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Dependencies:   mbed-rtos mbed

main.cpp@2:e0f1e8662b8c, 2015-09-28 (annotated)

Committer:
shimogamo
Date:
Mon Sep 28 10:33:07 2015 +0000
Revision:
2:e0f1e8662b8c
Parent:
0:2a15bd367891
Child:
5:9a1ec02229dd
Standard

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimogamo 0:2a15bd367891 1 #include "mbed.h"
shimogamo 0:2a15bd367891 2 #include "rtos.h"
shimogamo 0:2a15bd367891 3 #include "Global.h"
shimogamo 0:2a15bd367891 4 #include "ServoManager.h"
shimogamo 0:2a15bd367891 5 #include "ControllerManager.h"
shimogamo 0:2a15bd367891 6 #include "Trim.h"
shimogamo 0:2a15bd367891 7 #include "Cadence.h"
shimogamo 0:2a15bd367891 8 #include "Airspeed.h"
shimogamo 0:2a15bd367891 9 #include "Altitude.h"
shimogamo 0:2a15bd367891 10 #include "Display.h"
shimogamo 0:2a15bd367891 11 #include "XBee.h"
shimogamo 0:2a15bd367891 12
shimogamo 0:2a15bd367891 13
shimogamo 0:2a15bd367891 14 Display display(p9, p10);
shimogamo 0:2a15bd367891 15 XBee xbee(p13, p14);
shimogamo 0:2a15bd367891 16 Trim trim(p16, p17, p15);
shimogamo 0:2a15bd367891 17 ControllerManager controllerManager(p18,p19,p20);
shimogamo 0:2a15bd367891 18 ServoManager servoManager(p21, p22);
shimogamo 0:2a15bd367891 19 Airspeed airspeed(p26, NC, NC);
shimogamo 0:2a15bd367891 20 Cadence cadence(p29, p30, NC);
shimogamo 0:2a15bd367891 21
shimogamo 0:2a15bd367891 22
shimogamo 0:2a15bd367891 23 void initializeTask(void const *pvParametersd){
shimogamo 0:2a15bd367891 24 while(1){
shimogamo 0:2a15bd367891 25 Thread::wait(50);
shimogamo 0:2a15bd367891 26 }
shimogamo 0:2a15bd367891 27 }
shimogamo 0:2a15bd367891 28
shimogamo 0:2a15bd367891 29 void controlTask(void const *pvParameters){
shimogamo 0:2a15bd367891 30 while(1){
shimogamo 2:e0f1e8662b8c 31 trim.update();
shimogamo 0:2a15bd367891 32 controllerManager.update();
shimogamo 0:2a15bd367891 33 servoManager.update();
shimogamo 0:2a15bd367891 34 Thread::wait(50);
shimogamo 0:2a15bd367891 35 }
shimogamo 0:2a15bd367891 36 }
shimogamo 0:2a15bd367891 37
shimogamo 0:2a15bd367891 38 void airspeedTask(void const *pvParameters){
shimogamo 0:2a15bd367891 39 while(1){
shimogamo 0:2a15bd367891 40 airspeed.update();
shimogamo 0:2a15bd367891 41 Thread::wait(200);
shimogamo 0:2a15bd367891 42 }
shimogamo 0:2a15bd367891 43 }
shimogamo 0:2a15bd367891 44
shimogamo 0:2a15bd367891 45 void cadenceTask(void const *pvParameters){
shimogamo 0:2a15bd367891 46 while(1){
shimogamo 0:2a15bd367891 47 cadence.update();
shimogamo 0:2a15bd367891 48 Thread::wait(200);
shimogamo 0:2a15bd367891 49 }
shimogamo 0:2a15bd367891 50 }
shimogamo 0:2a15bd367891 51
shimogamo 0:2a15bd367891 52 void displayTask(void const *pvParameters){
shimogamo 0:2a15bd367891 53 while(1){
shimogamo 0:2a15bd367891 54 display.update();
shimogamo 0:2a15bd367891 55 Thread::wait(50);
shimogamo 0:2a15bd367891 56 }
shimogamo 0:2a15bd367891 57 }
shimogamo 0:2a15bd367891 58
shimogamo 0:2a15bd367891 59 void xbeeTask(void const *pvParameters){
shimogamo 0:2a15bd367891 60 while(1){
shimogamo 0:2a15bd367891 61 xbee.update();
shimogamo 0:2a15bd367891 62 Thread::wait(50);
shimogamo 0:2a15bd367891 63 }
shimogamo 0:2a15bd367891 64 }
shimogamo 0:2a15bd367891 65
shimogamo 0:2a15bd367891 66
shimogamo 0:2a15bd367891 67 int main(void){
shimogamo 0:2a15bd367891 68 printf("start\n");
shimogamo 0:2a15bd367891 69 Global::timer.start();
shimogamo 0:2a15bd367891 70 Thread ControlTask(controlTask);
shimogamo 0:2a15bd367891 71 Thread AirspeedTask(airspeedTask);
shimogamo 0:2a15bd367891 72 Thread CadenceTask(cadenceTask);
shimogamo 0:2a15bd367891 73 Thread DisplayTask(displayTask);
shimogamo 0:2a15bd367891 74 Thread XbeeTask(xbeeTask);
shimogamo 0:2a15bd367891 75 printf("Task end\n");
shimogamo 0:2a15bd367891 76
shimogamo 0:2a15bd367891 77 Thread::wait(osWaitForever);
shimogamo 0:2a15bd367891 78 }