takumi nomura / Mbed OS mbed-rtos

test

main.cpp@0:c5ecf6f65c65, 2020-07-09 (annotated)

Committer:
takuminomura
Date:
Thu Jul 09 02:33:13 2020 +0000
Revision:
0:c5ecf6f65c65
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takuminomura 0:c5ecf6f65c65 1 /* mbed Microcontroller Library
takuminomura 0:c5ecf6f65c65 2 * Copyright (c) 2019 ARM Limited
takuminomura 0:c5ecf6f65c65 3 * SPDX-License-Identifier: Apache-2.0
takuminomura 0:c5ecf6f65c65 4 */
takuminomura 0:c5ecf6f65c65 5 #include "mbed.h"
takuminomura 0:c5ecf6f65c65 6 #include "platform/mbed_thread.h"
takuminomura 0:c5ecf6f65c65 7 #include "rtos.h"
takuminomura 0:c5ecf6f65c65 8
takuminomura 0:c5ecf6f65c65 9 // Blinking rate in milliseconds
takuminomura 0:c5ecf6f65c65 10 #define BLINKING_RATE_MS 100
takuminomura 0:c5ecf6f65c65 11 #define TH 0.5
takuminomura 0:c5ecf6f65c65 12
takuminomura 0:c5ecf6f65c65 13 const int sensArray[4] = {0, 1, 2, 3};
takuminomura 0:c5ecf6f65c65 14 /*
takuminomura 0:c5ecf6f65c65 15 const int sensArray[32] = { 0, 4, 2, 3, 0, 0, 1, 0,
takuminomura 0:c5ecf6f65c65 16 -2, 0, 0, 0, -1, 0, 0, 0,
takuminomura 0:c5ecf6f65c65 17 -4, 0, 0, 0, 0, 0, 0, 0,
takuminomura 0:c5ecf6f65c65 18 -3, 0, 0, 0, 0, 0, 0, 0};
takuminomura 0:c5ecf6f65c65 19 */
takuminomura 0:c5ecf6f65c65 20 //DigitalOut led1(LED1); // デジタル出力
takuminomura 0:c5ecf6f65c65 21
takuminomura 0:c5ecf6f65c65 22 //PwmOut led1(LED1); // PWM出力
takuminomura 0:c5ecf6f65c65 23
takuminomura 0:c5ecf6f65c65 24 DigitalOut led1(LED1);
takuminomura 0:c5ecf6f65c65 25 DigitalOut led2(LED2);
takuminomura 0:c5ecf6f65c65 26 DigitalOut led3(LED3);
takuminomura 0:c5ecf6f65c65 27 DigitalOut led4(LED4);
takuminomura 0:c5ecf6f65c65 28
takuminomura 0:c5ecf6f65c65 29 DigitalOut green(p24);
takuminomura 0:c5ecf6f65c65 30 DigitalOut blue(p23);
takuminomura 0:c5ecf6f65c65 31 DigitalOut red(p22);
takuminomura 0:c5ecf6f65c65 32 DigitalOut yellow(p21);
takuminomura 0:c5ecf6f65c65 33
takuminomura 0:c5ecf6f65c65 34 //AnalogIn s0(p20); // アナログ入力
takuminomura 0:c5ecf6f65c65 35 //AnalogIn s1(p18);
takuminomura 0:c5ecf6f65c65 36
takuminomura 0:c5ecf6f65c65 37 DigitalIn s0(p20); // アナログ入力
takuminomura 0:c5ecf6f65c65 38 DigitalIn s1(p18);
takuminomura 0:c5ecf6f65c65 39
takuminomura 0:c5ecf6f65c65 40 Timeout sensor_tick; // タイマ割込み
takuminomura 0:c5ecf6f65c65 41
takuminomura 0:c5ecf6f65c65 42
takuminomura 0:c5ecf6f65c65 43 Serial pc(USBTX, USBRX); // tx, rx
takuminomura 0:c5ecf6f65c65 44 //volatile int count = 0;
takuminomura 0:c5ecf6f65c65 45 volatile float val0, val1;
takuminomura 0:c5ecf6f65c65 46 volatile int flag = 0, sens_val;
takuminomura 0:c5ecf6f65c65 47
takuminomura 0:c5ecf6f65c65 48 Thread thread1;
takuminomura 0:c5ecf6f65c65 49 Thread thread2;
takuminomura 0:c5ecf6f65c65 50 Thread thread3;
takuminomura 0:c5ecf6f65c65 51 Thread thread4;
takuminomura 0:c5ecf6f65c65 52 Thread thread5;
takuminomura 0:c5ecf6f65c65 53 Thread thread6;
takuminomura 0:c5ecf6f65c65 54 /*void const *argument*/
takuminomura 0:c5ecf6f65c65 55
takuminomura 0:c5ecf6f65c65 56 void Led(DigitalOut *led){
