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mbed_wait_api_rtos.cpp
00001 /* mbed Microcontroller Library 00002 * Copyright (c) 2006-2013 ARM Limited 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 // This implementation of the wait functions will be compiled only 00018 // if the RTOS is present. 00019 #ifdef MBED_CONF_RTOS_PRESENT 00020 00021 #include "platform/mbed_wait_api.h" 00022 #include "hal/us_ticker_api.h" 00023 #include "rtos/rtos.h" 00024 #include "platform/mbed_critical.h" 00025 00026 void wait(float s) { 00027 wait_us(s * 1000000.0f); 00028 } 00029 00030 void wait_ms(int ms) { 00031 wait_us(ms * 1000); 00032 } 00033 00034 void wait_us(int us) { 00035 uint32_t start = us_ticker_read(); 00036 // Use the RTOS to wait for millisecond delays if possible 00037 int ms = us / 1000; 00038 if ((ms > 0) && core_util_are_interrupts_enabled()) { 00039 Thread::wait((uint32_t)ms); 00040 } 00041 // Use busy waiting for sub-millisecond delays, or for the whole 00042 // interval if interrupts are not enabled 00043 while ((us_ticker_read() - start) < (uint32_t)us); 00044 } 00045 00046 #endif // #if MBED_CONF_RTOS_PRESENT 00047
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