Juan Salazar / sofi7

test

Dependents:   robotic_fish_6

InterruptManager.h@0:c792b17d9f78, 2021-12-03 (annotated)

Committer:
juansal12
Date:
Fri Dec 03 23:00:34 2021 +0000
Revision:
0:c792b17d9f78
uploaded sofi code ;

Who changed what in which revision?

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juansal12 0:c792b17d9f78 1 #ifndef MBED_INTERRUPTMANAGER_H
juansal12 0:c792b17d9f78 2 #define MBED_INTERRUPTMANAGER_H
juansal12 0:c792b17d9f78 3
juansal12 0:c792b17d9f78 4 #include "cmsis.h"
juansal12 0:c792b17d9f78 5 #include "CallChain.h"
juansal12 0:c792b17d9f78 6 #include <string.h>
juansal12 0:c792b17d9f78 7
juansal12 0:c792b17d9f78 8 namespace mbed {
juansal12 0:c792b17d9f78 9
juansal12 0:c792b17d9f78 10 /** Use this singleton if you need to chain interrupt handlers.
juansal12 0:c792b17d9f78 11 *
juansal12 0:c792b17d9f78 12 * Example (for LPC1768):
juansal12 0:c792b17d9f78 13 * @code
juansal12 0:c792b17d9f78 14 * #include "InterruptManager.h"
juansal12 0:c792b17d9f78 15 * #include "mbed.h"
juansal12 0:c792b17d9f78 16 *
juansal12 0:c792b17d9f78 17 * Ticker flipper;
juansal12 0:c792b17d9f78 18 * DigitalOut led1(LED1);
juansal12 0:c792b17d9f78 19 * DigitalOut led2(LED2);
juansal12 0:c792b17d9f78 20 *
juansal12 0:c792b17d9f78 21 * void flip(void) {
juansal12 0:c792b17d9f78 22 * led1 = !led1;
juansal12 0:c792b17d9f78 23 * }
juansal12 0:c792b17d9f78 24 *
juansal12 0:c792b17d9f78 25 * void handler(void) {
juansal12 0:c792b17d9f78 26 * led2 = !led1;
juansal12 0:c792b17d9f78 27 * }
juansal12 0:c792b17d9f78 28 *
juansal12 0:c792b17d9f78 29 * int main() {
juansal12 0:c792b17d9f78 30 * led1 = led2 = 0;
juansal12 0:c792b17d9f78 31 * flipper.attach(&flip, 1.0);
juansal12 0:c792b17d9f78 32 * InterruptManager::get()->add_handler(handler, TIMER3_IRQn);
juansal12 0:c792b17d9f78 33 * }
juansal12 0:c792b17d9f78 34 * @endcode
juansal12 0:c792b17d9f78 35 */
juansal12 0:c792b17d9f78 36 class InterruptManager {
juansal12 0:c792b17d9f78 37 public:
juansal12 0:c792b17d9f78 38 /** Return the only instance of this class
juansal12 0:c792b17d9f78 39 */
juansal12 0:c792b17d9f78 40 static InterruptManager* get();
juansal12 0:c792b17d9f78 41
juansal12 0:c792b17d9f78 42 /** Destroy the current instance of the interrupt manager
juansal12 0:c792b17d9f78 43 */
juansal12 0:c792b17d9f78 44 static void destroy();
juansal12 0:c792b17d9f78 45
juansal12 0:c792b17d9f78 46 /** Add a handler for an interrupt at the end of the handler list
juansal12 0:c792b17d9f78 47 *
juansal12 0:c792b17d9f78 48 * @param function the handler to add
juansal12 0:c792b17d9f78 49 * @param irq interrupt number
juansal12 0:c792b17d9f78 50 *
juansal12 0:c792b17d9f78 51 * @returns
juansal12 0:c792b17d9f78 52 * The function object created for 'function'
juansal12 0:c792b17d9f78 53 */
juansal12 0:c792b17d9f78 54 pFunctionPointer_t add_handler(void (*function)(void), IRQn_Type irq) {
juansal12 0:c792b17d9f78 55 return add_common(function, irq);
juansal12 0:c792b17d9f78 56 }
juansal12 0:c792b17d9f78 57
juansal12 0:c792b17d9f78 58 /** Add a handler for an interrupt at the beginning of the handler list
juansal12 0:c792b17d9f78 59 *
juansal12 0:c792b17d9f78 60 * @param function the handler to add
juansal12 0:c792b17d9f78 61 * @param irq interrupt number
juansal12 0:c792b17d9f78 62 *
juansal12 0:c792b17d9f78 63 * @returns
juansal12 0:c792b17d9f78 64 * The function object created for 'function'
juansal12 0:c792b17d9f78 65 */
juansal12 0:c792b17d9f78 66 pFunctionPointer_t add_handler_front(void (*function)(void), IRQn_Type irq) {
juansal12 0:c792b17d9f78 67 return add_common(function, irq, true);
juansal12 0:c792b17d9f78 68 }
juansal12 0:c792b17d9f78 69
juansal12 0:c792b17d9f78 70 /** Add a handler for an interrupt at the end of the handler list
juansal12 0:c792b17d9f78 71 *
juansal12 0:c792b17d9f78 72 * @param tptr pointer to the object that has the handler function
juansal12 0:c792b17d9f78 73 * @param mptr pointer to the actual handler function
juansal12 0:c792b17d9f78 74 * @param irq interrupt number
