case study 3 distributed network
Dependencies: mbed C12832 LM75B rtos
main.cpp@0:9c8b3fc1ada3, 2020-11-25 (annotated)
- Committer:
- jasonberry
- Date:
- Wed Nov 25 16:33:39 2020 +0000
- Revision:
- 0:9c8b3fc1ada3
- Child:
- 1:a817566e1bb3
can hello
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jasonberry | 0:9c8b3fc1ada3 | 1 | #include "mbed.h" |
jasonberry | 0:9c8b3fc1ada3 | 2 | #include "rtos.h" |
jasonberry | 0:9c8b3fc1ada3 | 3 | #include "LM75B.h" |
jasonberry | 0:9c8b3fc1ada3 | 4 | #include "C12832.h" |
jasonberry | 0:9c8b3fc1ada3 | 5 | |
jasonberry | 0:9c8b3fc1ada3 | 6 | CANMessage msg; |
jasonberry | 0:9c8b3fc1ada3 | 7 | |
jasonberry | 0:9c8b3fc1ada3 | 8 | // STEP 1///////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 9 | //baseboard address |
jasonberry | 0:9c8b3fc1ada3 | 10 | #define BASE_ADDRESS 150 |
jasonberry | 0:9c8b3fc1ada3 | 11 | |
jasonberry | 0:9c8b3fc1ada3 | 12 | |
jasonberry | 0:9c8b3fc1ada3 | 13 | |
jasonberry | 0:9c8b3fc1ada3 | 14 | // STEP 2////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 15 | // phyiscal inputs |
jasonberry | 0:9c8b3fc1ada3 | 16 | DigitalIn joy_up(p15); |
jasonberry | 0:9c8b3fc1ada3 | 17 | DigitalIn joy_down(p12); |
jasonberry | 0:9c8b3fc1ada3 | 18 | DigitalIn joy_left(p13); |
jasonberry | 0:9c8b3fc1ada3 | 19 | DigitalIn joy_right(p16); |
jasonberry | 0:9c8b3fc1ada3 | 20 | DigitalIn joy_fire(p14); |
jasonberry | 0:9c8b3fc1ada3 | 21 | |
jasonberry | 0:9c8b3fc1ada3 | 22 | LM75B sensor(p28,p27); |
jasonberry | 0:9c8b3fc1ada3 | 23 | |
jasonberry | 0:9c8b3fc1ada3 | 24 | |
jasonberry | 0:9c8b3fc1ada3 | 25 | |
jasonberry | 0:9c8b3fc1ada3 | 26 | //STEP 3/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 27 | //physical outputs |
jasonberry | 0:9c8b3fc1ada3 | 28 | DigitalOut led1(LED1); |
jasonberry | 0:9c8b3fc1ada3 | 29 | DigitalOut led2(LED2); |
jasonberry | 0:9c8b3fc1ada3 | 30 | PwmOut spkr(p26); |
jasonberry | 0:9c8b3fc1ada3 | 31 | |
jasonberry | 0:9c8b3fc1ada3 | 32 | //STEP 4/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 33 | // message structure can |
jasonberry | 0:9c8b3fc1ada3 | 34 | |
jasonberry | 0:9c8b3fc1ada3 | 35 | /////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 36 | typedef struct { |
jasonberry | 0:9c8b3fc1ada3 | 37 | |
jasonberry | 0:9c8b3fc1ada3 | 38 | int id; /* can id */ |
jasonberry | 0:9c8b3fc1ada3 | 39 | char data[8]; /*can data */ |
jasonberry | 0:9c8b3fc1ada3 | 40 | |
jasonberry | 0:9c8b3fc1ada3 | 41 | } can_message_t; |
jasonberry | 0:9c8b3fc1ada3 | 42 | |
jasonberry | 0:9c8b3fc1ada3 | 43 | |
jasonberry | 0:9c8b3fc1ada3 | 44 | |
jasonberry | 0:9c8b3fc1ada3 | 45 | |
