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--- ocrobot:kit:arduino_star_kit:tutorial028 [2017/04/07 10:03] – 外部编辑 127.0.0.1
+++ ocrobot:kit:arduino_star_kit:tutorial028 [2025/10/11 02:55] (当前版本) – 外部编辑 127.0.0.1
@@ 行 1: / 行 1: @@
+======多线程使用入门======
+<WRAP center round info 100%>
+这个例程展示了如何通过驱动六颗LED让其以不同的速度闪烁来简单学习一下NilRTOS的基本用法
+</WRAP>
+RTOS英文全称Real-Time Operating Systems，中文叫做实时操作系统。
+NilRTOS就是这么一个可以运行在OCROBOT控制板中的简单的操作系统。
+在NilRTOS中，不能使用标准的delay()，这个会导致操作系统异常。需要使用nilThdSleepMilliseconds来替代delay()，这个需要切记。
+=====搭建电路=====
+{{:ocrobot:kit:arduino_star_kit:2014-5-20_17-13-20.png?nolink|}}
+=====代码=====
+<code cpp>
+#include <NilRTOS.h>
+int LED_PIN[6] ={ 2,3,4,5,6,7 };
+int Delay[6] ={ 100,550,900,2000,2800,1500 };
+/*线程1*/
+NIL_WORKING_AREA(waThread1, 64);
+NIL_THREAD(Thread1, arg) {
+  digitalWrite(LED_PIN[0], LOW);
+  while (TRUE) {
+    digitalWrite(LED_PIN[0], HIGH);
+    nilThdSleepMilliseconds(Delay[0]);
+    digitalWrite(LED_PIN[0], LOW);
+    nilThdSleepMilliseconds(Delay[0]);
+  }
+}
+/*线程2*/
+NIL_WORKING_AREA(waThread2, 64);
+NIL_THREAD(Thread2, arg) {
+  digitalWrite(LED_PIN[1], LOW);
+  while (TRUE) {
+    digitalWrite(LED_PIN[1], HIGH);
+    nilThdSleepMilliseconds(Delay[1]);
+    digitalWrite(LED_PIN[1], LOW);
+    nilThdSleepMilliseconds(Delay[1]);
+  }
+}
+/*线程3*/
+NIL_WORKING_AREA(waThread3, 64);
+NIL_THREAD(Thread3, arg) {
+  digitalWrite(LED_PIN[2], LOW);
+  while (TRUE) {
+    digitalWrite(LED_PIN[2], HIGH);
+    nilThdSleepMilliseconds(Delay[2]);
+    digitalWrite(LED_PIN[2], LOW);
+    nilThdSleepMilliseconds(Delay[2]);
+  }
+}
+/*线程4*/
+NIL_WORKING_AREA(waThread4, 64);
+NIL_THREAD(Thread4, arg) {
+  digitalWrite(LED_PIN[3], LOW);
+  while (TRUE) {
+    digitalWrite(LED_PIN[3], HIGH);
+    nilThdSleepMilliseconds(Delay[3]);
+    digitalWrite(LED_PIN[3], LOW);
+    nilThdSleepMilliseconds(Delay[3]);
+  }
+}
+/*线程5*/
+NIL_WORKING_AREA(waThread5, 64);
+NIL_THREAD(Thread5, arg) {
+  digitalWrite(LED_PIN[4], LOW);
+  while (TRUE) {
+    digitalWrite(LED_PIN[4], HIGH);
+    nilThdSleepMilliseconds(Delay[4]);
+    digitalWrite(LED_PIN[4], LOW);
+    nilThdSleepMilliseconds(Delay[4]);
+  }
+}
+/*线程6*/
+NIL_WORKING_AREA(waThread6, 64);
+NIL_THREAD(Thread6, arg) {
+  digitalWrite(LED_PIN[5], LOW);
+  while (TRUE) {
+    digitalWrite(LED_PIN[5], HIGH);
+    nilThdSleepMilliseconds(Delay[5]);
+    digitalWrite(LED_PIN[5], LOW);
+    nilThdSleepMilliseconds(Delay[5]);
+  }
+}
+/*线程列表*/
+NIL_THREADS_TABLE_BEGIN()
+NIL_THREADS_TABLE_ENTRY("thread1", Thread1, NULL, waThread1, sizeof(waThread1))
+NIL_THREADS_TABLE_ENTRY("thread2", Thread2, NULL, waThread2, sizeof(waThread2))
+NIL_THREADS_TABLE_ENTRY("thread3", Thread3, NULL, waThread3, sizeof(waThread3))
+NIL_THREADS_TABLE_ENTRY("thread4", Thread4, NULL, waThread4, sizeof(waThread4))
+NIL_THREADS_TABLE_ENTRY("thread5", Thread5, NULL, waThread5, sizeof(waThread5))
+NIL_THREADS_TABLE_ENTRY("thread6", Thread6, NULL, waThread6, sizeof(waThread6))
+NIL_THREADS_TABLE_END()
+void setup() {
+  for( int i = 0;i< 6; i++ )
+  {
+    pinMode(LED_PIN[i],OUTPUT);
+  }
+  // Start Nil RTOS.
+  nilSysBegin();
+}
+void loop() {
+  // Not used.
+}
+</code>
+{{youku>XNzE4ODM0ODcy?900x530}}
+<WRAP center round download 100%>
+=====下载=====
+库：{{:ocrobot:kit:arduino_star_kit:nilrtos.zip|}}
+</WRAP>
+[[ocrobot:kit:arduino_star_kit:main|返回上一级]]