1 sensor using RTOS Timer, another 2 over RTOS Semaphore
Dependents: Autonomous_quadcopter
Fork of HCSR04 by
Diff: hcsr04.cpp
- Revision:
- 4:34023f76fc4f
- Parent:
- 3:81512ca9a13c
--- a/hcsr04.cpp Sat Jan 20 11:44:21 2018 +0000 +++ b/hcsr04.cpp Sun Jan 21 17:56:47 2018 +0000 @@ -1,13 +1,17 @@ #include "hcsr04.h" +#include "definitions.h" #include "mbed.h" #include "rtos.h" + + /* *HCSR04.cpp */ HCSR04::HCSR04(PinName t, PinName e) : trig(t), echo(e) { //thread = new Thread(threadWorker, this); threadUpdateTimer = new RtosTimer(threadWorker, osTimerPeriodic, this); - threadUpdateTimer->start(5); + int rate = (1.0 / FLIGHT_CONTROLLER_FREQUENCY) * 1000; + threadUpdateTimer->start(rate); } void HCSR04::threadWorker(void const *p)