Projet Drone de surveillance du labo TRSE (INGESUP)
Dependencies: mbed PID ADXL345 Camera_LS_Y201 ITG3200 RangeFinder mbos xbee_lib Motor Servo
Diff: main.cpp
- Revision:
- 32:74608bce78f6
- Parent:
- 10:c8d73680b9fd
- Child:
- 33:f85d47baaeb4
--- a/main.cpp Wed Apr 03 13:48:30 2013 +0000 +++ b/main.cpp Sat Apr 27 11:00:25 2013 +0000 @@ -16,8 +16,9 @@ * Input * Output */ - -/*#include "mbed.h" + +/* +#include "mbed.h" #include "mbos.h" DigitalOut myled(LED1); @@ -32,33 +33,39 @@ //modification } }*/ + #include "mbed.h" #include "mbos.h" - -#define TASK1_ID 1 // Id for task 1 (idle task is 0) -#define TASK1_PRIO 50 // priority for task 1 -#define TASK1_STACK_SZ 32 // stack size for task 1 in words -#define TASK2_ID 2 // Id for task 2 -#define TASK2_PRIO 60 // priority for task 2 -#define TASK2_STACK_SZ 32 // stack size for task 2 in words -#define TIMER0_ID 0 // Id for timer 0 -#define TIMER0_PERIOD 1000 // Time period in milliseconds -#define TIMER0_EVENT 1 // Event flag (1 << 0) -#define T1_TO_T2_EVENT 2 // Event flag (1 << 1) +#include "os.h" + void task1(void); // task function prototypes void task2(void); DigitalOut led1(LED1); DigitalOut led2(LED2); -mbos os(2, 1); // Instantiate mbos with 2 tasks & 1 timer +DigitalOut led3(LED3); +mbos os(2, 2); // Instantiate mbos with 7 tasks & 7 timer + int main(void) { // Configure tasks and timers - os.CreateTask(TASK1_ID, TASK1_PRIO, TASK1_STACK_SZ, task1); - os.CreateTask(TASK2_ID, TASK2_PRIO, TASK2_STACK_SZ, task2); - os.CreateTimer(TIMER0_ID, TIMER0_EVENT, TASK1_ID); + os.CreateTask(TASK_COM, TASK_COM_PRIO, TASK_COM_STACK_SZ, task1); + os.CreateTask(TASK_DETEC, TASK_DETEC_PRIO, TASK_DETEC_STACK_SZ, task2); + /*os.CreateTask(TASK_MOUV, TASK_MOUV_PRIO, TASK_MOUV_STACK_SZ, task1); + os.CreateTask(TASK_TRAJ, TASK_TRAJ_PRIO, TASK_TRAJ_STACK_SZ, task2); + os.CreateTask(TASK_BATT, TASK_BATT_PRIO, TASK_BATT_STACK_SZ, task1); + os.CreateTask(TASK_VIDEO, TASK_VIDEO_PRIO, TASK_VIDEO_STACK_SZ, task2); + os.CreateTask(TASK_ARRET_URGENT, TASK_ARRET_URGENT_PRIO, TASK_ARRET_URGENT_STACK_SZ, task1);*/ + + os.CreateTimer(TIMER_COM_ID, TASK_COM, TIMER_EVENT); + os.CreateTimer(TIMER_DETEC_ID, TASK_DETEC, TIMER_EVENT); + /*os.CreateTimer(TIMER_MOUV_ID, TIMER_MOUV_PERIOD, TIMER_MOUV_EVENT); + os.CreateTimer(TIMER_BATT_ID, TIMER_BATT_PERIOD, TIMER_BATT_EVENT); + os.CreateTimer(TIMER_VIDEO_ID, TIMER_VIDEO_PERIOD, TIMER_VIDEO_EVENT); + os.CreateTimer(TIMER_ARRET_URGENT_ID, TIMER_ARRET_URGENT_PERIOD, TIMER_ARRET_URGENT_EVENT);*/ + // Start mbos os.Start(); // never return! @@ -66,22 +73,28 @@ void task1(void) { - os.SetTimer(TIMER0_ID, TIMER0_PERIOD, TIMER0_PERIOD); + os.SetTimer(TIMER_COM_ID, TIMER_COM_PERIOD, TIMER_COM_PERIOD); while(1){ - os.WaitEvent(TIMER0_EVENT); + os.WaitEvent(TIMER_EVENT); led1 = !led1; - os.SetEvent(T1_TO_T2_EVENT, TASK2_ID); + os.SetEvent(COMMUNICATION_EVENT, TASK_DETEC); } } void task2(void) { + os.SetTimer(TIMER_DETEC_ID, TIMER_DETEC_PERIOD, TIMER_DETEC_PERIOD); while(1){ - os.WaitEvent(T1_TO_T2_EVENT); - led2 = 1; - wait_ms(100); - led2 = 0; + os.WaitEvent(TIMER_EVENT | COMMUNICATION_EVENT); + /*switch(os.GetEvent()){ + case TIMER_EVENT: + led2 = !led2; + break; + case COMMUNICATION_EVENT: + led3 = !led3; + break; + }*/ + if(os.GetEvent() & TIMER_EVENT) led2 = !led2; + if(os.GetEvent() & COMMUNICATION_EVENT) led3 = !led3; } } -/*@endcode - */ \ No newline at end of file