juansal12 0:c792b17d9f78 75 *
juansal12 0:c792b17d9f78 76 * @returns
juansal12 0:c792b17d9f78 77 * The function object created for 'tptr' and 'mptr'
juansal12 0:c792b17d9f78 78 */
juansal12 0:c792b17d9f78 79 template<typename T>
juansal12 0:c792b17d9f78 80 pFunctionPointer_t add_handler(T* tptr, void (T::*mptr)(void), IRQn_Type irq) {
juansal12 0:c792b17d9f78 81 return add_common(tptr, mptr, irq);
juansal12 0:c792b17d9f78 82 }
juansal12 0:c792b17d9f78 83
juansal12 0:c792b17d9f78 84 /** Add a handler for an interrupt at the beginning of the handler list
juansal12 0:c792b17d9f78 85 *
juansal12 0:c792b17d9f78 86 * @param tptr pointer to the object that has the handler function
juansal12 0:c792b17d9f78 87 * @param mptr pointer to the actual handler function
juansal12 0:c792b17d9f78 88 * @param irq interrupt number
juansal12 0:c792b17d9f78 89 *
juansal12 0:c792b17d9f78 90 * @returns
juansal12 0:c792b17d9f78 91 * The function object created for 'tptr' and 'mptr'
juansal12 0:c792b17d9f78 92 */
juansal12 0:c792b17d9f78 93 template<typename T>
juansal12 0:c792b17d9f78 94 pFunctionPointer_t add_handler_front(T* tptr, void (T::*mptr)(void), IRQn_Type irq) {
juansal12 0:c792b17d9f78 95 return add_common(tptr, mptr, irq, true);
juansal12 0:c792b17d9f78 96 }
juansal12 0:c792b17d9f78 97
juansal12 0:c792b17d9f78 98 /** Remove a handler from an interrupt
juansal12 0:c792b17d9f78 99 *
juansal12 0:c792b17d9f78 100 * @param handler the function object for the handler to remove
juansal12 0:c792b17d9f78 101 * @param irq the interrupt number
juansal12 0:c792b17d9f78 102 *
juansal12 0:c792b17d9f78 103 * @returns
juansal12 0:c792b17d9f78 104 * true if the handler was found and removed, false otherwise
juansal12 0:c792b17d9f78 105 */
juansal12 0:c792b17d9f78 106 bool remove_handler(pFunctionPointer_t handler, IRQn_Type irq);
juansal12 0:c792b17d9f78 107
juansal12 0:c792b17d9f78 108 private:
juansal12 0:c792b17d9f78 109 InterruptManager();
juansal12 0:c792b17d9f78 110 ~InterruptManager();
juansal12 0:c792b17d9f78 111
juansal12 0:c792b17d9f78 112 // We declare the copy contructor and the assignment operator, but we don't
juansal12 0:c792b17d9f78 113 // implement them. This way, if someone tries to copy/assign our instance,
juansal12 0:c792b17d9f78 114 // he will get an error at compile time.
juansal12 0:c792b17d9f78 115 InterruptManager(const InterruptManager&);
juansal12 0:c792b17d9f78 116 InterruptManager& operator =(const InterruptManager&);
juansal12 0:c792b17d9f78 117
juansal12 0:c792b17d9f78 118 template<typename T>
juansal12 0:c792b17d9f78 119 pFunctionPointer_t add_common(T *tptr, void (T::*mptr)(void), IRQn_Type irq, bool front=false) {
juansal12 0:c792b17d9f78 120 int irq_pos = get_irq_index(irq);
juansal12 0:c792b17d9f78 121 bool change = must_replace_vector(irq);
juansal12 0:c792b17d9f78 122
juansal12 0:c792b17d9f78 123 pFunctionPointer_t pf = front ? _chains[irq_pos]->add_front(tptr, mptr) : _chains[irq_pos]->add(tptr, mptr);
juansal12 0:c792b17d9f78 124 if (change)
juansal12 0:c792b17d9f78 125 NVIC_SetVector(irq, (uint32_t)&InterruptManager::static_irq_helper);
juansal12 0:c792b17d9f78 126 return pf;
juansal12 0:c792b17d9f78 127 }
juansal12 0:c792b17d9f78 128
juansal12 0:c792b17d9f78 129 pFunctionPointer_t add_common(void (*function)(void), IRQn_Type irq, bool front=false);
juansal12 0:c792b17d9f78 130 bool must_replace_vector(IRQn_Type irq);
juansal12 0:c792b17d9f78 131 int get_irq_index(IRQn_Type irq);
juansal12 0:c792b17d9f78 132 void irq_helper();
juansal12 0:c792b17d9f78 133 void add_helper(void (*function)(void), IRQn_Type irq, bool front=false);
juansal12 0:c792b17d9f78 134 static void static_irq_helper();
juansal12 0:c792b17d9f78 135
juansal12 0:c792b17d9f78 136 CallChain* _chains[NVIC_NUM_VECTORS];
juansal12 0:c792b17d9f78 137 static InterruptManager* _instance;
juansal12 0:c792b17d9f78 138 };
juansal12 0:c792b17d9f78 139
juansal12 0:c792b17d9f78 140 } // namespace mbed
juansal12 0:c792b17d9f78 141
juansal12 0:c792b17d9f78 142 #endif
juansal12 0:c792b17d9f78 143