bool timers_stop(void){
char i;
bool result = true;
if(is_initialized == false)
return false;
for(i = 0; i < ACTIVE_TIMERS_COUNT; i++)
result &= timers[i] != NULL && osTimerStop(timers[i]) == osOK;
return result;
}
uint32_t app_timer_stop(app_timer_id_t timer_id)
{
app_timer_info_t * p_timer_info = (app_timer_info_t *)timer_id;
switch (osTimerStop((osTimerId)p_timer_info->id) )
{
case osOK:
return NRF_SUCCESS;
case osErrorISR:
break;
case osErrorParameter:
return NRF_ERROR_INVALID_PARAM;
case osErrorResource:
return NRF_SUCCESS;
default:
return NRF_ERROR_INVALID_PARAM;
}
// Stop timer without svcCall
switch (svcTimerStop((osTimerId)p_timer_info->id))
{
case osOK:
return NRF_SUCCESS;
case osErrorISR:
return NRF_ERROR_INVALID_STATE;
case osErrorParameter:
return NRF_ERROR_INVALID_PARAM;
case osErrorResource:
return NRF_SUCCESS;
default:
return NRF_ERROR_INVALID_PARAM;
}
}
/*
Motor Thread
Handles the roll and pitch motors. It has three states, Follow, Goto Angle and Stop.
Follow = simple updates the motor's angles to the values in the global struct.
Goto = moves the motors to the specified angle over a specified time received from transmitter
Stop = simply stops the motors
*/
void motor_thread(void const *argument) {
struct Values *values = (struct Values*)argument;
char string[5]= {0};
uint32_t mscount=0;
while(1){
//Follow Mode
if(values->follow == 1){
osMutexWait(measureUpdate, osWaitForever);
motorControl(values->pitch, values->roll, global_pitch, global_roll);
osMutexRelease(measureUpdate);
}
//Goto Angle Mode
if(values->follow == 0){
osSignalWait(0x02, osWaitForever);
osMutexWait(measureUpdate, osWaitForever);
measurements.roll += values->rollIncrement;
measurements.pitch += values->pitchIncrement;
motorControl(measurements.pitch,measurements.roll, global_pitch, global_roll);
++mscount;
//Check to see if we reached the desired time
if (mscount >= values->time) {
osTimerStop(timerid_motor); //stop timer
mscount=0; //reset count
// Delay
osDelay(1000);
// Move back to follow mode
measurements.follow = 1;
}
osMutexRelease(measureUpdate);
}
//Stop Mode
if(values->follow == 3){
osDelay(1000);
}
osDelay(MOTOR_DELAY);
}
}
osStatus RtosTimer::stop(void)
{
return osTimerStop(_id);
}
void tcpTick(void)
{
error_t error;
uint_t i;
uint_t n;
uint_t u;
//Enter critical section
osMutexAcquire(socketMutex);
//Loop through opened sockets
for(i = 0; i < SOCKET_MAX_COUNT; i++)
{
//Shortcut to the current socket
Socket *socket = socketTable + i;
//Check socket type
if(socket->type != SOCKET_TYPE_STREAM)
continue;
//Check the current state of the TCP state machine
if(socket->state == TCP_STATE_CLOSED)
continue;
//Is there any packet in the retransmission queue?
if(socket->retransmitQueue != NULL)
{
//Retransmission timeout?
if(osTimerElapsed(&socket->retransmitTimer))
{
//When a TCP sender detects segment loss using the retransmission
//timer and the given segment has not yet been resent by way of
//the retransmission timer, the value of ssthresh must be updated
if(!socket->retransmitCount)
{
//Amount of data that has been sent but not yet acknowledged
uint_t flightSize = socket->sndNxt - socket->sndUna;
//Adjust ssthresh value
socket->ssthresh = max(flightSize / 2, 2 * socket->mss);
}
//Furthermore, upon a timeout cwnd must be set to no more than
//the loss window, LW, which equals 1 full-sized segment
socket->cwnd = min(TCP_LOSS_WINDOW * socket->mss, socket->txBufferSize);
//Make sure the maximum number of retransmissions has not been reached
if(socket->retransmitCount < TCP_MAX_RETRIES)
{
//Debug message
TRACE_INFO("%s: TCP segment retransmission #%u (%u data bytes)...\r\n",
timeFormat(osGetTickCount()), socket->retransmitCount + 1, socket->retransmitQueue->length);
//Retransmit the earliest segment that has not been
//acknowledged by the TCP receiver
tcpRetransmitSegment(socket);
//Use exponential back-off algorithm to calculate the new RTO
socket->rto = min(socket->rto * 2, TCP_MAX_RTO);
//Restart retransmission timer
osTimerStart(&socket->retransmitTimer, socket->rto);
//Increment retransmission counter
socket->retransmitCount++;
}
else
{
//The maximum number of retransmissions has been exceeded
tcpChangeState(socket, TCP_STATE_CLOSED);
//Turn off the retransmission timer
osTimerStop(&socket->retransmitTimer);
}
//TCP must use Karn's algorithm for taking RTT samples. That is, RTT
//samples must not be made using segments that were retransmitted
socket->rttBusy = FALSE;
}
}
//Check the current state of the TCP state machine
if(socket->state == TCP_STATE_CLOSED)
continue;
//The persist timer is used when the remote host advertises
//a window size of zero
if(!socket->sndWnd && socket->wndProbeInterval)
{
//Time to send a new probe?
