GR-PEACHでマルチタスクなArduinoスケッチ with TOPPERS

void loop()
{
while(digitalRead(PIN_SW) == 0){
digitalWrite(PIN_LED_USER, 1);
delay(INTERVAL);
digitalWrite(PIN_LED_USER, 0);
delay(INTERVAL);
}
}

void loop1(){
digitalWrite(PIN_LED_GREEN, 1);
delay(INTERVAL_GREEN);
digitalWrite(PIN_LED_GREEN, 0);
delay(INTERVAL_GREEN);
}

void loop2(){
digitalWrite(PIN_LED_BLUE, 1);
delay(INTERVAL_BLUE);
digitalWrite(PIN_LED_BLUE, 0);
delay(INTERVAL_BLUE);
}

#include <kernel.h>
#include <t_syslog.h>
#include <t_stdlib.h>
#include "syssvc/serial.h"
#include "syssvc/syslog.h"
#include "kernel_cfg.h"

#include "arduino_app.h"
#include "arduino_main.h"

/* GR-PEACH Sketch Template V1.00 */
#include <Arduino.h>
#include <Wire.h>

#define HDC1000_ADDRESS 0x40
#define HDC1000_RDY_PIN 2

#define HDC1000_TEMPERATURE_POINTER 0x00
#define HDC1000_HUMIDITY_POINTER 0x01
#define HDC1000_CONFIGURATION_POINTER 0x02
#define HDC1000_SERIAL_ID1_POINTER 0xfb
#define HDC1000_SERIAL_ID2_POINTER 0xfc
#define HDC1000_SERIAL_ID3_POINTER 0xfd
#define HDC1000_MANUFACTURER_ID_POINTER 0xfe

#define HDC1000_CONFIGURE_MSB 0x10 /* Get both temperature and humidity */
#define HDC1000_CONFIGURE_LSB 0x00 /* 14 bit resolution */

void getTemperatureAndHumidity(float *temperature, float *humidity) {
unsigned int tData, hData;

Wire.beginTransmission(HDC1000_ADDRESS);
Wire.write(HDC1000_TEMPERATURE_POINTER);
Wire.endTransmission();
while (digitalRead(HDC1000_RDY_PIN) == HIGH);
Wire.requestFrom(HDC1000_ADDRESS, 4);
while (Wire.available() < 4);

tData = Wire.read() << 8;
tData |= Wire.read();

hData = Wire.read() << 8;
hData |= Wire.read();

*temperature = tData / 65536.0 * 165.0 - 40.0;
*humidity = hData / 65536.0 * 100.0;
}

#define INTERVAL 100
#define INTERVAL_RED 100
#define INTERVAL_BLUE 150
#define INTERVAL_GREEN 200

void setup()
{
pinMode(PIN_LED_RED , OUTPUT);
pinMode(PIN_LED_GREEN , OUTPUT);
pinMode(PIN_LED_BLUE , OUTPUT);
pinMode(PIN_LED_USER , OUTPUT);
pinMode(PIN_SW , INPUT);
pinMode(HDC1000_RDY_PIN, INPUT);

Serial.begin(9600);
//Put the HDC1000 IC into the correct operating mode
Wire.beginTransmission(HDC1000_ADDRESS);
Wire.write(HDC1000_CONFIGURATION_POINTER);
Wire.write(HDC1000_CONFIGURE_MSB);
Wire.write(HDC1000_CONFIGURE_LSB);
Wire.endTransmission();
}

void loop1()
{
while(digitalRead(PIN_SW) == 0){
digitalWrite(PIN_LED_USER, 1);
delay(INTERVAL);
digitalWrite(PIN_LED_USER, 0);
delay(INTERVAL);
}
}

void loop(){
float temperature, humidity;

getTemperatureAndHumidity(&temperature, &humidity);
Serial.print("Temperature = ");
Serial.print(temperature);
Serial.print(" degree, Humidity = ");
Serial.print(humidity);
Serial.println("%");
Serial.flush();

delay(1000);
}

void loop2(){
digitalWrite(PIN_LED_BLUE, 1);
delay(INTERVAL_BLUE);
digitalWrite(PIN_LED_BLUE, 0);
delay(INTERVAL_BLUE);
}

/*
* Cyclic Handler
*
* This handler is called every 10 [ms] as specified in
* multitask_arduino.cfg.
*/
void cyclic_handler(intptr_t exinf) {
irot_rdq(LOOP_PRI); /* change the running loop. */
}