Revision 1:79e780124b58, committed 2016-02-03

Comitter:

JordanWisdom

Date:

Wed Feb 03 17:41:51 2016 +0000

Parent:

0:a046f7397436

Child:

2:f1ce213d3367

Commit message:

Made it pretty for Adam.

Changed in this revision

--- a/main.cpp	Wed Feb 03 17:30:19 2016 +0000
+++ b/main.cpp	Wed Feb 03 17:41:51 2016 +0000
@@ -10,10 +10,13 @@
 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
@@ -25,6 +28,7 @@
 // osPriorityAboveNormal = +1, ///< priority: above normal
 // osPriorityHigh = +2, ///< priority: high
 // osPriorityRealtime = +3, ///< priority: realtime (highest)
+
 // IO Port Configuration
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
@@ -33,64 +37,74 @@
 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
+    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);
 }
-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;
- }
+    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;
- }
+    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
+    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); }
+    // 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);
- }
+    // Activate the signal, ExtCollision, with each pexternal interrupt.
+    osSignalSet(ExtCollision,0x1);
+}