jasonberry | 0:9c8b3fc1ada3 | 46 | |
jasonberry | 0:9c8b3fc1ada3 | 47 | //STEP 4/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 48 | // ipc for can write thread |
jasonberry | 0:9c8b3fc1ada3 | 49 | /////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 50 | MemoryPool<can_message_t, 8> can_write_mpool; |
jasonberry | 0:9c8b3fc1ada3 | 51 | Queue<can_message_t, 8> can_write_queue; |
jasonberry | 0:9c8b3fc1ada3 | 52 | |
jasonberry | 0:9c8b3fc1ada3 | 53 | //STEP 5/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 54 | // ipc for digital output thread |
jasonberry | 0:9c8b3fc1ada3 | 55 | |
jasonberry | 0:9c8b3fc1ada3 | 56 | //////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 57 | MemoryPool<can_message_t, 8> digital_output_mpool; |
jasonberry | 0:9c8b3fc1ada3 | 58 | Queue<can_message_t, 8> digital_output_queue; |
jasonberry | 0:9c8b3fc1ada3 | 59 | |
jasonberry | 0:9c8b3fc1ada3 | 60 | |
jasonberry | 0:9c8b3fc1ada3 | 61 | //STEP 6/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 62 | // ipc for analog output thread |
jasonberry | 0:9c8b3fc1ada3 | 63 | |
jasonberry | 0:9c8b3fc1ada3 | 64 | //////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 65 | MemoryPool<can_message_t, 8> analog_output_mpool; |
jasonberry | 0:9c8b3fc1ada3 | 66 | Queue<can_message_t, 8> analog_output_queue; |
jasonberry | 0:9c8b3fc1ada3 | 67 | |
jasonberry | 0:9c8b3fc1ada3 | 68 | //STEP 7/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 69 | // set up canbus |
jasonberry | 0:9c8b3fc1ada3 | 70 | /////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 71 | CAN can1(p30, p29); |
jasonberry | 0:9c8b3fc1ada3 | 72 | //CAN can1(p9, p10); |
jasonberry | 0:9c8b3fc1ada3 | 73 | |
jasonberry | 0:9c8b3fc1ada3 | 74 | //STEP 8/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 75 | /* digital input Thread */ |
jasonberry | 0:9c8b3fc1ada3 | 76 | ////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 77 | void digital_input_thread (void const *args) { |
jasonberry | 0:9c8b3fc1ada3 | 78 | |
jasonberry | 0:9c8b3fc1ada3 | 79 | while (true) { |
jasonberry | 0:9c8b3fc1ada3 | 80 | |
jasonberry | 0:9c8b3fc1ada3 | 81 | can_message_t *message = can_write_mpool.alloc(); |
jasonberry | 0:9c8b3fc1ada3 | 82 | message->id = BASE_ADDRESS + 0; |
jasonberry | 0:9c8b3fc1ada3 | 83 | message->data[0] = joy_up; |
jasonberry | 0:9c8b3fc1ada3 | 84 | message->data[1] = joy_down; |
jasonberry | 0:9c8b3fc1ada3 | 85 | message->data[2] = joy_left; |
jasonberry | 0:9c8b3fc1ada3 | 86 | message->data[3] = joy_right; |
jasonberry | 0:9c8b3fc1ada3 | 87 | message->data[4] = joy_fire; |
