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| <div class="section" id="how-to-use-event-queues-to-manage-multiple-events"> |
| <h1>How to Use Event Queues to Manage Multiple Events<a class="headerlink" href="#how-to-use-event-queues-to-manage-multiple-events" title="Permalink to this headline">¶</a></h1> |
| <div class="contents local topic" id="contents"> |
| <ul class="simple"> |
| <li><p><a class="reference internal" href="#introduction" id="id1">Introduction</a></p></li> |
| <li><p><a class="reference internal" href="#prerequisites" id="id2">Prerequisites</a></p></li> |
| <li><p><a class="reference internal" href="#example-application" id="id3">Example Application</a></p> |
| <ul> |
| <li><p><a class="reference internal" href="#create-the-project" id="id4">Create the Project</a></p></li> |
| <li><p><a class="reference internal" href="#create-the-application" id="id5">Create the Application</a></p></li> |
| <li><p><a class="reference internal" href="#application-task-generated-events" id="id6">Application Task Generated Events</a></p></li> |
| <li><p><a class="reference internal" href="#os-callout-timer-events" id="id7">OS Callout Timer Events</a></p></li> |
| <li><p><a class="reference internal" href="#interrupt-events" id="id8">Interrupt Events</a></p></li> |
| <li><p><a class="reference internal" href="#putting-it-all-together" id="id9">Putting It All Together</a></p></li> |
| </ul> |
| </li> |
| </ul> |
| </div> |
| <div class="section" id="introduction"> |
| <h2><a class="toc-backref" href="#id1">Introduction</a><a class="headerlink" href="#introduction" title="Permalink to this headline">¶</a></h2> |
| <p>The event queue mechanism allows you to serialize incoming events for |
| your task. You can use it to get information about hardware interrupts, |
| callout expirations, and messages from other tasks.</p> |
| <p>The benefit of using events for inter-task communication is that it can |
| reduce the number of resources that need to be shared and locked.</p> |
| <p>The benefit of processing interrupts in a task context instead of the |
| interrupt context is that other interrupts and high priority tasks are |
| not blocked waiting for the interrupt handler to complete processing. A |
| task can also access other OS facilities and sleep.</p> |
| <p>This tutorial assumes that you have read about <a class="reference internal" href="../../os/core_os/event_queue/event_queue.html"><span class="doc">Event Queues</span></a>, the <a class="reference internal" href="../../os/modules/hal/hal.html"><span class="doc">Hardware Abstraction Layer</span></a>, and <a class="reference internal" href="../../os/core_os/callout/callout.html"><span class="doc">OS Callouts</span></a> in the OS User’s Guide.</p> |
| <p>This tutorial shows you how to create an application that uses events |
| for:</p> |
| <ul class="simple"> |
| <li><p>Inter-task communication</p></li> |
| <li><p>OS callouts for timer expiration</p></li> |
| <li><p>GPIO interrupts</p></li> |
| </ul> |
| <p>It also shows you how to:</p> |
| <ul class="simple"> |
| <li><p>Use the Mynewt default event queue and application main task to |
| process your events.</p></li> |
| <li><p>Create a dedicated event queue and task for your events.</p></li> |
| </ul> |
| <p>To reduce an application’s memory requirement, we recommend that you use |
| the Mynewt default event queue if your application or package does not |
| have real-time timing requirements.</p> |
| </div> |
| <div class="section" id="prerequisites"> |
| <h2><a class="toc-backref" href="#id2">Prerequisites</a><a class="headerlink" href="#prerequisites" title="Permalink to this headline">¶</a></h2> |
| <p>Ensure that you have met the following prerequisites before continuing |
| with this tutorial:</p> |
| <ul class="simple"> |
| <li><p>Install the newt tool.</p></li> |
| <li><p>Install the newtmgr tool.</p></li> |
| <li><p>Have Internet connectivity to fetch remote Mynewt components.</p></li> |
| <li><p>Install the compiler tools to support native compiling to build the |
| project this tutorial creates.</p></li> |
| <li><p>Have a cable to establish a serial USB connection between the board |
| and the laptop.</p></li> |
| </ul> |
| </div> |
| <div class="section" id="example-application"> |
| <h2><a class="toc-backref" href="#id3">Example Application</a><a class="headerlink" href="#example-application" title="Permalink to this headline">¶</a></h2> |
| <p>In this example, you will write an application, for the Nordic nRF52 |
| board, that uses events from three input sources to toggle three GPIO |
| outputs and light up the LEDs. If you are using a different board, you |
| will need to adjust the GPIO pin numbers in the code example.</p> |
