Revision 5:a229f40c1210, committed 2012-11-14

Comitter:

madcowswe

Date:

Wed Nov 14 16:15:46 2012 +0000

Parent:

2:10e2b1b9c588

Child:

6:5a52c046d8f7

Commit message:

Added "system"

Changed in this revision

--- a/Kalman/Kalman.h	Wed Nov 07 14:41:49 2012 +0000
+++ b/Kalman/Kalman.h	Wed Nov 14 16:15:46 2012 +0000
@@ -6,7 +6,7 @@
 
 #include "rtos.h"
 //#include "Matrix.h"
-#include "motors.h"
+//#include "motors.h"
 #include "RFSRF05.h"
 #include "IR.h"
 #include "ui.h"

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/system/system.cpp	Wed Nov 14 16:15:46 2012 +0000
@@ -0,0 +1,29 @@
+#include "system.h"
+
+//Defining the externs
+DigitalOut     OLED1(LED1);
+DigitalOut     OLED2(LED2);
+DigitalOut     OLED3(LED3);
+DigitalOut     OLED4(LED4);
+
+//nop style wait function
+void nopwait(int ms){
+while(ms--)
+    for (volatile int i = 0; i < 24000; i++);
+}
+
+float cpupercent; //defining the extern
+void measureCPUidle (void const* arg) {
+    
+    Timer timer;
+    cpupercent = 0; //defined in system.h
+    
+    while(1) {
+        timer.reset();
+        timer.start();
+        wait(1);
+        
+        int thistime = timer.read_us()-1000000;
+        cpupercent = thistime;
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/system/system.h	Wed Nov 14 16:15:46 2012 +0000
@@ -0,0 +1,51 @@
+
+#ifndef SYSTEM_H
+#define SYSTEM_H
+
+#include "globals.h"
+#include "rtos.h"
+
+//Declaring the onboard LED's for everyone to use
+extern DigitalOut     OLED1;//(LED1);
+extern DigitalOut     OLED2;//(LED2);
+extern DigitalOut     OLED3;//(LED3);
+extern DigitalOut     OLED4;//(LED4);
+
+//nop style wait function
+void nopwait(int ms);
+
+//a type which is a pointer to a rtos thread function
+typedef void (*tfuncptr_t)(void const *argument);
+
+//---------------------
+//Signal ticker stuff
+#define SIGTICKARGS(thread, signal) \
+    (tfuncptr_t) (&Signalsetter::callback), osTimerPeriodic, (void*)(new Signalsetter(thread, signal))
+
+class Signalsetter {
+public:
+    Signalsetter(Thread& inthread, int insignal) :
+            thread(inthread) {
+        signal = insignal;
+        //pc.printf("ptr saved as %#x \r\n", (int)(&(inthread)));
+    }
+
+    static void callback(void* thisin) {
+
+        Signalsetter* fthis = (Signalsetter*)thisin;
+        //pc.printf("callback will signal thread object at %#x \r\n", (int)(&(fthis->thread)));
+        fthis->thread.signal_set(fthis->signal);
+        //delete fthis; //this is useful for single fire tickers!
+    }
+
+private:
+    Thread& thread;
+    int signal;
+};
+
+//---------------------
+//cpu usage measurement function
+extern float cpupercent;
+void measureCPUidle (void const* arg);
+
+#endif