Naze32 clone with Frysky receiver
您最多选择25个主题 主题必须以字母或数字开头,可以包含连字符 (-),并且长度不得超过35个字符

InterruptManager.h 4.2KB

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143
  1. #ifndef MBED_INTERRUPTMANAGER_H
  2. #define MBED_INTERRUPTMANAGER_H
  3. #include "cmsis.h"
  4. #include "CallChain.h"
  5. #include <string.h>
  6. namespace mbed {
  7. /** Use this singleton if you need to chain interrupt handlers.
  8. *
  9. * Example (for LPC1768):
  10. * @code
  11. * #include "InterruptManager.h"
  12. * #include "mbed.h"
  13. *
  14. * Ticker flipper;
  15. * DigitalOut led1(LED1);
  16. * DigitalOut led2(LED2);
  17. *
  18. * void flip(void) {
  19. * led1 = !led1;
  20. * }
  21. *
  22. * void handler(void) {
  23. * led2 = !led1;
  24. * }
  25. *
  26. * int main() {
  27. * led1 = led2 = 0;
  28. * flipper.attach(&flip, 1.0);
  29. * InterruptManager::get()->add_handler(handler, TIMER3_IRQn);
  30. * }
  31. * @endcode
  32. */
  33. class InterruptManager {
  34. public:
  35. /** Return the only instance of this class
  36. */
  37. static InterruptManager* get();
  38. /** Destroy the current instance of the interrupt manager
  39. */
  40. static void destroy();
  41. /** Add a handler for an interrupt at the end of the handler list
  42. *
  43. * @param function the handler to add
  44. * @param irq interrupt number
  45. *
  46. * @returns
  47. * The function object created for 'function'
  48. */
  49. pFunctionPointer_t add_handler(void (*function)(void), IRQn_Type irq) {
  50. return add_common(function, irq);
  51. }
  52. /** Add a handler for an interrupt at the beginning of the handler list
  53. *
  54. * @param function the handler to add
  55. * @param irq interrupt number
  56. *
  57. * @returns
  58. * The function object created for 'function'
  59. */
  60. pFunctionPointer_t add_handler_front(void (*function)(void), IRQn_Type irq) {
  61. return add_common(function, irq, true);
  62. }
  63. /** Add a handler for an interrupt at the end of the handler list
  64. *
  65. * @param tptr pointer to the object that has the handler function
  66. * @param mptr pointer to the actual handler function
  67. * @param irq interrupt number
  68. *
  69. * @returns
  70. * The function object created for 'tptr' and 'mptr'
  71. */
  72. template<typename T>
  73. pFunctionPointer_t add_handler(T* tptr, void (T::*mptr)(void), IRQn_Type irq) {
  74. return add_common(tptr, mptr, irq);
  75. }
  76. /** Add a handler for an interrupt at the beginning of the handler list
  77. *
  78. * @param tptr pointer to the object that has the handler function
  79. * @param mptr pointer to the actual handler function
  80. * @param irq interrupt number
  81. *
  82. * @returns
  83. * The function object created for 'tptr' and 'mptr'
  84. */
  85. template<typename T>
  86. pFunctionPointer_t add_handler_front(T* tptr, void (T::*mptr)(void), IRQn_Type irq) {
  87. return add_common(tptr, mptr, irq, true);
  88. }
  89. /** Remove a handler from an interrupt
  90. *
  91. * @param handler the function object for the handler to remove
  92. * @param irq the interrupt number
  93. *
  94. * @returns
  95. * true if the handler was found and removed, false otherwise
  96. */
  97. bool remove_handler(pFunctionPointer_t handler, IRQn_Type irq);
  98. private:
  99. InterruptManager();
  100. ~InterruptManager();
  101. // We declare the copy contructor and the assignment operator, but we don't
  102. // implement them. This way, if someone tries to copy/assign our instance,
  103. // he will get an error at compile time.
  104. InterruptManager(const InterruptManager&);
  105. InterruptManager& operator =(const InterruptManager&);
  106. template<typename T>
  107. pFunctionPointer_t add_common(T *tptr, void (T::*mptr)(void), IRQn_Type irq, bool front=false) {
  108. int irq_pos = get_irq_index(irq);
  109. bool change = must_replace_vector(irq);
  110. pFunctionPointer_t pf = front ? _chains[irq_pos]->add_front(tptr, mptr) : _chains[irq_pos]->add(tptr, mptr);
  111. if (change)
  112. NVIC_SetVector(irq, (uint32_t)&InterruptManager::static_irq_helper);
  113. return pf;
  114. }
  115. pFunctionPointer_t add_common(void (*function)(void), IRQn_Type irq, bool front=false);
  116. bool must_replace_vector(IRQn_Type irq);
  117. int get_irq_index(IRQn_Type irq);
  118. void irq_helper();
  119. void add_helper(void (*function)(void), IRQn_Type irq, bool front=false);
  120. static void static_irq_helper();
  121. CallChain* _chains[NVIC_NUM_VECTORS];
  122. static InterruptManager* _instance;
  123. };
  124. } // namespace mbed
  125. #endif