jasonberry | 0:9c8b3fc1ada3 | 88 | |
jasonberry | 0:9c8b3fc1ada3 | 89 | |
jasonberry | 0:9c8b3fc1ada3 | 90 | |
jasonberry | 0:9c8b3fc1ada3 | 91 | can_write_queue.put(message); |
jasonberry | 0:9c8b3fc1ada3 | 92 | |
jasonberry | 0:9c8b3fc1ada3 | 93 | //fun bit nod yes on fire |
jasonberry | 0:9c8b3fc1ada3 | 94 | if(joy_fire == 1) |
jasonberry | 0:9c8b3fc1ada3 | 95 | { |
jasonberry | 0:9c8b3fc1ada3 | 96 | can_message_t *message = can_write_mpool.alloc(); |
jasonberry | 0:9c8b3fc1ada3 | 97 | message->id = 142; |
jasonberry | 0:9c8b3fc1ada3 | 98 | message->data[0] = 5; |
jasonberry | 0:9c8b3fc1ada3 | 99 | |
jasonberry | 0:9c8b3fc1ada3 | 100 | can_write_queue.put(message); |
jasonberry | 0:9c8b3fc1ada3 | 101 | } |
jasonberry | 0:9c8b3fc1ada3 | 102 | else if(joy_left == 1) |
jasonberry | 0:9c8b3fc1ada3 | 103 | { |
jasonberry | 0:9c8b3fc1ada3 | 104 | can_message_t *message = can_write_mpool.alloc(); |
jasonberry | 0:9c8b3fc1ada3 | 105 | message->id = 141; |
jasonberry | 0:9c8b3fc1ada3 | 106 | message->data[0] = 1; |
jasonberry | 0:9c8b3fc1ada3 | 107 | |
jasonberry | 0:9c8b3fc1ada3 | 108 | can_write_queue.put(message); |
jasonberry | 0:9c8b3fc1ada3 | 109 | } |
jasonberry | 0:9c8b3fc1ada3 | 110 | else if(joy_right == 1) |
jasonberry | 0:9c8b3fc1ada3 | 111 | { |
jasonberry | 0:9c8b3fc1ada3 | 112 | can_message_t *message = can_write_mpool.alloc(); |
jasonberry | 0:9c8b3fc1ada3 | 113 | message->id = 141; |
jasonberry | 0:9c8b3fc1ada3 | 114 | message->data[0] = 2; |
jasonberry | 0:9c8b3fc1ada3 | 115 | |
jasonberry | 0:9c8b3fc1ada3 | 116 | can_write_queue.put(message); |
jasonberry | 0:9c8b3fc1ada3 | 117 | } |
jasonberry | 0:9c8b3fc1ada3 | 118 | else if(joy_up == 1) |
jasonberry | 0:9c8b3fc1ada3 | 119 | { |
jasonberry | 0:9c8b3fc1ada3 | 120 | can_message_t *message = can_write_mpool.alloc(); |
jasonberry | 0:9c8b3fc1ada3 | 121 | message->id = 141; |
jasonberry | 0:9c8b3fc1ada3 | 122 | message->data[0] = 4; |
jasonberry | 0:9c8b3fc1ada3 | 123 | |
jasonberry | 0:9c8b3fc1ada3 | 124 | can_write_queue.put(message); |
jasonberry | 0:9c8b3fc1ada3 | 125 | } |
jasonberry | 0:9c8b3fc1ada3 | 126 | else if(joy_down == 1) |
jasonberry | 0:9c8b3fc1ada3 | 127 | { |
jasonberry | 0:9c8b3fc1ada3 | 128 | can_message_t *message = can_write_mpool.alloc(); |
jasonberry | 0:9c8b3fc1ada3 | 129 | message->id = 141; |
jasonberry | 0:9c8b3fc1ada3 | 130 | message->data[0] = 3; |
jasonberry | 0:9c8b3fc1ada3 | 131 | |
jasonberry | 0:9c8b3fc1ada3 | 132 | can_write_queue.put(message); |
jasonberry | 0:9c8b3fc1ada3 | 133 | } |
jasonberry | 0:9c8b3fc1ada3 | 134 | |
jasonberry | 0:9c8b3fc1ada3 | 135 | Thread::wait(500); |
