Diff: main.cpp

Revision:

4:09c35ecb3218

Parent:

3:08c16b8a78bf

Child:

5:63fe92075b71

--- a/main.cpp	Sun Jun 15 10:34:39 2014 +0000
+++ b/main.cpp	Sun Jun 15 20:57:59 2014 +0000
@@ -19,8 +19,10 @@
 
 osMessageQDef(queue, 16, stepcmd);
 osMessageQId  queue;
+int qcnt = 0;
 
-void read_thread (void const *args) {
+void read_thread (void const *args)
+{
     while (true) {
         osEvent evt = osMessageGet(queue, 0);
         if (evt.status == osEventMessage) {
@@ -30,39 +32,48 @@
             osDelay(100);
             StepLED = 0;
             osPoolFree(cmdpool, cmd);
+            qcnt--;
         } else { // assume no info available
             osDelay(100);
         }
-        osDelay(100);
+        osDelay(2000);
     }
 }
 
 osThreadDef(read_thread, osPriorityNormal, DEFAULT_STACK_SIZE);
 
-int main (void) {
+int main (void)
+{
     cmdpool = osPoolCreate(osPool(cmdpool));
     queue = osMessageCreate(osMessageQ(queue), NULL);
-    
+
     osThreadCreate(osThread(read_thread), NULL);
     bool mydir = true;
+
     while (true) {
         const float startspeed = 0.05;  // speed in m/s
         const float maxspeed = 2; // speed in m/s
         const float accel = 2; // accelleration in m/s^2
         const float distance = 1.26; // maximum distance on the rod in m
         const int steps = 36000; // steps per meter
-        stepcmd *cmd = (stepcmd*)osPoolAlloc(cmdpool);
-        cmd -> minspeed = int(startspeed * steps);
-        cmd -> maxspeed = int(maxspeed * steps);
-        cmd -> accel = int(accel * steps);
-        cmd -> steps = int(distance * steps);
-        cmd -> speed = cmd -> minspeed;
-        cmd -> dir = mydir; 
-        mydir = !mydir;
-        osStatus res = osMessagePut(queue, (uint32_t)cmd, 0);
-        while (res != osOK) {
-            osDelay(500);
-            res = osMessagePut(queue, (uint32_t)cmd, 0);
+        if (qcnt < 15) {
+            stepcmd *cmd = (stepcmd*)osPoolAlloc(cmdpool);
+            cmd -> minspeed = int(startspeed * steps);
+            cmd -> maxspeed = int(maxspeed * steps);
+            cmd -> accel = int(accel * steps);
+            cmd -> steps = int(distance * steps);
+            cmd -> speed = cmd -> minspeed;
+            cmd -> dir = mydir;
+            mydir = !mydir;
+
+            osStatus res = osMessagePut(queue, (uint32_t)cmd, 0);
+            while (res != osOK) {
+                osDelay(500);
+                res = osMessagePut(queue, (uint32_t)cmd, 0);
+            }
+            printf("Storage succeeded %d\n\r", ++qcnt);
+        } else {
+            printf("Storage full\n\r");
         }
         osDelay(1000);
         CmdLED = ! CmdLED;