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https://github.com/wpilibsuite/allwpilib
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95 lines
3.2 KiB
C++
95 lines
3.2 KiB
C++
#include "HAL/Interrupts.hpp"
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#include "ChipObject.h"
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struct Interrupt // FIXME: why is this internal?
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{
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tInterrupt *anInterrupt;
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tInterruptManager *manager;
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};
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void* initializeInterrupts(uint32_t interruptIndex, bool watcher, int32_t *status)
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{
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Interrupt* anInterrupt = new Interrupt();
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// Expects the calling leaf class to allocate an interrupt index.
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anInterrupt->anInterrupt = tInterrupt::create(interruptIndex, status);
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anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
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anInterrupt->manager = new tInterruptManager(1 << interruptIndex, watcher, status);
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return anInterrupt;
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}
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void cleanInterrupts(void* interrupt_pointer, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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delete anInterrupt->anInterrupt;
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delete anInterrupt->manager;
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anInterrupt->anInterrupt = NULL;
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anInterrupt->manager = NULL;
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}
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/**
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* In synchronous mode, wait for the defined interrupt to occur.
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* @param timeout Timeout in seconds
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*/
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void waitForInterrupt(void* interrupt_pointer, double timeout, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->manager->watch((int32_t)(timeout * 1e3), status);
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}
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/**
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* Enable interrupts to occur on this input.
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* oInterrupts are disabled when the RequestInterrupt call is made. This gives time to do the
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* setup of the other options before starting to field interrupts.
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*/
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void enableInterrupts(void* interrupt_pointer, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->manager->enable(status);
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}
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/**
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* Disable Interrupts without without deallocating structures.
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*/
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void disableInterrupts(void* interrupt_pointer, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->manager->disable(status);
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}
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/**
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* Return the timestamp for the interrupt that occurred most recently.
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* This is in the same time domain as GetClock().
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* @return Timestamp in seconds since boot.
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*/
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double readInterruptTimestamp(void* interrupt_pointer, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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uint32_t timestamp = anInterrupt->anInterrupt->readTimeStamp(status);
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return timestamp * 1e-6;
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}
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void requestInterrupts(void* interrupt_pointer, uint8_t routing_module, uint32_t routing_pin,
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bool routing_analog_trigger, int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
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anInterrupt->anInterrupt->writeConfig_Source_AnalogTrigger(routing_analog_trigger, status);
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anInterrupt->anInterrupt->writeConfig_Source_Channel(routing_pin, status);
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anInterrupt->anInterrupt->writeConfig_Source_Module(routing_module, status);
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}
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void attachInterruptHandler(void* interrupt_pointer, InterruptHandlerFunction handler, void* param,
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int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->manager->registerHandler(handler, param, status);
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}
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void setInterruptUpSourceEdge(void* interrupt_pointer, bool risingEdge, bool fallingEdge,
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int32_t *status)
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{
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Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
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anInterrupt->anInterrupt->writeConfig_RisingEdge(risingEdge, status);
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anInterrupt->anInterrupt->writeConfig_FallingEdge(fallingEdge, status);
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}
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