 111 * @note setting @a t to a value shorter that it takes to process the ticker callback
boro 0:4beb2ea291ec 112 * will cause the system to hang. Ticker callback will be called constantly with no time
boro 0:4beb2ea291ec 113 * for threads scheduling.
boro 0:4beb2ea291ec 114 *
boro 0:4beb2ea291ec 115 */
boro 0:4beb2ea291ec 116 void attach_us(Callback<void()> func, us_timestamp_t t) {
boro 0:4beb2ea291ec 117 core_util_critical_section_enter();
boro 0:4beb2ea291ec 118 // lock only for the initial callback setup and this is not low power ticker
boro 0:4beb2ea291ec 119 if(!_function && _lock_deepsleep) {
boro 0:4beb2ea291ec 120 sleep_manager_lock_deep_sleep();
boro 0:4beb2ea291ec 121 }
boro 0:4beb2ea291ec 122 _function = func;
boro 0:4beb2ea291ec 123 setup(t);
boro 0:4beb2ea291ec 124 core_util_critical_section_exit();
boro 0:4beb2ea291ec 125 }
boro 0:4beb2ea291ec 126
boro 0:4beb2ea291ec 127 /** Attach a member function to be called by the Ticker, specifying the interval in micro-seconds
boro 0:4beb2ea291ec 128 *
boro 0:4beb2ea291ec 129 * @param obj pointer to the object to call the member function on
boro 0:4beb2ea291ec 130 * @param method pointer to the member function to be called
boro 0:4beb2ea291ec 131 * @param t the time between calls in micro-seconds
boro 0:4beb2ea291ec 132 * @deprecated
boro 0:4beb2ea291ec 133 * The attach_us function does not support cv-qualifiers. Replaced by
boro 0:4beb2ea291ec 134 * attach_us(callback(obj, method), t).
boro 0:4beb2ea291ec 135 */
boro 0:4beb2ea291ec 136 template<typename T, typename M>
boro 0:4beb2ea291ec 137 MBED_DEPRECATED_SINCE("mbed-os-5.1",
boro 0:4beb2ea291ec 138 "The attach_us function does not support cv-qualifiers. Replaced by "
boro 0:4beb2ea291ec 139 "attach_us(callback(obj, method), t).")
boro 0:4beb2ea291ec 140 void attach_us(T *obj, M method, us_timestamp_t t) {
boro 0:4beb2ea291ec 141 attach_us(Callback<void()>(obj, method), t);
boro 0:4beb2ea291ec 142 }
boro 0:4beb2ea291ec 143
boro 0:4beb2ea291ec 144 virtual ~Ticker() {
boro 0:4beb2ea291ec 145 detach();
boro 0:4beb2ea291ec 146 }
boro 0:4beb2ea291ec 147
boro 0:4beb2ea291ec 148 /** Detach the function
boro 0:4beb2ea291ec 149 */
boro 0:4beb2ea291ec 150 void detach();
boro 0:4beb2ea291ec 151
boro 0:4beb2ea291ec 152 protected:
boro 0:4beb2ea291ec 153 void setup(us_timestamp_t t);
boro 0:4beb2ea291ec 154 virtual void handler();
boro 0:4beb2ea291ec 155
boro 0:4beb2ea291ec 156 protected:
boro 0:4beb2ea291ec 157 us_timestamp_t _delay; /**< Time delay (in microseconds) for re-setting the multi-shot callback. */
boro 0:4beb2ea291ec 158 Callback<void()> _function; /**< Callback. */
boro 0:4beb2ea291ec 159 bool _lock_deepsleep; /**< Flag which indicates if deep-sleep should be disabled. */
boro 0:4beb2ea291ec 160 };
boro 0:4beb2ea291ec 161
boro 0:4beb2ea291ec 162 } // namespace mbed
boro 0:4beb2ea291ec 163
boro 0:4beb2ea291ec 164 #endif