Diff: systick.cpp

Revision:

0:7a97ebb833eb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/systick.cpp	Sun May 05 00:02:11 2019 +0000
@@ -0,0 +1,35 @@
+#include "systick.h"
+#include "mbed.h"
+#include "globals.h"
+
+void systickFunction() {
+    // Update global counter
+    millis++;
+    mainController.update();
+    
+    // Update other sensors
+    ir.update();
+}
+
+void Systick::start() {
+     m_systicker.attach(&systickFunction, SYS_TICK_TIME);
+}
+
+void Systick::stop() {
+     m_systicker.detach();
+}
+
+Systick::Systick() {
+    // A little bit of magic; if you want to know why, ask Robert
+    NVIC_SetPriority(TIM5_IRQn, 255);
+}
+
+void Systick::wait(float sec) {
+    // Utility function: allows you to wait while using systick.
+    int init = millis;
+    
+    float num_ticks = sec / SYS_TICK_TIME;
+
+    while (millis - init < num_ticks)
+        ;
+}