mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
4d2a720f47
Analog interrupts work again now, and RequestInterrupts is no longer duplicated three times. Change-Id: I5244b76262d7620852141cd21b2429d627636793
43 lines
1.7 KiB
C++
43 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "HAL/HAL.hpp"
|
|
#include "SensorBase.h"
|
|
#include "Resource.h"
|
|
|
|
class InterruptableSensorBase : public SensorBase
|
|
{
|
|
public:
|
|
enum WaitResult {
|
|
kTimeout = 0x0,
|
|
kRisingEdge = 0x1,
|
|
kFallingEdge = 0x100,
|
|
kBoth = 0x101,
|
|
};
|
|
|
|
InterruptableSensorBase();
|
|
virtual ~InterruptableSensorBase();
|
|
virtual uint32_t GetChannelForRouting() = 0;
|
|
virtual uint32_t GetModuleForRouting() = 0;
|
|
virtual bool GetAnalogTriggerForRouting() = 0;
|
|
virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param); ///< Asynchronus handler version.
|
|
virtual void RequestInterrupts(); ///< Synchronus Wait version.
|
|
virtual void CancelInterrupts(); ///< Free up the underlying chipobject functions.
|
|
virtual WaitResult WaitForInterrupt(float timeout, bool ignorePrevious = true); ///< Synchronus version.
|
|
virtual void EnableInterrupts(); ///< Enable interrupts - after finishing setup.
|
|
virtual void DisableInterrupts(); ///< Disable, but don't deallocate.
|
|
virtual double ReadRisingTimestamp();///< Return the timestamp for the rising interrupt that occurred.
|
|
virtual double ReadFallingTimestamp();///< Return the timestamp for the falling interrupt that occurred.
|
|
virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
|
|
protected:
|
|
void* m_interrupt;
|
|
uint32_t m_interruptIndex;
|
|
void AllocateInterrupts(bool watcher);
|
|
|
|
static Resource *m_interrupts;
|
|
};
|