// -----------------------------------------------------------------------------
// This function starts the specified data stream at the specified period. Note
// that this stream has to be renewed periodically by resending the request. If
// no renewing request is received, then the stream will time out after a while.
// Also note that the stream output period will be quantized to the main control
// frequency.
void SetMKDataStream(enum MKStream mk_stream, uint16_t period_10ms)
{
mk_stream_ = mk_stream;
uint16_t stream_period = period_10ms * 10; // ms
if (!stream_period_)
stream_timer_ = GetTimestampMillisFromNow(0); // Start stream immediately
else if (stream_period < stream_period_)
stream_timer_ = GetTimestampMillisFromNow(stream_period);
stream_period_ = stream_period;
stream_timeout_ = GetTimestampMillisFromNow(STREAM_TIMEOUT);
}
// -----------------------------------------------------------------------------
// This function delays execution of the program for "t" ms. Functions triggered
// by interrupts will still execute during this period. This function works for
// time periods up to 32767 ms.
void Wait(uint16_t w)
{
uint16_t timestamp = GetTimestampMillisFromNow(w);
while (!TimestampInPast(timestamp));
}