scmRTOS_test - Program to control an accelerometer, motors and a…

Users » jberry » Code » scmRTOS_test

Greg Kuhn / Mbed 2 deprecated scmRTOS_test

Program to control an accelerometer, motors and a rangefinder using the ScmRTOS ported to mbed. (Work in progress and buggy)

Dependencies: mbed

scmRTOS/Common/usrlib.h@0:9b057566f9ee, 2010-11-01 (annotated)

Committer:: jberry
Date:: Mon Nov 01 20:39:01 2010 +0000
Revision:: 0:9b057566f9ee

Who changed what in which revision?

User	Revision	Line number	New contents of line
jberry	0:9b057566f9ee	1	//******************************************************************************
jberry	0:9b057566f9ee	2	//*
jberry	0:9b057566f9ee	3	//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
jberry	0:9b057566f9ee	4	//*
jberry	0:9b057566f9ee	5	//* NICKNAME: scmRTOS
jberry	0:9b057566f9ee	6	//*
jberry	0:9b057566f9ee	7	//* PURPOSE: User Suport Library Header
jberry	0:9b057566f9ee	8	//*
jberry	0:9b057566f9ee	9	//* Version: 3.10
jberry	0:9b057566f9ee	10	//*
jberry	0:9b057566f9ee	11	//* $Revision: 256 $
jberry	0:9b057566f9ee	12	//* $Date:: 2010-01-22 #$
jberry	0:9b057566f9ee	13	//*
jberry	0:9b057566f9ee	14	//* Copyright (c) 2003-2010, Harry E. Zhurov
jberry	0:9b057566f9ee	15	//*
jberry	0:9b057566f9ee	16	//* Permission is hereby granted, free of charge, to any person
jberry	0:9b057566f9ee	17	//* obtaining a copy of this software and associated documentation
jberry	0:9b057566f9ee	18	//* files (the "Software"), to deal in the Software without restriction,
jberry	0:9b057566f9ee	19	//* including without limitation the rights to use, copy, modify, merge,
jberry	0:9b057566f9ee	20	//* publish, distribute, sublicense, and/or sell copies of the Software,
jberry	0:9b057566f9ee	21	//* and to permit persons to whom the Software is furnished to do so,
jberry	0:9b057566f9ee	22	//* subject to the following conditions:
jberry	0:9b057566f9ee	23	//*
jberry	0:9b057566f9ee	24	//* The above copyright notice and this permission notice shall be included
jberry	0:9b057566f9ee	25	//* in all copies or substantial portions of the Software.
jberry	0:9b057566f9ee	26	//*
jberry	0:9b057566f9ee	27	//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
jberry	0:9b057566f9ee	28	//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
jberry	0:9b057566f9ee	29	//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
jberry	0:9b057566f9ee	30	//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
jberry	0:9b057566f9ee	31	//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
jberry	0:9b057566f9ee	32	//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
jberry	0:9b057566f9ee	33	//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
jberry	0:9b057566f9ee	34	//*
jberry	0:9b057566f9ee	35	//* =================================================================
jberry	0:9b057566f9ee	36	//* See http://scmrtos.sourceforge.net for documentation, latest
jberry	0:9b057566f9ee	37	//* information, license and contact details.
jberry	0:9b057566f9ee	38	//* =================================================================
jberry	0:9b057566f9ee	39	//*
jberry	0:9b057566f9ee	40	//******************************************************************************
jberry	0:9b057566f9ee	41
jberry	0:9b057566f9ee	42	#ifndef USRLIB_H
jberry	0:9b057566f9ee	43	#define USRLIB_H
jberry	0:9b057566f9ee	44
jberry	0:9b057566f9ee	45	#include <commdefs.h>
jberry	0:9b057566f9ee	46
jberry	0:9b057566f9ee	47	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	48	//
jberry	0:9b057566f9ee	49	// DESCRIPTON: user namespace for some useful types and functions
jberry	0:9b057566f9ee	50	//
jberry	0:9b057566f9ee	51	//
jberry	0:9b057566f9ee	52	namespace usr
jberry	0:9b057566f9ee	53	{
jberry	0:9b057566f9ee	54	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	55	//
