Ankit Patel / Mbed 2 deprecated Robot_Control_UDP_Ethernet

Control a robot over the internet using UDP and a Ethernet interface.

Dependencies:   EthernetInterface Motor TextLCD mbed-rtos mbed Socket lwip-eth lwip-sys lwip

mbed-rtos/rtx/rt_Robin.c@0:1496281373a5, 2013-10-17 (annotated)

Committer:
apatel336
Date:
Thu Oct 17 13:26:38 2013 +0000
Revision:
0:1496281373a5
Initial Release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
apatel336 0:1496281373a5 1 /*----------------------------------------------------------------------------
apatel336 0:1496281373a5 2 * RL-ARM - RTX
apatel336 0:1496281373a5 3 *----------------------------------------------------------------------------
apatel336 0:1496281373a5 4 * Name: RT_ROBIN.C
apatel336 0:1496281373a5 5 * Purpose: Round Robin Task switching
apatel336 0:1496281373a5 6 * Rev.: V4.60
apatel336 0:1496281373a5 7 *----------------------------------------------------------------------------
apatel336 0:1496281373a5 8 *
apatel336 0:1496281373a5 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
apatel336 0:1496281373a5 10 * All rights reserved.
apatel336 0:1496281373a5 11 * Redistribution and use in source and binary forms, with or without
apatel336 0:1496281373a5 12 * modification, are permitted provided that the following conditions are met:
apatel336 0:1496281373a5 13 * - Redistributions of source code must retain the above copyright
apatel336 0:1496281373a5 14 * notice, this list of conditions and the following disclaimer.
apatel336 0:1496281373a5 15 * - Redistributions in binary form must reproduce the above copyright
apatel336 0:1496281373a5 16 * notice, this list of conditions and the following disclaimer in the
apatel336 0:1496281373a5 17 * documentation and/or other materials provided with the distribution.
apatel336 0:1496281373a5 18 * - Neither the name of ARM nor the names of its contributors may be used
apatel336 0:1496281373a5 19 * to endorse or promote products derived from this software without
apatel336 0:1496281373a5 20 * specific prior written permission.
apatel336 0:1496281373a5 21 *
apatel336 0:1496281373a5 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
apatel336 0:1496281373a5 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
apatel336 0:1496281373a5 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
apatel336 0:1496281373a5 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
apatel336 0:1496281373a5 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
apatel336 0:1496281373a5 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
apatel336 0:1496281373a5 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
apatel336 0:1496281373a5 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
apatel336 0:1496281373a5 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
apatel336 0:1496281373a5 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
apatel336 0:1496281373a5 32 * POSSIBILITY OF SUCH DAMAGE.
apatel336 0:1496281373a5 33 *---------------------------------------------------------------------------*/
apatel336 0:1496281373a5 34
apatel336 0:1496281373a5 35 #include "rt_TypeDef.h"
apatel336 0:1496281373a5 36 #include "RTX_Conf.h"
apatel336 0:1496281373a5 37 #include "rt_List.h"
apatel336 0:1496281373a5 38 #include "rt_Task.h"
apatel336 0:1496281373a5 39 #include "rt_Time.h"
apatel336 0:1496281373a5 40 #include "rt_Robin.h"
apatel336 0:1496281373a5 41 #include "rt_HAL_CM.h"
apatel336 0:1496281373a5 42
apatel336 0:1496281373a5 43 /*----------------------------------------------------------------------------
apatel336 0:1496281373a5 44 * Global Variables
apatel336 0:1496281373a5 45 *---------------------------------------------------------------------------*/
apatel336 0:1496281373a5 46
apatel336 0:1496281373a5 47 struct OS_ROBIN os_robin;
apatel336 0:1496281373a5 48
apatel336 0:1496281373a5 49
apatel336 0:1496281373a5 50 /*----------------------------------------------------------------------------
apatel336 0:1496281373a5 51 * Global Functions
apatel336 0:1496281373a5 52 *---------------------------------------------------------------------------*/
apatel336 0:1496281373a5 53
apatel336 0:1496281373a5 54 /*--------------------------- rt_init_robin ---------------------------------*/
apatel336 0:1496281373a5 55
apatel336 0:1496281373a5 56 __weak void rt_init_robin (void) {
apatel336 0:1496281373a5 57 /* Initialize Round Robin variables. */
apatel336 0:1496281373a5 58 os_robin.task = NULL;
apatel336 0:1496281373a5 59 os_robin.tout = (U16)os_rrobin;
apatel336 0:1496281373a5 60 }
apatel336 0:1496281373a5 61
apatel336 0:1496281373a5 62 /*--------------------------- rt_chk_robin ----------------------------------*/
apatel336 0:1496281373a5 63
apatel336 0:1496281373a5 64 __weak void rt_chk_robin (void) {
apatel336 0:1496281373a5 65 /* Check if Round Robin timeout expired and switch to the next ready task.*/
apatel336 0:1496281373a5 66 P_TCB p_new;
apatel336 0:1496281373a5 67
apatel336 0:1496281373a5 68 if (os_robin.task != os_rdy.p_lnk) {
apatel336 0:1496281373a5 69 /* New task was suspended, reset Round Robin timeout. */
apatel336 0:1496281373a5 70 os_robin.task = os_rdy.p_lnk;
apatel336 0:1496281373a5 71 os_robin.time = (U16)os_time + os_robin.tout - 1;
apatel336 0:1496281373a5 72 }
apatel336 0:1496281373a5 73 if (os_robin.time == (U16)os_time) {
apatel336 0:1496281373a5 74 /* Round Robin timeout has expired, swap Robin tasks. */
apatel336 0:1496281373a5 75 os_robin.task = NULL;
apatel336 0:1496281373a5 76 p_new = rt_get_first (&os_rdy);
apatel336 0:1496281373a5 77 rt_put_prio ((P_XCB)&os_rdy, p_new);
apatel336 0:1496281373a5 78 }
apatel336 0:1496281373a5 79 }
apatel336 0:1496281373a5 80
apatel336 0:1496281373a5 81 /*----------------------------------------------------------------------------
apatel336 0:1496281373a5 82 * end of file
apatel336 0:1496281373a5 83 *---------------------------------------------------------------------------*/
apatel336 0:1496281373a5 84