MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/drivers/Timer.cpp@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #include "drivers/Timer.h"
sahilmgandhi 18:6a4db94011d3 17 #include "hal/ticker_api.h"
sahilmgandhi 18:6a4db94011d3 18 #include "hal/us_ticker_api.h"
sahilmgandhi 18:6a4db94011d3 19 #include "platform/mbed_critical.h"
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 namespace mbed {
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 Timer::Timer() : _running(), _start(), _time(), _ticker_data(get_us_ticker_data()) {
sahilmgandhi 18:6a4db94011d3 24 reset();
sahilmgandhi 18:6a4db94011d3 25 }
sahilmgandhi 18:6a4db94011d3 26
sahilmgandhi 18:6a4db94011d3 27 Timer::Timer(const ticker_data_t *data) : _running(), _start(), _time(), _ticker_data(data) {
sahilmgandhi 18:6a4db94011d3 28 reset();
sahilmgandhi 18:6a4db94011d3 29 }
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 void Timer::start() {
sahilmgandhi 18:6a4db94011d3 32 core_util_critical_section_enter();
sahilmgandhi 18:6a4db94011d3 33 if (!_running) {
sahilmgandhi 18:6a4db94011d3 34 _start = ticker_read(_ticker_data);
sahilmgandhi 18:6a4db94011d3 35 _running = 1;
sahilmgandhi 18:6a4db94011d3 36 }
sahilmgandhi 18:6a4db94011d3 37 core_util_critical_section_exit();
sahilmgandhi 18:6a4db94011d3 38 }
sahilmgandhi 18:6a4db94011d3 39
sahilmgandhi 18:6a4db94011d3 40 void Timer::stop() {
sahilmgandhi 18:6a4db94011d3 41 core_util_critical_section_enter();
sahilmgandhi 18:6a4db94011d3 42 _time += slicetime();
sahilmgandhi 18:6a4db94011d3 43 _running = 0;
sahilmgandhi 18:6a4db94011d3 44 core_util_critical_section_exit();
sahilmgandhi 18:6a4db94011d3 45 }
sahilmgandhi 18:6a4db94011d3 46
sahilmgandhi 18:6a4db94011d3 47 int Timer::read_us() {
sahilmgandhi 18:6a4db94011d3 48 core_util_critical_section_enter();
sahilmgandhi 18:6a4db94011d3 49 int time = _time + slicetime();
sahilmgandhi 18:6a4db94011d3 50 core_util_critical_section_exit();
sahilmgandhi 18:6a4db94011d3 51 return time;
sahilmgandhi 18:6a4db94011d3 52 }
sahilmgandhi 18:6a4db94011d3 53
sahilmgandhi 18:6a4db94011d3 54 float Timer::read() {
sahilmgandhi 18:6a4db94011d3 55 return (float)read_us() / 1000000.0f;
sahilmgandhi 18:6a4db94011d3 56 }
sahilmgandhi 18:6a4db94011d3 57
sahilmgandhi 18:6a4db94011d3 58 int Timer::read_ms() {
sahilmgandhi 18:6a4db94011d3 59 return read_us() / 1000;
sahilmgandhi 18:6a4db94011d3 60 }
sahilmgandhi 18:6a4db94011d3 61
sahilmgandhi 18:6a4db94011d3 62 int Timer::slicetime() {
sahilmgandhi 18:6a4db94011d3 63 core_util_critical_section_enter();
sahilmgandhi 18:6a4db94011d3 64 int ret = 0;
sahilmgandhi 18:6a4db94011d3 65 if (_running) {
sahilmgandhi 18:6a4db94011d3 66 ret = ticker_read(_ticker_data) - _start;
sahilmgandhi 18:6a4db94011d3 67 }
sahilmgandhi 18:6a4db94011d3 68 core_util_critical_section_exit();
sahilmgandhi 18:6a4db94011d3 69 return ret;
sahilmgandhi 18:6a4db94011d3 70 }
sahilmgandhi 18:6a4db94011d3 71
sahilmgandhi 18:6a4db94011d3 72 void Timer::reset() {
sahilmgandhi 18:6a4db94011d3 73 core_util_critical_section_enter();
sahilmgandhi 18:6a4db94011d3 74 _start = ticker_read(_ticker_data);
sahilmgandhi 18:6a4db94011d3 75 _time = 0;
sahilmgandhi 18:6a4db94011d3 76 core_util_critical_section_exit();
sahilmgandhi 18:6a4db94011d3 77 }
sahilmgandhi 18:6a4db94011d3 78
sahilmgandhi 18:6a4db94011d3 79 Timer::operator float() {
sahilmgandhi 18:6a4db94011d3 80 return read();
sahilmgandhi 18:6a4db94011d3 81 }
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 } // namespace mbed