RTno is communicating library and framework which allows you to make your embedded device capable of communicating with RT-middleware world. RT-middleware is a platform software to realize Robotic system. In RTM, robots are developed by constructing robotics technologies\' elements (components) named RT-component. Therefore, the RTno helps you to create your own RT-component with your mbed and arduino. To know how to use your RTno device, visit here: http://ysuga.net/robot_e/rtm_e/rtc_e/1065?lang=en To know about RT-middleware and RT-component, visit http://www.openrtm.org
Dependencies: EthernetInterface mbed-rtos
Timer1ExecutionContext.cpp
- Committer:
- ysuga
- Date:
- 2013-06-24
- Revision:
- 0:5f7bc45bc2e8
File content as of revision 0:5f7bc45bc2e8:
#define RTNO_SUBMODULE_DEFINE #include <stdint.h> #include "RTno.h" #include "Packet.h" #include "Timer1ExecutionContext.h" //#include <avr/io.h> //#include <avr/interrupt.h> static float m_Period; //static uint8_t m_ClockSetting; Ticker *m_pTimer; void Timer1EC_start(); void Timer1EC_suspend(); void Timer1EC_resume(); void tick () { EC_execute(); } void Timer1EC_init(double rate) { EC_init(0x22); m_pTimer = new Ticker(); // Initialize Period m_Period = (1.0 / rate); EC_start = Timer1EC_start; EC_suspend = Timer1EC_suspend; EC_resume = Timer1EC_resume; } void Timer1EC_start() { m_pTimer->attach(tick, m_Period); } void Timer1EC_suspend() { m_pTimer->detach(); } void Timer1EC_resume() { Timer1EC_start(); }