| <p>The application handles events from three sources on two event queues:</p> |
| <ul class="simple"> |
| <li><p>Events generated by an application task at periodic intervals are |
| added to the Mynewt default event queue.</p></li> |
| <li><p>OS callouts for timer events are added to the |
| <code class="docutils literal notranslate"><span class="pre">my_timer_interrupt_eventq</span></code> event queue.</p></li> |
| <li><p>GPIO interrupt events are added to the <code class="docutils literal notranslate"><span class="pre">my_timer_interrupt_eventq</span></code> |
| event queue.</p></li> |
| </ul> |
| <div class="section" id="create-the-project"> |
| <h3><a class="toc-backref" href="#id4">Create the Project</a><a class="headerlink" href="#create-the-project" title="Permalink to this headline">¶</a></h3> |
| <p>Follow the instructions in the <span class="xref std std-doc">nRF52 tutorial for Blinky</span> to create a project.</p> |
| </div> |
| <div class="section" id="create-the-application"> |
| <h3><a class="toc-backref" href="#id5">Create the Application</a><a class="headerlink" href="#create-the-application" title="Permalink to this headline">¶</a></h3> |
| <p>Create the <code class="docutils literal notranslate"><span class="pre">pkg.yml</span></code> file for the application:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">pkg.name: apps/eventq_example</span> |
| <span class="go">pkg.type: app</span> |
| |
| <span class="go">pkg.deps:</span> |
| <span class="go"> - kernel/os</span> |
| <span class="go"> - hw/hal</span> |
| <span class="go"> - sys/console/stub</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="application-task-generated-events"> |
| <h3><a class="toc-backref" href="#id6">Application Task Generated Events</a><a class="headerlink" href="#application-task-generated-events" title="Permalink to this headline">¶</a></h3> |
| <p>The application creates a task that generates events, at periodic |
| intervals, to toggle the LED at pin <code class="docutils literal notranslate"><span class="pre">TASK_LED</span></code>. The event is queued on |
| the Mynewt default event queue and is processed in the context of the |
| application main task.</p> |
| <p>Declare and initialize the <code class="docutils literal notranslate"><span class="pre">gen_task_ev</span></code> event with the <code class="docutils literal notranslate"><span class="pre">my_ev_cb()</span></code> |
| callback function to process the event:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cm">/* Callback function for application task event */</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">my_ev_cb</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="p">);</span> |
| |
| <span class="cm">/* Initialize the event with the callback function */</span> |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="n">gen_task_ev</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="p">.</span><span class="n">ev_cb</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">my_ev_cb</span><span class="p">,</span> |
| <span class="p">};</span> |
| </pre></div> |
| </div> |
| <p>Implement the <code class="docutils literal notranslate"><span class="pre">my_ev_cb()</span></code> callback function to process a task |
| generated event and toggle the LED at pin <code class="docutils literal notranslate"><span class="pre">TASK_LED</span></code>:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cm">/* LED 1 (P0.17 on the board) */</span> |
| <span class="cp">#define TASK_LED 17</span> |
| |
| <span class="cm">/*</span> |
| <span class="cm"> * Event callback function for events generated by gen_task. It toggles</span> |
| <span class="cm"> * the LED at pin TASK_LED.</span> |
| <span class="cm"> */</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">my_ev_cb</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="n">ev</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="n">ev</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">hal_gpio_toggle</span><span class="p">(</span><span class="n">TASK_LED</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">return</span><span class="p">;</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| <p>Create a task that generates an event at periodic intervals and adds, |
| using the <code class="docutils literal notranslate"><span class="pre">os_eventq_put()</span></code> function, the event to the Mynewt default |
| event queue:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cp">#define GEN_TASK_PRIO 3</span> |
