Projet Drone de surveillance du labo TRSE (INGESUP)
Dependencies: mbed PID ADXL345 Camera_LS_Y201 ITG3200 RangeFinder mbos xbee_lib Motor Servo
main.cpp@34:4466839f5bb7, 2014-03-19 (annotated)
- Committer:
- Gaetan
- Date:
- Wed Mar 19 09:18:53 2014 +0000
- Revision:
- 34:4466839f5bb7
- Parent:
- 33:f85d47baaeb4
- Child:
- 35:95cb34636703
19/03/2014 commit before update;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gaetan | 10:c8d73680b9fd | 1 | /* Copyright (c) 2012 - 2013 Gaëtan PLEYBER |
Gaetan | 10:c8d73680b9fd | 2 | * |
Gaetan | 10:c8d73680b9fd | 3 | * THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED |
Gaetan | 10:c8d73680b9fd | 4 | * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF |
Gaetan | 10:c8d73680b9fd | 5 | * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT |
Gaetan | 10:c8d73680b9fd | 6 | * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, |
Gaetan | 10:c8d73680b9fd | 7 | * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT |
Gaetan | 10:c8d73680b9fd | 8 | * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
Gaetan | 10:c8d73680b9fd | 9 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, |
Gaetan | 10:c8d73680b9fd | 10 | * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
Gaetan | 10:c8d73680b9fd | 11 | * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Gaetan | 10:c8d73680b9fd | 12 | */ |
Gaetan | 10:c8d73680b9fd | 13 | |
Gaetan | 10:c8d73680b9fd | 14 | /* |
Gaetan | 10:c8d73680b9fd | 15 | * Description |
Gaetan | 10:c8d73680b9fd | 16 | * Input |
Gaetan | 10:c8d73680b9fd | 17 | * Output |
Gaetan | 10:c8d73680b9fd | 18 | */ |
NicolasH | 0:8d93a5e4e4ab | 19 | |
Gaetan | 32:74608bce78f6 | 20 | |
Gaetan | 6:0e3d95e9885e | 21 | #include "mbed.h" |
Gaetan | 6:0e3d95e9885e | 22 | #include "mbos.h" |
IngesupMbed01 | 29:a0800d3da787 | 23 | #include "Module_Communication.h" |
Gaetan | 34:4466839f5bb7 | 24 | #include "Module_Mouvement.h" |
Gaetan | 32:74608bce78f6 | 25 | #include "os.h" |
Gaetan | 32:74608bce78f6 | 26 | |
Gaetan | 34:4466839f5bb7 | 27 | //void task1(void); // task function prototypes |
Gaetan | 34:4466839f5bb7 | 28 | //void task2(void); |
Gaetan | 6:0e3d95e9885e | 29 | |
Gaetan | 34:4466839f5bb7 | 30 | /*DigitalOut led1(LED1); |
Gaetan | 6:0e3d95e9885e | 31 | DigitalOut led2(LED2); |
Gaetan | 34:4466839f5bb7 | 32 | DigitalOut led3(LED3);*/ |
Gaetan | 34:4466839f5bb7 | 33 | mbos os(3, 2); // Instantiate mbos with 7 tasks & 7 timer |
Gaetan | 32:74608bce78f6 | 34 | |
Gaetan | 6:0e3d95e9885e | 35 | |
Gaetan | 6:0e3d95e9885e | 36 | int main(void) |
Gaetan | 6:0e3d95e9885e | 37 | { |
Gaetan | 34:4466839f5bb7 | 38 | |
Gaetan | 33:f85d47baaeb4 | 39 | //exemple d'utilisation du système d'exploitation : |
Gaetan | 33:f85d47baaeb4 | 40 | |
Gaetan | 33:f85d47baaeb4 | 41 | // 1 création des tâches |
Gaetan | 34:4466839f5bb7 | 42 | os.CreateTask(TASK_COM, TASK_COM_PRIO, TASK_COM_STACK_SZ, moduleCommunicationReception); |
Gaetan | 34:4466839f5bb7 | 43 | os.CreateTask(TASK_MOUV, TASK_MOUV_PRIO, TASK_MOUV_STACK_SZ, ModuleMouvement_Task); |
Gaetan | 34:4466839f5bb7 | 44 | os.CreateTask(TASK_ENVOI, TASK_ENVOI_PRIO, TASK_ENVOI_STACK_SZ, moduleCommunicationEnvoi); |
Gaetan | 32:74608bce78f6 | 45 | /*os.CreateTask(TASK_MOUV, TASK_MOUV_PRIO, TASK_MOUV_STACK_SZ, task1); |
Gaetan | 32:74608bce78f6 | 46 | os.CreateTask(TASK_TRAJ, TASK_TRAJ_PRIO, TASK_TRAJ_STACK_SZ, task2); |
Gaetan | 32:74608bce78f6 | 47 | os.CreateTask(TASK_BATT, TASK_BATT_PRIO, TASK_BATT_STACK_SZ, task1); |
Gaetan | 32:74608bce78f6 | 48 | os.CreateTask(TASK_VIDEO, TASK_VIDEO_PRIO, TASK_VIDEO_STACK_SZ, task2); |
