Diff: main.cpp

Revision:

1:2d2270d1a5f5

Parent:

0:2126a25ea273

--- a/main.cpp	Mon May 05 17:46:15 2014 +0000
+++ b/main.cpp	Wed May 07 18:09:44 2014 +0000
@@ -4,16 +4,7 @@
 #include "rtos.h"
 #include "C12832.h"
 
-/* 
- *
- * Changes which must be made to default rtos settings:
- * Default scheduler stack size changed to 2048 for target K64F (RTX_Conf_CM.h, line 66)
- * Default stack size changed to 1024 words for ARMCC Compiler (cmsis_os.h, line 121)
- * The Timer Thread must run at Real Time priority (RTX_Conf_CM.c, line 182)
- * 
- */
 
-extern Thread osTimerThread;
 FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
 FXOS8700Q_mag mag( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
 eCompass compass;
@@ -39,24 +30,24 @@
 Thread *(calibrate);
 Thread *(lcdp);
 
+// This HAL map is for the FXOS8700Q on the K64F Freedom board.
 void hal_map( MotionSensorDataCounts * acc_raw, MotionSensorDataCounts * mag_raw)
 {
 int16_t t;
-// swap and negate X & Y axis
+// swap and negate accelerometer X & Y axis
 t = acc_raw->x;
 acc_raw->x = acc_raw->y * -1;
 acc_raw->y = t * -1;
-// swap mag X & Y axis
+// swap magnetometer X & Y axis
 t = mag_raw->x;
 mag_raw->x = mag_raw->y;
 mag_raw->y = t;
-// negate mag Z axis
+// negate magnetometer Z axis
 mag_raw->z *= -1;
 }
 
 
 void compass_thread(void const *argument) {
-    //osTimerThread.set_priority(osPriorityRealtime);
     // get raw data from the sensors
     green = 0;
     acc.getAxis( acc_raw);
@@ -72,19 +63,18 @@
         }
     tcount++;
     green = 1;
-    //osTimerThread.set_priority(osPriorityNormal);
 }
 
 void debug_print(void)
 {
     // Some useful printf statements for debug
     printf("roll=%d, pitch=%d, yaw=%d\r\n", axis6.roll, axis6.pitch, axis6.yaw);
-    //printf("Acc: X= %d Y= %d Z= %d    ", acc_raw.x, acc_raw.y, acc_raw.z);
-    //printf("Mag: X= %d Y= %d Z= %d\r\n", mag_raw.x, mag_raw.y, mag_raw.z);
+    printf("Acc: X= %d Y= %d Z= %d    ", acc_raw.x, acc_raw.y, acc_raw.z);
+    printf("Mag: X= %d Y= %d Z= %d\r\n", mag_raw.x, mag_raw.y, mag_raw.z);
     printf("Acc: X= %2.3f Y= %2.3f Z= %2.3f    ", axis6.fGax, axis6.fGay, axis6.fGaz);
     printf("Mag: X= %4.1f Y= %4.1f Z= %4.1f\r\n\n", axis6.fUTmx, axis6.fUTmy, axis6.fUTmz);
-    printf("Quaternion: Q0= %1.4f Q1= %1.4f Q2= %1.4f Q3= %1.4f\r\n\r\n", axis6.q0, axis6.q1, axis6.q2, axis6.q3); 
-    printf("Tcount= %d\r\n", tcount);
+    printf("Quaternion: Q0= %1.4f Q1= %1.4f Q2= %1.4f Q3= %1.4f\r\n", axis6.q0, axis6.q1, axis6.q2, axis6.q3); 
+    printf("Tcount= %d\r\n\n\n", tcount);
 }
 
 void calibrate_thread(void const *argument) {
@@ -111,13 +101,13 @@
     while (true) {
         // Signal flags that are reported as event are automatically cleared.
         Thread::signal_wait(0x4);  
-        red = 0;  
+        //red = 0;  
         h = seconds / 3600;
         m = (seconds % 3600) / 60;
         s = seconds % 60;
         lcd.locate(0,1);
         lcd.printf("K64F eCompass\nRunTime %02d:%02d:%02d\nRoll: %03d Pitch: %02d Yaw: %03d ", h, m, s, axis6.roll, axis6.pitch, axis6.yaw);
-        red = 1;
+        //red = 1;
     }
 }
 
@@ -144,15 +134,15 @@
     compass_timer.start(20);
     /*
      * Thread Priorities
-     * Compass THread,      Real Time (Highest)
-     * Compass calibration, High Priority
-     * LED Update,          Above Normal
-     * Pprintf to console,  Normal
+     * Compass Thread,      High Priority
+     * Compass calibration, Above Normal
+     * LED Update,          Normal
+     * printf to console,   Below Normal
      * main(),              Normal
      */
-    debugp->set_priority(osPriorityNormal);
-    lcdp->set_priority(osPriorityAboveNormal);
-    calibrate->set_priority(osPriorityHigh);
+    debugp->set_priority(osPriorityBelowNormal);
+    lcdp->set_priority(osPriorityNormal);
+    calibrate->set_priority(osPriorityAboveNormal);
     green = 1;
     while (true) {
         Thread::wait(osWaitForever);