jberry	0:9b057566f9ee	56	/// The Circular Buffer
jberry	0:9b057566f9ee	57	//
jberry	0:9b057566f9ee	58	/// Byte-wide FIFO.
jberry	0:9b057566f9ee	59	//
jberry	0:9b057566f9ee	60	/// Allows to:
jberry	0:9b057566f9ee	61	/// add byte,
jberry	0:9b057566f9ee	62	/// get byte,
jberry	0:9b057566f9ee	63	/// write bytes from array,
jberry	0:9b057566f9ee	64	/// read bytes to array,
jberry	0:9b057566f9ee	65	/// and some other service actions.
jberry	0:9b057566f9ee	66	//
jberry	0:9b057566f9ee	67	class TCbuf
jberry	0:9b057566f9ee	68	{
jberry	0:9b057566f9ee	69	public:
jberry	0:9b057566f9ee	70	TCbuf(byte* const Address, const byte Size);
jberry	0:9b057566f9ee	71	bool write(const byte* data, const byte Count);
jberry	0:9b057566f9ee	72	void read(byte* const data, const byte Count);
jberry	0:9b057566f9ee	73	byte get_count() const { return count; }
jberry	0:9b057566f9ee	74	byte get_free_size() const { return size - count; }
jberry	0:9b057566f9ee	75	byte get_byte(const byte index) const;
jberry	0:9b057566f9ee	76	void clear() { count = 0; last = first; }
jberry	0:9b057566f9ee	77	bool put(const byte item);
jberry	0:9b057566f9ee	78	byte get();
jberry	0:9b057566f9ee	79
jberry	0:9b057566f9ee	80	private:
jberry	0:9b057566f9ee	81	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	82	//
jberry	0:9b057566f9ee	83	// DESCRIPTON: For internal purposes
jberry	0:9b057566f9ee	84	//
jberry	0:9b057566f9ee	85	void push(const byte item); ///< Use this function with care - it doesn't perform free size check
jberry	0:9b057566f9ee	86	byte pop(); ///< Use this function with care - it doesn't perform count check
jberry	0:9b057566f9ee	87	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	88
jberry	0:9b057566f9ee	89	private:
jberry	0:9b057566f9ee	90	byte* buf;
jberry	0:9b057566f9ee	91	byte size;
jberry	0:9b057566f9ee	92	volatile byte count;
jberry	0:9b057566f9ee	93	byte first;
jberry	0:9b057566f9ee	94	byte last;
jberry	0:9b057566f9ee	95	};
jberry	0:9b057566f9ee	96	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	97
jberry	0:9b057566f9ee	98
jberry	0:9b057566f9ee	99
jberry	0:9b057566f9ee	100	//-----------------------------------------------------------------------
jberry	0:9b057566f9ee	101	//
jberry	0:9b057566f9ee	102	/// The Ring Buffer Template
jberry	0:9b057566f9ee	103	///
jberry	0:9b057566f9ee	104	/// Carries out FIFO functionality for
jberry	0:9b057566f9ee	105	/// arbitrary data types
jberry	0:9b057566f9ee	106	///
jberry	0:9b057566f9ee	107	/// Allows to:
jberry	0:9b057566f9ee	108	/// add item to back (default),
jberry	0:9b057566f9ee	109	/// add item to front,
jberry	0:9b057566f9ee	110	/// get item at front (default),
jberry	0:9b057566f9ee	111	/// get item from back,
jberry	0:9b057566f9ee	112	/// write items from array,
jberry	0:9b057566f9ee	113	/// read items to array and some other actions
jberry	0:9b057566f9ee	114	//
jberry	0:9b057566f9ee	115	//
jberry	0:9b057566f9ee	116	//
jberry	0:9b057566f9ee	117	template<typename T, word Size, typename S = byte>
jberry	0:9b057566f9ee	118	class ring_buffer
jberry	0:9b057566f9ee	119	{
jberry	0:9b057566f9ee	120	public:
jberry	0:9b057566f9ee	121	ring_buffer() : Count(0), First(0), Last(0) { }
jberry	0:9b057566f9ee	122
jberry	0:9b057566f9ee	123	//----------------------------------------------------------------
jberry	0:9b057566f9ee	124	//
jberry	0:9b057566f9ee	125	// Data transfer functions
jberry	0:9b057566f9ee	126	//
jberry	0:9b057566f9ee	127	bool write(const T* data, const S cnt);
jberry	0:9b057566f9ee	128	void read(T* const data, const S cnt);
jberry	0:9b057566f9ee	129
jberry	0:9b057566f9ee	130	bool push_back(const T item);
jberry	0:9b057566f9ee	131	bool push_front(const T item);
jberry	0:9b057566f9ee	132
jberry	0:9b057566f9ee	133	T pop_front();
jberry	0:9b057566f9ee	134	T pop_back();
jberry	0:9b057566f9ee	135
jberry	0:9b057566f9ee	136	bool push(const T item) { return push_back(item); }
