Feng Hong / Mbed OS Nucleo_rtos_basic

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main.cpp@8:6105ffbaf237, 2019-03-23 (annotated)

Committer:
hi1000
Date:
Sat Mar 23 09:18:03 2019 +0000
Revision:
8:6105ffbaf237
Parent:
7:e0c7e624c5fa
Child:
9:486f65124378
add queue;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hi1000 0:765cf978c3e5 1 #include "mbed.h"
hi1000 1:eb499e2a1b9b 2 #include <HX711.h>
hi1000 2:61a0169765bf 3 #include <eeprom.h>
hi1000 7:e0c7e624c5fa 4 #include "eeprom_cust.h"
hi1000 5:4585215afd11 5 //#include "digitLCD.h"
hi1000 5:4585215afd11 6 #include "SB1602E.h"
hi1000 7:e0c7e624c5fa 7 extern void analyzePayload();
hi1000 7:e0c7e624c5fa 8 extern void scaleCalibration();
hi1000 7:e0c7e624c5fa 9 void init_scale();
hi1000 7:e0c7e624c5fa 10 extern HX711 hx711;
hi1000 7:e0c7e624c5fa 11
hi1000 8:6105ffbaf237 12 unsigned char rx_buffer[8], tx_buffer[8];
hi1000 7:e0c7e624c5fa 13 unsigned char rx_length, tx_length;
hi1000 0:765cf978c3e5 14
hi1000 5:4585215afd11 15 #define LCD_1602
hi1000 5:4585215afd11 16 SB1602E lcd( PB_9, PB_8 ); // SDA, SCL
hi1000 0:765cf978c3e5 17 CAN can1(PD_0, PD_1);
hi1000 0:765cf978c3e5 18 CAN can2(PB_5, PB_6);
hi1000 1:eb499e2a1b9b 19 DigitalOut led1(LED1);
hi1000 1:eb499e2a1b9b 20 DigitalOut led2(LED2);
hi1000 1:eb499e2a1b9b 21 //FlashIAP flashIAP;
hi1000 1:eb499e2a1b9b 22
hi1000 5:4585215afd11 23 //#define LCD_1621
hi1000 5:4585215afd11 24 //digitLCD lcd(PA_5,PA_4,PB_5); // WO, CS, DATA
hi1000 1:eb499e2a1b9b 25
hi1000 7:e0c7e624c5fa 26
hi1000 2:61a0169765bf 27
hi1000 7:e0c7e624c5fa 28 extern EEPROM ep;
hi1000 2:61a0169765bf 29 int init_id = 0x537; // first 8 bit is the address
hi1000 1:eb499e2a1b9b 30
hi1000 0:765cf978c3e5 31 int a = 0;
hi1000 0:765cf978c3e5 32 int b = 0;
hi1000 0:765cf978c3e5 33
hi1000 0:765cf978c3e5 34 void print_char(char c = '*')
hi1000 0:765cf978c3e5 35 {
hi1000 0:765cf978c3e5 36 printf("%c\r\n", c);
hi1000 0:765cf978c3e5 37 fflush(stdout);
hi1000 0:765cf978c3e5 38 }
hi1000 0:765cf978c3e5 39
hi1000 8:6105ffbaf237 40 Thread can_receivethread;
hi1000 8:6105ffbaf237 41 Thread can_handlethread;
hi1000 1:eb499e2a1b9b 42
hi1000 0:765cf978c3e5 43 CANMessage msg;
hi1000 8:6105ffbaf237 44 MemoryPool<CANMessage, 16> can_mpool;
hi1000 8:6105ffbaf237 45 Queue<CANMessage, 16> can_queue;
hi1000 0:765cf978c3e5 46
hi1000 0:765cf978c3e5 47 InterruptIn button1(USER_BUTTON);
hi1000 0:765cf978c3e5 48 volatile bool button1_pressed = false; // Used in the main loop
hi1000 0:765cf978c3e5 49 volatile bool button1_enabled = true; // Used for debouncing
