void rotenc_rotate_cb(EXTDriver *extp, expchannel_t channel)
{
(void)extp;
(void)channel;
chSysLockFromISR();
if(GPTD3.tim->CR1 & STM32_TIM_CR1_DIR) {
chEvtBroadcastFlagsI(&rotenc_es, ROTENC_LEFT_FLAG);
} else {
chEvtBroadcastFlagsI(&rotenc_es, ROTENC_RIGHT_FLAG);
}
chSysUnlockFromISR();
}
/**
* @brief Signals all the Event Listeners registered on the specified Event
* Source.
* @details This function variants ORs the specified event flags to all the
* threads registered on the @p event_source_t in addition to the
* event flags specified by the threads themselves in the
* @p event_listener_t objects.
*
* @param[in] esp pointer to the @p event_source_t structure
* @param[in] flags the flags set to be added to the listener flags mask
*
* @api
*/
void chEvtBroadcastFlags(event_source_t *esp, eventflags_t flags) {
chSysLock();
chEvtBroadcastFlagsI(esp, flags);
chSchRescheduleS();
chSysUnlock();
}
/**
* @brief Signals all the Event Listeners registered on the specified Event
* Source.
* @details This function variants ORs the specified event flags to all the
* threads registered on the @p EventSource in addition to the event
* flags specified by the threads themselves in the
* @p EventListener objects.
*
* @param[in] esp pointer to the @p EventSource structure
* @param[in] mask the event flags set to be ORed
*
* @api
*/
void chEvtBroadcastFlags(EventSource *esp, eventmask_t mask) {
chSysLock();
chEvtBroadcastFlagsI(esp, mask);
chSchRescheduleS();
chSysUnlock();
}
/**
* @brief Signals all the Event Listeners registered on the specified Event
* Source.
* @details This function variants ORs the specified event flags to all the
* threads registered on the @p EventSource in addition to the event
* flags specified by the threads themselves in the
* @p EventListener objects.
*
* @param[in] esp pointer to the @p EventSource structure
* @param[in] flags the flags set to be added to the listener flags mask
*
* @api
*/
void chEvtBroadcastFlags(EventSource *esp, flagsmask_t flags) {
chSysLock();
chEvtBroadcastFlagsI(esp, flags);
chSchRescheduleS();
chSysUnlock();
}
void mpu6050_interrupt_handler(EXTDriver *extp, expchannel_t channel) {
(void)extp;
(void)channel;
chSysLockFromIsr();
chEvtBroadcastFlagsI(&imu_event, EVENT_MASK(0));
chSysUnlockFromIsr();
}
void mpu6050_interrupt_handler(EXTDriver *extp, expchannel_t channel) {
(void) extp;
(void) channel;
chSysLockFromIsr();
chEvtBroadcastFlagsI(&eventImuIrq, EVT_IMU_IRQ);
chSysUnlockFromIsr();
}
void hmc5883l_interrupt_handler(EXTDriver *extp, expchannel_t channel) {
(void) extp;
(void) channel;
chSysLockFromIsr();
chEvtBroadcastFlagsI(&eventMagnIrq, EVT_MAGN_IRQ);
chSysUnlockFromIsr();
}
/*
* data Received Callback
* Does nothing but signal the RX thread that the current receive is completed
*/
void dataReceived(USBDriver *usbp, usbep_t ep){
(void) usbp;
(void) ep;
//Signals that the current RX is finished
chSysLockFromIsr();
chEvtBroadcastFlagsI(&esUsbRxComplete, (flagsmask_t)0);
chSysUnlockFromIsr();
}
/**
* @brief Common RX ISR handler.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] status
* @notapi
*/
static void can_lld_rx_handler(CANDriver *canp, uint32_t status) {
/* No more receive events until the queue 0 has been emptied.*/
canp->can->IER &= ~CANIER_RIE;
chSysLockFromIsr();
while (chSemGetCounterI(&canp->rxsem) < 0)
chSemSignalI(&canp->rxsem);
chEvtBroadcastFlagsI(&canp->rxfull_event, CAN_MAILBOX_TO_MASK(1));
chSysUnlockFromIsr();
if (( status & CANICR_DOI) > 0) {
/* Overflow events handling.*/
canp->can->CMR = CANCMR_CDO;
chSysLockFromIsr();
chEvtBroadcastFlagsI(&canp->error_event, CAN_OVERFLOW_ERROR);
chSysUnlockFromIsr();
}
}
/*
* Handles the USB driver global events.