jasonberry | 0:9c8b3fc1ada3 | 136 | } |
jasonberry | 0:9c8b3fc1ada3 | 137 | |
jasonberry | 0:9c8b3fc1ada3 | 138 | } |
jasonberry | 0:9c8b3fc1ada3 | 139 | |
jasonberry | 0:9c8b3fc1ada3 | 140 | //STEP 9/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 141 | /* analog input Thread */ |
jasonberry | 0:9c8b3fc1ada3 | 142 | ////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 143 | void analog_input_thread (void const *args) { |
jasonberry | 0:9c8b3fc1ada3 | 144 | |
jasonberry | 0:9c8b3fc1ada3 | 145 | //if (sensor.open()) { |
jasonberry | 0:9c8b3fc1ada3 | 146 | |
jasonberry | 0:9c8b3fc1ada3 | 147 | // printf("Device detected!\n"); |
jasonberry | 0:9c8b3fc1ada3 | 148 | while (true) { |
jasonberry | 0:9c8b3fc1ada3 | 149 | can_message_t *message = can_write_mpool.alloc(); |
jasonberry | 0:9c8b3fc1ada3 | 150 | message->id = BASE_ADDRESS + 1; |
jasonberry | 0:9c8b3fc1ada3 | 151 | message->data[0] = sensor.read(); |
jasonberry | 0:9c8b3fc1ada3 | 152 | can_write_queue.put(message); |
jasonberry | 0:9c8b3fc1ada3 | 153 | |
jasonberry | 0:9c8b3fc1ada3 | 154 | Thread::wait(500); |
jasonberry | 0:9c8b3fc1ada3 | 155 | } |
jasonberry | 0:9c8b3fc1ada3 | 156 | //else{ |
jasonberry | 0:9c8b3fc1ada3 | 157 | |
jasonberry | 0:9c8b3fc1ada3 | 158 | // printf("Device faulty!\n"); |
jasonberry | 0:9c8b3fc1ada3 | 159 | |
jasonberry | 0:9c8b3fc1ada3 | 160 | //} |
jasonberry | 0:9c8b3fc1ada3 | 161 | } |
jasonberry | 0:9c8b3fc1ada3 | 162 | |
jasonberry | 0:9c8b3fc1ada3 | 163 | //STEP 10/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 164 | // Can write thread |
jasonberry | 0:9c8b3fc1ada3 | 165 | ////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 166 | void can_write_thread(void const *args) { |
jasonberry | 0:9c8b3fc1ada3 | 167 | |
jasonberry | 0:9c8b3fc1ada3 | 168 | while (true) { |
jasonberry | 0:9c8b3fc1ada3 | 169 | osEvent evt = can_write_queue.get(); |
jasonberry | 0:9c8b3fc1ada3 | 170 | if (evt.status == osEventMessage) { |
jasonberry | 0:9c8b3fc1ada3 | 171 | can_message_t *message = (can_message_t*)evt.value.p; |
jasonberry | 0:9c8b3fc1ada3 | 172 | |
jasonberry | 0:9c8b3fc1ada3 | 173 | //send canbus message |
jasonberry | 0:9c8b3fc1ada3 | 174 | //can1.write(CANMessage(message->id, message->data, 8)); |
jasonberry | 0:9c8b3fc1ada3 | 175 | can1.write(CANMessage(message->id,message->data, 8)); |
jasonberry | 0:9c8b3fc1ada3 | 176 | can_write_mpool.free(message); |
jasonberry | 0:9c8b3fc1ada3 | 177 | } |
jasonberry | 0:9c8b3fc1ada3 | 178 | |
jasonberry | 0:9c8b3fc1ada3 | 179 | } |
jasonberry | 0:9c8b3fc1ada3 | 180 | |
jasonberry | 0:9c8b3fc1ada3 | 181 | } |
