Interrupts Functions

Functions
HAL_InterruptHandle	HAL_InitializeInterrupts (int32_t *status)
	Initializes an interrupt.
void	HAL_CleanInterrupts (HAL_InterruptHandle interruptHandle)
	Frees an interrupt.
int64_t	HAL_WaitForInterrupt (HAL_InterruptHandle interruptHandle, double timeout, HAL_Bool ignorePrevious, int32_t *status)
	Waits for the defined interrupt to occur.
int64_t	HAL_WaitForMultipleInterrupts (HAL_InterruptHandle interruptHandle, int64_t mask, double timeout, HAL_Bool ignorePrevious, int32_t *status)
	Waits for any interrupt covered by the mask to occur.
int64_t	HAL_ReadInterruptRisingTimestamp (HAL_InterruptHandle interruptHandle, int32_t *status)
	Returns the timestamp for the rising interrupt that occurred most recently.
int64_t	HAL_ReadInterruptFallingTimestamp (HAL_InterruptHandle interruptHandle, int32_t *status)
	Returns the timestamp for the falling interrupt that occurred most recently.
void	HAL_RequestInterrupts (HAL_InterruptHandle interruptHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, int32_t *status)
	Requests interrupts on a specific digital source.
void	HAL_SetInterruptUpSourceEdge (HAL_InterruptHandle interruptHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t *status)
	Sets the edges to trigger the interrupt on.
void	HAL_ReleaseWaitingInterrupt (HAL_InterruptHandle interruptHandle, int32_t *status)
	Releases a waiting interrupt.

Detailed Description

Function Documentation

HAL_CleanInterrupts()

void HAL_CleanInterrupts

(

HAL_InterruptHandle

interruptHandle

)

Frees an interrupt.

Parameters

interruptHandle

the interrupt handle

HAL_InitializeInterrupts()

HAL_InterruptHandle HAL_InitializeInterrupts

(

int32_t *

status

)

Initializes an interrupt.

Parameters

[out]

status

Error status variable. 0 on success.

Returns

the created interrupt handle

HAL_ReadInterruptFallingTimestamp()

int64_t HAL_ReadInterruptFallingTimestamp	(	HAL_InterruptHandle	interruptHandle,
		int32_t *	status )

Returns the timestamp for the falling interrupt that occurred most recently.

This is in the same time domain as HAL_GetFPGATime(). It only contains the bottom 32 bits of the timestamp. If your robot has been running for over 1 hour, you will need to fill in the upper 32 bits yourself.

Parameters

[in]	interruptHandle	the interrupt handle
[out]	status	Error status variable. 0 on success.

Returns

timestamp in microseconds since FPGA Initialization

HAL_ReadInterruptRisingTimestamp()

int64_t HAL_ReadInterruptRisingTimestamp	(	HAL_InterruptHandle	interruptHandle,
		int32_t *	status )

Returns the timestamp for the rising interrupt that occurred most recently.

This is in the same time domain as HAL_GetFPGATime(). It only contains the bottom 32 bits of the timestamp. If your robot has been running for over 1 hour, you will need to fill in the upper 32 bits yourself.

Parameters

[in]	interruptHandle	the interrupt handle
[out]	status	Error status variable. 0 on success.

Returns

timestamp in microseconds since FPGA Initialization

HAL_ReleaseWaitingInterrupt()

void HAL_ReleaseWaitingInterrupt	(	HAL_InterruptHandle	interruptHandle,
		int32_t *	status )

Releases a waiting interrupt.

This will release both rising and falling waiters.

Parameters

[in]	interruptHandle	the interrupt handle to release
[out]	status	Error status variable. 0 on success.

HAL_RequestInterrupts()

void HAL_RequestInterrupts	(	HAL_InterruptHandle	interruptHandle,
		HAL_Handle	digitalSourceHandle,
		HAL_AnalogTriggerType	analogTriggerType,
		int32_t *	status )

Requests interrupts on a specific digital source.

Parameters

[in]	interruptHandle	the interrupt handle
[in]	digitalSourceHandle	the digital source handle (either a HAL_AnalogTriggerHandle or a HAL_DigitalHandle)
[in]	analogTriggerType	the trigger type if the source is an AnalogTrigger
[out]	status	Error status variable. 0 on success.

HAL_SetInterruptUpSourceEdge()

void HAL_SetInterruptUpSourceEdge	(	HAL_InterruptHandle	interruptHandle,
		HAL_Bool	risingEdge,
		HAL_Bool	fallingEdge,
		int32_t *	status )

Sets the edges to trigger the interrupt on.

Note that both edges triggered is a valid configuration.

Parameters

[in]	interruptHandle	the interrupt handle
[in]	risingEdge	true for triggering on rising edge
[in]	fallingEdge	true for triggering on falling edge
[out]	status	Error status variable. 0 on success.

HAL_WaitForInterrupt()

int64_t HAL_WaitForInterrupt	(	HAL_InterruptHandle	interruptHandle,
		double	timeout,
		HAL_Bool	ignorePrevious,
		int32_t *	status )

Waits for the defined interrupt to occur.

Parameters

[in]	interruptHandle	the interrupt handle
[in]	timeout	timeout in seconds
[in]	ignorePrevious	if true, ignore interrupts that happened before waitForInterrupt was called
[out]	status	Error status variable. 0 on success.

Returns

the mask of interrupts that fired

HAL_WaitForMultipleInterrupts()

int64_t HAL_WaitForMultipleInterrupts	(	HAL_InterruptHandle	interruptHandle,
		int64_t	mask,
		double	timeout,
		HAL_Bool	ignorePrevious,
		int32_t *	status )

Waits for any interrupt covered by the mask to occur.

Parameters

[in]	interruptHandle	the interrupt handle to use for the context
[in]	mask	the mask of interrupts to wait for
[in]	timeout	timeout in seconds
[in]	ignorePrevious	if true, ignore interrupts that happened before waitForInterrupt was called
[out]	status	Error status variable. 0 on success.

Returns

the mask of interrupts that fired