Khoi Hoang
5e6d0251b3
### Initial Releases v1.0.0 1. Initial coding to support RP2040-based boards such as RASPBERRY_PI_PICO. etc. using [Earle Philhower's arduino-pico core](https://github.com/earlephilhower/arduino-pico)
190 lines
6.8 KiB
C++
190 lines
6.8 KiB
C++
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RPi_Pico_ISR_Timer.h
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For RP2040-based boards such as RASPBERRY_PI_PICO, ADAFRUIT_FEATHER_RP2040 and GENERIC_RP2040.
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Written by Khoi Hoang
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Built by Khoi Hoang https://github.com/khoih-prog/RPI_PICO_TimerInterrupt
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Licensed under MIT license
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The RPI_PICO system timer peripheral provides a global microsecond timebase for the system, and generates
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interrupts based on this timebase. It supports the following features:
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• A single 64-bit counter, incrementing once per microsecond
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• This counter can be read from a pair of latching registers, for race-free reads over a 32-bit bus.
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• Four alarms: match on the lower 32 bits of counter, IRQ on match: TIMER_IRQ_0-TIMER_IRQ_3
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Now even you use all these new 16 ISR-based timers,with their maximum interval practically unlimited (limited only by
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unsigned long miliseconds), you just consume only one RPI_PICO timer and avoid conflicting with other cores' tasks.
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The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers
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Therefore, their executions are not blocked by bad-behaving functions / tasks.
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This important feature is absolutely necessary for mission-critical tasks.
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Based on SimpleTimer - A timer library for Arduino.
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Author: mromani@ottotecnica.com
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Copyright (c) 2010 OTTOTECNICA Italy
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Based on BlynkTimer.h
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Author: Volodymyr Shymanskyy
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Version: 1.0.0
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Version Modified By Date Comments
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------- ----------- ---------- -----------
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1.0.0 K Hoang 11/05/2021 Initial coding to support RP2040-based boards such as RASPBERRY_PI_PICO. etc.
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*****************************************************************************************************************************/
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#pragma once
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#ifndef ISR_TIMER_GENERIC_H
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#define ISR_TIMER_GENERIC_H
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#if !( defined(ARDUINO_RASPBERRY_PI_PICO) || defined(ARDUINO_ADAFRUIT_FEATHER_RP2040) || defined(ARDUINO_GENERIC_RP2040) )
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#error This code is intended to run on the RASPBERRY_PI_PICO platform! Please check your Tools->Board setting.
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#endif
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#ifndef RPI_PICO_TIMER_INTERRUPT_VERSION
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#define RPI_PICO_TIMER_INTERRUPT_VERSION "RPi_Pico_TimerInterrupt v1.0.0"
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#endif
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#include "TimerInterrupt_Generic_Debug.h"
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#include <stddef.h>
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#include <inttypes.h>
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#include "pico/multicore.h"
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#if defined(ARDUINO)
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#if ARDUINO >= 100
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#include <Arduino.h>
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#else
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#include <WProgram.h>
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#endif
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#endif
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#define FLAG_VALUE 0xDEADBEEF
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#define RPI_PICO_ISR_Timer RPI_PICO_ISRTimer
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typedef void (*timer_callback)();
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typedef void (*timer_callback_p)(void *);
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class RPI_PICO_ISR_Timer
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{
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public:
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// maximum number of timers
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#define RPI_PICO_MAX_TIMERS 16
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#define RPI_PICO_RUN_FOREVER 0
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#define RPI_PICO_RUN_ONCE 1
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// constructor
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RPI_PICO_ISR_Timer();
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void init();
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// this function must be called inside loop()
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void run();
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// Timer will call function 'f' every 'd' milliseconds forever
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// returns the timer number (numTimer) on success or
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// -1 on failure (f == NULL) or no free timers
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int setInterval(unsigned long d, timer_callback f);
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// Timer will call function 'f' with parameter 'p' every 'd' milliseconds forever
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// returns the timer number (numTimer) on success or
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// -1 on failure (f == NULL) or no free timers
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int setInterval(unsigned long d, timer_callback_p f, void* p);
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// Timer will call function 'f' after 'd' milliseconds one time
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// returns the timer number (numTimer) on success or
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// -1 on failure (f == NULL) or no free timers
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int setTimeout(unsigned long d, timer_callback f);
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// Timer will call function 'f' with parameter 'p' after 'd' milliseconds one time
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// returns the timer number (numTimer) on success or
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// -1 on failure (f == NULL) or no free timers
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int setTimeout(unsigned long d, timer_callback_p f, void* p);
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// Timer will call function 'f' every 'd' milliseconds 'n' times
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// returns the timer number (numTimer) on success or
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// -1 on failure (f == NULL) or no free timers
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int setTimer(unsigned long d, timer_callback f, unsigned n);
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// Timer will call function 'f' with parameter 'p' every 'd' milliseconds 'n' times
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// returns the timer number (numTimer) on success or
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// -1 on failure (f == NULL) or no free timers
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int setTimer(unsigned long d, timer_callback_p f, void* p, unsigned n);
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// updates interval of the specified timer
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bool changeInterval(unsigned numTimer, unsigned long d);
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// destroy the specified timer
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void deleteTimer(unsigned numTimer);
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// restart the specified timer
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void restartTimer(unsigned numTimer);
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// returns true if the specified timer is enabled
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bool isEnabled(unsigned numTimer);
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// enables the specified timer
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void enable(unsigned numTimer);
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// disables the specified timer
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void disable(unsigned numTimer);
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// enables all timers
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void enableAll();
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// disables all timers
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void disableAll();
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// enables the specified timer if it's currently disabled, and vice-versa
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void toggle(unsigned numTimer);
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// returns the number of used timers
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unsigned getNumTimers();
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// returns the number of available timers
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unsigned getNumAvailableTimers()
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{
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return RPI_PICO_MAX_TIMERS - numTimers;
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};
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private:
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// deferred call constants
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#define RPI_PICO_DEFCALL_DONTRUN 0 // don't call the callback function
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#define RPI_PICO_DEFCALL_RUNONLY 1 // call the callback function but don't delete the timer
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#define RPI_PICO_DEFCALL_RUNANDDEL 2 // call the callback function and delete the timer
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// low level function to initialize and enable a new timer
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// returns the timer number (numTimer) on success or
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// -1 on failure (f == NULL) or no free timers
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int setupTimer(unsigned long d, void* f, void* p, bool h, unsigned n);
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// find the first available slot
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int findFirstFreeSlot();
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typedef struct
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{
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unsigned long prev_millis; // value returned by the millis() function in the previous run() call
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void* callback; // pointer to the callback function
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void* param; // function parameter
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bool hasParam; // true if callback takes a parameter
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unsigned long delay; // delay value
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unsigned maxNumRuns; // number of runs to be executed
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unsigned numRuns; // number of executed runs
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bool enabled; // true if enabled
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unsigned toBeCalled; // deferred function call (sort of) - N.B.: only used in run()
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} timer_t;
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volatile timer_t timer[RPI_PICO_MAX_TIMERS];
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// actual number of timers in use (-1 means uninitialized)
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volatile int numTimers;
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};
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#endif // ISR_TIMER_GENERIC_H
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