ECE4333 - 2018 - Ahmed & Brandon / Mbed OS ManualControlFinal

ManualControl

Dependencies:   TPixy-Interface

Fork of MbedOS_Robot_Team by ECE4333 - 2018 - Ahmed & Brandon

ExternalInterruptThread.cpp@0:a355e511bc5d, 2018-02-01 (annotated)

Committer:
asobhy
Date:
Thu Feb 01 03:58:00 2018 +0000
Revision:
0:a355e511bc5d
Child:
7:73fd05fe556a
before testing the QEI

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 0:a355e511bc5d 15 void ExternalInterruptThreadInit()
asobhy 0:a355e511bc5d 16 {
asobhy 0:a355e511bc5d 17 Bumper.rise(&ExtInterruptISR); // Attach the address of the interrupt handler to the rising edge of Bumper
asobhy 0:a355e511bc5d 18 ExtInterruptId = osThreadCreate(osThread(ExtInterruptThread), NULL);
asobhy 0:a355e511bc5d 19 }
asobhy 0:a355e511bc5d 20
asobhy 0:a355e511bc5d 21
asobhy 0:a355e511bc5d 22 // ******** External Interrupt Thread ********
asobhy 0:a355e511bc5d 23 void ExtInterruptThread(void const *argument)
asobhy 0:a355e511bc5d 24 {
asobhy 0:a355e511bc5d 25 while (true) {
asobhy 0:a355e511bc5d 26 osSignalWait(0x01, osWaitForever); // Go to sleep until signal, SignalExtCollision, is received
asobhy 0:a355e511bc5d 27 led2 = !led2;
asobhy 0:a355e511bc5d 28 }
asobhy 0:a355e511bc5d 29 }
asobhy 0:a355e511bc5d 30
asobhy 0:a355e511bc5d 31
asobhy 0:a355e511bc5d 32 // ******** External Interrupt Handler ********
asobhy 0:a355e511bc5d 33 void ExtInterruptISR(void)
asobhy 0:a355e511bc5d 34 {
asobhy 0:a355e511bc5d 35 osSignalSet(ExtInterruptId,0x01); // Send signal to the thread with ID, ExtInterruptId, i.e., ExtInterruptThread.
asobhy 0:a355e511bc5d 36 }