mirror of
https://github.com/wpilibsuite/allwpilib
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41 lines
1.3 KiB
C++
41 lines
1.3 KiB
C++
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#include "HAL/Notifier.h"
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#include "ChipObject.h"
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static const uint32_t kTimerInterruptNumber = 28;
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struct notifier_t {
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tAlarm *alarm;
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tInterruptManager *manager;
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};
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typedef struct notifier_t Notifier;
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void* initializeNotifier(void (*ProcessQueue)(uint32_t, void*), int32_t *status) {
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Notifier* notifier = new Notifier();
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notifier->manager = new tInterruptManager(1 << kTimerInterruptNumber, false, status);
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notifier->manager->registerHandler(ProcessQueue, NULL, status);
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notifier->manager->enable(status);
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notifier->alarm = tAlarm::create(status);
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return notifier;
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}
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void cleanNotifier(void* notifier_pointer, int32_t *status) {
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Notifier* notifier = (Notifier*) notifier_pointer;
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notifier->alarm->writeEnable(false, status);
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delete notifier->alarm;
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notifier->alarm = NULL;
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notifier->manager->disable(status);
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delete notifier->manager;
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notifier->manager = NULL;
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}
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void updateNotifierAlarm(void* notifier_pointer, uint32_t triggerTime, int32_t *status) {
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Notifier* notifier = (Notifier*) notifier_pointer;
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// write the first item in the queue into the trigger time
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notifier->alarm->writeTriggerTime(triggerTime, status);
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// Enable the alarm. The hardware disables itself after each alarm.
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notifier->alarm->writeEnable(true, status);
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}
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