Feng Hong / Mbed OS Nucleo_rtos_basic

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main.cpp@0:765cf978c3e5, 2019-02-16 (annotated)

Committer:
hi1000
Date:
Sat Feb 16 02:32:43 2019 +0000
Revision:
0:765cf978c3e5
Child:
1:eb499e2a1b9b
Can bus with button OK

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hi1000 0:765cf978c3e5 1 #include "mbed.h"
hi1000 0:765cf978c3e5 2
hi1000 0:765cf978c3e5 3 CAN can1(PD_0, PD_1);
hi1000 0:765cf978c3e5 4 CAN can2(PB_5, PB_6);
hi1000 0:765cf978c3e5 5
hi1000 0:765cf978c3e5 6 int a = 0;
hi1000 0:765cf978c3e5 7 int b = 0;
hi1000 0:765cf978c3e5 8
hi1000 0:765cf978c3e5 9 void print_char(char c = '*')
hi1000 0:765cf978c3e5 10 {
hi1000 0:765cf978c3e5 11 printf("%c\r\n", c);
hi1000 0:765cf978c3e5 12 fflush(stdout);
hi1000 0:765cf978c3e5 13 }
hi1000 0:765cf978c3e5 14
hi1000 0:765cf978c3e5 15 Thread thread;
hi1000 0:765cf978c3e5 16
hi1000 0:765cf978c3e5 17 DigitalOut led1(LED1);
hi1000 0:765cf978c3e5 18 DigitalOut led2(LED2);
hi1000 0:765cf978c3e5 19 CANMessage msg;
hi1000 0:765cf978c3e5 20
hi1000 0:765cf978c3e5 21
hi1000 0:765cf978c3e5 22 InterruptIn button1(USER_BUTTON);
hi1000 0:765cf978c3e5 23 volatile bool button1_pressed = false; // Used in the main loop
hi1000 0:765cf978c3e5 24 volatile bool button1_enabled = true; // Used for debouncing
hi1000 0:765cf978c3e5 25 Timeout button1_timeout; // Used for debouncing
hi1000 0:765cf978c3e5 26
hi1000 0:765cf978c3e5 27 // Enables button when bouncing is over
hi1000 0:765cf978c3e5 28 void button1_enabled_cb(void)
hi1000 0:765cf978c3e5 29 {
hi1000 0:765cf978c3e5 30 button1_enabled = true;
hi1000 0:765cf978c3e5 31 }
hi1000 0:765cf978c3e5 32
hi1000 0:765cf978c3e5 33 // ISR handling button pressed event
hi1000 0:765cf978c3e5 34 void button1_onpressed_cb(void)
hi1000 0:765cf978c3e5 35 {
hi1000 0:765cf978c3e5 36 if (button1_enabled) { // Disabled while the button is bouncing
hi1000 0:765cf978c3e5 37 button1_enabled = false;
hi1000 0:765cf978c3e5 38 button1_pressed = true; // To be read by the main loop
hi1000 0:765cf978c3e5 39 button1_timeout.attach(callback(button1_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 0:765cf978c3e5 40 }
hi1000 0:765cf978c3e5 41 }
hi1000 0:765cf978c3e5 42
hi1000 0:765cf978c3e5 43 void print_thread()
hi1000 0:765cf978c3e5 44 {
hi1000 0:765cf978c3e5 45 while (true) {
hi1000 0:765cf978c3e5 46 #if 1
hi1000 0:765cf978c3e5 47 if(can1.read(msg)) {
hi1000 0:765cf978c3e5 48 print_char();
hi1000 0:765cf978c3e5 49 printf("got message id=%d 0x%08x\r\n", msg.id, msg.id);
hi1000 0:765cf978c3e5 50 // b = *reinterpret_cast<int*>(msg.data);
hi1000 0:765cf978c3e5 51 b = msg.data[0];
hi1000 0:765cf978c3e5 52 printf("got data %d 0x%08x \r\n", b, b);
hi1000 0:765cf978c3e5 53 if(msg.id == 1337) {
hi1000 0:765cf978c3e5 54 led2 = !led2;
hi1000 0:765cf978c3e5 55
hi1000 0:765cf978c3e5 56 b = *reinterpret_cast<int*>(msg.data);
hi1000 0:765cf978c3e5 57 printf("got message %d\r\n", b);
hi1000 0:765cf978c3e5 58 if(b % 5 == 0)
hi1000 0:765cf978c3e5 59 led2 = !led2;
hi1000 0:765cf978c3e5 60 }
hi1000 0:765cf978c3e5 61 }
hi1000 0:765cf978c3e5 62 // wait(0.2);
hi1000 0:765cf978c3e5 63 #endif
hi1000 0:765cf978c3e5 64 }
hi1000 0:765cf978c3e5 65 }
hi1000 0:765cf978c3e5 66
hi1000 0:765cf978c3e5 67 int main()
hi1000 0:765cf978c3e5 68 {
hi1000 0:765cf978c3e5 69 printf("\n\n*** RTOS basic example ***\n");
hi1000 0:765cf978c3e5 70
hi1000 0:765cf978c3e5 71 thread.start(print_thread);
hi1000 0:765cf978c3e5 72 // can1.reset();
hi1000 0:765cf978c3e5 73 // can2.reset();
hi1000 0:765cf978c3e5 74 // can1.frequency(100000);
hi1000 0:765cf978c3e5 75 // can2.frequency(100000);
hi1000 0:765cf978c3e5 76 //button1.mode(PullUp); // Activate pull-up
hi1000 0:765cf978c3e5 77 button1.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
hi1000 0:765cf978c3e5 78
hi1000 0:765cf978c3e5 79 int idx = 0; // Just for printf below
hi1000 0:765cf978c3e5 80
hi1000 0:765cf978c3e5 81 while(1) {
hi1000 0:765cf978c3e5 82 if (button1_pressed) { // Set when button is pressed
hi1000 0:765cf978c3e5 83 button1_pressed = false;
hi1000 0:765cf978c3e5 84 printf("Button pressed %d\n", idx++);
hi1000 0:765cf978c3e5 85 can1.write(CANMessage(1337, reinterpret_cast<char*>(&a), 1));
hi1000 0:765cf978c3e5 86 led1 = !led1;
hi1000 0:765cf978c3e5 87 a++;
hi1000 0:765cf978c3e5 88 }
hi1000 0:765cf978c3e5 89 }
hi1000 0:765cf978c3e5 90 #if 0
hi1000 0:765cf978c3e5 91 while(1) {
hi1000 0:765cf978c3e5 92 // can1.write(CANMessage(1337, reinterpret_cast<char*>(&a), sizeof(a)));
hi1000 0:765cf978c3e5 93 #if
hi1000 0:765cf978c3e5 94 can1.write(CANMessage(1337, reinterpret_cast<char*>(&a), 1));
hi1000 0:765cf978c3e5 95 #endif
hi1000 0:765cf978c3e5 96 printf("loop a=%d\n", a);
hi1000 0:765cf978c3e5 97 led1 = !led1;
hi1000 0:765cf978c3e5 98 a++;
hi1000 0:765cf978c3e5 99 wait(0.2);
hi1000 0:765cf978c3e5 100 }
hi1000 0:765cf978c3e5 101 #endif
hi1000 0:765cf978c3e5 102 }