Diff: main.cpp

Revision:

0:a046f7397436

Child:

1:79e780124b58

diff -r 000000000000 -r a046f7397436 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Feb 03 17:30:19 2016 +0000
@@ -0,0 +1,96 @@
+// C.P. Diduch
+// EE4333 Robotics Lab-3, January 18, 2014.
+// Template for implementation of a PI Speed Control System
+#include "rtos.h"
+#include "mbed.h"
+// Function prototypes
+void PiControllerISR(void);
+void WdtFaultISR(void);
+void ExtCollisionISR(void);
+void PiControlThread(void const *argument);
+void ExtCollisionThread(void const *argument);
+void Watchdog(void const *n);
+// Global variables for interrupt handler
+int Position;
+// Processes and threads
+int32_t SignalPi, SignalWdt, SignalExtCollision;
+osThreadId PiControl,WdtFault,ExtCollision;
+osThreadDef(PiControlThread, osPriorityRealtime, DEFAULT_STACK_SIZE); // Declare Control as a thread/process
+osThreadDef(ExtCollisionThread, osPriorityHigh, DEFAULT_STACK_SIZE); // Declare External Collision as a thread/process
+osTimerDef(Wdtimer, Watchdog); // Declare a watch dog timer
+// osPriorityIdle = -3, ///< priority: idle (lowest)
+// osPriorityLow = -2, ///< priority: low
+// osPriorityBelowNormal = -1, ///< priority: below normal
+// osPriorityNormal = 0, ///< priority: normal (default)
+// osPriorityAboveNormal = +1, ///< priority: above normal
+// osPriorityHigh = +2, ///< priority: high
+// osPriorityRealtime = +3, ///< priority: realtime (highest)
+// IO Port Configuration
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel
+Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt
+InterruptIn Bumper(p8); // External interrupt pin declared as Bumper
+// ******** Main Thread ********
+int main() { // This thread executes first upon reset or power-on.
+char x;
+// Attach the address of the ExtCollisionISR to the rising edge of Bumper:
+Bumper.rise(&ExtCollisionISR);
+// Start execution of the threads: PiControlThread and ExtCollisionThread:
+PiControl = osThreadCreate(osThread(PiControlThread), NULL);
+ExtCollision = osThreadCreate(osThread(ExtCollisionThread), NULL);
+// Start the watch dog timer and enable the watch dog interrupt
+osTimerId OneShot = osTimerCreate(osTimer(Wdtimer), osTimerOnce, (void *)0);
+pc.printf("\r\n RTOS Template Program");
+// May prompt user for input data here:
+// Specify address of the PeriodicInt ISR as PiControllerISR, specify the interval
+// in seconds between interrupts, and start interrupt generation:
+PeriodicInt.attach(&PiControllerISR, .05);
+do {
+ if (pc.readable()){
+ x=pc.getc();
+ pc.putc(x); // Echo keyboard entry
+// Start or restart the watchdog timer interrupt and set to 2000ms.
+ osTimerStart(OneShot, 2000);
+ led3=0; // Clear watch dog led3 status
+ led4=0;
+ }
+ // Display variables at the terminal emulator for logging:
+ pc.printf("\r\n%6d", Position); // The terminal emulator may be configured to
+ // store received data to a file
+ Thread::wait(500); // Go to sleep for 500 ms
+}
+while(1);
+}
+// ******** Control Thread ********
+void PiControlThread(void const *argument) {
+while (true) {
+ osSignalWait(SignalPi, osWaitForever); // Go to sleep until, SignalPi, is received.
+ led2= !led2; // Alive status - led2 toggles each time PiControlThread is signaled.
+ Position = Position + 1;
+ }
+}
+// ******** Collision Thread ********
+void ExtCollisionThread(void const *argument) {
+while (true) {
+ // Go to sleep until signal, SignalExtCollision, is received:
+ osSignalWait(SignalExtCollision, osWaitForever);
+ led4 = 1;
+ }
+}
+// ******** Watchdog Interrupt Handler ********
+void Watchdog(void const *n) {
+ led3=1; // led3 is activated when the watchdog timer times out
+}
+// ******** Period Timer Interrupt Handler ********
+void PiControllerISR(void) {
+ // Activate the signal, PiControl, with each periodic timer interrupt.
+ osSignalSet(PiControl,0x1); }
+
+// ******** Collision Interrupt Handler ********
+void ExtCollisionISR(void) {
+ // Activate the signal, ExtCollision, with each pexternal interrupt.
+ osSignalSet(ExtCollision,0x1);
+ }