| <span class="cp">#define GEN_TASK_STACK_SZ 512</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="n">os_stack_t</span><span class="w"> </span><span class="n">gen_task_stack</span><span class="p">[</span><span class="n">GEN_TASK_STACK_SZ</span><span class="p">];</span> |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_task</span><span class="w"> </span><span class="n">gen_task_str</span><span class="p">;</span> |
| |
| <span class="cm">/*</span> |
| <span class="cm"> * Task handler to generate an event to toggle the LED at pin TASK_LED.</span> |
| <span class="cm"> * The event is added to the Mynewt default event queue.</span> |
| <span class="cm"> */</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span> |
| <span class="nf">gen_task</span><span class="p">(</span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="k">while</span><span class="w"> </span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">os_time_delay</span><span class="p">(</span><span class="n">OS_TICKS_PER_SEC</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">4</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">os_eventq_put</span><span class="p">(</span><span class="n">os_eventq_dflt_get</span><span class="p">(),</span><span class="w"> </span><span class="o">&</span><span class="n">gen_task_ev</span><span class="p">);</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="p">}</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span> |
| <span class="nf">init_tasks</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span> |
| <span class="p">{</span> |
| |
| <span class="w"> </span><span class="cm">/* Create a task to generate events to toggle the LED at pin TASK_LED */</span> |
| |
| <span class="w"> </span><span class="n">os_task_init</span><span class="p">(</span><span class="o">&</span><span class="n">gen_task_str</span><span class="p">,</span><span class="w"> </span><span class="s">"gen_task"</span><span class="p">,</span><span class="w"> </span><span class="n">gen_task</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">,</span><span class="w"> </span><span class="n">GEN_TASK_PRIO</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">OS_WAIT_FOREVER</span><span class="p">,</span><span class="w"> </span><span class="n">gen_task_stack</span><span class="p">,</span><span class="w"> </span><span class="n">GEN_TASK_STACK_SZ</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="p">...</span> |
| |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| <p>Implement the application <code class="docutils literal notranslate"><span class="pre">main()</span></code> function to call the |
| <code class="docutils literal notranslate"><span class="pre">os_eventq_run()</span></code> function to dequeue an event from the Mynewt default |
| event queue and call the callback function to process the event.</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">int</span> |
| <span class="nf">main</span><span class="p">(</span><span class="kt">int</span><span class="w"> </span><span class="n">argc</span><span class="p">,</span><span class="w"> </span><span class="kt">char</span><span class="w"> </span><span class="o">**</span><span class="n">argv</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">sysinit</span><span class="p">();</span> |
| |
| <span class="w"> </span><span class="n">init_tasks</span><span class="p">();</span> |
| |
| <span class="w"> </span><span class="k">while</span><span class="w"> </span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">os_eventq_run</span><span class="p">(</span><span class="n">os_eventq_dflt_get</span><span class="p">());</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="mi">0</span><span class="p">);</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="os-callout-timer-events"> |
| <h3><a class="toc-backref" href="#id7">OS Callout Timer Events</a><a class="headerlink" href="#os-callout-timer-events" title="Permalink to this headline">¶</a></h3> |
| <p>Set up OS callout timer events. For this example, we use a dedicated |
| event queue for timer events to show you how to create a dedicated event |
| queue and a task to process the events.</p> |
| <p>Implement the <code class="docutils literal notranslate"><span class="pre">my_timer_ev_cb()</span></code> callback function to process a timer |
| event and toggle the LED at pin <code class="docutils literal notranslate"><span class="pre">CALLOUT_LED</span></code>:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cm">/* LED 2 (P0.18 on the board) */</span> |
| <span class="cp">#define CALLOUT_LED 18</span> |
| |
| <span class="cm">/* The timer callout */</span> |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_callout</span><span class="w"> </span><span class="n">my_callout</span><span class="p">;</span> |
| |
| <span class="cm">/*</span> |
