![](/media/cache/group/Embedded_software_in_context_icon.png.50x50_q85.png)
updated for mbed os 5.4
main.cpp@8:c5663f5fa848, 2016-03-14 (annotated)
- Committer:
- noutram
- Date:
- Mon Mar 14 19:48:24 2016 +0000
- Revision:
- 8:c5663f5fa848
- Parent:
- 7:cd015e83995a
- Child:
- 9:31031bbb59c7
Task 622 - mixing interrupts and threads
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
noutram | 0:f916cefba2f4 | 1 | #include "mbed.h" |
noutram | 0:f916cefba2f4 | 2 | #include "rtos.h" |
noutram | 2:70084af839d3 | 3 | #include "string.h" |
noutram | 2:70084af839d3 | 4 | #include <stdio.h> |
noutram | 2:70084af839d3 | 5 | #include <ctype.h> |
noutram | 0:f916cefba2f4 | 6 | |
noutram | 8:c5663f5fa848 | 7 | #define SWITCH1_RELEASE 1 |
noutram | 8:c5663f5fa848 | 8 | |
noutram | 8:c5663f5fa848 | 9 | void thread1( const void* ); |
noutram | 8:c5663f5fa848 | 10 | void thread2( const void* ); |
noutram | 8:c5663f5fa848 | 11 | void switchISR(); |
noutram | 0:f916cefba2f4 | 12 | |
noutram | 0:f916cefba2f4 | 13 | //Digital outputs |
noutram | 0:f916cefba2f4 | 14 | DigitalOut onBoardLED(LED1); |
noutram | 0:f916cefba2f4 | 15 | DigitalOut redLED(D7); |
noutram | 0:f916cefba2f4 | 16 | DigitalOut yellowLED(D6); |
noutram | 0:f916cefba2f4 | 17 | DigitalOut greenLED(D5); |
noutram | 0:f916cefba2f4 | 18 | |
noutram | 2:70084af839d3 | 19 | //Serial Interface |
noutram | 2:70084af839d3 | 20 | Serial pc(USBTX, USBRX); |
noutram | 2:70084af839d3 | 21 | |
noutram | 0:f916cefba2f4 | 22 | //Digital inputs |
noutram | 0:f916cefba2f4 | 23 | DigitalIn onBoardSwitch(USER_BUTTON); |
noutram | 8:c5663f5fa848 | 24 | DigitalIn sw1(D4); //CONSIDER CHANGING THIS TO AN INTERRUPT |
noutram | 8:c5663f5fa848 | 25 | DigitalIn sw2(D3); |
noutram | 8:c5663f5fa848 | 26 | |
noutram | 8:c5663f5fa848 | 27 | //Threads |
noutram | 8:c5663f5fa848 | 28 | Thread *t1; |
noutram | 8:c5663f5fa848 | 29 | Thread *t2; |
noutram | 0:f916cefba2f4 | 30 | |
noutram | 0:f916cefba2f4 | 31 | //Thread ID for the Main function (CMSIS API) |
noutram | 0:f916cefba2f4 | 32 | osThreadId tidMain; |
noutram | 8:c5663f5fa848 | 33 | osThreadId tid1; |
noutram | 8:c5663f5fa848 | 34 | osThreadId tid2; |
noutram | 0:f916cefba2f4 | 35 | |
noutram | 8:c5663f5fa848 | 36 | |
noutram | 8:c5663f5fa848 | 37 | //TBD: Call this on the falling edge of SW1 |
noutram | 8:c5663f5fa848 | 38 | void switchISR() { |
noutram | 8:c5663f5fa848 | 39 | //TBD |
noutram | 8:c5663f5fa848 | 40 | } |
noutram | 8:c5663f5fa848 | 41 | |
noutram | 8:c5663f5fa848 | 42 | //High priority thread |
noutram | 4:dae8898e55fe | 43 | void thread1( const void* arg ) |
noutram | 4:dae8898e55fe | 44 | { |
noutram | 8:c5663f5fa848 | 45 | redLED = 1; |
noutram | 4:dae8898e55fe | 46 | while (true) { |
noutram | 8:c5663f5fa848 | 47 | |
noutram | 8:c5663f5fa848 | 48 | // THIS IS BAD BAD BAD BAD BAD BAD |