jasonberry | 0:9c8b3fc1ada3 | 182 | |
jasonberry | 0:9c8b3fc1ada3 | 183 | |
jasonberry | 0:9c8b3fc1ada3 | 184 | |
jasonberry | 0:9c8b3fc1ada3 | 185 | //STEP 11/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 186 | //Can read thread |
jasonberry | 0:9c8b3fc1ada3 | 187 | ////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 188 | void can_read_thread (void const *args) { |
jasonberry | 0:9c8b3fc1ada3 | 189 | |
jasonberry | 0:9c8b3fc1ada3 | 190 | while (true) { |
jasonberry | 0:9c8b3fc1ada3 | 191 | printf("loop()\n"); |
jasonberry | 0:9c8b3fc1ada3 | 192 | if(can1.read(msg)) |
jasonberry | 0:9c8b3fc1ada3 | 193 | { |
jasonberry | 0:9c8b3fc1ada3 | 194 | |
jasonberry | 0:9c8b3fc1ada3 | 195 | if(msg.id == BASE_ADDRESS + 5) // Then its an analog out message |
jasonberry | 0:9c8b3fc1ada3 | 196 | { |
jasonberry | 0:9c8b3fc1ada3 | 197 | //send to analog output ipc |
jasonberry | 0:9c8b3fc1ada3 | 198 | can_message_t *message = analog_output_mpool.alloc(); |
jasonberry | 0:9c8b3fc1ada3 | 199 | message->id = msg.id; |
jasonberry | 0:9c8b3fc1ada3 | 200 | message->data[0] = msg.data[0]; |
jasonberry | 0:9c8b3fc1ada3 | 201 | analog_output_queue.put(message); |
jasonberry | 0:9c8b3fc1ada3 | 202 | |
jasonberry | 0:9c8b3fc1ada3 | 203 | Thread::wait(500); |
jasonberry | 0:9c8b3fc1ada3 | 204 | } |
jasonberry | 0:9c8b3fc1ada3 | 205 | |
jasonberry | 0:9c8b3fc1ada3 | 206 | |
jasonberry | 0:9c8b3fc1ada3 | 207 | else if(msg.id == BASE_ADDRESS + 6) //then its an do message |
jasonberry | 0:9c8b3fc1ada3 | 208 | { |
jasonberry | 0:9c8b3fc1ada3 | 209 | //send to digital output ipc |
jasonberry | 0:9c8b3fc1ada3 | 210 | can_message_t *message = digital_output_mpool.alloc(); |
jasonberry | 0:9c8b3fc1ada3 | 211 | |
jasonberry | 0:9c8b3fc1ada3 | 212 | message->id = msg.id; |
jasonberry | 0:9c8b3fc1ada3 | 213 | message->data[0] = msg.data[0]; |
jasonberry | 0:9c8b3fc1ada3 | 214 | |
jasonberry | 0:9c8b3fc1ada3 | 215 | digital_output_queue.put(message); |
jasonberry | 0:9c8b3fc1ada3 | 216 | Thread::wait(500); |
jasonberry | 0:9c8b3fc1ada3 | 217 | |
jasonberry | 0:9c8b3fc1ada3 | 218 | } |
jasonberry | 0:9c8b3fc1ada3 | 219 | |
jasonberry | 0:9c8b3fc1ada3 | 220 | // else { |
jasonberry | 0:9c8b3fc1ada3 | 221 | |
jasonberry | 0:9c8b3fc1ada3 | 222 | //handler for other messages |
jasonberry | 0:9c8b3fc1ada3 | 223 | |
jasonberry | 0:9c8b3fc1ada3 | 224 | // } |
jasonberry | 0:9c8b3fc1ada3 | 225 | |
jasonberry | 0:9c8b3fc1ada3 | 226 | Thread::wait(100); |
jasonberry | 0:9c8b3fc1ada3 | 227 | |
jasonberry | 0:9c8b3fc1ada3 | 228 | }//end of if can.read |
jasonberry | 0:9c8b3fc1ada3 | 229 | |
