Ankit Patel / Mbed 2 deprecated Robot_Control_UDP_Wifi

Control a robot over the internet using UDP and a Wifly module (WiFi).

Dependencies:   Motor TextLCD WiflyInterface mbed-rtos mbed

mbed-rtos/rtx/rt_Time.c@0:c0dc3a76f3d4, 2013-10-17 (annotated)

Committer:
apatel336
Date:
Thu Oct 17 13:27:56 2013 +0000
Revision:
0:c0dc3a76f3d4
Initial Release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
apatel336 0:c0dc3a76f3d4 1 /*----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 2 * RL-ARM - RTX
apatel336 0:c0dc3a76f3d4 3 *----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 4 * Name: RT_TIME.C
apatel336 0:c0dc3a76f3d4 5 * Purpose: Delay and interval wait functions
apatel336 0:c0dc3a76f3d4 6 * Rev.: V4.60
apatel336 0:c0dc3a76f3d4 7 *----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 8 *
apatel336 0:c0dc3a76f3d4 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
apatel336 0:c0dc3a76f3d4 10 * All rights reserved.
apatel336 0:c0dc3a76f3d4 11 * Redistribution and use in source and binary forms, with or without
apatel336 0:c0dc3a76f3d4 12 * modification, are permitted provided that the following conditions are met:
apatel336 0:c0dc3a76f3d4 13 * - Redistributions of source code must retain the above copyright
apatel336 0:c0dc3a76f3d4 14 * notice, this list of conditions and the following disclaimer.
apatel336 0:c0dc3a76f3d4 15 * - Redistributions in binary form must reproduce the above copyright
apatel336 0:c0dc3a76f3d4 16 * notice, this list of conditions and the following disclaimer in the
apatel336 0:c0dc3a76f3d4 17 * documentation and/or other materials provided with the distribution.
apatel336 0:c0dc3a76f3d4 18 * - Neither the name of ARM nor the names of its contributors may be used
apatel336 0:c0dc3a76f3d4 19 * to endorse or promote products derived from this software without
apatel336 0:c0dc3a76f3d4 20 * specific prior written permission.
apatel336 0:c0dc3a76f3d4 21 *
apatel336 0:c0dc3a76f3d4 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
apatel336 0:c0dc3a76f3d4 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
apatel336 0:c0dc3a76f3d4 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
apatel336 0:c0dc3a76f3d4 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
apatel336 0:c0dc3a76f3d4 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
apatel336 0:c0dc3a76f3d4 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
apatel336 0:c0dc3a76f3d4 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
apatel336 0:c0dc3a76f3d4 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
apatel336 0:c0dc3a76f3d4 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
apatel336 0:c0dc3a76f3d4 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
apatel336 0:c0dc3a76f3d4 32 * POSSIBILITY OF SUCH DAMAGE.
apatel336 0:c0dc3a76f3d4 33 *---------------------------------------------------------------------------*/
apatel336 0:c0dc3a76f3d4 34
apatel336 0:c0dc3a76f3d4 35 #include "rt_TypeDef.h"
apatel336 0:c0dc3a76f3d4 36 #include "RTX_Conf.h"
apatel336 0:c0dc3a76f3d4 37 #include "rt_Task.h"
apatel336 0:c0dc3a76f3d4 38 #include "rt_Time.h"
apatel336 0:c0dc3a76f3d4 39
apatel336 0:c0dc3a76f3d4 40 /*----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 41 * Global Variables
apatel336 0:c0dc3a76f3d4 42 *---------------------------------------------------------------------------*/
apatel336 0:c0dc3a76f3d4 43
apatel336 0:c0dc3a76f3d4 44 /* Free running system tick counter */
apatel336 0:c0dc3a76f3d4 45 U32 os_time;
apatel336 0:c0dc3a76f3d4 46
apatel336 0:c0dc3a76f3d4 47
apatel336 0:c0dc3a76f3d4 48 /*----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 49 * Functions
apatel336 0:c0dc3a76f3d4 50 *---------------------------------------------------------------------------*/
apatel336 0:c0dc3a76f3d4 51
apatel336 0:c0dc3a76f3d4 52
apatel336 0:c0dc3a76f3d4 53 /*--------------------------- rt_time_get -----------------------------------*/
apatel336 0:c0dc3a76f3d4 54
apatel336 0:c0dc3a76f3d4 55 U32 rt_time_get (void) {
apatel336 0:c0dc3a76f3d4 56 /* Get system time tick */
apatel336 0:c0dc3a76f3d4 57 return (os_time);
apatel336 0:c0dc3a76f3d4 58 }
apatel336 0:c0dc3a76f3d4 59
apatel336 0:c0dc3a76f3d4 60
apatel336 0:c0dc3a76f3d4 61 /*--------------------------- rt_dly_wait -----------------------------------*/
apatel336 0:c0dc3a76f3d4 62
apatel336 0:c0dc3a76f3d4 63 void rt_dly_wait (U16 delay_time) {
apatel336 0:c0dc3a76f3d4 64 /* Delay task by "delay_time" */
apatel336 0:c0dc3a76f3d4 65 rt_block (delay_time, WAIT_DLY);
apatel336 0:c0dc3a76f3d4 66 }
apatel336 0:c0dc3a76f3d4 67
apatel336 0:c0dc3a76f3d4 68
apatel336 0:c0dc3a76f3d4 69 /*--------------------------- rt_itv_set ------------------------------------*/
apatel336 0:c0dc3a76f3d4 70
apatel336 0:c0dc3a76f3d4 71 void rt_itv_set (U16 interval_time) {
apatel336 0:c0dc3a76f3d4 72 /* Set interval length and define start of first interval */
apatel336 0:c0dc3a76f3d4 73 os_tsk.run->interval_time = interval_time;
apatel336 0:c0dc3a76f3d4 74 os_tsk.run->delta_time = interval_time + (U16)os_time;
apatel336 0:c0dc3a76f3d4 75 }
apatel336 0:c0dc3a76f3d4 76
apatel336 0:c0dc3a76f3d4 77
apatel336 0:c0dc3a76f3d4 78 /*--------------------------- rt_itv_wait -----------------------------------*/
apatel336 0:c0dc3a76f3d4 79
apatel336 0:c0dc3a76f3d4 80 void rt_itv_wait (void) {
apatel336 0:c0dc3a76f3d4 81 /* Wait for interval end and define start of next one */
apatel336 0:c0dc3a76f3d4 82 U16 delta;
apatel336 0:c0dc3a76f3d4 83
apatel336 0:c0dc3a76f3d4 84 delta = os_tsk.run->delta_time - (U16)os_time;
apatel336 0:c0dc3a76f3d4 85 os_tsk.run->delta_time += os_tsk.run->interval_time;
apatel336 0:c0dc3a76f3d4 86 if ((delta & 0x8000) == 0) {
apatel336 0:c0dc3a76f3d4 87 rt_block (delta, WAIT_ITV);
apatel336 0:c0dc3a76f3d4 88 }
apatel336 0:c0dc3a76f3d4 89 }
apatel336 0:c0dc3a76f3d4 90
apatel336 0:c0dc3a76f3d4 91 /*----------------------------------------------------------------------------
apatel336 0:c0dc3a76f3d4 92 * end of file
apatel336 0:c0dc3a76f3d4 93 *---------------------------------------------------------------------------*/
apatel336 0:c0dc3a76f3d4 94