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_Time.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_TIME.C
apatel336 0:1496281373a5 5 * Purpose: Delay and interval wait functions
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_Task.h"
apatel336 0:1496281373a5 38 #include "rt_Time.h"
apatel336 0:1496281373a5 39
apatel336 0:1496281373a5 40 /*----------------------------------------------------------------------------
apatel336 0:1496281373a5 41 * Global Variables
apatel336 0:1496281373a5 42 *---------------------------------------------------------------------------*/
apatel336 0:1496281373a5 43
apatel336 0:1496281373a5 44 /* Free running system tick counter */
apatel336 0:1496281373a5 45 U32 os_time;
apatel336 0:1496281373a5 46
apatel336 0:1496281373a5 47
apatel336 0:1496281373a5 48 /*----------------------------------------------------------------------------
apatel336 0:1496281373a5 49 * Functions
apatel336 0:1496281373a5 50 *---------------------------------------------------------------------------*/
apatel336 0:1496281373a5 51
apatel336 0:1496281373a5 52
apatel336 0:1496281373a5 53 /*--------------------------- rt_time_get -----------------------------------*/
apatel336 0:1496281373a5 54
apatel336 0:1496281373a5 55 U32 rt_time_get (void) {
apatel336 0:1496281373a5 56 /* Get system time tick */
apatel336 0:1496281373a5 57 return (os_time);
apatel336 0:1496281373a5 58 }
apatel336 0:1496281373a5 59
apatel336 0:1496281373a5 60
apatel336 0:1496281373a5 61 /*--------------------------- rt_dly_wait -----------------------------------*/
apatel336 0:1496281373a5 62
apatel336 0:1496281373a5 63 void rt_dly_wait (U16 delay_time) {
apatel336 0:1496281373a5 64 /* Delay task by "delay_time" */
apatel336 0:1496281373a5 65 rt_block (delay_time, WAIT_DLY);
apatel336 0:1496281373a5 66 }
apatel336 0:1496281373a5 67
apatel336 0:1496281373a5 68
apatel336 0:1496281373a5 69 /*--------------------------- rt_itv_set ------------------------------------*/
apatel336 0:1496281373a5 70
apatel336 0:1496281373a5 71 void rt_itv_set (U16 interval_time) {
apatel336 0:1496281373a5 72 /* Set interval length and define start of first interval */
apatel336 0:1496281373a5 73 os_tsk.run->interval_time = interval_time;
apatel336 0:1496281373a5 74 os_tsk.run->delta_time = interval_time + (U16)os_time;
apatel336 0:1496281373a5 75 }
apatel336 0:1496281373a5 76
apatel336 0:1496281373a5 77
apatel336 0:1496281373a5 78 /*--------------------------- rt_itv_wait -----------------------------------*/
apatel336 0:1496281373a5 79
apatel336 0:1496281373a5 80 void rt_itv_wait (void) {
apatel336 0:1496281373a5 81 /* Wait for interval end and define start of next one */
apatel336 0:1496281373a5 82 U16 delta;
apatel336 0:1496281373a5 83
apatel336 0:1496281373a5 84 delta = os_tsk.run->delta_time - (U16)os_time;
apatel336 0:1496281373a5 85 os_tsk.run->delta_time += os_tsk.run->interval_time;
apatel336 0:1496281373a5 86 if ((delta & 0x8000) == 0) {
apatel336 0:1496281373a5 87 rt_block (delta, WAIT_ITV);
apatel336 0:1496281373a5 88 }
apatel336 0:1496281373a5 89 }
apatel336 0:1496281373a5 90
apatel336 0:1496281373a5 91 /*----------------------------------------------------------------------------
apatel336 0:1496281373a5 92 * end of file
apatel336 0:1496281373a5 93 *---------------------------------------------------------------------------*/
apatel336 0:1496281373a5 94