Yuki Suga
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
Dependents: RTnoV3_LED RTnoV3_Template RTnoV3_ADC RTnoV3_Timer ... more
Diff: Timer1ExecutionContext.cpp
- Revision:
- 0:9fac71a0bff3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Timer1ExecutionContext.cpp Thu Feb 09 02:33:10 2012 +0000
@@ -0,0 +1,50 @@
+#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();
+}
+
+