main.cpp

00001 /**
00002  * @brief first thread control program with  MBED OS
00003  */
00004 #include "mbed.h"
00005 #include "rtos.h"
00006 
00007 #define THREAD_A "thread_a"
00008 #define THREAD_B "thread_b"
00009 #define THREAD_C "thread_c"
00010 
00011 InterruptIn checkinIntr(PC_13);
00012 InterruptIn motionIntr(PC_14);
00013 
00014 DigitalOut led1(LED1);
00015 DigitalOut led2(PA_11);
00016 DigitalOut led3(PA_12); 
00017 
00018 /* reserve the debbuger uart to shell interface */
00019 Serial pc_serial(USBTX,USBRX);
00020 
00021 /* declares threads for this demo: */
00022 const size_t a_stk_size = 512;
00023 uint8_t a_stk[a_stk_size];
00024 Thread a_thread(osPriorityNormal, a_stk_size, &a_stk[0]);
00025 
00026 const size_t b_stk_size = 512;
00027 uint8_t b_stk[b_stk_size];
00028 Thread b_thread(osPriorityNormal, b_stk_size, &b_stk[0]);
00029 
00030 const size_t c_stk_size = 512;
00031 uint8_t c_stk[c_stk_size];
00032 Thread c_thread(osPriorityNormal, c_stk_size, &c_stk[0]);
00033 
00034 const size_t e_stk_size = 512;
00035 uint8_t e_stk[e_stk_size];
00036 Thread checkinEventThread(osPriorityNormal, e_stk_size, &e_stk[0]);
00037 Thread motionEventThread(osPriorityNormal, e_stk_size, &e_stk[0]);
00038 
00039 // create an event queue
00040 EventQueue chechinEventQueue;
00041 EventQueue motionEventQueue;
00042  
00043 uint32_t count = 0;
00044 
00045 void checkinFunction() {
00046   // this now runs in the context of checkinEventThread, instead of in the ISR
00047   count++;
00048   printf("Toggling LED!\r\n");
00049   for(int i = 0 ; i < 0xFFFFFF; i++);
00050   led3 = !led3;
00051   printf("Toggled LED count = %d \r\n", count);
00052 }
00053 
00054 void motionFunction() {
00055   // this now runs in the context of checkinEventThread, instead of in the ISR
00056   count++;
00057   printf("Toggling LED!\r\n");
00058   for(int i = 0 ; i < 0xFFFFFF; i++);
00059   led3 = !led3;
00060   printf("Toggled LED count = %d \r\n", count);
00061 }
00062 
00063 /**
00064  * @brief thread a function 
00065  */
00066 static void thread(void const *buf)
00067 {
00068     uint32_t execs = 0;
00069     pc_serial.printf("## started %s execution! ##\n\r", (char *)buf);
00070  
00071     for(;;) {
00072         execs++;
00073         /* adds dummy processing */
00074         for(int i = 0 ; i < 0xFFFFFF; i++);
00075         pc_serial.printf("## %s executed %d times! ##\n\r", (char *)buf, execs);
00076         led1 = !led1;
00077         Thread::yield();
00078     }
00079 }
00080 
00081 static void thread2(void const *buf)
00082 {
00083     uint32_t execs = 0;
00084     pc_serial.printf("## started %s execution! ##\n\r", (char *)buf);
00085  
00086     for(;;) {
00087         execs++;
00088         /* adds dummy processing */
00089         for(int i = 0 ; i < 0xF00000; i++);
00090         pc_serial.printf("## %s executed %d times! ##\n\r", (char *)buf, execs);
00091         led2 = !led2;
00092         Thread::yield();
00093     }
00094 }
00095 
00096 static void thread3(void const *buf)
00097 {
00098     uint32_t execs = 0;
00099     pc_serial.printf("## started %s execution! ##\n\r", (char *)buf);
00100  
00101     for(;;) {
00102         execs++;
00103         /* adds dummy processing */
00104         for(int i = 0 ; i < 0xFFFFFF; i++);
00105         pc_serial.printf("## %s executed %d times! ##\n\r", (char *)buf, execs);
00106         led3 = !led3;
00107         Thread::yield();
00108     }
00109 }
00110 
00111 /**
00112  * @brief main application loop
00113  */
00114 int main(void) 
00115 {      
00116     pc_serial.baud(115200);
00117     a_thread.start(callback(thread, (void *)THREAD_A));
00118     b_thread.start(callback(thread2, (void *)THREAD_B));
00119     /*c_thread.start(callback(thread3, (void *)THREAD_C));*/
00120     
00121     checkinEventThread.start(callback(&chechinEventQueue, &EventQueue::dispatch_forever));
00122     motionEventThread.start(callback(&motionEventQueue, &EventQueue::dispatch_forever));
00123  
00124     // wrap calls in queue.event to automatically defer to the queue's thread
00125     checkinIntr.fall(chechinEventQueue.event(&checkinFunction));
00126     motionIntr.fall(motionEventQueue.event(&motionFunction));
00127   
00128   
00129     return 0;
00130 }