callback_timers.c File Reference

#include "callback_timers.h"
#include "../lib/utils.h"
#include "../torque_regulator.h"
#include "../haptic_controller.h"

Macros
#define	TE_LOOP_MIN_VALUE   50
#define	TE_LOOP_MAX_VALUE   65534
#define	TE_CURRENT_LOOP_DEFAULT_VAL   50
#define	TE_CONTROL_LOOP_DEFAULT_VAL   350
#define	TE_DATA_LOOP_DEFAULT_VAL   1000

Functions
void	tim10InitFunc (void)
	Initialize TIM10 used for timing the current loop (resolution 1us). More...
void	tim67InitFunc (void)
	Initialize TIM6, for timing the main control loop (resolution 1us) Initialize TIM7, for timing the data transmission loop (resolution 1us) More...
void	cbt_Init (void)
	Initialize the timers to call an interrupt routine periodically. More...
void	cbt_SetCurrentLoopTimer (cbt_PeriodicTaskFunc f, uint32_t period)
	Set the function to call periodically by the timer 1. More...
void	cbt_SetHapticControllerTimer (cbt_PeriodicTaskFunc f, uint32_t period)
	Set the function to call periodically by the timer 6. More...
void	cbt_SetCommLoopTimer (cbt_PeriodicTaskFunc f, uint32_t period)
	Set the function to call periodically by the timer 7. More...
void	TIM1_UP_TIM10_IRQHandler (void)
	Interrupt from current control loop timer (TIM10) More...
void	TIM6_DAC_IRQHandler (void)
	Interrupt from main control loop timer (TIM6) More...
void	TIM7_IRQHandler (void)
	Interrupt from data transmission loop timer (TIM7) (data loop) More...
void	cbt_SetHapticControllerPeriod (uint32_t period)
	Set the period of the position loop. More...
void	cbt_SetCommLoopPeriod (uint32_t period)
	Set the period of the communication loop. More...
uint32_t	cbt_GetCurrentLoopPeriod (void)
	Get the period of the current loop. More...
uint32_t	cbt_GetHapticControllerPeriod (void)
	Get the period of the position loop. More...
uint32_t	cbt_GetCommLoopPeriod (void)
	Get the period of the communication loop. More...

Variables
cbt_PeriodicTaskFunc	cbt_tim10Task
cbt_PeriodicTaskFunc	cbt_tim6Task
cbt_PeriodicTaskFunc	cbt_tim7Task
volatile float32_t	cbt_ucLoad

Macro Definition Documentation

TE_CONTROL_LOOP_DEFAULT_VAL

#define TE_CONTROL_LOOP_DEFAULT_VAL   350

TE_CURRENT_LOOP_DEFAULT_VAL

#define TE_CURRENT_LOOP_DEFAULT_VAL   50

TE_DATA_LOOP_DEFAULT_VAL

#define TE_DATA_LOOP_DEFAULT_VAL   1000

TE_LOOP_MAX_VALUE

#define TE_LOOP_MAX_VALUE   65534

TE_LOOP_MIN_VALUE

#define TE_LOOP_MIN_VALUE   50

Function Documentation

tim10InitFunc()

void tim10InitFunc

(

void

)

Initialize TIM10 used for timing the current loop (resolution 1us).

TIM1_UP_TIM10_IRQHandler()

void TIM1_UP_TIM10_IRQHandler

(

void

)

Interrupt from current control loop timer (TIM10)

tim67InitFunc()

void tim67InitFunc

(

void

)

Initialize TIM6, for timing the main control loop (resolution 1us) Initialize TIM7, for timing the data transmission loop (resolution 1us)

TIM6_DAC_IRQHandler()

void TIM6_DAC_IRQHandler

(

void

)

Interrupt from main control loop timer (TIM6)

TIM7_IRQHandler()

void TIM7_IRQHandler

(

void

)

Interrupt from data transmission loop timer (TIM7) (data loop)

Variable Documentation

cbt_tim10Task

cbt_PeriodicTaskFunc cbt_tim10Task

cbt_tim6Task

cbt_PeriodicTaskFunc cbt_tim6Task

cbt_tim7Task

cbt_PeriodicTaskFunc cbt_tim7Task

cbt_ucLoad

volatile float32_t cbt_ucLoad