jberry	0:9b057566f9ee	137	T pop() { return pop_front(); }
jberry	0:9b057566f9ee	138
jberry	0:9b057566f9ee	139	//----------------------------------------------------------------
jberry	0:9b057566f9ee	140	//
jberry	0:9b057566f9ee	141	// Service functions
jberry	0:9b057566f9ee	142	//
jberry	0:9b057566f9ee	143	S get_count() const { return Count; }
jberry	0:9b057566f9ee	144	S get_free_size() const { return Size - Count; }
jberry	0:9b057566f9ee	145	T& operator[](const S index);
jberry	0:9b057566f9ee	146	void flush() { Count = 0; Last = First; }
jberry	0:9b057566f9ee	147
jberry	0:9b057566f9ee	148	private:
jberry	0:9b057566f9ee	149	//--------------------------------------------------------------
jberry	0:9b057566f9ee	150	// DESCRIPTON: For internal purposes
jberry	0:9b057566f9ee	151	// Use this functions with care: it don't perform
jberry	0:9b057566f9ee	152	// free size and count check
jberry	0:9b057566f9ee	153	//
jberry	0:9b057566f9ee	154	void push_item(const T item);
jberry	0:9b057566f9ee	155	void push_item_front(const T item);
jberry	0:9b057566f9ee	156	T pop_item();
jberry	0:9b057566f9ee	157	T pop_item_back();
jberry	0:9b057566f9ee	158	//--------------------------------------------------------------
jberry	0:9b057566f9ee	159
jberry	0:9b057566f9ee	160	private:
jberry	0:9b057566f9ee	161	S Count;
jberry	0:9b057566f9ee	162	S First;
jberry	0:9b057566f9ee	163	S Last;
jberry	0:9b057566f9ee	164	T Buf[Size];
jberry	0:9b057566f9ee	165	};
jberry	0:9b057566f9ee	166	//------------------------------------------------------------------
jberry	0:9b057566f9ee	167	}
jberry	0:9b057566f9ee	168	//---------------------------------------------------------------------------
jberry	0:9b057566f9ee	169
jberry	0:9b057566f9ee	170
jberry	0:9b057566f9ee	171	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	172	//
jberry	0:9b057566f9ee	173	// The ring buffer function-member definitions
jberry	0:9b057566f9ee	174	//
jberry	0:9b057566f9ee	175	//
jberry	0:9b057566f9ee	176	//
jberry	0:9b057566f9ee	177	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	178	bool usr::ring_buffer<T, Size, S>::write(const T* data, const S cnt)
jberry	0:9b057566f9ee	179	{
jberry	0:9b057566f9ee	180	if( cnt > (Size - Count) )
jberry	0:9b057566f9ee	181	return false;
jberry	0:9b057566f9ee	182
jberry	0:9b057566f9ee	183	for(S i = 0; i < cnt; i++)
jberry	0:9b057566f9ee	184	push_item(*(data++));
jberry	0:9b057566f9ee	185
jberry	0:9b057566f9ee	186	return true;
jberry	0:9b057566f9ee	187	}
jberry	0:9b057566f9ee	188	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	189	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	190	void usr::ring_buffer<T, Size, S>::read(T* data, const S cnt)
jberry	0:9b057566f9ee	191	{
jberry	0:9b057566f9ee	192	S nItems = cnt <= Count ? cnt : Count;
jberry	0:9b057566f9ee	193
jberry	0:9b057566f9ee	194	for(S i = 0; i < nItems; i++)
jberry	0:9b057566f9ee	195	data[i] = pop_item();
jberry	0:9b057566f9ee	196	}
jberry	0:9b057566f9ee	197	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	198	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	199	T& usr::ring_buffer<T, Size, S>::operator[](const S index)
jberry	0:9b057566f9ee	200	{
jberry	0:9b057566f9ee	201	S x = First + index;
jberry	0:9b057566f9ee	202
jberry	0:9b057566f9ee	203	if(x < Size)
jberry	0:9b057566f9ee	204	return Buf[x];
jberry	0:9b057566f9ee	205	else
jberry	0:9b057566f9ee	206	return Buf[x - Size];
jberry	0:9b057566f9ee	207	}
jberry	0:9b057566f9ee	208
jberry	0:9b057566f9ee	209	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	210	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	211	bool usr::ring_buffer<T, Size, S>::push_back(const T item)
jberry	0:9b057566f9ee	212	{
jberry	0:9b057566f9ee	213	if(Count == Size)
jberry	0:9b057566f9ee	214	return false;
jberry	0:9b057566f9ee	215
