Revision 15:35c40765f7c3, committed 2018-12-13

Comitter:

shimniok

Date:

Thu Dec 13 00:30:59 2018 +0000

Parent:

14:1dd83e626153

Child:

16:eb28d0f64a9b

Commit message:

start updater in its own thread

Changed in this revision

--- a/Updater.cpp	Wed Dec 12 18:21:57 2018 +0000
+++ b/Updater.cpp	Thu Dec 13 00:30:59 2018 +0000
@@ -2,24 +2,6 @@
 #include "pinouts.h"
 #include "IncrementalEncoder.h"
 
-void Updater::gyro(int g[3], float& dt) 
-{
-    for (int i=0; i < 3; i++) {
-        g[i] = _gyro[i];
-    }
-    dt = _dt;
-    
-    return;
-}
-
-int Updater::encoder()
-{
-    int result=_ecount;
-    _ecount = 0;
-    
-    return result;    
-}
-
 Updater *Updater::instance() 
 {
     static Updater instance;
@@ -28,7 +10,14 @@
 }
 
 
-void Updater::start(int interval_ms)
+void Updater::setInterval(int interval_ms)
+{
+    _interval = interval_ms;
+    return;
+}
+
+
+void Updater::start()
 {
     Timer timer;
     
@@ -36,12 +25,13 @@
     lastTime = 0; 
     t = &timer;
     t->start();
-   
+       
     EventQueue *queue = mbed_highprio_event_queue();
     Event<void()> event(queue, callback(this, &Updater::update));
-    event.period(interval_ms);
+    event.period(_interval);
     event.post();
     queue->dispatch_forever();
+    return;
 }
 
 
@@ -77,4 +67,25 @@
     led2 = !led2;
 
     return;
-}
\ No newline at end of file
+}
+
+
+void Updater::gyro(int g[3], float& dt) 
+{
+    for (int i=0; i < 3; i++) {
+        g[i] = _gyro[i];
+    }
+    dt = _dt;
+    
+    return;
+}
+
+
+int Updater::encoder()
+{
+    int result=_ecount;
+    _ecount = 0;
+    
+    return result;    
+}
+

--- a/Updater.h	Wed Dec 12 18:21:57 2018 +0000
+++ b/Updater.h	Thu Dec 13 00:30:59 2018 +0000
@@ -4,17 +4,28 @@
 #include "mbed.h"
 #include "L3G4200D.h"
 
+/** Periodically reads sensor data
+ * This class executes an update function at a configurable interval to read 
+ * and update sensor data. The class makes use of EventQueue and Event for
+ * task scheduling and runs events on the mbed_highprio_event_queue
+ */
 class Updater: private mbed::NonCopyable<Updater> {
 public:
-    /** Start the updater running - cannot be exited!
-     * @param interval_ms is the interval in ms between calls to update()
-     * @note Makes use of RTOS EventQueue and Event.
-     */
-    void start(int interval_ms);
-
     /// Return singleton instance
     static Updater *instance();
     
+    /** Sets the interval for running updater()
+     * @param interval_ms is the interval in milliseconds
+     */
+    void setInterval(int interval_ms);
+
+    /** Start the updater running
+     * @note Makes use of RTOS EventQueue and Event. The function runs in an
+     * infinite loop so best to start in a separate thread or from main thread
+     * when done with everything else.
+     */
+    void start();
+  
     /** Get gyro values
      * @return g array of x, y, and z gyro values
      * @return dt time since data last updated
@@ -37,6 +48,7 @@
     int _gyro[3]; // gyro raw
     int _ecount; // encoder count
     float _dt;
+    int _interval;
     int thisTime;
     int lastTime;
 };

--- a/main.cpp	Wed Dec 12 18:21:57 2018 +0000
+++ b/main.cpp	Thu Dec 13 00:30:59 2018 +0000
@@ -21,7 +21,6 @@
 SimpleShell sh;
 
 DigitalOut led1(LED1);
-Thread thread;
 
 /******** SHELL COMMANDS ********/
 
@@ -93,11 +92,15 @@
     sh.attach(read_gyro, "gyro");
     sh.attach(read_enc, "enc");
     sh.attach(reset, "reset");
-    thread.start(callback(&sh, &SimpleShell::run));
+    Thread shellThread;
+    shellThread.start(callback(&sh, &SimpleShell::run));
 
     printf("Starting updater...\n");
     Updater *u = Updater::instance();
-    u->start(50);
+    u->setInterval(50);
+    Thread updaterThread;
+    updaterThread.set_priority(osPriorityRealtime);
+    updaterThread.start(callback(u, &Updater::start));
     
 /*
     FILE *fp;