* These events are triggered by the USB driver.
*/
static void usb_event(USBDriver *usbp, usbevent_t event) {
(void) usbp;
switch (event) {
case USB_EVENT_RESET:
/* Signals when a USB reset event has occurred.
* Typically this will happen at startup and when the cable
* is connected or disconnected.
* After a reset, the usb system will not be operational
* until it is configured.
*/
chSysLockFromIsr();
chEvtBroadcastFlagsI(&esUsbReset, (flagsmask_t)0);
chSysUnlockFromIsr();
return;
case USB_EVENT_ADDRESS:
return;
case USB_EVENT_CONFIGURED:
/* Enables the endpoints specified into the configuration.
* Note, this callback is invoked from an ISR so I-Class functions
* must be used.
*/
chSysLockFromIsr();
usbInitEndpointI(usbp, 1, &ep1config);
usbInitEndpointI(usbp, 2, &ep2config);
/* Signals that the configuration is complete, and the USB system
* is ready to be used.
*/
chEvtBroadcastFlagsI(&esUsbConfigured, (flagsmask_t)0);
chSysUnlockFromIsr();
return;
case USB_EVENT_SUSPEND:
return;
case USB_EVENT_WAKEUP:
return;
case USB_EVENT_STALLED:
return;
}
return;
}
void rotenc_push_cb(EXTDriver *extp, expchannel_t channel)
{
(void)extp;
(void)channel;
if(ST2MS(chVTTimeElapsedSinceX(rotenc_press_time)) > 500) {
chSysLockFromISR();
chEvtBroadcastFlagsI(&rotenc_es, ROTENC_PRESS_FLAG);
rotenc_press_time = chVTGetSystemTimeX();
chSysUnlockFromISR();
}
}
/**
* @brief Common TX ISR handler.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @notapi
*/
static void can_lld_tx_handler(CANDriver *canp) {
/* All transmit buffers are available.*/
if (canp->can->GSR & CANGSR_TBS) {
chSysLockFromIsr();
while (chSemGetCounterI(&canp->txsem) < 0)
chSemSignalI(&canp->txsem);
chEvtBroadcastFlagsI(&canp->txempty_event, CAN_MAILBOX_TO_MASK(1));
chSysUnlockFromIsr();
}
}
/**
* @brief Error ISR handler.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] flags
*
* @notapi
*/
static void can_lld_error_handler(CANDriver *canp, uint32_t status) {
uint32_t flags;
/* Error event.*/
/* The high 16-bits of the ICR register (error codes for bus error)
is copied unchanged in the upper half word of the listener flags mask.*/
flags = status & 0xFFFF0000;
if (status & CANICR_EI)
flags |= CAN_WARNING_ERROR;
if (status & CANICR_EPI)
flags |= CAN_PASSIVE_ERROR;
if (status & CANICR_BEI)
flags |= CAN_BUS_ERROR;
chSysLockFromIsr();
chEvtBroadcastFlagsI(&canp->error_event, flags);
chSysUnlockFromIsr();
}
void EvtSource::broadcastFlagsI(flagsmask_t flags) {
chEvtBroadcastFlagsI(&ev_source, flags);
}
void EvtSource::broadcastFlagsI(eventflags_t flags) {
chEvtBroadcastFlagsI(&ev_source, flags);
}
