main.cpp

00001 #include "mbed.h"
00002 #include "rtos.h"
00003 #include "string.h"
00004 #include <stdio.h>
00005 #include <ctype.h>
00006 
00007 #define SWITCH1_RELEASE 1
00008 
00009 void thread1( const void*  );
00010 void thread2( const void*  );
00011 void switchISR();
00012 
00013 //Analogue inputs
00014 AnalogIn adcIn(A0);
00015 
00016 //Digital outputs
00017 DigitalOut onBoardLED(LED1);
00018 DigitalOut redLED(D7);
00019 DigitalOut yellowLED(D6);
00020 DigitalOut greenLED(D5);
00021 
00022 //Digital inputs
00023 DigitalIn  onBoardSwitch(USER_BUTTON);
00024 DigitalIn  sw1(D4);                         //CONSIDER CHANGING THIS TO AN INTERRUPT
00025 DigitalIn  sw2(D3);
00026 
00027 //Threads
00028 Thread *t1;
00029 
00030 //Class type
00031 class message_t {
00032 public:    
00033     float    adcValue;    
00034     int sw1State;
00035     int sw2State;
00036     
00037     //Constructor
00038     message_t(float f, int s1, int s2) {
00039         adcValue = f;
00040         sw1State = s1;
00041         sw2State = s2;    
00042     }
00043 };
00044  
00045 //Memory Pool - with capacity for 16 message_t types
00046 //MemoryPool<message_t, 16> mpool;
00047 
00048 //Message queue - matched to the memory pool
00049 //Queue<message_t, 16> queue;
00050 
00051 //Mail queue
00052 Mail<message_t, 16> mail_box;
00053 
00054 
00055 // Call this on precise intervals
00056 void adcISR() {
00057 
00058     
00059     //Read sample - make a copy
00060     float sample = adcIn;
00061     //Grab switch state
00062     uint32_t switch1State = sw1;
00063     uint32_t switch2State = sw2;
00064     
00065     //Allocate a block from the memory pool
00066     message_t *message = mail_box.alloc();
00067     if (message == NULL) {
00068         //Out of memory
00069         printf("Out of memory\n\r");
00070         redLED = 1;
00071         return;   
00072     }
00073     
00074     //Fill in the data
00075     message->adcValue = sample;
00076     message->sw1State = switch1State;
00077     message->sw2State = switch2State;
00078     
00079     //Write to queue
00080     osStatus stat = mail_box.put(message);    //Note we are sending the "pointer"
00081     
00082     //Check if succesful
00083     if (stat == osErrorResource) {
00084         redLED = 1; 
00085         printf("queue->put() Error code: %4Xh, Resource not available\r\n", stat);   
00086         mail_box.free(message);
00087         return;
00088     }
00089     
00090     
00091 }
00092 
00093 //Normal priority thread (consumer)
00094 void thread1( const void* arg ) 
00095 {
00096     static int count = 0;
00097           
00098     while (true) {
00099         //Block on the queue
00100         osEvent evt = mail_box.get();
00101         
00102         //Check status
00103         if (evt.status == osEventMail) {
00104             message_t *pMessage = (message_t*)evt.value.p;  //This is the pointer (address)
00105             //Make a copy
00106             message_t msg(pMessage->adcValue, pMessage->sw1State, pMessage->sw2State);
00107             //We are done with this, so give back the memory to the pool
00108             mail_box.free(pMessage);
00109             
00110             //Echo to the terminal
00111             printf("ADC Value: %.2f\t",    msg.adcValue);
00112             printf("SW1: %u\t",             msg.sw1State);
00113             printf("SW2: %u\n\r",             msg.sw2State);
00114             
00115             //Update state
00116             if ((msg.sw1State == 1) && (msg.sw2State == 1)) {
00117                 count++;
00118             } else {
00119                 count = 0;   
00120             }
00121             if (count == 10) {
00122                 greenLED = !greenLED;
00123                 count = 0;    
00124             }
00125         } else {
00126             printf("ERROR: %x\n\r", evt.status);   
00127         }  
00128      
00129     } //end while
00130 }
00131 
00132 
00133 // Main thread
00134 int main() {
00135     redLED    = 0;
00136     yellowLED = 0;
00137     greenLED  = 0;
00138            
00139     //Start message
00140     printf("Welcome\n");           
00141    
00142     //Hook up timer interrupt   
00143     Ticker timer; 
00144     timer.attach(&adcISR, 0.1);
00145                
00146     //Threads
00147     t1 = new Thread(&thread1); 
00148     
00149     printf("Main Thread\n");
00150     while (true) {
00151         Thread::wait(5000);
00152         puts("Main Thread Alive");
00153     }
00154 }
00155 
00156