samples/basic/threads/src/main.c

/*
 * Copyright (c) 2017 Linaro Limited
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <zephyr/zephyr.h>
#include <zephyr/device.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/sys/printk.h>
#include <zephyr/sys/__assert.h>
#include <string.h>

/* size of stack area used by each thread */
#define STACKSIZE 1024

/* scheduling priority used by each thread */
#define PRIORITY 7

#define LED0_NODE DT_ALIAS(led0)
#define LED1_NODE DT_ALIAS(led1)

#if !DT_NODE_HAS_STATUS(LED0_NODE, okay)
#error "Unsupported board: led0 devicetree alias is not defined"
#endif

#if !DT_NODE_HAS_STATUS(LED1_NODE, okay)
#error "Unsupported board: led1 devicetree alias is not defined"
#endif

struct printk_data_t {
	void *fifo_reserved; /* 1st word reserved for use by fifo */
	uint32_t led;
	uint32_t cnt;
};

K_FIFO_DEFINE(printk_fifo);

struct led {
	struct gpio_dt_spec spec;
	uint8_t num;
};

static const struct led led0 = {
	.spec = GPIO_DT_SPEC_GET_OR(LED0_NODE, gpios, {0}),
	.num = 0,
};

static const struct led led1 = {
	.spec = GPIO_DT_SPEC_GET_OR(LED1_NODE, gpios, {0}),
	.num = 1,
};

void blink(const struct led *led, uint32_t sleep_ms, uint32_t id)
{
	const struct gpio_dt_spec *spec = &led->spec;
	int cnt = 0;
	int ret;

	if (!device_is_ready(spec->port)) {
		printk("Error: %s device is not ready\n", spec->port->name);
		return;
	}

	ret = gpio_pin_configure_dt(spec, GPIO_OUTPUT);
	if (ret != 0) {
		printk("Error %d: failed to configure pin %d (LED '%d')\n",
			ret, spec->pin, led->num);
		return;
	}

	while (1) {
		gpio_pin_set(spec->port, spec->pin, cnt % 2);

		struct printk_data_t tx_data = { .led = id, .cnt = cnt };

		size_t size = sizeof(struct printk_data_t);
		char *mem_ptr = k_malloc(size);
		__ASSERT_NO_MSG(mem_ptr != 0);

		memcpy(mem_ptr, &tx_data, size);

		k_fifo_put(&printk_fifo, mem_ptr);

		k_msleep(sleep_ms);
		cnt++;
	}
}

void blink0(void)
{
	blink(&led0, 100, 0);
}

void blink1(void)
{
	blink(&led1, 1000, 1);
}

void uart_out(void)
{
	while (1) {
		struct printk_data_t *rx_data = k_fifo_get(&printk_fifo,
							   K_FOREVER);
		printk("Toggled led%d; counter=%d\n",
		       rx_data->led, rx_data->cnt);
		k_free(rx_data);
	}
}

K_THREAD_DEFINE(blink0_id, STACKSIZE, blink0, NULL, NULL, NULL,
		PRIORITY, 0, 0);
K_THREAD_DEFINE(blink1_id, STACKSIZE, blink1, NULL, NULL, NULL,
		PRIORITY, 0, 0);
K_THREAD_DEFINE(uart_out_id, STACKSIZE, uart_out, NULL, NULL, NULL,
		PRIORITY, 0, 0);