C++ rt_thread_delay函数代码示例

static void led_thread_entry(void* parameter)
{
    unsigned int count=0;
    rt_device_t led_dev=rt_device_find("led");
    rt_uint8_t led_value=0;
    while (1)
    {
        /* led1 on */
#ifndef RT_USING_FINSH
        rt_kprintf("led on, count : %d\r\n",count);
#endif
        count++;
        led_value=1;
        led_dev->write(led_dev,count%4,&led_value,1);
        rt_thread_delay( RT_TICK_PER_SECOND/2 ); /* sleep 0.5 second and switch to other thread */

        /* led1 off */
#ifndef RT_USING_FINSH
        rt_kprintf("led off\r\n");
#endif
        led_value=0;
        led_dev->write(led_dev,count%4,&led_value,1);
        rt_thread_delay( RT_TICK_PER_SECOND/2 );
    }
}

static void rt_thread_entry_led1(void* parameter)
{
//    GPIO_InitTypeDef  GPIO_InitStructure;

    /* GPIOD Periph clock enable */
//    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);
	
		/* Configure PD12, PD13, PD14 and PD15 in output pushpull mode */
//     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
//     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
//     GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
//     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
//     GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
//     GPIO_Init(GPIOF, &GPIO_InitStructure);

    while(1)
    {
			
//				GPIO_SetBits(GPIOF, GPIO_Pin_6);
//			print_temp();
				rt_thread_delay(20);
//				GPIO_ResetBits(GPIOF, GPIO_Pin_6);
				rt_thread_delay(20);
    }
}

static void led_thread_entry(void* parameter)
{
    /* LED : PB2 BOOT1 config. */
    {
        GPIO_InitTypeDef  GPIO_InitStructure;

        RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
        /* output setting */
        GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_OUT;
        GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
        GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
        GPIO_Init(GPIOB, &GPIO_InitStructure);
    }

    /* sys led blink. */
    while(1)
    {
        /* turn on led 20ms. */
        LED_SYS_ON();
        rt_thread_delay(RT_TICK_PER_SECOND/50);

        /* turn off led 1s. */
        LED_SYS_OFF();
        rt_thread_delay(RT_TICK_PER_SECOND);
    }
}

static void thread_entry(void* parameter)
{
	rt_tick_t tick;
	rt_kprintf("thread inited ok\n");

	tick = rt_tick_get();
	rt_kprintf("thread delay 10 tick\n");
	rt_thread_delay(10);
	if (rt_tick_get() - tick > 10)
	{
		tc_done(TC_STAT_FAILED);
		return;
	}

	tick = rt_tick_get();
	rt_kprintf("thread delay 15 tick\n");
	rt_thread_delay(15);
	if (rt_tick_get() - tick > 15)
	{
		tc_done(TC_STAT_FAILED);
		return;
	}

	rt_kprintf("thread exit\n");

	tc_done(TC_STAT_PASSED);
}

void sonar_thread_entry(void* parameter)
{
	rt_kprintf("start sonar\n");
	while(1)
	{
		GPIO_SetBits(GPIOE,GPIO_Pin_7);
		
		rt_thread_delay(RT_TICK_PER_SECOND*10/1000);
		
		GPIO_ResetBits(GPIOE,GPIO_Pin_7);
		
		rt_thread_delay(RT_TICK_PER_SECOND*50/1000);
		
		sonar_h=Moving_Median(PWM8_Time/58.0f*ahrs.g_z,sonar_avr,SAMPLE_COUNT);
		
		ahrs.height_v=HV_A*(ahrs.height_v+ahrs.height_acc*0.06f)+(1.0f-HV_A)*((sonar_h-ahrs.height)/0.06f);
		
		ahrs.height=sonar_h;
		h=(u16)sonar_h;
		sonar_state=sonar_h>3.0f&&sonar_h<150.0f;
		ahrs_state.sonar=!sonar_state;
		
		rt_event_send(&ahrs_event,AHRS_EVENT_SONAR);
	}
}

/* 线程2的入口函数 */
static void thread2_entry(void* parameter)
{
	/* 线程2拥有较高的优先级，以抢占线程1而获得执行 */

	/* 线程2启动后先睡眠10个OS Tick */
	rt_thread_delay(10);

