main.cpp

00001 #include "mbed.h"
00002 #include "string.h"
00003 #include <stdio.h>
00004 #include <ctype.h>
00005 
00006 #define SWITCH1_RELEASE 1
00007 
00008 void thread1();
00009 void thread2();
00010 void switchISR();
00011 
00012 //Analogue inputs
00013 AnalogIn adcIn(A0);
00014 
00015 //Digital outputs
00016 DigitalOut onBoardLED(LED1);
00017 DigitalOut redLED(D7);
00018 DigitalOut yellowLED(D6);
00019 DigitalOut greenLED(D5);
00020 
00021 //Digital inputs
00022 DigitalIn  onBoardSwitch(USER_BUTTON);
00023 DigitalIn  sw1(D4);                         //CONSIDER CHANGING THIS TO AN INTERRUPT
00024 DigitalIn  sw2(D3);
00025 
00026 //Threads
00027 Thread *t1;
00028 
00029 //Class type
00030 class message_t {
00031 public:    
00032     float    adcValue;    
00033     int sw1State;
00034     int sw2State;
00035     
00036     //Constructor
00037     message_t(float f, int s1, int s2) {
00038         adcValue = f;
00039         sw1State = s1;
00040         sw2State = s2;    
00041     }
00042 };
00043  
00044 //Memory Pool - with capacity for 16 message_t types
00045 //MemoryPool<message_t, 16> mpool;
00046 
00047 //Message queue - matched to the memory pool
00048 //Queue<message_t, 16> queue;
00049 
00050 //Mail queue
00051 Mail<message_t, 16> mail_box;
00052 
00053 
00054 // Call this on precise intervals
00055 void adcISR() {
00056 
00057     
00058     //Read sample - make a copy
00059     float sample = adcIn;
00060     //Grab switch state
00061     uint32_t switch1State = sw1;
00062     uint32_t switch2State = sw2;
00063     
00064     //Allocate a block from the memory pool
00065     message_t *message = mail_box.alloc();
00066     if (message == NULL) {
00067         //Out of memory
00068         printf("Out of memory\n\r");
00069         redLED = 1;
00070         return;   
00071     }
00072     
00073     //Fill in the data
00074     message->adcValue = sample;
00075     message->sw1State = switch1State;
00076     message->sw2State = switch2State;
00077     
00078     //Write to queue
00079     osStatus stat = mail_box.put(message);    //Note we are sending the "pointer"
00080     
00081     //Check if succesful
00082     if (stat == osErrorResource) {
00083         redLED = 1; 
00084         printf("queue->put() Error code: %4Xh, Resource not available\r\n", stat);   
00085         mail_box.free(message);
00086         return;
00087     }
00088     
00089     
00090 }
00091 
00092 //Normal priority thread (consumer)
00093 void thread1() 
00094 {
00095     static int count = 0;
00096           
00097     while (true) {
00098         //Block on the queue
00099         osEvent evt = mail_box.get();
00100         
00101         //Check status
00102         if (evt.status == osEventMail) {
00103             message_t *pMessage = (message_t*)evt.value.p;  //This is the pointer (address)
00104             //Make a copy
00105             message_t msg(pMessage->adcValue, pMessage->sw1State, pMessage->sw2State);
00106             //We are done with this, so give back the memory to the pool
00107             mail_box.free(pMessage);
00108             
00109             //Echo to the terminal
00110             printf("ADC Value: %.2f\t",    msg.adcValue);
00111             printf("SW1: %u\t",             msg.sw1State);
00112             printf("SW2: %u\n\r",             msg.sw2State);
00113             
00114             //Update state
00115             if ((msg.sw1State == 1) && (msg.sw2State == 1)) {
00116                 count++;
00117             } else {
00118                 count = 0;   
00119             }
00120             if (count == 10) {
00121                 greenLED = !greenLED;
00122                 count = 0;    
00123             }
00124         } else {
00125             printf("ERROR: %x\n\r", evt.status);   
00126         }  
00127      
00128     } //end while
00129 }
00130 
00131 
00132 // Main thread
00133 int main() {
00134     redLED    = 0;
00135     yellowLED = 0;
00136     greenLED  = 0;
00137            
00138     //Start message
00139     printf("Welcome\n");           
00140    
00141     //Hook up timer interrupt   
00142     Ticker timer; 
00143     timer.attach(&adcISR, 0.1);
00144                
00145     //Threads
00146     t1 = new Thread();
00147     t1->start(thread1); 
00148     
00149     printf("Main Thread\n");
00150     while (true) {
00151         Thread::wait(5000);
00152         puts("Main Thread Alive");
00153     }
00154 }
00155 
00156