takuminomura 0:c5ecf6f65c65 57 while(true){
takuminomura 0:c5ecf6f65c65 58 ThisThread::flags_wait_all(0x1);
takuminomura 0:c5ecf6f65c65 59 *led = !*led;
takuminomura 0:c5ecf6f65c65 60 //ThisThread::sleep_for(100);
takuminomura 0:c5ecf6f65c65 61 }
takuminomura 0:c5ecf6f65c65 62 }
takuminomura 0:c5ecf6f65c65 63 void check_sensor(){
takuminomura 0:c5ecf6f65c65 64 ::val0 = s0;
takuminomura 0:c5ecf6f65c65 65 ::val1 = s1;
takuminomura 0:c5ecf6f65c65 66 }
takuminomura 0:c5ecf6f65c65 67 void sensor(void const *argument){
takuminomura 0:c5ecf6f65c65 68 led4 = !led4;
takuminomura 0:c5ecf6f65c65 69 check_sensor();
takuminomura 0:c5ecf6f65c65 70 flag = 0;
takuminomura 0:c5ecf6f65c65 71 if(::val0 == 1) flag |= 0x2;
takuminomura 0:c5ecf6f65c65 72 if(::val1 == 1) flag |= 0x1;
takuminomura 0:c5ecf6f65c65 73 sens_val = sensArray[flag];
takuminomura 0:c5ecf6f65c65 74 switch(sens_val){
takuminomura 0:c5ecf6f65c65 75 case 0:
takuminomura 0:c5ecf6f65c65 76 thread3.flags_set(0x1);
takuminomura 0:c5ecf6f65c65 77 ThisThread::flags_clear(0x1);
takuminomura 0:c5ecf6f65c65 78 break;
takuminomura 0:c5ecf6f65c65 79 case 1:
takuminomura 0:c5ecf6f65c65 80 thread1.flags_set(0x1);
takuminomura 0:c5ecf6f65c65 81 thread4.flags_set(0x1);
takuminomura 0:c5ecf6f65c65 82 ThisThread::flags_clear(0x1);
takuminomura 0:c5ecf6f65c65 83 break;
takuminomura 0:c5ecf6f65c65 84 case 2:
takuminomura 0:c5ecf6f65c65 85 thread2.flags_set(0x1);
takuminomura 0:c5ecf6f65c65 86 thread5.flags_set(0x1);
takuminomura 0:c5ecf6f65c65 87 ThisThread::flags_clear(0x1);
takuminomura 0:c5ecf6f65c65 88 break;
takuminomura 0:c5ecf6f65c65 89 case 3:
takuminomura 0:c5ecf6f65c65 90 thread1.flags_set(0x1);
takuminomura 0:c5ecf6f65c65 91 thread2.flags_set(0x1);
takuminomura 0:c5ecf6f65c65 92 thread6.flags_set(0x1);
takuminomura 0:c5ecf6f65c65 93 ThisThread::flags_clear(0x1);
takuminomura 0:c5ecf6f65c65 94 break;
takuminomura 0:c5ecf6f65c65 95 }
takuminomura 0:c5ecf6f65c65 96 }
takuminomura 0:c5ecf6f65c65 97 int main()
takuminomura 0:c5ecf6f65c65 98 {
takuminomura 0:c5ecf6f65c65 99 RtosTimer sensor_timer(sensor, osTimerPeriodic, (void *)0); // タイマ割込み
takuminomura 0:c5ecf6f65c65 100 sensor_timer.start(50);
takuminomura 0:c5ecf6f65c65 101
takuminomura 0:c5ecf6f65c65 102 //sensor_tick.attach_us(&sensor, 1000000); // これもタイマ割込み
takuminomura 0:c5ecf6f65c65 103
takuminomura 0:c5ecf6f65c65 104 thread1.start(callback(Led, &led1));
takuminomura 0:c5ecf6f65c65 105 thread2.start(callback(Led, &led2));
takuminomura 0:c5ecf6f65c65 106 thread3.start(callback(Led, &green));
takuminomura 0:c5ecf6f65c65 107 thread4.start(callback(Led, &blue));
takuminomura 0:c5ecf6f65c65 108 thread5.start(callback(Led, &red));
takuminomura 0:c5ecf6f65c65 109 thread6.start(callback(Led, &yellow));
takuminomura 0:c5ecf6f65c65 110
takuminomura 0:c5ecf6f65c65 111 while (true){
takuminomura 0:c5ecf6f65c65 112 led3 = !led3;
takuminomura 0:c5ecf6f65c65 113 ThisThread::sleep_for(10);
takuminomura 0:c5ecf6f65c65 114 }
takuminomura 0:c5ecf6f65c65 115 }