MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_Atmel/TARGET_SAM_CortexM0P/drivers/services/delay/sam0/systick_counter.c@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 #include "delay.h"
sahilmgandhi 18:6a4db94011d3 2
sahilmgandhi 18:6a4db94011d3 3 /**
sahilmgandhi 18:6a4db94011d3 4 * Value used to calculate ms delay. Default to be used with a 8MHz clock;
sahilmgandhi 18:6a4db94011d3 5 */
sahilmgandhi 18:6a4db94011d3 6 static uint32_t cycles_per_ms = 8000000UL / 1000;
sahilmgandhi 18:6a4db94011d3 7 static uint32_t cycles_per_us = 8000000UL / 1000000;
sahilmgandhi 18:6a4db94011d3 8
sahilmgandhi 18:6a4db94011d3 9 /**
sahilmgandhi 18:6a4db94011d3 10 * \brief Initialize the delay driver.
sahilmgandhi 18:6a4db94011d3 11 *
sahilmgandhi 18:6a4db94011d3 12 * This must be called during start up to initialize the delay routine with
sahilmgandhi 18:6a4db94011d3 13 * the current used main clock. It must run any time the main CPU clock is changed.
sahilmgandhi 18:6a4db94011d3 14 */
sahilmgandhi 18:6a4db94011d3 15 void delay_init(void)
sahilmgandhi 18:6a4db94011d3 16 {
sahilmgandhi 18:6a4db94011d3 17 cycles_per_ms = system_gclk_gen_get_hz(0);
sahilmgandhi 18:6a4db94011d3 18 cycles_per_ms /= 1000;
sahilmgandhi 18:6a4db94011d3 19 cycles_per_us = cycles_per_ms / 1000;
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk;
sahilmgandhi 18:6a4db94011d3 22 }
sahilmgandhi 18:6a4db94011d3 23
sahilmgandhi 18:6a4db94011d3 24 /**
sahilmgandhi 18:6a4db94011d3 25 * \brief Delay loop to delay at least n number of microseconds
sahilmgandhi 18:6a4db94011d3 26 *
sahilmgandhi 18:6a4db94011d3 27 * \param n Number of microseconds to wait
sahilmgandhi 18:6a4db94011d3 28 */
sahilmgandhi 18:6a4db94011d3 29 void delay_cycles_us(
sahilmgandhi 18:6a4db94011d3 30 uint32_t n)
sahilmgandhi 18:6a4db94011d3 31 {
sahilmgandhi 18:6a4db94011d3 32 while (n--) {
sahilmgandhi 18:6a4db94011d3 33 /* Devide up to blocks of 10u */
sahilmgandhi 18:6a4db94011d3 34 delay_cycles(cycles_per_us);
sahilmgandhi 18:6a4db94011d3 35 }
sahilmgandhi 18:6a4db94011d3 36 }
sahilmgandhi 18:6a4db94011d3 37
sahilmgandhi 18:6a4db94011d3 38 /**
sahilmgandhi 18:6a4db94011d3 39 * \brief Delay loop to delay at least n number of milliseconds
sahilmgandhi 18:6a4db94011d3 40 *
sahilmgandhi 18:6a4db94011d3 41 * \param n Number of milliseconds to wait
sahilmgandhi 18:6a4db94011d3 42 */
sahilmgandhi 18:6a4db94011d3 43 void delay_cycles_ms(
sahilmgandhi 18:6a4db94011d3 44 uint32_t n)
sahilmgandhi 18:6a4db94011d3 45 {
sahilmgandhi 18:6a4db94011d3 46 while (n--) {
sahilmgandhi 18:6a4db94011d3 47 /* Devide up to blocks of 1ms */
sahilmgandhi 18:6a4db94011d3 48 delay_cycles(cycles_per_ms);
sahilmgandhi 18:6a4db94011d3 49 }
sahilmgandhi 18:6a4db94011d3 50 }