SyncInterrupt.h

#pragma once
#if !defined(__SYNC_INTERRUPT_H)
#define __SYNC_INTERRUPT_H
 
#include <cstdint>
#include <atomic>
 
// Constants
constexpr int32_t Hz_4000 = 4000;
constexpr int32_t Hz_1000 = 1000;
constexpr int32_t sync_1 = 1;
constexpr int32_t sync_150 = 150;
constexpr int32_t sync_250 = 250;
constexpr int32_t threshold_250 = 250;
constexpr int32_t threshold_65 = 65;
 
 
// Time conversions
constexpr double MILLISECONDS_PER_SECOND = 1.0e3;
constexpr double MICROSECONDS_PER_SECOND = 1.0e6;
constexpr double MICROSECONDS_PER_MILLISECOND = 1.0e3;
 
 
 
template<typename DataType>
class StatisticsBufferTemplate
{
public:
  DataType min, max;
  StatisticsBufferTemplate() :
    min(std::numeric_limits<DataType>::max()),
    max(std::numeric_limits<DataType>::lowest())
  { }
  virtual void Init() = 0;
  virtual void Reset() = 0;
  virtual void AddData(const DataType& datum)
  {
    if (max < datum)
    {
      max = datum;
    }
    if (datum < min)
    {
      min = datum;
    }
  }
};
using StatisticsBuffer = StatisticsBufferTemplate<double>;
 
 
// Forward Declarations //
// Shared Variables
extern uint32_t cpuFrequency;
extern int32_t currentPerformanceCounter;
extern int32_t previousPerformanceCounter;
extern int32_t deltaPerformanceCounter;
extern int32_t syncInterruptIterations;
extern double deltaMicroseconds;
extern int32_t syncInterruptSampleCounter;
extern int32_t lastSyncInterruptSampleCounter;
 
extern int32_t returnCode;
extern std::atomic_bool readyToCleanup;
 
// Configurable Variables
extern int32_t sampleRate; // hz
extern int32_t syncPeriod; // interrupt every MotionController SYNC_PERIOD samples
extern int32_t printFrequency;
extern bool print;
extern int32_t timeout_mS;
extern int32_t syncPeriodThreshold_uS;
 
// Statistics variable + Functions
extern StatisticsBuffer& buffered_stats; // microseconds
void printTimingHeaderString();
void PrintTimingInfo();
void StatisticsThread();
 
 
 
 
 
#endif