| <span class="cm"> * Event callback function for timer events. It toggles the LED at pin CALLOUT_LED.</span> |
| <span class="cm"> */</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">my_timer_ev_cb</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="n">ev</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="n">ev</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="nb">NULL</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">hal_gpio_toggle</span><span class="p">(</span><span class="n">CALLOUT_LED</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">os_callout_reset</span><span class="p">(</span><span class="o">&</span><span class="n">my_callout</span><span class="p">,</span><span class="w"> </span><span class="n">OS_TICKS_PER_SEC</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">2</span><span class="p">);</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| <p>In the <code class="docutils literal notranslate"><span class="pre">init_tasks()</span></code> function, initialize the |
| <code class="docutils literal notranslate"><span class="pre">my_timer_interrupt_eventq</span></code> event queue, create a task to process |
| events from the queue, and initialize the OS callout for the timer:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cp">#define MY_TIMER_INTERRUPT_TASK_PRIO 4</span> |
| <span class="cp">#define MY_TIMER_INTERRUPT_TASK_STACK_SZ 512</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="n">os_stack_t</span><span class="w"> </span><span class="n">my_timer_interrupt_task_stack</span><span class="p">[</span><span class="n">MY_TIMER_INTERRUPT_TASK_STACK_SZ</span><span class="p">];</span> |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_task</span><span class="w"> </span><span class="n">my_timer_interrupt_task_str</span><span class="p">;</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span> |
| <span class="nf">init_tasks</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="cm">/* Use a dedicate event queue for timer and interrupt events */</span> |
| |
| <span class="w"> </span><span class="n">os_eventq_init</span><span class="p">(</span><span class="o">&</span><span class="n">my_timer_interrupt_eventq</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="cm">/*</span> |
| <span class="cm"> * Create the task to process timer and interrupt events from the</span> |
| <span class="cm"> * my_timer_interrupt_eventq event queue.</span> |
| <span class="cm"> */</span> |
| <span class="w"> </span><span class="n">os_task_init</span><span class="p">(</span><span class="o">&</span><span class="n">my_timer_interrupt_task_str</span><span class="p">,</span><span class="w"> </span><span class="s">"timer_interrupt_task"</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">my_timer_interrupt_task</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">MY_TIMER_INTERRUPT_TASK_PRIO</span><span class="p">,</span><span class="w"> </span><span class="n">OS_WAIT_FOREVER</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">my_timer_interrupt_task_stack</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">MY_TIMER_INTERRUPT_TASK_STACK_SZ</span><span class="p">);</span> |
| <span class="w"> </span><span class="cm">/*</span> |
| <span class="cm"> * Initialize the callout for a timer event.</span> |
| <span class="cm"> * The my_timer_ev_cb callback function processes the timer events.</span> |
| <span class="cm"> */</span> |
| <span class="w"> </span><span class="n">os_callout_init</span><span class="p">(</span><span class="o">&</span><span class="n">my_callout</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">my_timer_interrupt_eventq</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">my_timer_ev_cb</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">os_callout_reset</span><span class="p">(</span><span class="o">&</span><span class="n">my_callout</span><span class="p">,</span><span class="w"> </span><span class="n">OS_TICKS_PER_SEC</span><span class="p">);</span> |
| |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| <p>Implement the <code class="docutils literal notranslate"><span class="pre">my_timer_interrupt_task()</span></code> task handler to dispatch |
| events from the <code class="docutils literal notranslate"><span class="pre">my_timer_interrupt_eventq</span></code> event queue:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="k">static</span><span class="w"> </span><span class="kt">void</span> |
| <span class="nf">my_timer_interrupt_task</span><span class="p">(</span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="k">while</span><span class="w"> </span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">os_eventq_run</span><span class="p">(</span><span class="o">&</span><span class="n">my_timer_interrupt_eventq</span><span class="p">);</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="interrupt-events"> |