noutram | 8:c5663f5fa848 | 49 | // BLOCK ON FALLING EDGE OF SW1 BY RAPID POLLING (SPINNING) |
noutram | 8:c5663f5fa848 | 50 | // Thread is blocked in the RUNNING state |
noutram | 8:c5663f5fa848 | 51 | while (sw1 == 0); |
noutram | 8:c5663f5fa848 | 52 | wait_ms(200); //Wait for debounce |
noutram | 8:c5663f5fa848 | 53 | while (sw1 == 1); |
noutram | 8:c5663f5fa848 | 54 | // TODO: FIX THIS! GET THE INTERRUPT TO SIGNAL THIS THREAD |
noutram | 8:c5663f5fa848 | 55 | |
noutram | 8:c5663f5fa848 | 56 | redLED = !redLED; |
noutram | 8:c5663f5fa848 | 57 | Thread::wait(1000); //Thread in WAITING state |
noutram | 8:c5663f5fa848 | 58 | redLED = !redLED; |
noutram | 8:c5663f5fa848 | 59 | Thread::wait(1000); //Thread in WAITING state |
noutram | 4:dae8898e55fe | 60 | } |
noutram | 2:70084af839d3 | 61 | } |
noutram | 2:70084af839d3 | 62 | |
noutram | 8:c5663f5fa848 | 63 | // This thread has normal priority |
noutram | 8:c5663f5fa848 | 64 | // It is supposed to flash the green LED every second. |
noutram | 8:c5663f5fa848 | 65 | // THIS IS NOT WORKING because it is currently being starved by thread1 (while polling the switch) |
noutram | 4:dae8898e55fe | 66 | void thread2( const void* arg ) |
noutram | 0:f916cefba2f4 | 67 | { |
noutram | 8:c5663f5fa848 | 68 | greenLED = 1; |
noutram | 8:c5663f5fa848 | 69 | while (true) { |
noutram | 8:c5663f5fa848 | 70 | Thread::wait(500); |
noutram | 8:c5663f5fa848 | 71 | greenLED = !greenLED; |
noutram | 6:2e463846b575 | 72 | } |
noutram | 0:f916cefba2f4 | 73 | } |
noutram | 0:f916cefba2f4 | 74 | |
noutram | 4:dae8898e55fe | 75 | |
noutram | 8:c5663f5fa848 | 76 | // Main thread |
noutram | 0:f916cefba2f4 | 77 | int main() { |
noutram | 0:f916cefba2f4 | 78 | redLED = 0; |
noutram | 0:f916cefba2f4 | 79 | yellowLED = 0; |
noutram | 2:70084af839d3 | 80 | greenLED = 0; |
noutram | 8:c5663f5fa848 | 81 | |
noutram | 8:c5663f5fa848 | 82 | //Threads |
noutram | 8:c5663f5fa848 | 83 | t1 = new Thread(&thread1, NULL, osPriorityRealtime); //HIGH PRIORITY |
noutram | 8:c5663f5fa848 | 84 | t2 = new Thread(&thread2, NULL, osPriorityNormal); |
noutram | 8:c5663f5fa848 | 85 | |
noutram | 8:c5663f5fa848 | 86 | // Thread IDs |
noutram | 0:f916cefba2f4 | 87 | tidMain = Thread::gettid(); |
noutram | 8:c5663f5fa848 | 88 | tid1 = t1->gettid(); |
noutram | 8:c5663f5fa848 | 89 | tid2 = t2->gettid(); |
noutram | 7:cd015e83995a | 90 | |
noutram | 8:c5663f5fa848 | 91 | //TBD: Hook up interrupt |
noutram | 8:c5663f5fa848 | 92 | |
noutram | 4:dae8898e55fe | 93 | pc.printf("Main Thread\n"); |
noutram | 2:70084af839d3 | 94 | while (true) { |
noutram | 4:dae8898e55fe | 95 | Thread::wait(osWaitForever); |
noutram | 0:f916cefba2f4 | 96 | } |
noutram | 0:f916cefba2f4 | 97 | } |
noutram | 2:70084af839d3 | 98 | |
noutram | 2:70084af839d3 | 99 |