Sam Shum / ros_mbed_base_controller

Sam

millis.cpp@2:611a5eb132a1, 2020-09-13 (annotated)

Committer:
s0313045
Date:
Sun Sep 13 04:30:54 2020 +0000
Revision:
2:611a5eb132a1
Parent:
0:502b364c9f1d 
by Sam

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s0313045 0:502b364c9f1d 1 #include "mbed.h"
s0313045 0:502b364c9f1d 2 #include "millis.h"
s0313045 0:502b364c9f1d 3 /*
s0313045 0:502b364c9f1d 4 millis.cpp
s0313045 0:502b364c9f1d 5 Copyright (c) 2016 Zoltan Hudak <hudakz@inbox.com>
s0313045 0:502b364c9f1d 6 All rights reserved.
s0313045 0:502b364c9f1d 7
s0313045 0:502b364c9f1d 8 This program is free software: you can redistribute it and/or modify
s0313045 0:502b364c9f1d 9 it under the terms of the GNU General Public License as published by
s0313045 0:502b364c9f1d 10 the Free Software Foundation, either version 3 of the License, or
s0313045 0:502b364c9f1d 11 (at your option) any later version.
s0313045 0:502b364c9f1d 12
s0313045 0:502b364c9f1d 13 This program is distributed in the hope that it will be useful,
s0313045 0:502b364c9f1d 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
s0313045 0:502b364c9f1d 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
s0313045 0:502b364c9f1d 16 GNU General Public License for more details.
s0313045 0:502b364c9f1d 17
s0313045 0:502b364c9f1d 18 You should have received a copy of the GNU General Public License
s0313045 0:502b364c9f1d 19 along with this program. If not, see <http://www.gnu.org/licenses/>.
s0313045 0:502b364c9f1d 20 */
s0313045 0:502b364c9f1d 21
s0313045 0:502b364c9f1d 22 volatile unsigned long _millis;
s0313045 0:502b364c9f1d 23
s0313045 0:502b364c9f1d 24 void millisStart(void) {
s0313045 0:502b364c9f1d 25 SysTick_Config(SystemCoreClock / 1000);
s0313045 0:502b364c9f1d 26 }
s0313045 0:502b364c9f1d 27
s0313045 0:502b364c9f1d 28 extern "C" void SysTick_Handler(void) {
s0313045 0:502b364c9f1d 29 _millis++;
s0313045 0:502b364c9f1d 30 }
s0313045 0:502b364c9f1d 31
s0313045 0:502b364c9f1d 32 unsigned long millis(void) {
s0313045 0:502b364c9f1d 33 return _millis;
s0313045 0:502b364c9f1d 34 }
s0313045 0:502b364c9f1d 35
s0313045 0:502b364c9f1d 36