Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

system/system.h@3:8c78c15a92e3, 2012-11-14 (annotated)

Committer:
xiaxia686
Date:
Wed Nov 14 15:48:20 2012 +0000
Revision:
3:8c78c15a92e3
Merged with Sonar;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xiaxia686 3:8c78c15a92e3 1
xiaxia686 3:8c78c15a92e3 2 #ifndef SYSTEM_H
xiaxia686 3:8c78c15a92e3 3 #define SYSTEM_H
xiaxia686 3:8c78c15a92e3 4
xiaxia686 3:8c78c15a92e3 5 #include "globals.h"
xiaxia686 3:8c78c15a92e3 6 #include "rtos.h"
xiaxia686 3:8c78c15a92e3 7
xiaxia686 3:8c78c15a92e3 8 //Declaring the onboard LED's for everyone to use
xiaxia686 3:8c78c15a92e3 9 extern DigitalOut OLED1;//(LED1);
xiaxia686 3:8c78c15a92e3 10 extern DigitalOut OLED2;//(LED2);
xiaxia686 3:8c78c15a92e3 11 extern DigitalOut OLED3;//(LED3);
xiaxia686 3:8c78c15a92e3 12 extern DigitalOut OLED4;//(LED4);
xiaxia686 3:8c78c15a92e3 13
xiaxia686 3:8c78c15a92e3 14 //nop style wait function
xiaxia686 3:8c78c15a92e3 15 void nopwait(int ms);
xiaxia686 3:8c78c15a92e3 16
xiaxia686 3:8c78c15a92e3 17 //a type which is a pointer to a rtos thread function
xiaxia686 3:8c78c15a92e3 18 typedef void (*tfuncptr_t)(void const *argument);
xiaxia686 3:8c78c15a92e3 19
xiaxia686 3:8c78c15a92e3 20 //---------------------
xiaxia686 3:8c78c15a92e3 21 //Signal ticker stuff
xiaxia686 3:8c78c15a92e3 22 #define SIGTICKARGS(thread, signal) \
xiaxia686 3:8c78c15a92e3 23 (tfuncptr_t) (&Signalsetter::callback), osTimerPeriodic, (void*)(new Signalsetter(thread, signal))
xiaxia686 3:8c78c15a92e3 24
xiaxia686 3:8c78c15a92e3 25 class Signalsetter {
xiaxia686 3:8c78c15a92e3 26 public:
xiaxia686 3:8c78c15a92e3 27 Signalsetter(Thread& inthread, int insignal) :
xiaxia686 3:8c78c15a92e3 28 thread(inthread) {
xiaxia686 3:8c78c15a92e3 29 signal = insignal;
xiaxia686 3:8c78c15a92e3 30 //pc.printf("ptr saved as %#x \r\n", (int)(&(inthread)));
xiaxia686 3:8c78c15a92e3 31 }
xiaxia686 3:8c78c15a92e3 32
xiaxia686 3:8c78c15a92e3 33 static void callback(void* thisin) {
xiaxia686 3:8c78c15a92e3 34
xiaxia686 3:8c78c15a92e3 35 Signalsetter* fthis = (Signalsetter*)thisin;
xiaxia686 3:8c78c15a92e3 36 //pc.printf("callback will signal thread object at %#x \r\n", (int)(&(fthis->thread)));
xiaxia686 3:8c78c15a92e3 37 fthis->thread.signal_set(fthis->signal);
xiaxia686 3:8c78c15a92e3 38 //delete fthis; //this is useful for single fire tickers!
xiaxia686 3:8c78c15a92e3 39 }
xiaxia686 3:8c78c15a92e3 40
xiaxia686 3:8c78c15a92e3 41 private:
xiaxia686 3:8c78c15a92e3 42 Thread& thread;
xiaxia686 3:8c78c15a92e3 43 int signal;
xiaxia686 3:8c78c15a92e3 44 };
xiaxia686 3:8c78c15a92e3 45
xiaxia686 3:8c78c15a92e3 46 //---------------------
xiaxia686 3:8c78c15a92e3 47 //cpu usage measurement function
xiaxia686 3:8c78c15a92e3 48 extern float cpupercent;
xiaxia686 3:8c78c15a92e3 49 void measureCPUidle (void const* arg);
xiaxia686 3:8c78c15a92e3 50
xiaxia686 3:8c78c15a92e3 51 #endif