jasonberry | 0:9c8b3fc1ada3 | 230 | }//end of while(1) |
jasonberry | 0:9c8b3fc1ada3 | 231 | |
jasonberry | 0:9c8b3fc1ada3 | 232 | } //end of thread |
jasonberry | 0:9c8b3fc1ada3 | 233 | |
jasonberry | 0:9c8b3fc1ada3 | 234 | |
jasonberry | 0:9c8b3fc1ada3 | 235 | |
jasonberry | 0:9c8b3fc1ada3 | 236 | |
jasonberry | 0:9c8b3fc1ada3 | 237 | |
jasonberry | 0:9c8b3fc1ada3 | 238 | |
jasonberry | 0:9c8b3fc1ada3 | 239 | |
jasonberry | 0:9c8b3fc1ada3 | 240 | //STEP 12/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 241 | // Analog_ouptut_thread |
jasonberry | 0:9c8b3fc1ada3 | 242 | ////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 243 | void Analog_ouptut_thread(void const *args) { |
jasonberry | 0:9c8b3fc1ada3 | 244 | |
jasonberry | 0:9c8b3fc1ada3 | 245 | while (true) { |
jasonberry | 0:9c8b3fc1ada3 | 246 | |
jasonberry | 0:9c8b3fc1ada3 | 247 | osEvent evt = analog_output_queue.get(); |
jasonberry | 0:9c8b3fc1ada3 | 248 | |
jasonberry | 0:9c8b3fc1ada3 | 249 | |
jasonberry | 0:9c8b3fc1ada3 | 250 | if (evt.status == osEventMessage) { |
jasonberry | 0:9c8b3fc1ada3 | 251 | can_message_t *message = (can_message_t*)evt.value.p; |
jasonberry | 0:9c8b3fc1ada3 | 252 | |
jasonberry | 0:9c8b3fc1ada3 | 253 | |
jasonberry | 0:9c8b3fc1ada3 | 254 | //drive the speaker based on can message |
jasonberry | 0:9c8b3fc1ada3 | 255 | spkr.period(1/(2000 + (message->data[0]* 50))); //generate a tone based on data[0] value range from 2000 + 0*50 to 2000 + 255*50 |
jasonberry | 0:9c8b3fc1ada3 | 256 | spkr=0.5; |
jasonberry | 0:9c8b3fc1ada3 | 257 | |
jasonberry | 0:9c8b3fc1ada3 | 258 | analog_output_mpool.free(message); |
jasonberry | 0:9c8b3fc1ada3 | 259 | } |
jasonberry | 0:9c8b3fc1ada3 | 260 | } |
jasonberry | 0:9c8b3fc1ada3 | 261 | |
jasonberry | 0:9c8b3fc1ada3 | 262 | } |
jasonberry | 0:9c8b3fc1ada3 | 263 | |
jasonberry | 0:9c8b3fc1ada3 | 264 | |
jasonberry | 0:9c8b3fc1ada3 | 265 | |
jasonberry | 0:9c8b3fc1ada3 | 266 | //STEP 13/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 267 | // Digital_ouptut_thread |
jasonberry | 0:9c8b3fc1ada3 | 268 | ////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 269 | void Digital_output_thread(void const *args) { |
jasonberry | 0:9c8b3fc1ada3 | 270 | |
jasonberry | 0:9c8b3fc1ada3 | 271 | while (true) { |
jasonberry | 0:9c8b3fc1ada3 | 272 | |
jasonberry | 0:9c8b3fc1ada3 | 273 | osEvent evt = digital_output_queue.get(); |
jasonberry | 0:9c8b3fc1ada3 | 274 | |
jasonberry | 0:9c8b3fc1ada3 | 275 | |
jasonberry | 0:9c8b3fc1ada3 | 276 | if (evt.status == osEventMessage) { |
jasonberry | 0:9c8b3fc1ada3 | 277 | can_message_t *message = (can_message_t*)evt.value.p; |
