Diff: main.cpp

Revision:

0:5edc27224a37

Child:

1:28ea653772dc

Child:

5:4354b585dcab

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Feb 25 17:33:41 2015 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "Servo.h"
+#include "C12832.h"
+Servo s1(p21);
+Servo s2(p22);
+Serial pc(USBTX, USBRX);
+Mutex mutexIn;
+Mutex mutexOut;
+
+// Globel variables
+float cordinates[3];
+float corHoriz;
+float corVertic;
+float corDeep;
+float outVert;
+float outHoriz;
+C12832 lcd(p5, p7, p6, p8, p11);// lcd is an object from class c12832 initialised by p5,p7....
+
+/* Thread Serial 1 - handles the output data from the control thread, and pass to the servo.
+    @update s1, s2 */
+void serial_thread(void const *args) {
+    while (true) {
+        mutexIn.lock();
+//        cordinates = pc.putc(pc.getc());
+        corHoriz = cordinates[0];
+        corVertic = cordinates[1];
+        corDeep = cordinates[2];
+        mutexIn.unlock();
+        Thread::wait(200);
+    }
+}
+ 
+/* Thread LCD 2 - handles the input data from the sonar sensor, and display on the LCD screen.
+    @update inData */
+void lcd_thread(void const *args) {
+    while (true) {
+        mutexIn.lock();
+        mutexOut.lock();
+        // Display values on the LCD screen
+        lcd.cls();          // clear the display
+        lcd.locate(0,3);    // the location where you want your charater to be displayed
+        lcd.printf("Hor: %f, Vert: %f, Deep: %f", corHoriz, corVertic, corDeep);
+        mutexIn.unlock();
+        mutexOut.unlock();
+        Thread::wait(25);
+    }
+}
+
+/* Thread Control 3 - handles the input data from the sonar sensor, and display on the LCD screen.
+    @update inData */
+void control_thread(void const *args) {
+    while (true) {
+        mutexIn.lock();
+        // The control code will come here
+        
+        mutexIn.unlock();
+        Thread::wait(25);
+    }
+}
+
+/* Thread Servo 4 - handles the output data from the control thread, and pass to the servo.
+    @update s1, s2 */
+void servo_thread(void const *args) {
+    while (true) {
+        mutexOut.lock();
+//        s1 = outVert;
+//        s2 = outHoriz;
+        mutexOut.unlock();
+        Thread::wait(200);
+    }
+}
+
+int main() {
+    Thread thread_1(serial_thread); // Start Serial Thread
+    Thread thread_2(lcd_thread); // Start LCD Thread
+    Thread thread_3(control_thread); // Start Control Thread
+    Thread thread_4(servo_thread); // Start Servo Thread
+    while(1) {
+        Thread::wait(10);
+    }
+}