	/*
	 * 线程2唤醒后直接删除线程1，删除线程1后，线程1自动脱离就绪线程
	 * 队列
	 */
	rt_thread_delete(tid1);
	tid1 = RT_NULL;

	/*
	 * 线程2继续休眠10个OS Tick然后退出，线程2休眠后应切换到idle线程
	 * idle线程将执行真正的线程1控制块和线程栈的删除
	 */
	rt_thread_delay(10);

	/*
	 * 线程2运行结束后也将自动被删除(线程控制块和线程栈依然在idle线
	 * 程中释放)
	 */
	tid2 = RT_NULL;
}

void msc_thread_entry(void *parameter)
{
    extern void player_ui_freeze(void);
    unsigned long test_unit_ready_start = rt_tick_get();
    test_unit_ready_last = test_unit_ready_start;

    /* wait connection */
    while( test_unit_ready_last == test_unit_ready_start )
    {
        rt_thread_delay( RT_TICK_PER_SECOND );
    }


    /* freeze player UI */
    player_ui_freeze();

    /* wait remove */
    while(1)
    {
        rt_thread_delay( RT_TICK_PER_SECOND/2 );
        if( rt_tick_get() - test_unit_ready_last > RT_TICK_PER_SECOND*2 )
        {
//            rt_kprintf("\r\nCable removed!\r\nSystemReset\r\n\r\n");
//            NVIC_SystemReset();
        }
    }
}

static void led1_thread_entry(void* parameter)
{
  /*在LED1线程中初始化LED的GPIO配置*/

  LED_GPIO_Config();
  while(1)
  {
		//rt_kprintf ( "\r\n	LED1 is going!!!\r\n");
   LED1(ON);//点亮LED1
   rt_thread_delay(100);//调用RTT的API将当前线程挂起200ticks，也就是1sec
   LED1(OFF);//关闭LED1
		  rt_thread_delay(100);
		if(bMp3Play == 0)
   sys_wake_count++;
   if(sys_wake_count==sys_default_count)
   	{
		sys_wake_count=0;
		if(sys_wake)
			{
				sys_wake=0;
				rt_kprintf("系统进入休眠状态,如需使用请唤醒!\r\n");
			 rt_mb_send(&mb,(rt_uint32_t)sys_down_mp3);//发送邮件
			}
   }
  }
}

/**
 * This function will rest hub port, it is invoked when sub device attached to the hub port.
 *
 * @param intf the interface instance.
 * @param port the hub port.
 * 
 * @return the error code, RT_EOK on successfully.
 */
rt_err_t rt_usbh_hub_reset_port(uhub_t hub, rt_uint16_t port)
{
    rt_err_t ret;
    rt_uint32_t pstatus;
    
    /* parameter check */
    RT_ASSERT(hub != RT_NULL);
    
    rt_thread_delay(50);

    /* reset hub port */
    ret = rt_usbh_hub_set_port_feature(hub, port, PORT_FEAT_RESET);
    if(ret != RT_EOK) return ret;

    while(1)
    {
        ret = rt_usbh_hub_get_port_status(hub, port, (rt_uint8_t*)&pstatus);
        if(!(pstatus & PORT_PRS)) break;
    }
    
    /* clear port reset feature */
    ret = rt_usbh_hub_clear_port_feature(hub, port, PORT_FEAT_C_RESET);    
    if(ret != RT_EOK) return ret;

    rt_thread_delay(50);    

    return RT_EOK;
}

/**
  * @brief  USB_OTG_BSP_mDelay
  *          This function provides delay time in milli sec
  * @param  msec : Value of delay required in milli sec
  * @retval None
  */
void USB_OTG_BSP_mDelay (const uint32_t msec)
{
    if(msec >= 10)
        rt_thread_delay(msec / 10);
    else
        rt_thread_delay(msec / 1);
}

void rt_transfer_thread_entry(void *parameter)
{
//	rt_uint16_t ms_20=0,ms_100=0,ms_1000=0;
//	char buff[33];
	T_RC_Status data;
//	T_RC_Voltage voltage;
	T_RC_Sensor Sensor;
//	rt_uint32_t _temp[3];
//	rt_uint8_t i;
	
	rt_thread_delay(1000);
	
	for(;;)
	{
		//NRF24_Check_Event();
		/*Pms_20++;
		if(ms_20==100)
		{
			ms_20=0;
			for(i=0;i<3;i++)
			{	
				_temp[i]=read_battert_adc_value();
			}
			voltage.Voltage1=(float)_temp[0]/4095.0f*3.3f*2;
			voltage.Voltage2=(float)_temp[1]/4095.0f*3.3f*2;
			voltage.Voltage3=(float)_temp[2]/4095.0f*3.3f*2;
			Data_Send_Voltage(&voltage);
		}*/

