Cooper Liu
/
Eurobot2013_Co-Processor
working version with calibration done
Fork of Eurobot2013 by
Diff: system/system.h
- Revision:
- 11:5ba926692210
diff -r 2bd9f4e02b74 -r 5ba926692210 system/system.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/system/system.h Tue Apr 09 15:32:47 2013 +0000 @@ -0,0 +1,51 @@ + +#ifndef SYSTEM_H +#define SYSTEM_H + +#include "globals.h" +#include "rtos.h" + +//Declaring the onboard LED's for everyone to use +extern DigitalOut OLED1;//(LED1); +extern DigitalOut OLED2;//(LED2); +extern DigitalOut OLED3;//(LED3); +extern DigitalOut OLED4;//(LED4); + +//nop style wait function +void nopwait(int ms); + +//a type which is a pointer to a rtos thread function +typedef void (*tfuncptr_t)(void const *argument); + +//--------------------- +//Signal ticker stuff +#define SIGTICKARGS(thread, signal) \ + (tfuncptr_t) (&Signalsetter::callback), osTimerPeriodic, (void*)(new Signalsetter(thread, signal)) + +class Signalsetter { +public: + Signalsetter(Thread& inthread, int insignal) : + thread(inthread) { + signal = insignal; + //pc.printf("ptr saved as %#x \r\n", (int)(&(inthread))); + } + + static void callback(void* thisin) { + + Signalsetter* fthis = (Signalsetter*)thisin; + //pc.printf("callback will signal thread object at %#x \r\n", (int)(&(fthis->thread))); + fthis->thread.signal_set(fthis->signal); + //delete fthis; //this is useful for single fire tickers! + } + +private: + Thread& thread; + int signal; +}; + +//--------------------- +//cpu usage measurement function +extern float cpupercent; +void measureCPUidle (void const* arg); + +#endif