jberry	0:9b057566f9ee	216	push_item(item);
jberry	0:9b057566f9ee	217	return true;
jberry	0:9b057566f9ee	218	}
jberry	0:9b057566f9ee	219	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	220	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	221	bool usr::ring_buffer<T, Size, S>::push_front(const T item)
jberry	0:9b057566f9ee	222	{
jberry	0:9b057566f9ee	223	if(Count == Size)
jberry	0:9b057566f9ee	224	return false;
jberry	0:9b057566f9ee	225
jberry	0:9b057566f9ee	226	push_item_front(item);
jberry	0:9b057566f9ee	227	return true;
jberry	0:9b057566f9ee	228	}
jberry	0:9b057566f9ee	229	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	230	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	231	T usr::ring_buffer<T, Size, S>::pop_front()
jberry	0:9b057566f9ee	232	{
jberry	0:9b057566f9ee	233	if(Count)
jberry	0:9b057566f9ee	234	return pop_item();
jberry	0:9b057566f9ee	235	else
jberry	0:9b057566f9ee	236	return Buf[First];
jberry	0:9b057566f9ee	237	}
jberry	0:9b057566f9ee	238	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	239	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	240	T usr::ring_buffer<T, Size, S>::pop_back()
jberry	0:9b057566f9ee	241	{
jberry	0:9b057566f9ee	242	if(Count)
jberry	0:9b057566f9ee	243	return pop_item_back();
jberry	0:9b057566f9ee	244	else
jberry	0:9b057566f9ee	245	return Buf[First];
jberry	0:9b057566f9ee	246	}
jberry	0:9b057566f9ee	247	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	248	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	249	void usr::ring_buffer<T, Size, S>::push_item(const T item)
jberry	0:9b057566f9ee	250	{
jberry	0:9b057566f9ee	251	Buf[Last] = item;
jberry	0:9b057566f9ee	252	Last++;
jberry	0:9b057566f9ee	253	Count++;
jberry	0:9b057566f9ee	254
jberry	0:9b057566f9ee	255	if(Last == Size)
jberry	0:9b057566f9ee	256	Last = 0;
jberry	0:9b057566f9ee	257	}
jberry	0:9b057566f9ee	258	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	259	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	260	void usr::ring_buffer<T, Size, S>::push_item_front(const T item)
jberry	0:9b057566f9ee	261	{
jberry	0:9b057566f9ee	262	if(First == 0)
jberry	0:9b057566f9ee	263	First = Size - 1;
jberry	0:9b057566f9ee	264	else
jberry	0:9b057566f9ee	265	--First;
jberry	0:9b057566f9ee	266	Buf[First] = item;
jberry	0:9b057566f9ee	267	Count++;
jberry	0:9b057566f9ee	268	}
jberry	0:9b057566f9ee	269	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	270	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	271	T usr::ring_buffer<T, Size, S>::pop_item()
jberry	0:9b057566f9ee	272	{
jberry	0:9b057566f9ee	273	T item = Buf[First];
jberry	0:9b057566f9ee	274
jberry	0:9b057566f9ee	275	Count--;
jberry	0:9b057566f9ee	276	First++;
jberry	0:9b057566f9ee	277	if(First == Size)
jberry	0:9b057566f9ee	278	First = 0;
jberry	0:9b057566f9ee	279
jberry	0:9b057566f9ee	280	return item;
jberry	0:9b057566f9ee	281	}
jberry	0:9b057566f9ee	282	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	283	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	284	T usr::ring_buffer<T, Size, S>::pop_item_back()
jberry	0:9b057566f9ee	285	{
jberry	0:9b057566f9ee	286
jberry	0:9b057566f9ee	287	if(Last == 0)
jberry	0:9b057566f9ee	288	Last = Size - 1;
jberry	0:9b057566f9ee	289	else
jberry	0:9b057566f9ee	290	--Last;
jberry	0:9b057566f9ee	291
jberry	0:9b057566f9ee	292	Count--;
jberry	0:9b057566f9ee	293	return Buf[Last];;
jberry	0:9b057566f9ee	294	}
jberry	0:9b057566f9ee	295	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	296
jberry	0:9b057566f9ee	297
jberry	0:9b057566f9ee	298	#endif // USRLIB_H

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Nov 2010
Imports:	6
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	1

scmRTOS/Common/usrlib.h@0:9b057566f9ee, 2010-11-01 (annotated)

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