Hiruka Hana / Gyro_Accelerometre

Programme gyro_accelero avec acquisition accelero + calcul téta

Dependents:   Gyro_Accelerometre2

rtos/Queue.h@0:07281ea3b26b, 2018-02-20 (annotated)

Committer:
SandrineO
Date:
Tue Feb 20 15:58:26 2018 +0000
Revision:
0:07281ea3b26b
temps r?el

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SandrineO 0:07281ea3b26b 1 /* mbed Microcontroller Library
SandrineO 0:07281ea3b26b 2 * Copyright (c) 2006-2012 ARM Limited
SandrineO 0:07281ea3b26b 3 *
SandrineO 0:07281ea3b26b 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
SandrineO 0:07281ea3b26b 5 * of this software and associated documentation files (the "Software"), to deal
SandrineO 0:07281ea3b26b 6 * in the Software without restriction, including without limitation the rights
SandrineO 0:07281ea3b26b 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
SandrineO 0:07281ea3b26b 8 * copies of the Software, and to permit persons to whom the Software is
SandrineO 0:07281ea3b26b 9 * furnished to do so, subject to the following conditions:
SandrineO 0:07281ea3b26b 10 *
SandrineO 0:07281ea3b26b 11 * The above copyright notice and this permission notice shall be included in
SandrineO 0:07281ea3b26b 12 * all copies or substantial portions of the Software.
SandrineO 0:07281ea3b26b 13 *
SandrineO 0:07281ea3b26b 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
SandrineO 0:07281ea3b26b 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
SandrineO 0:07281ea3b26b 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
SandrineO 0:07281ea3b26b 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
SandrineO 0:07281ea3b26b 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
SandrineO 0:07281ea3b26b 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SandrineO 0:07281ea3b26b 20 * SOFTWARE.
SandrineO 0:07281ea3b26b 21 */
SandrineO 0:07281ea3b26b 22 #ifndef QUEUE_H
SandrineO 0:07281ea3b26b 23 #define QUEUE_H
SandrineO 0:07281ea3b26b 24
SandrineO 0:07281ea3b26b 25 #include <stdint.h>
SandrineO 0:07281ea3b26b 26 #include <string.h>
SandrineO 0:07281ea3b26b 27
SandrineO 0:07281ea3b26b 28 #include "cmsis_os.h"
SandrineO 0:07281ea3b26b 29 #include "platform/mbed_error.h"
SandrineO 0:07281ea3b26b 30
SandrineO 0:07281ea3b26b 31 namespace rtos {
SandrineO 0:07281ea3b26b 32 /** \addtogroup rtos */
SandrineO 0:07281ea3b26b 33 /** @{*/
SandrineO 0:07281ea3b26b 34
SandrineO 0:07281ea3b26b 35 /** The Queue class allow to control, send, receive, or wait for messages.
SandrineO 0:07281ea3b26b 36 A message can be a integer or pointer value to a certain type T that is send
SandrineO 0:07281ea3b26b 37 to a thread or interrupt service routine.
SandrineO 0:07281ea3b26b 38 @tparam T data type of a single message element.
SandrineO 0:07281ea3b26b 39 @tparam queue_sz maximum number of messages in queue.
SandrineO 0:07281ea3b26b 40 */
SandrineO 0:07281ea3b26b 41 template<typename T, uint32_t queue_sz>
SandrineO 0:07281ea3b26b 42 class Queue {
SandrineO 0:07281ea3b26b 43 public:
SandrineO 0:07281ea3b26b 44 /** Create and initialise a message Queue. */
SandrineO 0:07281ea3b26b 45 Queue() {
SandrineO 0:07281ea3b26b 46 #ifdef CMSIS_OS_RTX
SandrineO 0:07281ea3b26b 47 memset(_queue_q, 0, sizeof(_queue_q));
SandrineO 0:07281ea3b26b 48 _queue_def.pool = _queue_q;
SandrineO 0:07281ea3b26b 49 _queue_def.queue_sz = queue_sz;
SandrineO 0:07281ea3b26b 50 #endif
SandrineO 0:07281ea3b26b 51 _queue_id = osMessageCreate(&_queue_def, NULL);
SandrineO 0:07281ea3b26b 52 if (_queue_id == NULL) {
SandrineO 0:07281ea3b26b 53 error("Error initialising the queue object\n");
SandrineO 0:07281ea3b26b 54 }
SandrineO 0:07281ea3b26b 55 }
SandrineO 0:07281ea3b26b 56
SandrineO 0:07281ea3b26b 57 /** Put a message in a Queue.
SandrineO 0:07281ea3b26b 58 @param data message pointer.
SandrineO 0:07281ea3b26b 59 @param millisec timeout value or 0 in case of no time-out. (default: 0)
SandrineO 0:07281ea3b26b 60 @return status code that indicates the execution status of the function.
SandrineO 0:07281ea3b26b 61 */
SandrineO 0:07281ea3b26b 62 osStatus put(T* data, uint32_t millisec=0) {
SandrineO 0:07281ea3b26b 63 return osMessagePut(_queue_id, (uint32_t)data, millisec);
SandrineO 0:07281ea3b26b 64 }
SandrineO 0:07281ea3b26b 65
SandrineO 0:07281ea3b26b 66 /** Get a message or Wait for a message from a Queue.
SandrineO 0:07281ea3b26b 67 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
SandrineO 0:07281ea3b26b 68 @return event information that includes the message and the status code.
SandrineO 0:07281ea3b26b 69 */
SandrineO 0:07281ea3b26b 70 osEvent get(uint32_t millisec=osWaitForever) {
SandrineO 0:07281ea3b26b 71 return osMessageGet(_queue_id, millisec);
SandrineO 0:07281ea3b26b 72 }
SandrineO 0:07281ea3b26b 73
SandrineO 0:07281ea3b26b 74 private:
SandrineO 0:07281ea3b26b 75 osMessageQId _queue_id;
SandrineO 0:07281ea3b26b 76 osMessageQDef_t _queue_def;
SandrineO 0:07281ea3b26b 77 #ifdef CMSIS_OS_RTX
SandrineO 0:07281ea3b26b 78 uint32_t _queue_q[4+(queue_sz)];
SandrineO 0:07281ea3b26b 79 #endif
SandrineO 0:07281ea3b26b 80 };
SandrineO 0:07281ea3b26b 81
SandrineO 0:07281ea3b26b 82 }
SandrineO 0:07281ea3b26b 83 #endif
SandrineO 0:07281ea3b26b 84
SandrineO 0:07281ea3b26b 85 /** @}*/