Diff: main.cpp

Revision:

0:2a15bd367891

Child:

2:e0f1e8662b8c

diff -r 000000000000 -r 2a15bd367891 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Sep 07 01:19:55 2015 +0000
@@ -0,0 +1,78 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "Global.h"
+#include "ServoManager.h"
+#include "ControllerManager.h"
+#include "Trim.h"
+#include "Cadence.h"
+#include "Airspeed.h"
+#include "Altitude.h"
+#include "Display.h"
+#include "XBee.h"
+
+
+Display display(p9, p10);
+XBee xbee(p13, p14);
+Trim trim(p16, p17, p15);
+ControllerManager controllerManager(p18,p19,p20);
+ServoManager servoManager(p21, p22);
+Airspeed airspeed(p26, NC, NC);
+Cadence cadence(p29, p30, NC);
+
+
+void initializeTask(void const *pvParametersd){
+    while(1){
+        Thread::wait(50);
+    }
+}
+
+void controlTask(void const *pvParameters){
+    while(1){
+        controllerManager.update();
+        servoManager.update();
+        trim.update();
+        Thread::wait(50);
+    }
+}
+
+void airspeedTask(void const *pvParameters){
+    while(1){
+        airspeed.update();
+        Thread::wait(200);
+    }
+}
+    
+void cadenceTask(void const *pvParameters){
+    while(1){
+        cadence.update();
+        Thread::wait(200);
+    }
+}
+
+void displayTask(void const *pvParameters){
+    while(1){
+        display.update();
+        Thread::wait(50);
+    }   
+}
+
+void xbeeTask(void const *pvParameters){
+    while(1){
+        xbee.update();
+        Thread::wait(50);
+    }
+}
+
+
+int main(void){
+    printf("start\n");
+    Global::timer.start();
+    Thread ControlTask(controlTask);
+    Thread AirspeedTask(airspeedTask);
+    Thread CadenceTask(cadenceTask);
+    Thread DisplayTask(displayTask);
+    Thread XbeeTask(xbeeTask);
+    printf("Task end\n");
+    
+    Thread::wait(osWaitForever);   
+}
\ No newline at end of file