// Send speed, accelerometer and brake values to a 100 element MAIL queue // car mail semaphore used to protect messages // average speed and input semphore used to fix vales // Repetition rate 0.2 Hz = 5 seconds void sendToMail(void const *args){ while(true){ mail_t *mail = mail_box.alloc(); CAR_MAIL_SEM.wait(); AVR_SPEED_SEM.wait(); mail->speedVal = averageSpeed; AVR_SPEED_SEM.release(); INPUT_SEM.wait(); mail->accelerometerVal = accelerationValue; mail->breakVal = brakeValue; INPUT_SEM.release(); write++; mail_box.put(mail); CAR_MAIL_SEM.release(); Thread::wait(5000); } }
// Call this on precise intervals void adcISR() { //Read sample - make a copy float sample = adcIn; //Grab switch state uint32_t switch1State = sw1; uint32_t switch2State = sw2; //Allocate a block from the memory pool message_t *message = mail_box.alloc(); if (message == NULL) { //Out of memory printf("Out of memory\n\r"); redLED = 1; return; } //Fill in the data message->adcValue = sample; message->sw1State = switch1State; message->sw2State = switch2State; //Write to queue osStatus stat = mail_box.put(message); //Note we are sending the "pointer" //Check if succesful if (stat == osErrorResource) { redLED = 1; printf("queue->put() Error code: %4Xh, Resource not available\r\n", stat); mail_box.free(message); return; } }