Exemplo n.º 1
0
static msg_t PollIMUThread(void *arg){
	(void)arg;
	chRegSetThreadName("PollIMU");

	struct EventListener self_el;
	chEvtRegister(&imu_event, &self_el, 2);

	while (TRUE) {
		chEvtWaitAll(EVENT_MASK(0) && EVENT_MASK(4));
		mpu_i2c_read_data(0x3B, 14); // Read accelerometer, temperature and gyro data
		chEvtBroadcastFlags(&imu_event, EVENT_MASK(2));

	}
	return 0;
}
Exemplo n.º 2
0
static void evt2_execute(void) {
  eventmask_t m;
  event_listener_t el1, el2;
  systime_t target_time;

  /*
   * Test on chEvtWaitOne() without wait.
   */
  chEvtAddEvents(5);
  m = chEvtWaitOne(ALL_EVENTS);
  test_assert(1, m == 1, "single event error");
  m = chEvtWaitOne(ALL_EVENTS);
  test_assert(2, m == 4, "single event error");
  m = chEvtGetAndClearEvents(ALL_EVENTS);
  test_assert(3, m == 0, "stuck event");

  /*
   * Test on chEvtWaitOne() with wait.
   */
  test_wait_tick();
  target_time = chVTGetSystemTime() + MS2ST(50);
  threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
                                 thread1, chThdGetSelfX());
  m = chEvtWaitOne(ALL_EVENTS);
  test_assert_time_window(4, target_time, target_time + ALLOWED_DELAY);
  test_assert(5, m == 1, "single event error");
  m = chEvtGetAndClearEvents(ALL_EVENTS);
  test_assert(6, m == 0, "stuck event");
  test_wait_threads();

  /*
   * Test on chEvtWaitAny() without wait.
   */
  chEvtAddEvents(5);
  m = chEvtWaitAny(ALL_EVENTS);
  test_assert(7, m == 5, "unexpected pending bit");
  m = chEvtGetAndClearEvents(ALL_EVENTS);
  test_assert(8, m == 0, "stuck event");

  /*
   * Test on chEvtWaitAny() with wait.
   */
  test_wait_tick();
  target_time = chVTGetSystemTime() + MS2ST(50);
  threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
                                 thread1, chThdGetSelfX());
  m = chEvtWaitAny(ALL_EVENTS);
  test_assert_time_window(9, target_time, target_time + ALLOWED_DELAY);
  test_assert(10, m == 1, "single event error");
  m = chEvtGetAndClearEvents(ALL_EVENTS);
  test_assert(11, m == 0, "stuck event");
  test_wait_threads();

  /*
   * Test on chEvtWaitAll().
   */
  chEvtObjectInit(&es1);
  chEvtObjectInit(&es2);
  chEvtRegisterMask(&es1, &el1, 1);
  chEvtRegisterMask(&es2, &el2, 4);
  test_wait_tick();
  target_time = chVTGetSystemTime() + MS2ST(50);
  threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
                                 thread2, "A");
  m = chEvtWaitAll(5);
  test_assert_time_window(12, target_time, target_time + ALLOWED_DELAY);
  m = chEvtGetAndClearEvents(ALL_EVENTS);
  test_assert(13, m == 0, "stuck event");
  test_wait_threads();
  chEvtUnregister(&es1, &el1);
  chEvtUnregister(&es2, &el2);
  test_assert(14, !chEvtIsListeningI(&es1), "stuck listener");
  test_assert(15, !chEvtIsListeningI(&es2), "stuck listener");
}
Exemplo n.º 3
0
eventmask_t BaseThread::waitAllEvents(eventmask_t ewmask) {

    return chEvtWaitAll(ewmask);
}
  eventmask_t Event::WaitAll(eventmask_t ewmask) {

    return chEvtWaitAll(ewmask);
  }