Greg Kuhn
Program to control an accelerometer, motors and a rangefinder using the ScmRTOS ported to mbed. (Work in progress and buggy)
main.cpp@0:9b057566f9ee, 2010-11-01 (annotated)
- Committer:
- jberry
- Date:
- Mon Nov 01 20:39:01 2010 +0000
- Revision:
- 0:9b057566f9ee
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| jberry | 0:9b057566f9ee | 1 | //****************************************************************************** |
| jberry | 0:9b057566f9ee | 2 | //* |
| jberry | 0:9b057566f9ee | 3 | //* FULLNAME: Single-Chip Microcontroller Real-Time Operating System |
| jberry | 0:9b057566f9ee | 4 | //* |
| jberry | 0:9b057566f9ee | 5 | //* NICKNAME: scmRTOS |
| jberry | 0:9b057566f9ee | 6 | //* |
| jberry | 0:9b057566f9ee | 7 | //* PROCESSOR: ARM Cortex-M3 |
| jberry | 0:9b057566f9ee | 8 | //* |
| jberry | 0:9b057566f9ee | 9 | //* TOOLKIT: RVCT (ARM) |
| jberry | 0:9b057566f9ee | 10 | //* |
| jberry | 0:9b057566f9ee | 11 | //* PURPOSE: Port Test File |
| jberry | 0:9b057566f9ee | 12 | //* |
| jberry | 0:9b057566f9ee | 13 | //* Version: 3.10 |
| jberry | 0:9b057566f9ee | 14 | //* |
| jberry | 0:9b057566f9ee | 15 | //* $Revision: 196 $ |
| jberry | 0:9b057566f9ee | 16 | //* $Date:: 2010-09-09 #$ |
| jberry | 0:9b057566f9ee | 17 | //* |
| jberry | 0:9b057566f9ee | 18 | //* Copyright (c) 2003-2010, Harry E. Zhurov |
| jberry | 0:9b057566f9ee | 19 | //* |
| jberry | 0:9b057566f9ee | 20 | //* Permission is hereby granted, free of charge, to any person |
| jberry | 0:9b057566f9ee | 21 | //* obtaining a copy of this software and associated documentation |
| jberry | 0:9b057566f9ee | 22 | //* files (the "Software"), to deal in the Software without restriction, |
| jberry | 0:9b057566f9ee | 23 | //* including without limitation the rights to use, copy, modify, merge, |
| jberry | 0:9b057566f9ee | 24 | //* publish, distribute, sublicense, and/or sell copies of the Software, |
| jberry | 0:9b057566f9ee | 25 | //* and to permit persons to whom the Software is furnished to do so, |
| jberry | 0:9b057566f9ee | 26 | //* subject to the following conditions: |
| jberry | 0:9b057566f9ee | 27 | //* |
| jberry | 0:9b057566f9ee | 28 | //* The above copyright notice and this permission notice shall be included |
| jberry | 0:9b057566f9ee | 29 | //* in all copies or substantial portions of the Software. |
| jberry | 0:9b057566f9ee | 30 | //* |
| jberry | 0:9b057566f9ee | 31 | //* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| jberry | 0:9b057566f9ee | 32 | //* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
| jberry | 0:9b057566f9ee | 33 | //* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. |
| jberry | 0:9b057566f9ee | 34 | //* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY |
| jberry | 0:9b057566f9ee | 35 | //* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, |
| jberry | 0:9b057566f9ee | 36 | //* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH |
| jberry | 0:9b057566f9ee | 37 | //* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| jberry | 0:9b057566f9ee | 38 | //* |
| jberry | 0:9b057566f9ee | 39 | //* ================================================================= |
| jberry | 0:9b057566f9ee | 40 | //* See http://scmrtos.sourceforge.net for documentation, latest |
| jberry | 0:9b057566f9ee | 41 | //* information, license and contact details. |
| jberry | 0:9b057566f9ee | 42 | //* ================================================================= |
| jberry | 0:9b057566f9ee | 43 | //* |
| jberry | 0:9b057566f9ee | 44 | //****************************************************************************** |
| jberry | 0:9b057566f9ee | 45 | //* mbed port by Igor Skochinsky |
| jberry | 0:9b057566f9ee | 46 | |
| jberry | 0:9b057566f9ee | 47 | #include <mbed.h> |
| jberry | 0:9b057566f9ee | 48 | #include <scmRTOS.h> |
| jberry | 0:9b057566f9ee | 49 | #include <processes.h> |
| jberry | 0:9b057566f9ee | 50 | #include <serial.h> |
| jberry | 0:9b057566f9ee | 51 | #include <Command_handler.h> |
| jberry | 0:9b057566f9ee | 52 | #include <event_flags.h> |
| jberry | 0:9b057566f9ee | 53 | #include <Servo_Control.h> |
| jberry | 0:9b057566f9ee | 54 | #include <serial_out.h> |
| jberry | 0:9b057566f9ee | 55 | #include <PING_rangefinder.h> |
| jberry | 0:9b057566f9ee | 56 | #include <Motor_control.h> |
| jberry | 0:9b057566f9ee | 57 | #include <accelerometer.h> |
| jberry | 0:9b057566f9ee | 58 | //--------------------------------------------------------------------------- |
| jberry | 0:9b057566f9ee | 59 | // |
| jberry | 0:9b057566f9ee | 60 | |
| jberry | 0:9b057566f9ee | 61 | // |
| jberry | 0:9b057566f9ee | 62 | |
| jberry | 0:9b057566f9ee | 63 | |
| jberry | 0:9b057566f9ee | 64 | |
| jberry | 0:9b057566f9ee | 65 | |
| jberry | 0:9b057566f9ee | 66 | |
| jberry | 0:9b057566f9ee | 67 | // |
| jberry | 0:9b057566f9ee | 68 | int main() |
| jberry | 0:9b057566f9ee | 69 | { |
| jberry | 0:9b057566f9ee | 70 | |
| jberry | 0:9b057566f9ee | 71 | USB.baud(921600); |
| jberry | 0:9b057566f9ee | 72 | USB.attach(USB_serial); |
| jberry | 0:9b057566f9ee | 73 | //XB.baud(115200); |
| jberry | 0:9b057566f9ee | 74 | //XB.attach(XB_serial); |
| jberry | 0:9b057566f9ee | 75 | // configure IO pins |
| jberry | 0:9b057566f9ee | 76 | //led1.write(0); |
| jberry | 0:9b057566f9ee | 77 | //led2.write(0); |
| jberry | 0:9b057566f9ee | 78 | |
| jberry | 0:9b057566f9ee | 79 | // run |
| jberry | 0:9b057566f9ee | 80 | OS::Run(); |
| jberry | 0:9b057566f9ee | 81 | } |
| jberry | 0:9b057566f9ee | 82 | |
| jberry | 0:9b057566f9ee | 83 | |
| jberry | 0:9b057566f9ee | 84 | |
| jberry | 0:9b057566f9ee | 85 | |
| jberry | 0:9b057566f9ee | 86 | //--------------------------------------------------------------------------- |
| jberry | 0:9b057566f9ee | 87 | |
| jberry | 0:9b057566f9ee | 88 | //--------------------------------------------------------------------------- |
| jberry | 0:9b057566f9ee | 89 |