Weimen Li / Mbed 2 deprecated MAE433_Library

Drivers for the mini robot designed for Princeton's MAE 433 course.

Dependencies:   mbed-dsp mbed-rtos mbed

Dependents:   MAE433_Library_Tester RobotBalancerv2

FixedRefresh.hpp@8:da95e4ccbe4c, 2016-06-30 (annotated)

Committer:
Electrotiger
Date:
Thu Jun 30 23:52:51 2016 +0000
Revision:
8:da95e4ccbe4c
Parent:
6:076fcae78bac 
Decreased H-Bridge Period to Provide for Even Finer Control.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Electrotiger 6:076fcae78bac 1 /**
Electrotiger 6:076fcae78bac 2 * @file FixedRefresh.hpp
Electrotiger 6:076fcae78bac 3 * @author Weimen Li
Electrotiger 6:076fcae78bac 4 * @date June 26th, 2016
Electrotiger 6:076fcae78bac 5 * @class FixedRefresh
Electrotiger 6:076fcae78bac 6 * @brief This class is used in an RTOS to ensure that iterations of a loop happen at fixed time intervals,
Electrotiger 6:076fcae78bac 7 * regardless of how long other code in the loop takes. In doing so, it waits the thread that is currently
Electrotiger 6:076fcae78bac 8 * running to allow other threads to run.
Electrotiger 6:076fcae78bac 9 */
Electrotiger 6:076fcae78bac 10
Electrotiger 6:076fcae78bac 11 /*
Electrotiger 6:076fcae78bac 12 * FixedRefresh.hpp
Electrotiger 6:076fcae78bac 13 *
Electrotiger 6:076fcae78bac 14 * Created on: Jun 26, 2016
Electrotiger 6:076fcae78bac 15 * Author: Developer
Electrotiger 6:076fcae78bac 16 */
Electrotiger 6:076fcae78bac 17
Electrotiger 6:076fcae78bac 18 #ifndef FIXEDREFRESH_HPP_
Electrotiger 6:076fcae78bac 19 #define FIXEDREFRESH_HPP_
Electrotiger 6:076fcae78bac 20 #include "mbed.h"
Electrotiger 6:076fcae78bac 21 #include "rtos.h"
Electrotiger 6:076fcae78bac 22
Electrotiger 6:076fcae78bac 23 class FixedRefresh {
Electrotiger 6:076fcae78bac 24 public:
Electrotiger 6:076fcae78bac 25 /// Constructor for the FixedRefresh class.
Electrotiger 6:076fcae78bac 26 FixedRefresh();
Electrotiger 6:076fcae78bac 27 /// Destructor for the FixedRefresh class.
Electrotiger 6:076fcae78bac 28 virtual ~FixedRefresh();
Electrotiger 6:076fcae78bac 29
Electrotiger 6:076fcae78bac 30 /*
Electrotiger 6:076fcae78bac 31 * @brief Function which ensures as much as possible that micros microseconds elapses
Electrotiger 6:076fcae78bac 32 * between successive calls, no matter how long the computation beforehand took.
Electrotiger 6:076fcae78bac 33 * @args micros The number of microseconds that should elapse between successive calls.
Electrotiger 6:076fcae78bac 34 * @returns false if waiting will not occur because greater than micros microseconds has
Electrotiger 6:076fcae78bac 35 * elapsed since the previous calls. If the function does return false, then your computation
Electrotiger 6:076fcae78bac 36 * is taking too much time.
Electrotiger 6:076fcae78bac 37 */
Electrotiger 6:076fcae78bac 38 bool refresh_us(uint32_t micros);
Electrotiger 6:076fcae78bac 39 private:
Electrotiger 6:076fcae78bac 40 /// The number of microseconds to wait.
Electrotiger 6:076fcae78bac 41 uint32_t wait_us;
Electrotiger 6:076fcae78bac 42 Timer elapsedTime;
Electrotiger 6:076fcae78bac 43 Timeout waitTimer;
Electrotiger 6:076fcae78bac 44 /**
Electrotiger 6:076fcae78bac 45 * @brief Mutex that is locked
Electrotiger 6:076fcae78bac 46 */
Electrotiger 6:076fcae78bac 47 Semaphore waitSemaphore;
Electrotiger 6:076fcae78bac 48 void timerCallback();
Electrotiger 6:076fcae78bac 49 };
Electrotiger 6:076fcae78bac 50
Electrotiger 6:076fcae78bac 51 #endif /* FIXEDREFRESH_HPP_ */