MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/platform/mbed_wait_api_rtos.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
sahilmgandhi 18:6a4db94011d3 17 // This implementation of the wait functions will be compiled only
sahilmgandhi 18:6a4db94011d3 18 // if the RTOS is present.
sahilmgandhi 18:6a4db94011d3 19 #ifdef MBED_CONF_RTOS_PRESENT
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 #include "platform/mbed_wait_api.h"
sahilmgandhi 18:6a4db94011d3 22 #include "hal/us_ticker_api.h"
sahilmgandhi 18:6a4db94011d3 23 #include "rtos/rtos.h"
sahilmgandhi 18:6a4db94011d3 24 #include "platform/mbed_critical.h"
sahilmgandhi 18:6a4db94011d3 25
sahilmgandhi 18:6a4db94011d3 26 void wait(float s) {
sahilmgandhi 18:6a4db94011d3 27 wait_us(s * 1000000.0f);
sahilmgandhi 18:6a4db94011d3 28 }
sahilmgandhi 18:6a4db94011d3 29
sahilmgandhi 18:6a4db94011d3 30 void wait_ms(int ms) {
sahilmgandhi 18:6a4db94011d3 31 wait_us(ms * 1000);
sahilmgandhi 18:6a4db94011d3 32 }
sahilmgandhi 18:6a4db94011d3 33
sahilmgandhi 18:6a4db94011d3 34 void wait_us(int us) {
sahilmgandhi 18:6a4db94011d3 35 uint32_t start = us_ticker_read();
sahilmgandhi 18:6a4db94011d3 36 // Use the RTOS to wait for millisecond delays if possible
sahilmgandhi 18:6a4db94011d3 37 int ms = us / 1000;
sahilmgandhi 18:6a4db94011d3 38 if ((ms > 0) && core_util_are_interrupts_enabled()) {
sahilmgandhi 18:6a4db94011d3 39 Thread::wait((uint32_t)ms);
sahilmgandhi 18:6a4db94011d3 40 }
sahilmgandhi 18:6a4db94011d3 41 // Use busy waiting for sub-millisecond delays, or for the whole
sahilmgandhi 18:6a4db94011d3 42 // interval if interrupts are not enabled
sahilmgandhi 18:6a4db94011d3 43 while ((us_ticker_read() - start) < (uint32_t)us);
sahilmgandhi 18:6a4db94011d3 44 }
sahilmgandhi 18:6a4db94011d3 45
sahilmgandhi 18:6a4db94011d3 46 #endif // #if MBED_CONF_RTOS_PRESENT
sahilmgandhi 18:6a4db94011d3 47