Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

mbed/mbed-rtos/rtos/Queue.h@0:964eb6a2ef00, 2015-03-18 (annotated)

Committer:
majik
Date:
Wed Mar 18 22:23:48 2015 +0000
Revision:
0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:964eb6a2ef00 1 /* mbed Microcontroller Library
majik 0:964eb6a2ef00 2 * Copyright (c) 2006-2012 ARM Limited
majik 0:964eb6a2ef00 3 *
majik 0:964eb6a2ef00 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
majik 0:964eb6a2ef00 5 * of this software and associated documentation files (the "Software"), to deal
majik 0:964eb6a2ef00 6 * in the Software without restriction, including without limitation the rights
majik 0:964eb6a2ef00 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
majik 0:964eb6a2ef00 8 * copies of the Software, and to permit persons to whom the Software is
majik 0:964eb6a2ef00 9 * furnished to do so, subject to the following conditions:
majik 0:964eb6a2ef00 10 *
majik 0:964eb6a2ef00 11 * The above copyright notice and this permission notice shall be included in
majik 0:964eb6a2ef00 12 * all copies or substantial portions of the Software.
majik 0:964eb6a2ef00 13 *
majik 0:964eb6a2ef00 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
majik 0:964eb6a2ef00 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
majik 0:964eb6a2ef00 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
majik 0:964eb6a2ef00 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
majik 0:964eb6a2ef00 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
majik 0:964eb6a2ef00 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
majik 0:964eb6a2ef00 20 * SOFTWARE.
majik 0:964eb6a2ef00 21 */
majik 0:964eb6a2ef00 22 #ifndef QUEUE_H
majik 0:964eb6a2ef00 23 #define QUEUE_H
majik 0:964eb6a2ef00 24
majik 0:964eb6a2ef00 25 #include <stdint.h>
majik 0:964eb6a2ef00 26 #include <string.h>
majik 0:964eb6a2ef00 27
majik 0:964eb6a2ef00 28 #include "cmsis_os.h"
majik 0:964eb6a2ef00 29 #include "error.h"
majik 0:964eb6a2ef00 30
majik 0:964eb6a2ef00 31 namespace rtos {
majik 0:964eb6a2ef00 32
majik 0:964eb6a2ef00 33 /** The Queue class allow to control, send, receive, or wait for messages.
majik 0:964eb6a2ef00 34 A message can be a integer or pointer value to a certain type T that is send
majik 0:964eb6a2ef00 35 to a thread or interrupt service routine.
majik 0:964eb6a2ef00 36 @tparam T data type of a single message element.
majik 0:964eb6a2ef00 37 @tparam queue_sz maximum number of messages in queue.
majik 0:964eb6a2ef00 38 */
majik 0:964eb6a2ef00 39 template<typename T, uint32_t queue_sz>
majik 0:964eb6a2ef00 40 class Queue {
majik 0:964eb6a2ef00 41 public:
majik 0:964eb6a2ef00 42 /** Create and initialise a message Queue. */
majik 0:964eb6a2ef00 43 Queue() {
majik 0:964eb6a2ef00 44 #ifdef CMSIS_OS_RTX
majik 0:964eb6a2ef00 45 memset(_queue_q, 0, sizeof(_queue_q));
majik 0:964eb6a2ef00 46 _queue_def.pool = _queue_q;
majik 0:964eb6a2ef00 47 _queue_def.queue_sz = queue_sz;
majik 0:964eb6a2ef00 48 #endif
majik 0:964eb6a2ef00 49 _queue_id = osMessageCreate(&_queue_def, NULL);
majik 0:964eb6a2ef00 50 if (_queue_id == NULL) {
majik 0:964eb6a2ef00 51 error("Error initialising the queue object\n");
majik 0:964eb6a2ef00 52 }
majik 0:964eb6a2ef00 53 }
majik 0:964eb6a2ef00 54
majik 0:964eb6a2ef00 55 /** Put a message in a Queue.
majik 0:964eb6a2ef00 56 @param data message pointer.
majik 0:964eb6a2ef00 57 @param millisec timeout value or 0 in case of no time-out. (default: 0)
majik 0:964eb6a2ef00 58 @return status code that indicates the execution status of the function.
majik 0:964eb6a2ef00 59 */
majik 0:964eb6a2ef00 60 osStatus put(T* data, uint32_t millisec=0) {
majik 0:964eb6a2ef00 61 return osMessagePut(_queue_id, (uint32_t)data, millisec);
majik 0:964eb6a2ef00 62 }
majik 0:964eb6a2ef00 63
majik 0:964eb6a2ef00 64 /** Get a message or Wait for a message from a Queue.
majik 0:964eb6a2ef00 65 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
majik 0:964eb6a2ef00 66 @return event information that includes the message and the status code.
majik 0:964eb6a2ef00 67 */
majik 0:964eb6a2ef00 68 osEvent get(uint32_t millisec=osWaitForever) {
majik 0:964eb6a2ef00 69 return osMessageGet(_queue_id, millisec);
majik 0:964eb6a2ef00 70 }
majik 0:964eb6a2ef00 71
majik 0:964eb6a2ef00 72 private:
majik 0:964eb6a2ef00 73 osMessageQId _queue_id;
majik 0:964eb6a2ef00 74 osMessageQDef_t _queue_def;
majik 0:964eb6a2ef00 75 #ifdef CMSIS_OS_RTX
majik 0:964eb6a2ef00 76 uint32_t _queue_q[4+(queue_sz)];
majik 0:964eb6a2ef00 77 #endif
majik 0:964eb6a2ef00 78 };
majik 0:964eb6a2ef00 79
majik 0:964eb6a2ef00 80 }
majik 0:964eb6a2ef00 81 #endif