MRT_Studienarbeit - This program control a 5 axis arm robot from lynx…

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Simmerl Manuel / Mbed 2 deprecated MRT_Studienarbeit

This program control a 5 axis arm robot from lynx motion

scmRTOS/Common/usrlib.cpp@0:b6608b36efd7, 2011-02-15 (annotated)

Committer:: msimmerl
Date:: Tue Feb 15 07:49:25 2011 +0000
Revision:: 0:b6608b36efd7

Who changed what in which revision?

User	Revision	Line number	New contents of line
msimmerl	0:b6608b36efd7	1	//******************************************************************************
msimmerl	0:b6608b36efd7	2	//*
msimmerl	0:b6608b36efd7	3	//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
msimmerl	0:b6608b36efd7	4	//*
msimmerl	0:b6608b36efd7	5	//* NICKNAME: scmRTOS
msimmerl	0:b6608b36efd7	6	//*
msimmerl	0:b6608b36efd7	7	//* PURPOSE: User Suport Library Source
msimmerl	0:b6608b36efd7	8	//*
msimmerl	0:b6608b36efd7	9	//* Version: 3.10
msimmerl	0:b6608b36efd7	10	//*
msimmerl	0:b6608b36efd7	11	//* $Revision: 256 $
msimmerl	0:b6608b36efd7	12	//* $Date:: 2010-01-22 #$
msimmerl	0:b6608b36efd7	13	//*
msimmerl	0:b6608b36efd7	14	//* Copyright (c) 2003-2010, Harry E. Zhurov
msimmerl	0:b6608b36efd7	15	//*
msimmerl	0:b6608b36efd7	16	//* Permission is hereby granted, free of charge, to any person
msimmerl	0:b6608b36efd7	17	//* obtaining a copy of this software and associated documentation
msimmerl	0:b6608b36efd7	18	//* files (the "Software"), to deal in the Software without restriction,
msimmerl	0:b6608b36efd7	19	//* including without limitation the rights to use, copy, modify, merge,
msimmerl	0:b6608b36efd7	20	//* publish, distribute, sublicense, and/or sell copies of the Software,
msimmerl	0:b6608b36efd7	21	//* and to permit persons to whom the Software is furnished to do so,
msimmerl	0:b6608b36efd7	22	//* subject to the following conditions:
msimmerl	0:b6608b36efd7	23	//*
msimmerl	0:b6608b36efd7	24	//* The above copyright notice and this permission notice shall be included
msimmerl	0:b6608b36efd7	25	//* in all copies or substantial portions of the Software.
msimmerl	0:b6608b36efd7	26	//*
msimmerl	0:b6608b36efd7	27	//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
msimmerl	0:b6608b36efd7	28	//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
msimmerl	0:b6608b36efd7	29	//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
msimmerl	0:b6608b36efd7	30	//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
msimmerl	0:b6608b36efd7	31	//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
msimmerl	0:b6608b36efd7	32	//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
msimmerl	0:b6608b36efd7	33	//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
msimmerl	0:b6608b36efd7	34	//*
msimmerl	0:b6608b36efd7	35	//* =================================================================
msimmerl	0:b6608b36efd7	36	//* See http://scmrtos.sourceforge.net for documentation, latest
msimmerl	0:b6608b36efd7	37	//* information, license and contact details.
msimmerl	0:b6608b36efd7	38	//* =================================================================
msimmerl	0:b6608b36efd7	39	//*
msimmerl	0:b6608b36efd7	40	//******************************************************************************
msimmerl	0:b6608b36efd7	41
msimmerl	0:b6608b36efd7	42	#include <usrlib.h>
msimmerl	0:b6608b36efd7	43	#include <commdefs.h>
msimmerl	0:b6608b36efd7	44
msimmerl	0:b6608b36efd7	45	using namespace usr;
msimmerl	0:b6608b36efd7	46
msimmerl	0:b6608b36efd7	47	//------------------------------------------------------------------------------
msimmerl	0:b6608b36efd7	48	//
msimmerl	0:b6608b36efd7	49	/// Circular buffer function-member description
msimmerl	0:b6608b36efd7	50	//
msimmerl	0:b6608b36efd7	51	//
msimmerl	0:b6608b36efd7	52	//
msimmerl	0:b6608b36efd7	53	TCbuf::TCbuf(byte* const Address, const byte Size) :
msimmerl	0:b6608b36efd7	54	buf(Address),
msimmerl	0:b6608b36efd7	55	size(Size),
msimmerl	0:b6608b36efd7	56	count(0),
msimmerl	0:b6608b36efd7	57	first(0),
msimmerl	0:b6608b36efd7	58	last(0)
msimmerl	0:b6608b36efd7	59	{
msimmerl	0:b6608b36efd7	60	}
