Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtos/Thread.cpp@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 #include "Thread.h"
majik 0:964eb6a2ef00 23
majik 0:964eb6a2ef00 24 #include "error.h"
majik 0:964eb6a2ef00 25
majik 0:964eb6a2ef00 26 namespace rtos {
majik 0:964eb6a2ef00 27
majik 0:964eb6a2ef00 28 Thread::Thread(void (*task)(void const *argument), void *argument,
majik 0:964eb6a2ef00 29 osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
majik 0:964eb6a2ef00 30 #ifdef CMSIS_OS_RTX
majik 0:964eb6a2ef00 31 _thread_def.pthread = task;
majik 0:964eb6a2ef00 32 _thread_def.tpriority = priority;
majik 0:964eb6a2ef00 33 _thread_def.stacksize = stack_size;
majik 0:964eb6a2ef00 34 if (stack_pointer != NULL) {
majik 0:964eb6a2ef00 35 _thread_def.stack_pointer = stack_pointer;
majik 0:964eb6a2ef00 36 _dynamic_stack = false;
majik 0:964eb6a2ef00 37 } else {
majik 0:964eb6a2ef00 38 _thread_def.stack_pointer = new unsigned char[stack_size];
majik 0:964eb6a2ef00 39 if (_thread_def.stack_pointer == NULL)
majik 0:964eb6a2ef00 40 error("Error allocating the stack memory\n");
majik 0:964eb6a2ef00 41 _dynamic_stack = true;
majik 0:964eb6a2ef00 42 }
majik 0:964eb6a2ef00 43 #endif
majik 0:964eb6a2ef00 44 _tid = osThreadCreate(&_thread_def, argument);
majik 0:964eb6a2ef00 45 }
majik 0:964eb6a2ef00 46
majik 0:964eb6a2ef00 47 osStatus Thread::terminate() {
majik 0:964eb6a2ef00 48 return osThreadTerminate(_tid);
majik 0:964eb6a2ef00 49 }
majik 0:964eb6a2ef00 50
majik 0:964eb6a2ef00 51 osStatus Thread::set_priority(osPriority priority) {
majik 0:964eb6a2ef00 52 return osThreadSetPriority(_tid, priority);
majik 0:964eb6a2ef00 53 }
majik 0:964eb6a2ef00 54
majik 0:964eb6a2ef00 55 osPriority Thread::get_priority() {
majik 0:964eb6a2ef00 56 return osThreadGetPriority(_tid);
majik 0:964eb6a2ef00 57 }
majik 0:964eb6a2ef00 58
majik 0:964eb6a2ef00 59 int32_t Thread::signal_set(int32_t signals) {
majik 0:964eb6a2ef00 60 return osSignalSet(_tid, signals);
majik 0:964eb6a2ef00 61 }
majik 0:964eb6a2ef00 62
majik 0:964eb6a2ef00 63 Thread::State Thread::get_state() {
majik 0:964eb6a2ef00 64 return ((State)_thread_def.tcb.state);
majik 0:964eb6a2ef00 65 }
majik 0:964eb6a2ef00 66
majik 0:964eb6a2ef00 67 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
majik 0:964eb6a2ef00 68 return osSignalWait(signals, millisec);
majik 0:964eb6a2ef00 69 }
majik 0:964eb6a2ef00 70
majik 0:964eb6a2ef00 71 osStatus Thread::wait(uint32_t millisec) {
majik 0:964eb6a2ef00 72 return osDelay(millisec);
majik 0:964eb6a2ef00 73 }
majik 0:964eb6a2ef00 74
majik 0:964eb6a2ef00 75 osStatus Thread::yield() {
majik 0:964eb6a2ef00 76 return osThreadYield();
majik 0:964eb6a2ef00 77 }
majik 0:964eb6a2ef00 78
majik 0:964eb6a2ef00 79 osThreadId Thread::gettid() {
majik 0:964eb6a2ef00 80 return osThreadGetId();
majik 0:964eb6a2ef00 81 }
majik 0:964eb6a2ef00 82
majik 0:964eb6a2ef00 83 Thread::~Thread() {
majik 0:964eb6a2ef00 84 terminate();
majik 0:964eb6a2ef00 85 if (_dynamic_stack) {
majik 0:964eb6a2ef00 86 delete[] (_thread_def.stack_pointer);
majik 0:964eb6a2ef00 87 }
majik 0:964eb6a2ef00 88 }
majik 0:964eb6a2ef00 89
majik 0:964eb6a2ef00 90 }