#if 1
		data.ANGLE.rol=angleActual.rol;
		data.ANGLE.pit=angleActual.pit;
		data.ANGLE.yaw=angleActual.yaw;
		data.ALT_CSB=1234;
		data.ALT_PRS=1234;
		data.ARMED=0;
		Data_Send_Status(&data);

		Sensor.ACC.X=accelMpu.x;
		Sensor.ACC.Y=accelMpu.y;
		Sensor.ACC.Z=accelMpu.z;
		Sensor.GYR.X=gyroMpu.x;
		Sensor.GYR.Y=gyroMpu.y;
		Sensor.GYR.Z=gyroMpu.z;
		Sensor.MAG.X=magMpu.x;
		Sensor.MAG.Y=magMpu.y;
		Sensor.MAG.Z=magMpu.z;	

		Sensor.MAG.X=magCorrect.x;
		Sensor.MAG.Y=magCorrect.y;
		Sensor.MAG.Z=magCorrect.z;			
		Data_Send_Senser(&Sensor);
		
#endif
		rt_thread_delay(20);
		
	}
}

static void worker_thread_entry(void* parameter)
{
    rt_thread_delay(5);
    for(worker_count = 0; worker_count < 5; worker_count++)
    {
        rt_kprintf("worker:count: %d\n", worker_count);
        rt_thread_delay(5);
    }
}

static void worker_thread_entry(void* parameter)
{
    rt_thread_delay(5);
    for(worker_count = 0; worker_count < 10; worker_count++)
    {
        rt_kprintf("worker:  count: %d\n", worker_count);
    }
    rt_thread_delay(RT_TICK_PER_SECOND);
}

static void worker_thread_entry(void* parameter)
{
	rt_thread_delay(10);

	while (1) {
		rt_sem_release(sem);
		rt_thread_delay(5);
	}
}

static void rt_init_thread_entry(void* parameter)
{
	rt_thread_t system_thread;
	rt_uint8_t buf[256];
	/* Initialization RT-Thread Components */
#ifdef RT_USING_COMPONENTS_INIT
	rt_components_init();
#endif

	/* Set finsh device */
#ifdef  RT_USING_FINSH
	finsh_set_device(RT_CONSOLE_DEVICE_NAME);
#endif  /* RT_USING_FINSH */
	rt_hw_led1_off();
	//cmx865a_init();


	unsigned int count=1000;
	rt_memset(buf,'\0',256);
	rt_hw_led_init();
//	rt_kprintf("led on, count : %d\r\n",count);
	//rt_sprintf(buf,"%s","- RT -    Thread Operating System");
		
	//	ST7585_Write_String(0,5,"- RT -    ");
	//ST7585_Write_String(0,4,"Thread Operating System");
	//	Draw_bat(3);
	//b(0,1);
r(0);
	while (1)
	{
		
		/* led1 on */
#ifdef RT_USING_FINSH
		rt_kprintf("led on , count : %d\r\n",count);
#endif
	
		
	//	rt_sprintf(buf,"led on , count : %d",count);
	//	ST7585_Write_String(0,5,buf);

		//test_cmx865a();
		count++;
		rt_hw_led1_off();
		rt_thread_delay( RT_TICK_PER_SECOND/2 ); /* sleep 0.5 second and switch to other thread */

		/* led1 off */
#ifdef RT_USING_FINSH
		rt_kprintf("led off\r\n");
#endif
	//	rt_sprintf(buf,"led off, count : %d",count);
	//	ST7585_Write_String(0,5,buf);

		rt_hw_led1_on();
		rt_thread_delay( RT_TICK_PER_SECOND/2 );
	}
}