if(osTimerElapsed(&socket->persistTimer))
{
//Make sure the maximum number of retransmissions has not been reached
if(socket->wndProbeCount < TCP_MAX_RETRIES)
{
//Debug message
TRACE_INFO("%s: TCP zero window probe #%u...\r\n",
timeFormat(osGetTickCount()), socket->wndProbeCount + 1);
//Zero window probes usually have the sequence number one less than expected
tcpSendSegment(socket, TCP_FLAG_ACK, socket->sndNxt - 1, socket->rcvNxt, 0, FALSE);
//The interval between successive probes should be increased exponentially
socket->wndProbeInterval = min(socket->wndProbeInterval * 2, TCP_MAX_PROBE_INTERVAL);
//Restart the persist timer
osTimerStart(&socket->persistTimer, socket->wndProbeInterval);
//Increment window probe counter
socket->wndProbeCount++;
}
else
{
//Enter CLOSED state
tcpChangeState(socket, TCP_STATE_CLOSED);
}
}
}
//To avoid a deadlock, it is necessary to have a timeout to force
//transmission of data, overriding the SWS avoidance algorithm. In
//practice, this timeout should seldom occur (see RFC 1122 4.2.3.4)
if(socket->state == TCP_STATE_ESTABLISHED || socket->state == TCP_STATE_CLOSE_WAIT)
{
//The override timeout occurred?
if(socket->sndUser && osTimerElapsed(&socket->overrideTimer))
{
//The amount of data that can be sent at any given time is
//limited by the receiver window and the congestion window
n = min(socket->sndWnd, socket->cwnd);
n = min(n, socket->txBufferSize);
//Retrieve the size of the usable window
u = n - (socket->sndNxt - socket->sndUna);
//Send as much data as possible
while(socket->sndUser > 0)
{
//The usable window size may become zero or negative,
//preventing packet transmission
if((int_t) u <= 0) break;
//Calculate the number of bytes to send at a time
n = min(u, socket->sndUser);
n = min(n, socket->mss);
//Send TCP segment
error = tcpSendSegment(socket, TCP_FLAG_PSH | TCP_FLAG_ACK,
socket->sndNxt, socket->rcvNxt, n, TRUE);
//Failed to send TCP segment?
if(error) break;
//Advance SND.NXT pointer
socket->sndNxt += n;
//Adjust the number of bytes buffered but not yet sent
socket->sndUser -= n;
}
//Check whether the transmitter can accept more data
tcpUpdateEvents(socket);
//Restart override timer if necessary
if(socket->sndUser > 0)
osTimerStart(&socket->overrideTimer, TCP_OVERRIDE_TIMEOUT);
}
}
//The FIN-WAIT-2 timer prevents the connection
//from staying in the FIN-WAIT-2 state forever
if(socket->state == TCP_STATE_FIN_WAIT_2)
{
//Maximum FIN-WAIT-2 time has elapsed?
if(osTimerElapsed(&socket->finWait2Timer))
{
//Debug message
TRACE_WARNING("TCP FIN-WAIT-2 timer elapsed...\r\n");
//Enter CLOSED state
tcpChangeState(socket, TCP_STATE_CLOSED);
}
}
//TIME-WAIT timer
if(socket->state == TCP_STATE_TIME_WAIT)
{
//2MSL time has elapsed?
if(osTimerElapsed(&socket->timeWaitTimer))
{
//Debug message
TRACE_WARNING("TCP 2MSL timer elapsed (socket %u)...\r\n", i);
//Enter CLOSED state
tcpChangeState(socket, TCP_STATE_CLOSED);
//Dispose the socket if the user does not have the ownership anymore
if(!socket->ownedFlag)
{
//Delete the TCB
tcpDeleteControlBlock(socket);
//Mark the socket as closed
socket->type = SOCKET_TYPE_UNUSED;
}
}
}
}
//Leave critical section
osMutexRelease(socketMutex);
}