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Added functionality to pass custom parameter to HardwareTimer callback #892

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Merged
merged 9 commits into from
Mar 11, 2020
Merged

Added functionality to pass custom parameter to HardwareTimer callback #892

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0b936e5
Added functionality to pass custom parameter to HardwareTimer callback
ramboerik Jan 26, 2020
015ca5a
Fixed comments from review in HardwareTimer
ramboerik Jan 27, 2020
e34baac
added comments for new param in attachInterrupts
ramboerik Jan 28, 2020
c2b6251
Changed HardwareTimer to use std::function instead of pointer as call…
ramboerik Mar 5, 2020
5e800f6
merged upstream
ramboerik Mar 5, 2020
029450f
changed typedef -> using
ramboerik Mar 5, 2020
f9ea23c
Removed not relevent comment
ramboerik Mar 5, 2020
5740040
Updated missed HardwareTimer interface changes in Servo.cpp/SoftwareS…
ramboerik Mar 6, 2020
2349940
Update cores/arduino/HardwareTimer.cpp
fpistm Mar 10, 2020
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16 changes: 13 additions & 3 deletions cores/arduino/HardwareTimer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -850,8 +850,9 @@ void HardwareTimer::setInterruptPriority(uint32_t preemptPriority, uint32_t subP
* @param callback: interrupt callback
* @retval None
*/
void HardwareTimer::attachInterrupt(void (*callback)(HardwareTimer *))
void HardwareTimer::attachInterrupt(void (*callback)(HardwareTimer *), void *arg)
{
args[0] = arg;
if (callbacks[0] != NULL) {
// Callback previously configured : do not clear neither enable IT, it is just a change of callback
callbacks[0] = callback;
Expand All @@ -875,6 +876,7 @@ void HardwareTimer::detachInterrupt()
// Disable update interrupt and clear callback
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), TIM_IT_UPDATE); // disables the interrupt call to save cpu cycles for useless context switching
callbacks[0] = NULL;
args[0] = NULL;
}

/**
Expand All @@ -883,7 +885,7 @@ void HardwareTimer::detachInterrupt()
* @param callback: interrupt callback
* @retval None
*/
void HardwareTimer::attachInterrupt(uint32_t channel, void (*callback)(HardwareTimer *))
void HardwareTimer::attachInterrupt(uint32_t channel, void (*callback)(HardwareTimer *), void *arg)
{
int interrupt = getIT(channel);
if (interrupt == -1) {
Expand All @@ -893,7 +895,7 @@ void HardwareTimer::attachInterrupt(uint32_t channel, void (*callback)(HardwareT
if ((channel == 0) || (channel > (TIMER_CHANNELS + 1))) {
Error_Handler(); // only channel 1..4 have an interrupt
}

args[channel] = arg;
if (callbacks[channel] != NULL) {
// Callback previously configured : do not clear neither enable IT, it is just a change of callback
callbacks[channel] = callback;
Expand Down Expand Up @@ -927,6 +929,14 @@ void HardwareTimer::detachInterrupt(uint32_t channel)
// Disable interrupt corresponding to channel and clear callback
__HAL_TIM_DISABLE_IT(&(_timerObj.handle), interrupt);
callbacks[channel] = NULL;
args[channel] = NULL;
}

void* HardwareTimer::getArg(uint32_t channel){
if (channel > (TIMER_CHANNELS + 1)) {
Error_Handler();
}
return args[channel];
}

/**
Expand Down
8 changes: 6 additions & 2 deletions cores/arduino/HardwareTimer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -126,14 +126,16 @@ class HardwareTimer {
void setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority); // set interrupt priority

//Add interrupt to period update
void attachInterrupt(void (*handler)(HardwareTimer *)); // Attach interrupt callback which will be called upon update event (timer rollover)
void attachInterrupt(void (*handler)(HardwareTimer *), void *arg = NULL); // Attach interrupt callback which will be called upon update event (timer rollover)
void detachInterrupt(); // remove interrupt callback which was attached to update event
bool hasInterrupt(); //returns true if a timer rollover interrupt has already been set
//Add interrupt to capture/compare channel
void attachInterrupt(uint32_t channel, void (*handler)(HardwareTimer *)); // Attach interrupt callback which will be called upon compare match event of specified channel
void attachInterrupt(uint32_t channel, void (*handler)(HardwareTimer *), void *arg = NULL); // Attach interrupt callback which will be called upon compare match event of specified channel
void detachInterrupt(uint32_t channel); // remove interrupt callback which was attached to compare match event of specified channel
bool hasInterrupt(uint32_t channel); //returns true if an interrupt has already been set on the channel compare match

void* getArg(uint32_t channel = 0);

void timerHandleDeinit(); // Timer deinitialization

// Refresh() is usefull while timer is running after some registers update
Expand All @@ -152,6 +154,8 @@ class HardwareTimer {
TimerModes_t _ChannelMode[TIMER_CHANNELS];
timerObj_t _timerObj;
void (*callbacks[1 + TIMER_CHANNELS])(HardwareTimer *); //Callbacks: 0 for update, 1-4 for channels. (channel5/channel6, if any, doesn't have interrupt)
void *args[1 + TIMER_CHANNELS];

int getChannel(uint32_t channel);
int getLLChannel(uint32_t channel);
int getIT(uint32_t channel);
Expand Down