Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

mbed/mbed-rtos/rtx/rt_Time.c@0:964eb6a2ef00, 2015-03-18 (annotated)

Committer:
majik
Date:
Wed Mar 18 22:23:48 2015 +0000
Revision:
0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:964eb6a2ef00 1 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 2 * RL-ARM - RTX
majik 0:964eb6a2ef00 3 *----------------------------------------------------------------------------
majik 0:964eb6a2ef00 4 * Name: RT_TIME.C
majik 0:964eb6a2ef00 5 * Purpose: Delay and interval wait functions
majik 0:964eb6a2ef00 6 * Rev.: V4.60
majik 0:964eb6a2ef00 7 *----------------------------------------------------------------------------
majik 0:964eb6a2ef00 8 *
majik 0:964eb6a2ef00 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
majik 0:964eb6a2ef00 10 * All rights reserved.
majik 0:964eb6a2ef00 11 * Redistribution and use in source and binary forms, with or without
majik 0:964eb6a2ef00 12 * modification, are permitted provided that the following conditions are met:
majik 0:964eb6a2ef00 13 * - Redistributions of source code must retain the above copyright
majik 0:964eb6a2ef00 14 * notice, this list of conditions and the following disclaimer.
majik 0:964eb6a2ef00 15 * - Redistributions in binary form must reproduce the above copyright
majik 0:964eb6a2ef00 16 * notice, this list of conditions and the following disclaimer in the
majik 0:964eb6a2ef00 17 * documentation and/or other materials provided with the distribution.
majik 0:964eb6a2ef00 18 * - Neither the name of ARM nor the names of its contributors may be used
majik 0:964eb6a2ef00 19 * to endorse or promote products derived from this software without
majik 0:964eb6a2ef00 20 * specific prior written permission.
majik 0:964eb6a2ef00 21 *
majik 0:964eb6a2ef00 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
majik 0:964eb6a2ef00 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
majik 0:964eb6a2ef00 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
majik 0:964eb6a2ef00 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
majik 0:964eb6a2ef00 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
majik 0:964eb6a2ef00 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
majik 0:964eb6a2ef00 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
majik 0:964eb6a2ef00 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
majik 0:964eb6a2ef00 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
majik 0:964eb6a2ef00 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
majik 0:964eb6a2ef00 32 * POSSIBILITY OF SUCH DAMAGE.
majik 0:964eb6a2ef00 33 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 34
majik 0:964eb6a2ef00 35 #include "rt_TypeDef.h"
majik 0:964eb6a2ef00 36 #include "RTX_Conf.h"
majik 0:964eb6a2ef00 37 #include "rt_Task.h"
majik 0:964eb6a2ef00 38 #include "rt_Time.h"
majik 0:964eb6a2ef00 39
majik 0:964eb6a2ef00 40 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 41 * Global Variables
majik 0:964eb6a2ef00 42 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 43
majik 0:964eb6a2ef00 44 /* Free running system tick counter */
majik 0:964eb6a2ef00 45 U32 os_time;
majik 0:964eb6a2ef00 46
majik 0:964eb6a2ef00 47
majik 0:964eb6a2ef00 48 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 49 * Functions
majik 0:964eb6a2ef00 50 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 51
majik 0:964eb6a2ef00 52
majik 0:964eb6a2ef00 53 /*--------------------------- rt_time_get -----------------------------------*/
majik 0:964eb6a2ef00 54
majik 0:964eb6a2ef00 55 U32 rt_time_get (void) {
majik 0:964eb6a2ef00 56 /* Get system time tick */
majik 0:964eb6a2ef00 57 return (os_time);
majik 0:964eb6a2ef00 58 }
majik 0:964eb6a2ef00 59
majik 0:964eb6a2ef00 60
majik 0:964eb6a2ef00 61 /*--------------------------- rt_dly_wait -----------------------------------*/
majik 0:964eb6a2ef00 62
majik 0:964eb6a2ef00 63 void rt_dly_wait (U16 delay_time) {
majik 0:964eb6a2ef00 64 /* Delay task by "delay_time" */
majik 0:964eb6a2ef00 65 rt_block (delay_time, WAIT_DLY);
majik 0:964eb6a2ef00 66 }
majik 0:964eb6a2ef00 67
majik 0:964eb6a2ef00 68
majik 0:964eb6a2ef00 69 /*--------------------------- rt_itv_set ------------------------------------*/
majik 0:964eb6a2ef00 70
majik 0:964eb6a2ef00 71 void rt_itv_set (U16 interval_time) {
majik 0:964eb6a2ef00 72 /* Set interval length and define start of first interval */
majik 0:964eb6a2ef00 73 os_tsk.run->interval_time = interval_time;
majik 0:964eb6a2ef00 74 os_tsk.run->delta_time = interval_time + (U16)os_time;
majik 0:964eb6a2ef00 75 }
majik 0:964eb6a2ef00 76
majik 0:964eb6a2ef00 77
majik 0:964eb6a2ef00 78 /*--------------------------- rt_itv_wait -----------------------------------*/
majik 0:964eb6a2ef00 79
majik 0:964eb6a2ef00 80 void rt_itv_wait (void) {
majik 0:964eb6a2ef00 81 /* Wait for interval end and define start of next one */
majik 0:964eb6a2ef00 82 U16 delta;
majik 0:964eb6a2ef00 83
majik 0:964eb6a2ef00 84 delta = os_tsk.run->delta_time - (U16)os_time;
majik 0:964eb6a2ef00 85 os_tsk.run->delta_time += os_tsk.run->interval_time;
majik 0:964eb6a2ef00 86 if ((delta & 0x8000) == 0) {
majik 0:964eb6a2ef00 87 rt_block (delta, WAIT_ITV);
majik 0:964eb6a2ef00 88 }
majik 0:964eb6a2ef00 89 }
majik 0:964eb6a2ef00 90
majik 0:964eb6a2ef00 91 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 92 * end of file
majik 0:964eb6a2ef00 93 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 94