| <h3><a class="toc-backref" href="#id8">Interrupt Events</a><a class="headerlink" href="#interrupt-events" title="Permalink to this headline">¶</a></h3> |
| <p>The application toggles the LED each time button 1 on the board is |
| pressed. The interrupt handler generates an event when the GPIO for |
| button 1 (P0.13) changes state. The events are added to the |
| <code class="docutils literal notranslate"><span class="pre">my_timer_interrupt_eventq</span></code> event queue, the same queue as the timer |
| events.</p> |
| <p>Declare and initialize the <code class="docutils literal notranslate"><span class="pre">gpio_ev</span></code> event with the |
| <code class="docutils literal notranslate"><span class="pre">my_interrupt_ev_cb()</span></code> callback function to process the event:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="n">gpio_ev</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="p">.</span><span class="n">ev_cb</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">my_interrupt_ev_cb</span><span class="p">,</span> |
| <span class="p">};</span> |
| </pre></div> |
| </div> |
| <p>Implement the <code class="docutils literal notranslate"><span class="pre">my_interrupt_ev_cb()</span></code> callback function to process an |
| interrupt event and toggle the LED at pin <code class="docutils literal notranslate"><span class="pre">GPIO_LED</span></code>:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cm">/* LED 3 (P0.19 on the board) */</span> |
| <span class="cp">#define GPIO_LED 19</span> |
| |
| <span class="cm">/*</span> |
| <span class="cm"> * Event callback function for interrupt events. It toggles the LED at pin GPIO_LED.</span> |
| <span class="cm"> */</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">my_interrupt_ev_cb</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="n">ev</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="n">ev</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="nb">NULL</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">hal_gpio_toggle</span><span class="p">(</span><span class="n">GPIO_LED</span><span class="p">);</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| <p>Implement the <code class="docutils literal notranslate"><span class="pre">my_gpio_irq()</span></code> handler to post an interrupt event to |
| the <code class="docutils literal notranslate"><span class="pre">my_timer_interrupt_eventq</span></code> event queue:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="k">static</span><span class="w"> </span><span class="kt">void</span> |
| <span class="nf">my_gpio_irq</span><span class="p">(</span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">os_eventq_put</span><span class="p">(</span><span class="o">&</span><span class="n">my_timer_interrupt_eventq</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">gpio_ev</span><span class="p">);</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| <p>In the <code class="docutils literal notranslate"><span class="pre">init_tasks()</span></code> function, add the code to set up and enable the |
| GPIO input pin for the button and initialize the GPIO output pins for |
| the LEDs:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cm">/* LED 1 (P0.17 on the board) */</span> |
| <span class="cp">#define TASK_LED 17</span> |
| |
| <span class="cm">/* 2 (P0.18 on the board) */</span> |
| <span class="cp">#define CALLOUT_LED 18</span> |
| |
| <span class="cm">/* LED 3 (P0.19 on the board) */</span> |
| <span class="cp">#define GPIO_LED 19</span> |
| |
| <span class="cm">/* Button 1 (P0.13 on the board) */</span> |
| <span class="cp">#define BUTTON1_PIN 13</span> |
| |
| <span class="kt">void</span> |
| <span class="n">init_tasks</span><span class="p">()</span> |
| |
| <span class="w"> </span><span class="cm">/* Initialize OS callout for timer events. */</span> |
| |
| <span class="w"> </span><span class="p">....</span> |
| |
| <span class="w"> </span><span class="cm">/*</span> |
| <span class="cm"> * Initialize and enable interrupts for the pin for button 1 and</span> |
| <span class="cm"> * configure the button with pull up resistor on the nrf52dk.</span> |
| <span class="cm"> */</span> |
