Diff: main.cpp

Revision:

0:c5ecf6f65c65

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jul 09 02:33:13 2020 +0000
@@ -0,0 +1,115 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2019 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include "mbed.h"
+#include "platform/mbed_thread.h"
+#include "rtos.h"
+
+// Blinking rate in milliseconds
+#define BLINKING_RATE_MS                    100
+#define TH                                  0.5
+
+const int sensArray[4] = {0, 1, 2, 3};
+/*
+const int sensArray[32] = {  0,  4,  2,  3,  0,  0,  1,  0, 
+                            -2,  0,  0,  0, -1,  0,  0,  0, 
+                            -4,  0,  0,  0,  0,  0,  0,  0, 
+                            -3,  0,  0,  0,  0,  0,  0,  0};
+*/
+//DigitalOut led1(LED1);        // デジタル出力
+
+//PwmOut led1(LED1);              // PWM出力
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+DigitalOut green(p24);
+DigitalOut blue(p23);
+DigitalOut red(p22);
+DigitalOut yellow(p21);
+
+//AnalogIn s0(p20);            // アナログ入力
+//AnalogIn s1(p18);
+
+DigitalIn s0(p20);            // アナログ入力
+DigitalIn s1(p18);
+
+Timeout sensor_tick;                // タイマ割込み
+
+
+Serial pc(USBTX, USBRX); // tx, rx
+//volatile int count = 0;
+volatile float val0, val1;
+volatile int flag = 0, sens_val;
+
+Thread thread1;
+Thread thread2;
+Thread thread3;
+Thread thread4;
+Thread thread5;
+Thread thread6;
+/*void const *argument*/
+
+void Led(DigitalOut *led){
+    while(true){
+        ThisThread::flags_wait_all(0x1);
+        *led = !*led;
+        //ThisThread::sleep_for(100);
+    }
+}
+void check_sensor(){
+    ::val0 = s0;
+    ::val1 = s1;
+}
+void sensor(void const *argument){
+    led4 = !led4;
+    check_sensor();
+    flag = 0;
+    if(::val0 == 1) flag |= 0x2;
+    if(::val1 == 1) flag |= 0x1;
+    sens_val = sensArray[flag];
+    switch(sens_val){
+        case 0:
+            thread3.flags_set(0x1);
+            ThisThread::flags_clear(0x1);
+            break;
+        case 1:
+            thread1.flags_set(0x1);
+            thread4.flags_set(0x1);
+            ThisThread::flags_clear(0x1);
+            break;
+        case 2:
+            thread2.flags_set(0x1);
+            thread5.flags_set(0x1);
+            ThisThread::flags_clear(0x1);
+            break;
+        case 3:
+            thread1.flags_set(0x1);
+            thread2.flags_set(0x1);
+            thread6.flags_set(0x1);
+            ThisThread::flags_clear(0x1);
+            break;
+    }
+}
+int main()
+{
+    RtosTimer sensor_timer(sensor, osTimerPeriodic, (void *)0);     // タイマ割込み
+    sensor_timer.start(50);
+    
+    //sensor_tick.attach_us(&sensor, 1000000);                         // これもタイマ割込み
+    
+    thread1.start(callback(Led, &led1));
+    thread2.start(callback(Led, &led2));
+    thread3.start(callback(Led, &green));
+    thread4.start(callback(Led, &blue));
+    thread5.start(callback(Led, &red));
+    thread6.start(callback(Led, &yellow));
+
+    while (true){
+        led3 = !led3;
+        ThisThread::sleep_for(10);
+    }
+}