Gaetan | 32:74608bce78f6 | 49 | os.CreateTask(TASK_ARRET_URGENT, TASK_ARRET_URGENT_PRIO, TASK_ARRET_URGENT_STACK_SZ, task1);*/ |
Gaetan | 32:74608bce78f6 | 50 | |
Gaetan | 32:74608bce78f6 | 51 | os.CreateTimer(TIMER_COM_ID, TASK_COM, TIMER_EVENT); |
Gaetan | 34:4466839f5bb7 | 52 | os.CreateTimer(TIMER_MOUV_ID, TASK_MOUV, TIMER_EVENT); |
Gaetan | 32:74608bce78f6 | 53 | /*os.CreateTimer(TIMER_MOUV_ID, TIMER_MOUV_PERIOD, TIMER_MOUV_EVENT); |
Gaetan | 32:74608bce78f6 | 54 | os.CreateTimer(TIMER_BATT_ID, TIMER_BATT_PERIOD, TIMER_BATT_EVENT); |
Gaetan | 32:74608bce78f6 | 55 | os.CreateTimer(TIMER_VIDEO_ID, TIMER_VIDEO_PERIOD, TIMER_VIDEO_EVENT); |
Gaetan | 32:74608bce78f6 | 56 | os.CreateTimer(TIMER_ARRET_URGENT_ID, TIMER_ARRET_URGENT_PERIOD, TIMER_ARRET_URGENT_EVENT);*/ |
Gaetan | 32:74608bce78f6 | 57 | |
Gaetan | 6:0e3d95e9885e | 58 | // Start mbos |
Gaetan | 6:0e3d95e9885e | 59 | os.Start(); |
Gaetan | 6:0e3d95e9885e | 60 | // never return! |
Gaetan | 33:f85d47baaeb4 | 61 | |
Gaetan | 33:f85d47baaeb4 | 62 | /*C_ModuleCommunication com = C_ModuleCommunication(); |
Gaetan | 33:f85d47baaeb4 | 63 | com.receptionDeTrame();*/ |
NicolasH | 0:8d93a5e4e4ab | 64 | } |
Gaetan | 6:0e3d95e9885e | 65 | |
Gaetan | 33:f85d47baaeb4 | 66 | |
Gaetan | 33:f85d47baaeb4 | 67 | /* Exemple de point d'entré associée a une tâche. |
Gaetan | 33:f85d47baaeb4 | 68 | * |
Gaetan | 33:f85d47baaeb4 | 69 | * Attention : le point d'entré d'une tâche ne doit pas être une methode membre d'un objet. |
Gaetan | 33:f85d47baaeb4 | 70 | * En effet, le point d'entré doit être considéré de la même manière qu'un "void main(void)" |
Gaetan | 33:f85d47baaeb4 | 71 | * Au début du point d'entré l'objet peut être instancié. |
Gaetan | 33:f85d47baaeb4 | 72 | * |
Gaetan | 33:f85d47baaeb4 | 73 | */ |
Gaetan | 33:f85d47baaeb4 | 74 | |
Gaetan | 34:4466839f5bb7 | 75 | /*void task1(void) |
Gaetan | 6:0e3d95e9885e | 76 | { |
Gaetan | 32:74608bce78f6 | 77 | os.SetTimer(TIMER_COM_ID, TIMER_COM_PERIOD, TIMER_COM_PERIOD); |
Gaetan | 6:0e3d95e9885e | 78 | while(1){ |
Gaetan | 32:74608bce78f6 | 79 | os.WaitEvent(TIMER_EVENT); |
Gaetan | 6:0e3d95e9885e | 80 | led1 = !led1; |
Gaetan | 32:74608bce78f6 | 81 | os.SetEvent(COMMUNICATION_EVENT, TASK_DETEC); |
Gaetan | 6:0e3d95e9885e | 82 | } |
Gaetan | 34:4466839f5bb7 | 83 | }*/ |
Gaetan | 6:0e3d95e9885e | 84 | |
Gaetan | 34:4466839f5bb7 | 85 | /*void task2(void) |
Gaetan | 6:0e3d95e9885e | 86 | { |
Gaetan | 32:74608bce78f6 | 87 | os.SetTimer(TIMER_DETEC_ID, TIMER_DETEC_PERIOD, TIMER_DETEC_PERIOD); |
Gaetan | 6:0e3d95e9885e | 88 | while(1){ |
Gaetan | 34:4466839f5bb7 | 89 | os.WaitEvent(TIMER_EVENT | COMMUNICATION_EVENT); //Attention : la methode WaitEvent réinitialise les évènements à 0*/ |
Gaetan | 33:f85d47baaeb4 | 90 | /*switch(os.GetEvent()){ // Avec un switch on ne traite qu'un seul évènement reçu. Il y a risque de ne pas traiter tous les évènements reçus. |
Gaetan | 32:74608bce78f6 | 91 | case TIMER_EVENT: |
Gaetan | 32:74608bce78f6 | 92 | led2 = !led2; |
Gaetan | 32:74608bce78f6 | 93 | break; |
Gaetan | 32:74608bce78f6 | 94 | case COMMUNICATION_EVENT: |
Gaetan | 32:74608bce78f6 | 95 | led3 = !led3; |
Gaetan | 32:74608bce78f6 | 96 | break; |
Gaetan | 32:74608bce78f6 | 97 | }*/ |
Gaetan | 33:f85d47baaeb4 | 98 | //Le Test de chaque flag d'évènement permet de tous les traiter. Au maximum, une tâche peut ainsi traiter 8 évènement, correspondant à chaque flag d'un octet |
Gaetan | 33:f85d47baaeb4 | 99 | |
Gaetan | 34:4466839f5bb7 | 100 | /*if(os.GetEvent() & TIMER_EVENT) led2 = !led2; |
Gaetan | 32:74608bce78f6 | 101 | if(os.GetEvent() & COMMUNICATION_EVENT) led3 = !led3; |
Gaetan | 6:0e3d95e9885e | 102 | } |
Gaetan | 34:4466839f5bb7 | 103 | }*/ |