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Dependencies:   mbed-rtos mbed

main.cpp@9:d1fc0805ec7d, 2015-10-14 (annotated)

Committer:
shimogamo
Date:
Wed Oct 14 13:44:32 2015 +0000
Revision:
9:d1fc0805ec7d
Parent:
8:ca92cb674004
Child:
10:0a4bf8c82493
Init??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimogamo 9:d1fc0805ec7d 1 //@todo ソフトウェアシリアルの確認
shimogamo 8:ca92cb674004 2
shimogamo 8:ca92cb674004 3 //@todo androidとの通信
shimogamo 8:ca92cb674004 4 //@todo xbeeとの通信
shimogamo 8:ca92cb674004 5
shimogamo 8:ca92cb674004 6 //@todo 高度計の追加
shimogamo 8:ca92cb674004 7
shimogamo 0:2a15bd367891 8 #include "mbed.h"
shimogamo 0:2a15bd367891 9 #include "rtos.h"
shimogamo 0:2a15bd367891 10 #include "Global.h"
shimogamo 9:d1fc0805ec7d 11 #include "Init.h"
shimogamo 0:2a15bd367891 12 #include "ServoManager.h"
shimogamo 0:2a15bd367891 13 #include "ControllerManager.h"
shimogamo 0:2a15bd367891 14 #include "Trim.h"
shimogamo 0:2a15bd367891 15 #include "Cadence.h"
shimogamo 0:2a15bd367891 16 #include "Airspeed.h"
shimogamo 0:2a15bd367891 17 #include "Altitude.h"
shimogamo 0:2a15bd367891 18 #include "Display.h"
shimogamo 0:2a15bd367891 19 #include "XBee.h"
shimogamo 5:9a1ec02229dd 20
shimogamo 5:9a1ec02229dd 21
shimogamo 5:9a1ec02229dd 22 RawSerial pc(USBTX, USBRX);
shimogamo 0:2a15bd367891 23
shimogamo 0:2a15bd367891 24
shimogamo 0:2a15bd367891 25 Display display(p9, p10);
shimogamo 0:2a15bd367891 26 XBee xbee(p13, p14);
shimogamo 8:ca92cb674004 27 Trim trim(p16, p17);
shimogamo 0:2a15bd367891 28 ControllerManager controllerManager(p18,p19,p20);
shimogamo 0:2a15bd367891 29 ServoManager servoManager(p21, p22);
shimogamo 0:2a15bd367891 30 Airspeed airspeed(p26, NC, NC);
shimogamo 0:2a15bd367891 31 Cadence cadence(p29, p30, NC);
shimogamo 0:2a15bd367891 32
shimogamo 0:2a15bd367891 33
shimogamo 5:9a1ec02229dd 34 void pc_rx(){
shimogamo 5:9a1ec02229dd 35 while(pc.readable()==1){
shimogamo 9:d1fc0805ec7d 36 char buf = (char)pc.getc();
shimogamo 9:d1fc0805ec7d 37 Global::queue.put((char*)buf);
shimogamo 0:2a15bd367891 38 }
shimogamo 0:2a15bd367891 39 }
shimogamo 0:2a15bd367891 40
shimogamo 5:9a1ec02229dd 41
shimogamo 9:d1fc0805ec7d 42
shimogamo 9:d1fc0805ec7d 43 void initializeTask(void const *pvParameters){
shimogamo 5:9a1ec02229dd 44 while(1){
shimogamo 9:d1fc0805ec7d 45 Init::getSerial();
shimogamo 5:9a1ec02229dd 46 }
shimogamo 5:9a1ec02229dd 47 }
shimogamo 5:9a1ec02229dd 48
shimogamo 0:2a15bd367891 49 void controlTask(void const *pvParameters){
shimogamo 0:2a15bd367891 50 while(1){
shimogamo 2:e0f1e8662b8c 51 trim.update();
shimogamo 0:2a15bd367891 52 controllerManager.update();
shimogamo 0:2a15bd367891 53 servoManager.update();
shimogamo 0:2a15bd367891 54 Thread::wait(50);
shimogamo 0:2a15bd367891 55 }
shimogamo 0:2a15bd367891 56 }
shimogamo 0:2a15bd367891 57
shimogamo 0:2a15bd367891 58 void airspeedTask(void const *pvParameters){
shimogamo 0:2a15bd367891 59 while(1){
shimogamo 0:2a15bd367891 60 airspeed.update();
shimogamo 9:d1fc0805ec7d 61 Thread::wait(500);
shimogamo 0:2a15bd367891 62 }
shimogamo 0:2a15bd367891 63 }
shimogamo 0:2a15bd367891 64
shimogamo 0:2a15bd367891 65 void cadenceTask(void const *pvParameters){
shimogamo 0:2a15bd367891 66 while(1){
shimogamo 0:2a15bd367891 67 cadence.update();
shimogamo 9:d1fc0805ec7d 68 Thread::wait(500);
shimogamo 0:2a15bd367891 69 }
shimogamo 0:2a15bd367891 70 }
shimogamo 0:2a15bd367891 71
shimogamo 0:2a15bd367891 72 void displayTask(void const *pvParameters){
shimogamo 0:2a15bd367891 73 while(1){
shimogamo 0:2a15bd367891 74 display.update();
shimogamo 9:d1fc0805ec7d 75 Thread::wait(500);
shimogamo 0:2a15bd367891 76 }
shimogamo 0:2a15bd367891 77 }
shimogamo 0:2a15bd367891 78
shimogamo 0:2a15bd367891 79 void xbeeTask(void const *pvParameters){
shimogamo 0:2a15bd367891 80 while(1){
shimogamo 0:2a15bd367891 81 xbee.update();
shimogamo 9:d1fc0805ec7d 82 Thread::wait(500);
shimogamo 0:2a15bd367891 83 }
shimogamo 0:2a15bd367891 84 }
shimogamo 0:2a15bd367891 85
shimogamo 0:2a15bd367891 86
shimogamo 0:2a15bd367891 87 int main(void){
shimogamo 0:2a15bd367891 88 printf("start\n");
shimogamo 5:9a1ec02229dd 89
shimogamo 5:9a1ec02229dd 90 pc.attach(pc_rx,Serial::RxIrq);
shimogamo 5:9a1ec02229dd 91
shimogamo 6:0d9fa7152934 92 Global::initialize();
shimogamo 5:9a1ec02229dd 93 Thread InitializeTask(initializeTask);
shimogamo 9:d1fc0805ec7d 94 Thread ControlTask(controlTask, NULL, osPriorityRealtime);
shimogamo 0:2a15bd367891 95 Thread AirspeedTask(airspeedTask);
shimogamo 0:2a15bd367891 96 Thread CadenceTask(cadenceTask);
shimogamo 0:2a15bd367891 97 Thread DisplayTask(displayTask);
shimogamo 0:2a15bd367891 98 Thread XbeeTask(xbeeTask);
shimogamo 0:2a15bd367891 99 printf("Task end\n");
shimogamo 0:2a15bd367891 100
shimogamo 0:2a15bd367891 101 Thread::wait(osWaitForever);
shimogamo 0:2a15bd367891 102 }