chibiosでLチカの練習 その６

mailboxを使ってみました。

#include "ch.h"
#include "hal.h"
#include "test.h"

#define CONSOLE_WA_SIZE      THD_WORKING_AREA_SIZE(4096)
#define cputs(msg)            chMsgSend(cdtp, (msg_t) msg)
static MAILBOX_DECL(mb1, test.wa.T0, 3);
static thread_t * cdtp;
static THD_FUNCTION(console_thread, arg)
{
    (void) arg;
    while (!chThdShouldTerminateX())
    {
        thread_t * tp = chMsgWait();
        puts((char *) chMsgGet(tp));
        fflush(stdout);
        chMsgRelease(tp, MSG_OK);
    }
}
static THD_WORKING_AREA(waThread1, 1024);
static THD_FUNCTION(Thread1, arg)
{
    msg_t msg1, msg2;
    (void) arg;
    chRegSetThreadName("green");
    while (TRUE)
    {
        msg1 = chMBFetch(&mb1, &msg2, TIME_INFINITE);
        cputs("green on");
        chThdSleepMilliseconds(1000);
        cputs("green off");
    }
}
static THD_WORKING_AREA(waThread2, 1024);
static THD_FUNCTION(Thread2, arg)
{
    msg_t msg1, msg2;
    (void) arg;
    chRegSetThreadName("yellow");
    while (TRUE)
    {
        msg1 = chMBFetch(&mb1, &msg2, TIME_INFINITE);
        cputs("yellow on");
        chThdSleepMilliseconds(1000);
        cputs("yellow off");
    }
}
static THD_WORKING_AREA(waThread3, 1024);
static THD_FUNCTION(Thread3, arg)
{
    msg_t msg1, msg2;
    (void) arg;
    chRegSetThreadName("red");
    while (TRUE)
    {
        msg1 = chMBFetch(&mb1, &msg2, TIME_INFINITE);
        cputs("red on");
        chThdSleepMilliseconds(1000);
        cputs("red off");
    }
}
int main(void)
{
    halInit();
    chSysInit();
    msg_t msg1;
    chMBObjectInit(&mb1, (msg_t *) test.wa.T0, 3);
    int n;
    n = 0;
    cdtp = chThdCreateFromHeap(NULL, CONSOLE_WA_SIZE, NORMALPRIO, console_thread, NULL);
    chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
    chThdCreateStatic(waThread2, sizeof(waThread2), NORMALPRIO + 1, Thread2, NULL);
    chThdCreateStatic(waThread3, sizeof(waThread3), NORMALPRIO + 1, Thread3, NULL);
    while (!chThdShouldTerminateX())
    {
        n++;
        if (n > 3) n = 1;
        chThdSleepMilliseconds(1000);
        msg1 = chMBPost(&mb1, '1', TIME_INFINITE);
    }
    return 0;
}