allwpilib/hal/include/HAL/Interrupts.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <errno.h>
#include <stdint.h>

#include <iostream>

extern "C" {
typedef void (*InterruptHandlerFunction)(uint32_t interruptAssertedMask,
                                         void* param);

void* initializeInterrupts(uint32_t interruptIndex, bool watcher,
                           int32_t* status);
void cleanInterrupts(void* interrupt_pointer, int32_t* status);

uint32_t waitForInterrupt(void* interrupt_pointer, double timeout,
                          bool ignorePrevious, int32_t* status);
void enableInterrupts(void* interrupt_pointer, int32_t* status);
void disableInterrupts(void* interrupt_pointer, int32_t* status);
double readRisingTimestamp(void* interrupt_pointer, int32_t* status);
double readFallingTimestamp(void* interrupt_pointer, int32_t* status);
void requestInterrupts(void* interrupt_pointer, uint8_t routing_module,
                       uint32_t routing_pin, bool routing_analog_trigger,
                       int32_t* status);
void attachInterruptHandler(void* interrupt_pointer,
                            InterruptHandlerFunction handler, void* param,
                            int32_t* status);
void setInterruptUpSourceEdge(void* interrupt_pointer, bool risingEdge,
                              bool fallingEdge, int32_t* status);
}