Example of using threads to run different actions happening at the same time.
Fork of Fa2018-es200-1121-3321-thread-example-rockem by
Revision 0:ed939452cce3, committed 2018-10-14
- Comitter:
- evangeli
- Date:
- Sun Oct 14 21:54:14 2018 +0000
- Child:
- 1:184af0de4da7
- Commit message:
- Initial commit. This example shows how to use threads to run two different things at once.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Sun Oct 14 21:54:14 2018 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Sun Oct 14 21:54:14 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Motor/#2fb29b1f7d1c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/README.md Sun Oct 14 21:54:14 2018 +0000 @@ -0,0 +1,57 @@ +# Getting started with Blinky on mbed OS + +This guide reviews the steps required to get Blinky working on an mbed OS platform. + +Please install [mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli). + +## Import the example application + +From the command-line, import the example: + +``` +mbed import mbed-os-example-blinky +cd mbed-os-example-blinky +``` + +### Now compile + +Invoke `mbed compile`, and specify the name of your platform and your favorite toolchain (`GCC_ARM`, `ARM`, `IAR`). For example, for the ARM Compiler 5: + +``` +mbed compile -m K64F -t ARM +``` + +Your PC may take a few minutes to compile your code. At the end, you see the following result: + +``` +[snip] ++----------------------------+-------+-------+------+ +| Module | .text | .data | .bss | ++----------------------------+-------+-------+------+ +| Misc | 13939 | 24 | 1372 | +| core/hal | 16993 | 96 | 296 | +| core/rtos | 7384 | 92 | 4204 | +| features/FEATURE_IPV4 | 80 | 0 | 176 | +| frameworks/greentea-client | 1830 | 60 | 44 | +| frameworks/utest | 2392 | 512 | 292 | +| Subtotals | 42618 | 784 | 6384 | ++----------------------------+-------+-------+------+ +Allocated Heap: unknown +Allocated Stack: unknown +Total Static RAM memory (data + bss): 7168 bytes +Total RAM memory (data + bss + heap + stack): 7168 bytes +Total Flash memory (text + data + misc): 43402 bytes +Image: .\.build\K64F\ARM\mbed-os-example-blinky.bin +``` + +### Program your board + +1. Connect your mbed device to the computer over USB. +1. Copy the binary file to the mbed device. +1. Press the reset button to start the program. + +The LED on your platform turns on and off. + +## Troubleshooting + +If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Sun Oct 14 21:54:14 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sun Oct 14 21:54:14 2018 +0000 @@ -0,0 +1,91 @@ +/* +ES200 Project 2 thread example +D Evangelista, 2018 +*/ + +#include "mbed.h" +#include "rtos.h" +#include "stdio.h" +#include "Motor.h" +#include "Servo.h" + +// Declare some stuff +DigitalIn sw1(p19); // switch for activating motor +DigitalIn sw2(p18); // switch for activating servo +DigitalOut led1(LED1); // status LED for sw1 +DigitalOut led2(LED2); // status LED for sw2 +DigitalOut heartbeat(LED4); // heartbeat LED +Motor m(p26,p30,p29); +Servo s1(p21); +Thread m_thread; // NEW IN mbed OS 5, threads are used to (sorta) do multiple things at once +Thread s1_thread; + +void m_callback(void); // This function will be run within the corresponding thread +void s1_callback(void); + +// main() runs in its own thread in the OS +int main() { + // startup things + printf("ES200 Project 2 thread example\n"); + s1.calibrate(0.0009,90.0); // calibrate servo s1 once at startup + m.speed(0.0); // set motor speed to zero at startup + + // start tasks + printf("main thread running\n"); + m_thread.start(callback(m_callback)); // starts the motor thread going + s1_thread.start(callback(s1_callback)); // starts the servo thread going + + // main loop + while(1){ + heartbeat = !heartbeat; // blink heartbeat once a second + ThisThread::sleep_for(1000); + + // I don't have to do my motor or servo stuff here because they are + // running in their own threads. + } // main loop +} // main() + + + + + +void m_callback(void){ + /** + Callback for executing a simple motor action. When sw1 is high, + the motor turns forward, otherwise the motor turns off. + */ + printf("m_thread running\n"); + while(1) { + if (sw1.read()){ + led1.write(1); // light a light for debugging purposes + m.speed(0.7); // spin motor ahead + } + else { + led1.write(0); + m.speed(0.0); // stop the shaft + } + ThisThread::sleep_for(200); // this thread executes 5x a second + } // while(1) +} // m_callback() + + + + +void s1_callback(void){ + /** + Simple callback for servo motion. When sw2 is high, the servo steps right, + otherwise it steps left. If it hits the ends it stays there. + */ + printf("s1_thread running\n"); + while(1){ + if (sw2.read()){ + led2.write(1); // light a light for debugging purposes + s1.write(s1.read()+0.1); // move servo a step to right + } + else{ + led2.write(0); + s1.write(s1.read()-0.1); // move servo a step to left + } + ThisThread::sleep_for(200); // this thread executes 5x a second + } // while(1) +} // s1_callback()
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Sun Oct 14 21:54:14 2018 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#c53d51fe9220728bf8ed27afe7afc1ecc3f6f5d7