File content as of revision 3:d7ec6dc025b0:

#include "mbed.h"
#include "rtos.h"
#include "global.h"
#include "linkLayer.h"
#include "txQueue.h"

#include "max32630fthr.h" 
MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);


#include "platform/mbed_assert.h"
#include "platform/mbed_debug.h"
#include "platform/mbed_error.h"
#include "platform/mbed_stats.h"
#define MAX_THREAD_INFO 10
mbed_stats_heap_t heap_info;
mbed_stats_stack_t stack_info[ MAX_THREAD_INFO ];


SPI spi(P5_1, P5_2, P5_0);
I2C i2c(P5_7, P6_0); //sda, scl
I2C i2c2(P3_4, P3_5); //sda, scl

TxQueue txQueue;
LinkLayerEncoder linkEnc;

Thread registeredThreads[15];
threadFunc_t registeredThreadFunctions[15];
unsigned numRegisteredThreads=0;
Thread thread_txRF(osPriorityHigh);

 
float temperature, pressure, altitude, humidity;
float acc1[3];
float acc2[3];
float gyro1[3], gyro2[3];

bool registerThread(threadFunc_t f)
{
    if(numRegisteredThreads >= 14)
    {
        printf("ERROR: Max registerable threads reached\r\n");
        return false;
    }
    registeredThreadFunctions[numRegisteredThreads++]=f;
    printf("registered function\r\n");
    return true;
}
void setupTx()
{
    spi.frequency(1000);//1kbps
}
void txData() //TODO: evaluate callback async
{
    spi.lock();
    while(1)
    {
        uint8_t txBuf[8]={0,0,0,0,0,0,0,0};
        for(unsigned i = 0; i < 8; i++)
            for(unsigned j=0; j<8;j++)
            {
                txBuf[i]|=(linkEnc.getNext()<<j);
            }
        //printf("0x%02x%02x%02x%02x%02x%02x%02x%02x\r\n", txBuf[0], txBuf[1], txBuf[2], txBuf[3], txBuf[4], txBuf[5], txBuf[6], txBuf[7]);
        spi.write((char*)txBuf, 8, (char*)0, 0);
    }
}
int main() {
    set_time(0);
    setupTx();
    thread_txRF.start(txData);
    
    for(int i=0; i<numRegisteredThreads; i++)
    {
        registeredThreads[i].set_priority(osPriorityBelowNormal);
        registeredThreads[i].start(registeredThreadFunctions[i]);
    }
    printf("MAIN: started %u registered application threads\r\n", numRegisteredThreads);
    
    while(1)
    {/*
        printf("\r\nRuntimeStats:");
        printf("\r\n\tSystem uptime in s: %d", time(NULL));
        printf("\r\nMemoryStats:");
        mbed_stats_heap_get( &heap_info );
        printf("\r\n\tBytes allocated currently: %d", heap_info.current_size);
        printf("\r\n\tMax bytes allocated at a given time: %d", heap_info.max_size);
        printf("\r\n\tCumulative sum of bytes ever allocated: %d", heap_info.total_size);
        printf("\r\n\tCurrent number of bytes allocated for the heap: %d", heap_info.reserved_size);
        printf("\r\n\tCurrent number of allocations: %d", heap_info.alloc_cnt);
        printf("\r\n\tNumber of failed allocations: %d", heap_info.alloc_fail_cnt);
        
        mbed_stats_stack_get( &stack_info[0] );
        printf("\r\nCumulative Stack Info:");
        printf("\r\n\tMaximum number of bytes used on the stack: %d", stack_info[0].max_size);
        printf("\r\n\tCurrent number of bytes allocated for the stack: %d", stack_info[0].reserved_size);
        printf("\r\n\tNumber of stacks stats accumulated in the structure: %d", stack_info[0].stack_cnt);
        
        mbed_stats_stack_get_each( stack_info, MAX_THREAD_INFO );
        printf("\r\nThread Stack Info:");
        for(int i=0;i < MAX_THREAD_INFO; i++)
        {
            if(stack_info[i].thread_id != 0)
            {
                printf("\r\n\tThread: %d", i);
                printf("\r\n\t\tMaximum number of bytes used on the stack: %d", stack_info[i].max_size);
                printf("\r\n\t\tCurrent number of bytes allocated for the stack: %d", stack_info[i].reserved_size);
                printf("\r\n\t\tNumber of stacks stats accumulated in the structure: %d", stack_info[i].stack_cnt); 
            }
        }
        */
        rtos::Thread::wait(60000);
    }
}