wj-controller/main/framework/system/timer.c

#include "timer.h"
#include <stdio.h>
#include "driver/gptimer.h"
#include "esp_err.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"

static const char *TAG = "TIMER";
static gptimer_handle_t gptimer = NULL;
QueueHandle_t queue;
typedef struct
{
    uint64_t event_count;
} queue_callback_element_t;
queue_callback_element_t item;

bool example_timer_on_alarm_cb_v1(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_data)
{
    BaseType_t high_task_awoken = pdFALSE;
    QueueHandle_t queue = (QueueHandle_t)user_data;

    queue_callback_element_t ele = {
        .event_count = edata->alarm_value};
    xQueueSendFromISR(queue, &ele, &high_task_awoken);
    // return whether we need to yield at the end of ISR
    return (high_task_awoken == pdTRUE);
}

void yx_timer_init(struct timer_param_s *params)
{
    // create queue
    queue = xQueueCreate(1, sizeof(queue_callback_element_t));
    if (!queue)
    {
        ESP_LOGE(TAG, "creating queue error");
        return;
    }
    gptimer_config_t timer_config = {
        // 初始化参数设置
        .clk_src = GPTIMER_CLK_SRC_DEFAULT, // 选择时钟源
        .direction = GPTIMER_COUNT_UP,      // 向上计数
        .resolution_hz = 1 * 1000 * 1000,   // 1MHz, 1 tick = 1us  设置定时时间
    };
    ESP_LOGI(TAG, "Start timer, stop it at alarm event");
    ESP_ERROR_CHECK(gptimer_new_timer(&timer_config, &gptimer)); // 创建一个通用定时器，返回任务句柄

    gptimer_event_callbacks_t cbs = {
        // 中断回调函数(alrm中断)
        .on_alarm = example_timer_on_alarm_cb_v1,
    };
    ESP_LOGI(TAG, "Enable timer");
    ESP_ERROR_CHECK(gptimer_register_event_callbacks(gptimer, &cbs, queue)); // 第一次调用这个函数需要在调用gptimer_enable之前
    //ESP_ERROR_CHECK(gptimer_enable(gptimer));                                // 使能定时器中断

    ESP_LOGI(TAG, "Start timer, auto-reload at alarm event");
    gptimer_alarm_config_t alarm_config = {
        .reload_count = 0,
        .alarm_count = 1000000 * params->interval, // period = 5s
        .flags.auto_reload_on_alarm = true,
    };

    ESP_ERROR_CHECK(gptimer_set_alarm_action(gptimer, &alarm_config));
}

void yx_timer_start(struct timer_param_s *params)
{
    gptimer_enable(gptimer);
    ESP_ERROR_CHECK(gptimer_start(gptimer));
    if (xQueueReceive(queue, &item, portMAX_DELAY))
    {
        if (params->timerCbFunc != NULL)
        {
            params->timerCbFunc();
        }
        vQueueDelete(queue);
    }
    else
    {
        ESP_LOGW(TAG, "Missed one count event");
    }
}

void yx_timer_stop(struct timer_param_s *params)
{
    ESP_ERROR_CHECK(gptimer_stop(gptimer));
    //gptimer_disable(gptimer);
}