mirror of
https://github.com/ByteWelder/Tactility.git
synced 2026-02-18 10:53:17 +00:00
105 lines
2.8 KiB
C++
105 lines
2.8 KiB
C++
#include "Timer.h"
|
|
|
|
#include <utility>
|
|
#include "Check.h"
|
|
#include "Kernel.h"
|
|
#include "RtosCompat.h"
|
|
|
|
namespace tt {
|
|
|
|
static void timer_callback(TimerHandle_t hTimer) {
|
|
auto* timer = static_cast<Timer*>(pvTimerGetTimerID(hTimer));
|
|
|
|
if (timer != nullptr) {
|
|
timer->callback(timer->callbackContext);
|
|
}
|
|
}
|
|
|
|
Timer::Timer(Type type, Callback callback, std::shared_ptr<void> callbackContext) {
|
|
tt_assert((kernel_is_irq() == 0U) && (callback != nullptr));
|
|
|
|
this->callback = callback;
|
|
this->callbackContext = std::move(callbackContext);
|
|
|
|
UBaseType_t reload;
|
|
if (type == TypeOnce) {
|
|
reload = pdFALSE;
|
|
} else {
|
|
reload = pdTRUE;
|
|
}
|
|
|
|
this->timerHandle = xTimerCreate(nullptr, portMAX_DELAY, (BaseType_t)reload, this, timer_callback);
|
|
tt_assert(this->timerHandle);
|
|
}
|
|
|
|
Timer::~Timer() {
|
|
tt_assert(!kernel_is_irq());
|
|
tt_check(xTimerDelete(timerHandle, portMAX_DELAY) == pdPASS);
|
|
}
|
|
|
|
TtStatus Timer::start(uint32_t ticks) {
|
|
tt_assert(!kernel_is_irq());
|
|
tt_assert(ticks < portMAX_DELAY);
|
|
|
|
if (xTimerChangePeriod(timerHandle, ticks, portMAX_DELAY) == pdPASS) {
|
|
return TtStatusOk;
|
|
} else {
|
|
return TtStatusErrorResource;
|
|
}
|
|
}
|
|
|
|
TtStatus Timer::restart(uint32_t ticks) {
|
|
tt_assert(!kernel_is_irq());
|
|
tt_assert(ticks < portMAX_DELAY);
|
|
|
|
if (xTimerChangePeriod(timerHandle, ticks, portMAX_DELAY) == pdPASS &&
|
|
xTimerReset(timerHandle, portMAX_DELAY) == pdPASS) {
|
|
return TtStatusOk;
|
|
} else {
|
|
return TtStatusErrorResource;
|
|
}
|
|
}
|
|
|
|
TtStatus Timer::stop() {
|
|
tt_assert(!kernel_is_irq());
|
|
tt_check(xTimerStop(timerHandle, portMAX_DELAY) == pdPASS);
|
|
return TtStatusOk;
|
|
}
|
|
|
|
bool Timer::isRunning() {
|
|
tt_assert(!kernel_is_irq());
|
|
return xTimerIsTimerActive(timerHandle) == pdTRUE;
|
|
}
|
|
|
|
uint32_t Timer::getExpireTime() {
|
|
tt_assert(!kernel_is_irq());
|
|
return (uint32_t)xTimerGetExpiryTime(timerHandle);
|
|
}
|
|
|
|
void Timer::pendingCallback(PendingCallback callback, void* callbackContext, uint32_t arg) {
|
|
BaseType_t ret = pdFAIL;
|
|
if (kernel_is_irq()) {
|
|
ret = xTimerPendFunctionCallFromISR(callback, callbackContext, arg, nullptr);
|
|
} else {
|
|
ret = xTimerPendFunctionCall(callback, callbackContext, arg, TtWaitForever);
|
|
}
|
|
tt_assert(ret == pdPASS);
|
|
}
|
|
|
|
void Timer::setThreadPriority(TimerThreadPriority priority) {
|
|
tt_assert(!kernel_is_irq());
|
|
|
|
TaskHandle_t task_handle = xTimerGetTimerDaemonTaskHandle();
|
|
tt_assert(task_handle); // Don't call this method before timer task start
|
|
|
|
if (priority == TimerThreadPriorityNormal) {
|
|
vTaskPrioritySet(task_handle, configTIMER_TASK_PRIORITY);
|
|
} else if (priority == TimerThreadPriorityElevated) {
|
|
vTaskPrioritySet(task_handle, configMAX_PRIORITIES - 1);
|
|
} else {
|
|
tt_crash("Unsupported timer priority");
|
|
}
|
|
}
|
|
|
|
} // namespace
|