msimmerl	0:b6608b36efd7	61	//------------------------------------------------------------------------------
msimmerl	0:b6608b36efd7	62	bool TCbuf::write(const byte* data, const byte Count)
msimmerl	0:b6608b36efd7	63	{
msimmerl	0:b6608b36efd7	64	if( Count > (size - count) )
msimmerl	0:b6608b36efd7	65	return false;
msimmerl	0:b6608b36efd7	66
msimmerl	0:b6608b36efd7	67	for(byte i = 0; i < Count; i++)
msimmerl	0:b6608b36efd7	68	push(*(data++));
msimmerl	0:b6608b36efd7	69
msimmerl	0:b6608b36efd7	70	return true;
msimmerl	0:b6608b36efd7	71	}
msimmerl	0:b6608b36efd7	72	//------------------------------------------------------------------------------
msimmerl	0:b6608b36efd7	73	void TCbuf::read(byte* data, const byte Count)
msimmerl	0:b6608b36efd7	74	{
msimmerl	0:b6608b36efd7	75	byte N = Count <= count ? Count : count;
msimmerl	0:b6608b36efd7	76
msimmerl	0:b6608b36efd7	77	for(byte i = 0; i < N; i++)
msimmerl	0:b6608b36efd7	78	data[i] = pop();
msimmerl	0:b6608b36efd7	79	}
msimmerl	0:b6608b36efd7	80	//------------------------------------------------------------------------------
msimmerl	0:b6608b36efd7	81	byte TCbuf::get_byte(const byte index) const
msimmerl	0:b6608b36efd7	82	{
msimmerl	0:b6608b36efd7	83	byte x = first + index;
msimmerl	0:b6608b36efd7	84
msimmerl	0:b6608b36efd7	85	if(x < size)
msimmerl	0:b6608b36efd7	86	return buf[x];
msimmerl	0:b6608b36efd7	87	else
msimmerl	0:b6608b36efd7	88	return buf[x - size];
msimmerl	0:b6608b36efd7	89	}
msimmerl	0:b6608b36efd7	90
msimmerl	0:b6608b36efd7	91	//------------------------------------------------------------------------------
msimmerl	0:b6608b36efd7	92	bool TCbuf::put(const byte item)
msimmerl	0:b6608b36efd7	93	{
msimmerl	0:b6608b36efd7	94	if(count == size)
msimmerl	0:b6608b36efd7	95	return false;
msimmerl	0:b6608b36efd7	96
msimmerl	0:b6608b36efd7	97	push(item);
msimmerl	0:b6608b36efd7	98	return true;
msimmerl	0:b6608b36efd7	99	}
msimmerl	0:b6608b36efd7	100	//------------------------------------------------------------------------------
msimmerl	0:b6608b36efd7	101	byte TCbuf::get()
msimmerl	0:b6608b36efd7	102	{
msimmerl	0:b6608b36efd7	103	if(count)
msimmerl	0:b6608b36efd7	104	return pop();
msimmerl	0:b6608b36efd7	105	else
msimmerl	0:b6608b36efd7	106	return 0;
msimmerl	0:b6608b36efd7	107	}
msimmerl	0:b6608b36efd7	108	//------------------------------------------------------------------------------
msimmerl	0:b6608b36efd7	109	//
msimmerl	0:b6608b36efd7	110	/// \note
msimmerl	0:b6608b36efd7	111	/// For internal purposes.
msimmerl	0:b6608b36efd7	112	/// Use this function with care - it doesn't perform free size check.
msimmerl	0:b6608b36efd7	113	//
msimmerl	0:b6608b36efd7	114	void TCbuf::push(const byte item)
msimmerl	0:b6608b36efd7	115	{
msimmerl	0:b6608b36efd7	116	buf[last] = item;
msimmerl	0:b6608b36efd7	117	last++;
msimmerl	0:b6608b36efd7	118	count++;
msimmerl	0:b6608b36efd7	119
msimmerl	0:b6608b36efd7	120	if(last == size)
msimmerl	0:b6608b36efd7	121	last = 0;
msimmerl	0:b6608b36efd7	122	}
msimmerl	0:b6608b36efd7	123	//------------------------------------------------------------------------------
msimmerl	0:b6608b36efd7	124	//
msimmerl	0:b6608b36efd7	125	/// \note
msimmerl	0:b6608b36efd7	126	/// For internal purposes.
msimmerl	0:b6608b36efd7	127	/// Use this function with care - it doesn't perform free size check.
msimmerl	0:b6608b36efd7	128	//
msimmerl	0:b6608b36efd7	129	byte TCbuf::pop()
msimmerl	0:b6608b36efd7	130	{
msimmerl	0:b6608b36efd7	131	byte item = buf[first];
msimmerl	0:b6608b36efd7	132
msimmerl	0:b6608b36efd7	133	count--;
msimmerl	0:b6608b36efd7	134	first++;
msimmerl	0:b6608b36efd7	135	if(first == size)
msimmerl	0:b6608b36efd7	136	first = 0;
msimmerl	0:b6608b36efd7	137
msimmerl	0:b6608b36efd7	138	return item;
msimmerl	0:b6608b36efd7	139	}
msimmerl	0:b6608b36efd7	140	//------------------------------------------------------------------------------

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	15 Feb 2011
Imports:	4
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	2
Followers:	1

scmRTOS/Common/usrlib.cpp@0:b6608b36efd7, 2011-02-15 (annotated)

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