jasonberry | 0:9c8b3fc1ada3 | 278 | |
jasonberry | 0:9c8b3fc1ada3 | 279 | //drive the digital ouptut based on can message |
jasonberry | 0:9c8b3fc1ada3 | 280 | |
jasonberry | 0:9c8b3fc1ada3 | 281 | if (message->data[0] == 1 ) { |
jasonberry | 0:9c8b3fc1ada3 | 282 | |
jasonberry | 0:9c8b3fc1ada3 | 283 | led1 = 1;} |
jasonberry | 0:9c8b3fc1ada3 | 284 | |
jasonberry | 0:9c8b3fc1ada3 | 285 | else { |
jasonberry | 0:9c8b3fc1ada3 | 286 | |
jasonberry | 0:9c8b3fc1ada3 | 287 | led1 = 0;} |
jasonberry | 0:9c8b3fc1ada3 | 288 | |
jasonberry | 0:9c8b3fc1ada3 | 289 | |
jasonberry | 0:9c8b3fc1ada3 | 290 | |
jasonberry | 0:9c8b3fc1ada3 | 291 | digital_output_mpool.free(message); |
jasonberry | 0:9c8b3fc1ada3 | 292 | |
jasonberry | 0:9c8b3fc1ada3 | 293 | } //end of if statement |
jasonberry | 0:9c8b3fc1ada3 | 294 | |
jasonberry | 0:9c8b3fc1ada3 | 295 | }//end of while loop |
jasonberry | 0:9c8b3fc1ada3 | 296 | |
jasonberry | 0:9c8b3fc1ada3 | 297 | } |
jasonberry | 0:9c8b3fc1ada3 | 298 | |
jasonberry | 0:9c8b3fc1ada3 | 299 | |
jasonberry | 0:9c8b3fc1ada3 | 300 | |
jasonberry | 0:9c8b3fc1ada3 | 301 | //STEP 13/////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 302 | // START THREADS |
jasonberry | 0:9c8b3fc1ada3 | 303 | ////////////////////////////////////////////////////// |
jasonberry | 0:9c8b3fc1ada3 | 304 | int main() { |
jasonberry | 0:9c8b3fc1ada3 | 305 | Thread thread1(Digital_output_thread); |
jasonberry | 0:9c8b3fc1ada3 | 306 | |
jasonberry | 0:9c8b3fc1ada3 | 307 | Thread thread2(Analog_ouptut_thread); |
jasonberry | 0:9c8b3fc1ada3 | 308 | |
jasonberry | 0:9c8b3fc1ada3 | 309 | Thread thread3(can_read_thread); |
jasonberry | 0:9c8b3fc1ada3 | 310 | |
jasonberry | 0:9c8b3fc1ada3 | 311 | Thread thread4(can_write_thread); |
jasonberry | 0:9c8b3fc1ada3 | 312 | |
jasonberry | 0:9c8b3fc1ada3 | 313 | Thread thread5(analog_input_thread ); |
jasonberry | 0:9c8b3fc1ada3 | 314 | |
jasonberry | 0:9c8b3fc1ada3 | 315 | Thread thread6(digital_input_thread); |
jasonberry | 0:9c8b3fc1ada3 | 316 | |
jasonberry | 0:9c8b3fc1ada3 | 317 | |
jasonberry | 0:9c8b3fc1ada3 | 318 | while(true) |
jasonberry | 0:9c8b3fc1ada3 | 319 | |
jasonberry | 0:9c8b3fc1ada3 | 320 | { |
jasonberry | 0:9c8b3fc1ada3 | 321 | |
jasonberry | 0:9c8b3fc1ada3 | 322 | led2 !=led2; |
jasonberry | 0:9c8b3fc1ada3 | 323 | |
jasonberry | 0:9c8b3fc1ada3 | 324 | Thread::wait(500); |
jasonberry | 0:9c8b3fc1ada3 | 325 | |
jasonberry | 0:9c8b3fc1ada3 | 326 | } |
jasonberry | 0:9c8b3fc1ada3 | 327 | |
jasonberry | 0:9c8b3fc1ada3 | 328 | |
jasonberry | 0:9c8b3fc1ada3 | 329 | |
jasonberry | 0:9c8b3fc1ada3 | 330 | } |