Yuki Suga / RTnoV4

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@7:6c7af1d50fb3, 2013-08-29 (annotated)

Committer:
ysuga
Date:
Thu Aug 29 05:29:55 2013 +0000
Revision:
7:6c7af1d50fb3
Parent:
0:5f7bc45bc2e8 
update v5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ysuga 0:5f7bc45bc2e8 1 #define RTNO_SUBMODULE_DEFINE
ysuga 0:5f7bc45bc2e8 2
ysuga 0:5f7bc45bc2e8 3 #include <stdint.h>
ysuga 0:5f7bc45bc2e8 4 #include "RTno.h"
ysuga 0:5f7bc45bc2e8 5 #include "Packet.h"
ysuga 0:5f7bc45bc2e8 6 #include "Timer1ExecutionContext.h"
ysuga 0:5f7bc45bc2e8 7 //#include <avr/io.h>
ysuga 0:5f7bc45bc2e8 8 //#include <avr/interrupt.h>
ysuga 0:5f7bc45bc2e8 9
ysuga 0:5f7bc45bc2e8 10 static float m_Period;
ysuga 0:5f7bc45bc2e8 11 //static uint8_t m_ClockSetting;
ysuga 0:5f7bc45bc2e8 12
ysuga 0:5f7bc45bc2e8 13 Ticker *m_pTimer;
ysuga 0:5f7bc45bc2e8 14
ysuga 0:5f7bc45bc2e8 15 void Timer1EC_start();
ysuga 0:5f7bc45bc2e8 16 void Timer1EC_suspend();
ysuga 0:5f7bc45bc2e8 17 void Timer1EC_resume();
ysuga 0:5f7bc45bc2e8 18
ysuga 0:5f7bc45bc2e8 19 void tick () {
ysuga 0:5f7bc45bc2e8 20 EC_execute();
ysuga 0:5f7bc45bc2e8 21 }
ysuga 0:5f7bc45bc2e8 22
ysuga 0:5f7bc45bc2e8 23
ysuga 0:5f7bc45bc2e8 24 void Timer1EC_init(double rate)
ysuga 0:5f7bc45bc2e8 25 {
ysuga 0:5f7bc45bc2e8 26 EC_init(0x22);
ysuga 0:5f7bc45bc2e8 27 m_pTimer = new Ticker();
ysuga 0:5f7bc45bc2e8 28 // Initialize Period
ysuga 0:5f7bc45bc2e8 29 m_Period = (1.0 / rate);
ysuga 0:5f7bc45bc2e8 30 EC_start = Timer1EC_start;
ysuga 0:5f7bc45bc2e8 31 EC_suspend = Timer1EC_suspend;
ysuga 0:5f7bc45bc2e8 32 EC_resume = Timer1EC_resume;
ysuga 0:5f7bc45bc2e8 33 }
ysuga 0:5f7bc45bc2e8 34
ysuga 0:5f7bc45bc2e8 35 void Timer1EC_start()
ysuga 0:5f7bc45bc2e8 36 {
ysuga 0:5f7bc45bc2e8 37 m_pTimer->attach(tick, m_Period);
ysuga 0:5f7bc45bc2e8 38 }
ysuga 0:5f7bc45bc2e8 39
ysuga 0:5f7bc45bc2e8 40 void Timer1EC_suspend()
ysuga 0:5f7bc45bc2e8 41 {
ysuga 0:5f7bc45bc2e8 42 m_pTimer->detach();
ysuga 0:5f7bc45bc2e8 43 }
ysuga 0:5f7bc45bc2e8 44
ysuga 0:5f7bc45bc2e8 45 void Timer1EC_resume()
ysuga 0:5f7bc45bc2e8 46 {
ysuga 0:5f7bc45bc2e8 47 Timer1EC_start();
ysuga 0:5f7bc45bc2e8 48 }
ysuga 0:5f7bc45bc2e8 49
ysuga 0:5f7bc45bc2e8 50