hi1000 0:765cf978c3e5 50 Timeout button1_timeout; // Used for debouncing
hi1000 0:765cf978c3e5 51
hi1000 0:765cf978c3e5 52 // Enables button when bouncing is over
hi1000 0:765cf978c3e5 53 void button1_enabled_cb(void)
hi1000 0:765cf978c3e5 54 {
hi1000 0:765cf978c3e5 55 button1_enabled = true;
hi1000 0:765cf978c3e5 56 }
hi1000 0:765cf978c3e5 57
hi1000 0:765cf978c3e5 58 // ISR handling button pressed event
hi1000 0:765cf978c3e5 59 void button1_onpressed_cb(void)
hi1000 0:765cf978c3e5 60 {
hi1000 0:765cf978c3e5 61 if (button1_enabled) { // Disabled while the button is bouncing
hi1000 0:765cf978c3e5 62 button1_enabled = false;
hi1000 0:765cf978c3e5 63 button1_pressed = true; // To be read by the main loop
hi1000 0:765cf978c3e5 64 button1_timeout.attach(callback(button1_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 0:765cf978c3e5 65 }
hi1000 0:765cf978c3e5 66 }
hi1000 0:765cf978c3e5 67
hi1000 8:6105ffbaf237 68 void can_rxthread()
hi1000 0:765cf978c3e5 69 {
hi1000 0:765cf978c3e5 70 while (true) {
hi1000 0:765cf978c3e5 71 #if 1
hi1000 0:765cf978c3e5 72 if(can1.read(msg)) {
hi1000 0:765cf978c3e5 73 print_char();
hi1000 0:765cf978c3e5 74 printf("got message id=%d 0x%08x\r\n", msg.id, msg.id);
hi1000 0:765cf978c3e5 75 // b = *reinterpret_cast<int*>(msg.data);
hi1000 0:765cf978c3e5 76 b = msg.data[0];
hi1000 8:6105ffbaf237 77 CANMessage *can_message = can_mpool.alloc();
hi1000 8:6105ffbaf237 78 memcpy((void *)can_message, (void *)&msg, sizeof(msg));
hi1000 8:6105ffbaf237 79 if (!can_queue.full())
hi1000 8:6105ffbaf237 80 can_queue.put(can_message);
hi1000 8:6105ffbaf237 81 else
hi1000 8:6105ffbaf237 82 {
hi1000 8:6105ffbaf237 83 printf("message queue is full. \r\n");
hi1000 8:6105ffbaf237 84 }
hi1000 8:6105ffbaf237 85
hi1000 0:765cf978c3e5 86 printf("got data %d 0x%08x \r\n", b, b);
hi1000 0:765cf978c3e5 87 if(msg.id == 1337) {
hi1000 0:765cf978c3e5 88 led2 = !led2;
hi1000 0:765cf978c3e5 89
hi1000 0:765cf978c3e5 90 b = *reinterpret_cast<int*>(msg.data);
hi1000 0:765cf978c3e5 91 printf("got message %d\r\n", b);
hi1000 0:765cf978c3e5 92 if(b % 5 == 0)
hi1000 0:765cf978c3e5 93 led2 = !led2;
hi1000 0:765cf978c3e5 94 }
hi1000 0:765cf978c3e5 95 }
hi1000 0:765cf978c3e5 96 // wait(0.2);
hi1000 0:765cf978c3e5 97 #endif
hi1000 0:765cf978c3e5 98 }
hi1000 0:765cf978c3e5 99 }
hi1000 0:765cf978c3e5 100
hi1000 0:765cf978c3e5 101 int main()
hi1000 0:765cf978c3e5 102 {
hi1000 2:61a0169765bf 103 wait(1);
hi1000 8:6105ffbaf237 104 #ifdef LCD_1621
hi1000 4:40bb33497de4 105 lcd.clear(); // clears display
hi1000 4:40bb33497de4 106 lcd.allsegson();
hi1000 5:4585215afd11 107