| <span class="w"> </span><span class="n">hal_gpio_irq_init</span><span class="p">(</span><span class="n">BUTTON1_PIN</span><span class="p">,</span><span class="w"> </span><span class="n">my_gpio_irq</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">,</span><span class="w"> </span><span class="n">HAL_GPIO_TRIG_RISING</span><span class="p">,</span><span class="w"> </span><span class="n">HAL_GPIO_PULL_UP</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">hal_gpio_irq_enable</span><span class="p">(</span><span class="n">BUTTON1_PIN</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="cm">/* Initialize the GPIO output pins. Value 1 is off for these LEDs. */</span> |
| |
| <span class="w"> </span><span class="n">hal_gpio_init_out</span><span class="p">(</span><span class="n">TASK_LED</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">hal_gpio_init_out</span><span class="p">(</span><span class="n">CALLOUT_LED</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">hal_gpio_init_out</span><span class="p">(</span><span class="n">GPIO_LED</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">);</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="putting-it-all-together"> |
| <h3><a class="toc-backref" href="#id9">Putting It All Together</a><a class="headerlink" href="#putting-it-all-together" title="Permalink to this headline">¶</a></h3> |
| <p>Here is the complete <code class="docutils literal notranslate"><span class="pre">main.c</span></code> source for your application. Build the |
| application and load it on your board. The task LED (LED1) blinks at an |
| interval of 250ms, the callout LED (LED2) blinks at an interval of |
| 500ms, and the GPIO LED (LED3) toggles on or off each time you press |
| Button 1.</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span><span class="w"> </span><span class="cpf"><os/os.h></span> |
| <span class="cp">#include</span><span class="w"> </span><span class="cpf"><bsp/bsp.h></span> |
| <span class="cp">#include</span><span class="w"> </span><span class="cpf"><hal/hal_gpio.h></span> |
| <span class="cp">#include</span><span class="w"> </span><span class="cpf"><assert.h></span> |
| <span class="cp">#include</span><span class="w"> </span><span class="cpf"><sysinit/sysinit.h></span> |
| |
| |
| <span class="cp">#define MY_TIMER_INTERRUPT_TASK_PRIO 4</span> |
| <span class="cp">#define MY_TIMER_INTERRUPT_TASK_STACK_SZ 512</span> |
| |
| <span class="cp">#define GEN_TASK_PRIO 3</span> |
| <span class="cp">#define GEN_TASK_STACK_SZ 512</span> |
| |
| <span class="cm">/* LED 1 (P0.17 on the board) */</span> |
| <span class="cp">#define TASK_LED 17</span> |
| |
| <span class="cm">/* LED 2 (P0.18 on the board) */</span> |
| <span class="cp">#define CALLOUT_LED 18</span> |
| |
| <span class="cm">/* LED 3 (P0.19 on the board) */</span> |
| <span class="cp">#define GPIO_LED 19</span> |
| |
| <span class="cm">/* Button 1 (P0.13 on the board) */</span> |
| <span class="cp">#define BUTTON1_PIN 13</span> |
| |
| |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">my_ev_cb</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="p">);</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">my_timer_ev_cb</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="p">);</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">my_interrupt_ev_cb</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="p">);</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_eventq</span><span class="w"> </span><span class="n">my_timer_interrupt_eventq</span><span class="p">;</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="n">os_stack_t</span><span class="w"> </span><span class="n">my_timer_interrupt_task_stack</span><span class="p">[</span><span class="n">MY_TIMER_INTERRUPT_TASK_STACK_SZ</span><span class="p">];</span> |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_task</span><span class="w"> </span><span class="n">my_timer_interrupt_task_str</span><span class="p">;</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="n">os_stack_t</span><span class="w"> </span><span class="n">gen_task_stack</span><span class="p">[</span><span class="n">GEN_TASK_STACK_SZ</span><span class="p">];</span> |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_task</span><span class="w"> </span><span class="n">gen_task_str</span><span class="p">;</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="n">gen_task_ev</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="p">.</span><span class="n">ev_cb</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">my_ev_cb</span><span class="p">,</span> |
| <span class="p">};</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="n">gpio_ev</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="p">.</span><span class="n">ev_cb</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">my_interrupt_ev_cb</span><span class="p">,</span> |
| <span class="p">};</span> |
| |
| |
| <span class="k">static</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_callout</span><span class="w"> </span><span class="n">my_callout</span><span class="p">;</span> |
