ECE4333 - 2018 - Ahmed & Brandon / Mbed OS ManualControlFinal

ManualControl

Dependencies:   TPixy-Interface

Fork of MbedOS_Robot_Team by ECE4333 - 2018 - Ahmed & Brandon

ExternalInterruptThread.cpp@7:73fd05fe556a, 2018-02-15 (annotated)

Committer:
asobhy
Date:
Thu Feb 15 01:15:26 2018 +0000
Revision:
7:73fd05fe556a
Parent:
0:a355e511bc5d
Child:
8:a0890fa79084
Added comments to several files and organized the code a bit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
asobhy 0:a355e511bc5d 1 #include "mbed.h"
asobhy 0:a355e511bc5d 2
asobhy 0:a355e511bc5d 3 void ExtInterruptISR(void);
asobhy 0:a355e511bc5d 4 void ExtInterruptThread(void const *argument);
asobhy 0:a355e511bc5d 5
asobhy 0:a355e511bc5d 6 osThreadId ExtInterruptId;
asobhy 0:a355e511bc5d 7
asobhy 0:a355e511bc5d 8 osThreadDef(ExtInterruptThread, osPriorityHigh, 1024); // Declare ExtInterruptThread as a thread/process
asobhy 0:a355e511bc5d 9
asobhy 0:a355e511bc5d 10 InterruptIn Bumper(p8); // External interrupt pin declared as Bumper
asobhy 0:a355e511bc5d 11
asobhy 0:a355e511bc5d 12 DigitalOut led2(LED2);
asobhy 0:a355e511bc5d 13
asobhy 0:a355e511bc5d 14
asobhy 7:73fd05fe556a 15 /*******************************************************************************
asobhy 7:73fd05fe556a 16 * @brief This is the initialization function for ExternalInterruptthread
asobhy 7:73fd05fe556a 17 * @param none
asobhy 7:73fd05fe556a 18 * @return none
asobhy 7:73fd05fe556a 19 *******************************************************************************/
asobhy 0:a355e511bc5d 20 void ExternalInterruptThreadInit()
asobhy 0:a355e511bc5d 21 {
asobhy 0:a355e511bc5d 22 Bumper.rise(&ExtInterruptISR); // Attach the address of the interrupt handler to the rising edge of Bumper
asobhy 0:a355e511bc5d 23 ExtInterruptId = osThreadCreate(osThread(ExtInterruptThread), NULL);
asobhy 0:a355e511bc5d 24 }
asobhy 0:a355e511bc5d 25
asobhy 7:73fd05fe556a 26
asobhy 7:73fd05fe556a 27 /*******************************************************************************
asobhy 7:73fd05fe556a 28 * @brief ******** External Interrupt Thread ********
asobhy 7:73fd05fe556a 29 * @param none
asobhy 7:73fd05fe556a 30 * @return none
asobhy 7:73fd05fe556a 31 *******************************************************************************/
asobhy 0:a355e511bc5d 32 void ExtInterruptThread(void const *argument)
asobhy 0:a355e511bc5d 33 {
asobhy 0:a355e511bc5d 34 while (true) {
asobhy 0:a355e511bc5d 35 osSignalWait(0x01, osWaitForever); // Go to sleep until signal, SignalExtCollision, is received
asobhy 0:a355e511bc5d 36 led2 = !led2;
asobhy 0:a355e511bc5d 37 }
asobhy 0:a355e511bc5d 38 }
asobhy 0:a355e511bc5d 39
asobhy 0:a355e511bc5d 40
asobhy 7:73fd05fe556a 41 /*******************************************************************************
asobhy 7:73fd05fe556a 42 * @brief ******** External Interrupt ISR ********
asobhy 7:73fd05fe556a 43 * @param none
asobhy 7:73fd05fe556a 44 * @return none
asobhy 7:73fd05fe556a 45 *******************************************************************************/
asobhy 0:a355e511bc5d 46 void ExtInterruptISR(void)
asobhy 0:a355e511bc5d 47 {
asobhy 0:a355e511bc5d 48 osSignalSet(ExtInterruptId,0x01); // Send signal to the thread with ID, ExtInterruptId, i.e., ExtInterruptThread.
asobhy 0:a355e511bc5d 49 }