hi1000 4:40bb33497de4 108 // lcd.printf("ABCDEFGHI"); // Standard printf function, All ASCII characters will display
hi1000 5:4585215afd11 109 #endif
hi1000 2:61a0169765bf 110 printf("\n\n*** RTOS basic example ***\r\n");
hi1000 5:4585215afd11 111 #ifdef LCD_1602
hi1000 5:4585215afd11 112 lcd.printf( 0, "Hello world!" ); // line# (0 or 1), string
hi1000 5:4585215afd11 113 lcd.printf( 1, "pi = %.6f", 3.14159265 );
hi1000 6:a9a03663fa23 114 lcd.putcxy(0x55, 5, 1);
hi1000 6:a9a03663fa23 115 lcd.printf(5, 0, "UUU");
hi1000 5:4585215afd11 116 #endif
hi1000 2:61a0169765bf 117 init_scale();
hi1000 8:6105ffbaf237 118 can_receivethread.start(can_rxthread);
hi1000 8:6105ffbaf237 119 can_handlethread.start(analyzePayload);
hi1000 1:eb499e2a1b9b 120 // flashIAP.init();
hi1000 1:eb499e2a1b9b 121 // printf("Flash start address: 0x%08x Flash Size: %d\r\n", flashIAP.get_flash_start(), flashIAP.get_flash_size());
hi1000 0:765cf978c3e5 122 // can1.reset();
hi1000 0:765cf978c3e5 123 // can2.reset();
hi1000 2:61a0169765bf 124 can1.frequency(100000);
hi1000 0:765cf978c3e5 125 // can2.frequency(100000);
hi1000 0:765cf978c3e5 126 //button1.mode(PullUp); // Activate pull-up
hi1000 2:61a0169765bf 127 button1.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
hi1000 2:61a0169765bf 128 // eeprom_test();
hi1000 0:765cf978c3e5 129
hi1000 0:765cf978c3e5 130 int idx = 0; // Just for printf below
hi1000 0:765cf978c3e5 131
hi1000 0:765cf978c3e5 132 while(1) {
hi1000 0:765cf978c3e5 133 if (button1_pressed) { // Set when button is pressed
hi1000 1:eb499e2a1b9b 134 printf("scale value %f. \r\n", hx711.getGram());
hi1000 0:765cf978c3e5 135 button1_pressed = false;
hi1000 2:61a0169765bf 136 printf("Button pressed %d\r\n", idx++);
hi1000 2:61a0169765bf 137 printf("ID=%d. \r\n", init_id + idx%10);
hi1000 2:61a0169765bf 138 can1.write(CANMessage((init_id + idx%10), reinterpret_cast<char*>(&a), 1));
hi1000 0:765cf978c3e5 139 led1 = !led1;
hi1000 0:765cf978c3e5 140 a++;
hi1000 0:765cf978c3e5 141 }
hi1000 0:765cf978c3e5 142 }
hi1000 0:765cf978c3e5 143 #if 0
hi1000 0:765cf978c3e5 144 while(1) {
hi1000 0:765cf978c3e5 145 // can1.write(CANMessage(1337, reinterpret_cast<char*>(&a), sizeof(a)));
hi1000 0:765cf978c3e5 146 #if
hi1000 0:765cf978c3e5 147 can1.write(CANMessage(1337, reinterpret_cast<char*>(&a), 1));
hi1000 0:765cf978c3e5 148 #endif
hi1000 0:765cf978c3e5 149 printf("loop a=%d\n", a);
hi1000 0:765cf978c3e5 150 led1 = !led1;
hi1000 0:765cf978c3e5 151 a++;
hi1000 0:765cf978c3e5 152 wait(0.2);
hi1000 0:765cf978c3e5 153 }
hi1000 0:765cf978c3e5 154 #endif
hi1000 0:765cf978c3e5 155 }