| |
| <span class="cm">/*</span> |
| <span class="cm"> * Task handler to generate an event to toggle the LED at pin TASK_LED.</span> |
| <span class="cm"> * The event is added to the Mynewt default event queue.</span> |
| <span class="cm"> */</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span> |
| <span class="nf">gen_task</span><span class="p">(</span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="k">while</span><span class="w"> </span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">os_time_delay</span><span class="p">(</span><span class="n">OS_TICKS_PER_SEC</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">4</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">os_eventq_put</span><span class="p">(</span><span class="n">os_eventq_dflt_get</span><span class="p">(),</span><span class="w"> </span><span class="o">&</span><span class="n">gen_task_ev</span><span class="p">);</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="p">}</span> |
| |
| <span class="cm">/*</span> |
| <span class="cm"> * Event callback function for events generated by gen_task. It toggles the LED at pin TASK_LED.</span> |
| <span class="cm"> */</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">my_ev_cb</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="n">ev</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="n">ev</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">hal_gpio_toggle</span><span class="p">(</span><span class="n">TASK_LED</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">return</span><span class="p">;</span> |
| <span class="p">}</span> |
| |
| <span class="cm">/*</span> |
| <span class="cm"> * Event callback function for timer events. It toggles the LED at pin CALLOUT_LED.</span> |
| <span class="cm"> */</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">my_timer_ev_cb</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="n">ev</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="n">ev</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="nb">NULL</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">hal_gpio_toggle</span><span class="p">(</span><span class="n">CALLOUT_LED</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">os_callout_reset</span><span class="p">(</span><span class="o">&</span><span class="n">my_callout</span><span class="p">,</span><span class="w"> </span><span class="n">OS_TICKS_PER_SEC</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">2</span><span class="p">);</span> |
| <span class="p">}</span> |
| |
| <span class="cm">/*</span> |
| <span class="cm"> * Event callback function for interrupt events. It toggles the LED at pin GPIO_LED.</span> |
| <span class="cm"> */</span> |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">my_interrupt_ev_cb</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="n">ev</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="n">ev</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="nb">NULL</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">hal_gpio_toggle</span><span class="p">(</span><span class="n">GPIO_LED</span><span class="p">);</span> |
| <span class="p">}</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span> |
| <span class="nf">my_gpio_irq</span><span class="p">(</span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">os_eventq_put</span><span class="p">(</span><span class="o">&</span><span class="n">my_timer_interrupt_eventq</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">gpio_ev</span><span class="p">);</span> |
| <span class="p">}</span> |
| |
| |
| |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span> |
| <span class="nf">my_timer_interrupt_task</span><span class="p">(</span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="k">while</span><span class="w"> </span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">os_eventq_run</span><span class="p">(</span><span class="o">&</span><span class="n">my_timer_interrupt_eventq</span><span class="p">);</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="p">}</span> |
| |
| <span class="kt">void</span> |
| <span class="nf">init_tasks</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span> |
| <span class="p">{</span> |
| |
| <span class="w"> </span><span class="cm">/* Create a task to generate events to toggle the LED at pin TASK_LED */</span> |
| |
