Driver / Callback timers

Driver to call functions at a fixed rate. More...

Functions
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	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...

Detailed Description

Driver to call functions at a fixed rate.

This driver setups three timers of the STM32, in order to call at a precise rate the control functions: the current regulation loop, the position regulation loop and the communication loop (data streaming part only).

In the initialization code, first call cbt_Init(). Then call each cbt_Set*LoopTimer() function, giving the pointer to the function to call as an argument.

Function Documentation

cbt_GetCommLoopPeriod()

uint32_t cbt_GetCommLoopPeriod

(

void

)

Get the period of the communication loop.

Returns

the period of the communication loop [us].

cbt_GetCurrentLoopPeriod()

uint32_t cbt_GetCurrentLoopPeriod

(

void

)

Get the period of the current loop.

Returns

the period of the current loop [us].

cbt_GetHapticControllerPeriod()

uint32_t cbt_GetHapticControllerPeriod

(

void

)

Get the period of the position loop.

Returns

the period of the position loop [us].

cbt_Init()

void cbt_Init

(

void

)

Initialize the timers to call an interrupt routine periodically.

cbt_SetCommLoopPeriod()

void cbt_SetCommLoopPeriod

(

uint32_t

period

)

Set the period of the communication loop.

Parameters

period

the new period of the communication loop [us].

cbt_SetCommLoopTimer()

void cbt_SetCommLoopTimer	(	cbt_PeriodicTaskFunc	f,
		uint32_t	period
	)

Set the function to call periodically by the timer 7.

Parameters

f	the function to call periodically.
period	the period between each call of f [us].

cbt_SetCurrentLoopTimer()

void cbt_SetCurrentLoopTimer	(	cbt_PeriodicTaskFunc	f,
		uint32_t	period
	)

Set the function to call periodically by the timer 1.

Parameters

f	the function to call periodically.
period	the period between each call of f [us].

cbt_SetHapticControllerPeriod()

void cbt_SetHapticControllerPeriod

(

uint32_t

period

)

Set the period of the position loop.

Parameters

period

the new period of the position loop [us].

cbt_SetHapticControllerTimer()

void cbt_SetHapticControllerTimer	(	cbt_PeriodicTaskFunc	f,
		uint32_t	period
	)

Set the function to call periodically by the timer 6.

Parameters

f	the function to call periodically.
period	the period between each call of f [us].