Yoji KURODA / Mbed OS mbed-os-control-ex1

realtime process control with RTOS

Fork of mbed-os-example-mbed5-blinky by mbed-os-examples

main.cpp@16:c5c5f3964864, 2016-11-25 (annotated)

Committer:
ykuroda
Date:
Fri Nov 25 17:29:55 2016 +0000
Revision:
16:c5c5f3964864
Parent:
8:bb09890333fe 
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ykuroda 16:c5c5f3964864 1 //
ykuroda 16:c5c5f3964864 2 // mbed-os-control-ex1
ykuroda 16:c5c5f3964864 3 // 正確な時間管理をするプログラムの例
ykuroda 16:c5c5f3964864 4 //
ykuroda 16:c5c5f3964864 5 // 20161027 ... v1.0 ... written by Y.Kuroda
ykuroda 16:c5c5f3964864 6 //
ykuroda 16:c5c5f3964864 7 //
Jonathan Austin 0:2757d7abb7d9 8 #include "mbed.h"
ykuroda 16:c5c5f3964864 9 #include "rtos.h"
Jonathan Austin 0:2757d7abb7d9 10
ykuroda 16:c5c5f3964864 11 const int DELTA_T = 100; // mainスレッドの時間間隔の設定 [ms]
ykuroda 16:c5c5f3964864 12 const int SIG_MYT = 0x1; // signal番号
Jonathan Austin 0:2757d7abb7d9 13 DigitalOut led1(LED1);
Jonathan Austin 0:2757d7abb7d9 14
ykuroda 16:c5c5f3964864 15 void robot_control(void const* arg) { // ロボットの制御をするスレッド
ykuroda 16:c5c5f3964864 16 while(true){
ykuroda 16:c5c5f3964864 17 Thread::signal_wait(SIG_MYT); // シグナルを待つ
ykuroda 16:c5c5f3964864 18
ykuroda 16:c5c5f3964864 19 // ここに自分のプログラムを書きます．
ykuroda 16:c5c5f3964864 20 //
ykuroda 16:c5c5f3964864 21 //
ykuroda 16:c5c5f3964864 22 //
ykuroda 16:c5c5f3964864 23 Thread::wait(10); //これは時間稼ぎのダミー．消して良い．
ykuroda 16:c5c5f3964864 24 //
ykuroda 16:c5c5f3964864 25 //
ykuroda 16:c5c5f3964864 26 //
ykuroda 16:c5c5f3964864 27
ykuroda 16:c5c5f3964864 28 led1 = 0; // ループの最後でLEDを消す．処理が重くなると明るくなる
Jonathan Austin 0:2757d7abb7d9 29 }
Jonathan Austin 0:2757d7abb7d9 30 }
Jonathan Austin 1:846c97078558 31
ykuroda 16:c5c5f3964864 32
ykuroda 16:c5c5f3964864 33 int main() {
ykuroda 16:c5c5f3964864 34 Thread mythread(robot_control, (void*)0); // ロボ制御スレッドを起動
ykuroda 16:c5c5f3964864 35
ykuroda 16:c5c5f3964864 36 while(true){
ykuroda 16:c5c5f3964864 37 Thread::wait(DELTA_T); // mainスレッドの時間間隔の設定 [ms]
ykuroda 16:c5c5f3964864 38 led1 = 1; // 処理の先頭でLEDをを点灯
ykuroda 16:c5c5f3964864 39 mythread.signal_set(SIG_MYT); // スレッドへ再開シグナルを送る
ykuroda 16:c5c5f3964864 40 }
ykuroda 16:c5c5f3964864 41 }
ykuroda 16:c5c5f3964864 42