| <span class="w"> </span><span class="n">os_task_init</span><span class="p">(</span><span class="o">&</span><span class="n">gen_task_str</span><span class="p">,</span><span class="w"> </span><span class="s">"gen_task"</span><span class="p">,</span><span class="w"> </span><span class="n">gen_task</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">,</span><span class="w"> </span><span class="n">GEN_TASK_PRIO</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">OS_WAIT_FOREVER</span><span class="p">,</span><span class="w"> </span><span class="n">gen_task_stack</span><span class="p">,</span><span class="w"> </span><span class="n">GEN_TASK_STACK_SZ</span><span class="p">);</span> |
| |
| |
| <span class="w"> </span><span class="cm">/* Use a dedicate event queue for timer and interrupt events */</span> |
| <span class="w"> </span><span class="n">os_eventq_init</span><span class="p">(</span><span class="o">&</span><span class="n">my_timer_interrupt_eventq</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="cm">/*</span> |
| <span class="cm"> * Create the task to process timer and interrupt events from the</span> |
| <span class="cm"> * my_timer_interrupt_eventq event queue.</span> |
| <span class="cm"> */</span> |
| <span class="w"> </span><span class="n">os_task_init</span><span class="p">(</span><span class="o">&</span><span class="n">my_timer_interrupt_task_str</span><span class="p">,</span><span class="w"> </span><span class="s">"timer_interrupt_task"</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">my_timer_interrupt_task</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">MY_TIMER_INTERRUPT_TASK_PRIO</span><span class="p">,</span><span class="w"> </span><span class="n">OS_WAIT_FOREVER</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">my_timer_interrupt_task_stack</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">MY_TIMER_INTERRUPT_TASK_STACK_SZ</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="cm">/*</span> |
| <span class="cm"> * Initialize the callout for a timer event.</span> |
| <span class="cm"> * The my_timer_ev_cb callback function processes the timer event.</span> |
| <span class="cm"> */</span> |
| <span class="w"> </span><span class="n">os_callout_init</span><span class="p">(</span><span class="o">&</span><span class="n">my_callout</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">my_timer_interrupt_eventq</span><span class="p">,</span> |
| <span class="w"> </span><span class="n">my_timer_ev_cb</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">os_callout_reset</span><span class="p">(</span><span class="o">&</span><span class="n">my_callout</span><span class="p">,</span><span class="w"> </span><span class="n">OS_TICKS_PER_SEC</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="cm">/*</span> |
| <span class="cm"> * Initialize and enable interrupt for the pin for button 1 and</span> |
| <span class="cm"> * configure the button with pull up resistor on the nrf52dk.</span> |
| <span class="cm"> */</span> |
| <span class="w"> </span><span class="n">hal_gpio_irq_init</span><span class="p">(</span><span class="n">BUTTON1_PIN</span><span class="p">,</span><span class="w"> </span><span class="n">my_gpio_irq</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">,</span><span class="w"> </span><span class="n">HAL_GPIO_TRIG_RISING</span><span class="p">,</span><span class="w"> </span><span class="n">HAL_GPIO_PULL_UP</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">hal_gpio_irq_enable</span><span class="p">(</span><span class="n">BUTTON1_PIN</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">hal_gpio_init_out</span><span class="p">(</span><span class="n">TASK_LED</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">hal_gpio_init_out</span><span class="p">(</span><span class="n">CALLOUT_LED</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">hal_gpio_init_out</span><span class="p">(</span><span class="n">GPIO_LED</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">);</span> |
| <span class="p">}</span> |
| |
| <span class="kt">int</span> |
| <span class="nf">main</span><span class="p">(</span><span class="kt">int</span><span class="w"> </span><span class="n">argc</span><span class="p">,</span><span class="w"> </span><span class="kt">char</span><span class="w"> </span><span class="o">**</span><span class="n">argv</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="n">sysinit</span><span class="p">();</span> |
| |
| <span class="w"> </span><span class="n">init_tasks</span><span class="p">();</span> |
| |
| <span class="w"> </span><span class="k">while</span><span class="w"> </span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">os_eventq_run</span><span class="p">(</span><span class="n">os_eventq_dflt_get</span><span class="p">());</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="mi">0</span><span class="p">);</span> |
| <span class="p">}</span> |
| </pre></div> |
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