thread-lib.h

Go to the documentation of this file.

 
#ifndef THREAD_LIB_H_
#define THREAD_LIB_H_
 
#include <stdbool.h>
#include <pthread.h>
 
#include "MyRio.h"
#include "AIO.h"
#include "NiFpga.h"
#include "DIIRQ.h"
#include "TimerIRQ.h"
#include "io.h"
 
#include "setup.h"
 
 
/* Thread Data Structures */
 
 
typedef struct {
    NiFpga_IrqContext irq_context;  
    NiFpga_Bool irq_thread_rdy;  
} ThreadResource;
 
 
/* Time Constants */
 
 
#define BTI_US 5000u
#define BTI_MS 5u
#define BTI_S 0.005
 
 
/* Physical Constants */
 
 
#define g 9.81
#define PI 3.141592653549
#define l 0.47
#define m_dt 2.092
#define m_st 0.664
#define m_p 0.765
 
 
/* MyRio Session */
 
extern NiFpga_Session myrio_session;
 
 
/* Thread Construction/Destruction */
 
 
#define START_THREAD(thread, function, resource) \
    resource.irq_thread_rdy = true; \
    VERIFY(error, pthread_create(&thread, NULL, function, &resource))
 
#define REGISTER_TIMER(resource) \
    Irq_RegisterTimerIrq(&timer, &(resource.irq_context), BTI_US)
 
#define STOP_THREAD(thread, resource) \
    resource.irq_thread_rdy = false; \
    VERIFY(error, pthread_join(thread, NULL))
 
#define UNREGISTER_TIMER(resource) \
    Irq_UnregisterTimerIrq(&timer, resource.irq_context)
 
#define TIMER_TRIGGER(irq_assert, resource) \
    Irq_Wait(resource->irq_context, \
             TIMERIRQNO, \
             &irq_assert, \
             (NiFpga_Bool *) &(resource->irq_thread_rdy)); \
    NiFpga_WriteU32(myrio_session, IRQTIMERWRITE, BTI_US); \
    NiFpga_WriteBool(myrio_session, IRQTIMERSETTIME, NiFpga_True)
 
#define EXIT_THREAD() \
    pthread_exit(NULL); \
    return NULL
 
#endif  // THREAD_LIB_H_