Revision 2:7d574b1ab3cd, committed 2018-05-02

Comitter:

ha731548874

Date:

Wed May 02 03:33:15 2018 +0000

Parent:

1:cde16b5e604d

Commit message:

together

Changed in this revision

--- a/accgyro.cpp	Mon Apr 30 11:23:06 2018 +0000
+++ b/accgyro.cpp	Wed May 02 03:33:15 2018 +0000
@@ -10,7 +10,7 @@
 static DevI2C devI2c(PB_11,PB_10);
 static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW,PD_11);
 EventQueue ACCGYRO_queue;
-Mutex ACCGYRO_mutex;
+//Mutex ACCGYRO_mutex;
 
 int32_t ACCGYRO_get_gyro_x()
 {

--- a/main.cpp	Mon Apr 30 11:23:06 2018 +0000
+++ b/main.cpp	Wed May 02 03:33:15 2018 +0000
@@ -8,11 +8,13 @@
 EventQueue eventqueue;
 
 int main()
-{
+{   
+    SERVO_init();
     ACCGYRO_init();
     eventthread.start(callback(&eventqueue, &EventQueue::dispatch_forever));
     //ACCGYRO_thread.start(ACCGYRO_init);
     //Thread::wait(osWaitForever);
+    //eventqueue.call_every(1000, SERVO_task);
     eventqueue.call_every(1000, ACCGYRO_task);
     //q.dispatch();
     //eventqueue.call_every(1000,printf,"LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_get_gyro_x());

--- a/servo.cpp	Mon Apr 30 11:23:06 2018 +0000
+++ b/servo.cpp	Wed May 02 03:33:15 2018 +0000
@@ -1,6 +1,5 @@
 #include "mbed.h"
 #include "rtos.h"
-
 DigitalOut l1(LED1);
 DigitalOut l2(LED2);
 DigitalOut l3(LED3);
@@ -17,7 +16,8 @@
 int MotorID;
 void Tx_interrupt();
 void Rx_interrupt();
-
+//EventQueue queue;
+//Thread t;
 void motor_update(unsigned char Id, unsigned short int Position)
 {
     unsigned char id,lo,hi;
@@ -30,7 +30,7 @@
     tx_buffer[2] = lo;
     NVIC_EnableIRQ(USART3_IRQn);
 }
-void SERVO_init() 
+void SERVO_task() 
 {
     for(MotorID=0;MotorID<=1;MotorID++)
     {
@@ -38,8 +38,9 @@
         wait_us(900);
     }
 }
-void SERVO_task() 
+void SERVO_init() 
 {
+    l1 = !l1;
     motor.format(8,Serial::Even,1);
     motor.baud(115200);
     rx_buffer_ptr = 0;
@@ -47,6 +48,8 @@
     motor.attach(&Rx_interrupt, Serial::RxIrq);
     motor.attach(&Tx_interrupt, Serial::TxIrq);
     NVIC_EnableIRQ(USART3_IRQn);
+//    t.start(callback(&queue, &EventQueue::dispatch_forever));
+    //queue.call_every(1000, SERVO_init);
     while(1)
     {
         motorcp[0]=7500;