processes.h

00001 #pragma once
00002 
00003 #ifndef PROCESSES_H
00004 #define PROCESSES_H
00005 #include <event_flags.h>
00006 //#include <Servo_Control.h>
00007 
00008 //      Process types
00009 //
00010 
00011 /*
00012 typedef OS::process<OS::pr0, 1400> PING_PROC;
00013 typedef OS::process<OS::pr1, 1000> TProc2;
00014 typedef OS::process<OS::pr2, 3000> Accelo_proc;
00015 typedef OS::process<OS::pr3, 1000> Servo_control;
00016 typedef OS::process<OS::pr4, 3000> Command_handler;
00017 typedef OS::process<OS::pr5, 1000> Motor_controller;
00018 typedef OS::process<OS::pr6, 4000> Serial_Out;
00019 */
00020 
00021 typedef OS::process<OS::pr0, 2000> PING_PROC;
00022 typedef OS::process<OS::pr1, 1400> TProc2;
00023 typedef OS::process<OS::pr2, 3000> Accelo_proc;
00024 typedef OS::process<OS::pr3, 2000> Servo_control;
00025 typedef OS::process<OS::pr4, 3000> Command_handler;
00026 typedef OS::process<OS::pr5, 2000> Motor_controller;
00027 typedef OS::process<OS::pr6, 4000> Serial_Out;
00028 
00029 //typedef OS::process<OS::pr3, 300> TProc4;
00030 
00031 //---------------------------------------------------------------------------
00032 //
00033 //      Process objects
00034 //
00035 PING_PROC PING_PROCESS;
00036 TProc2 Proc2;
00037 Accelo_proc Accelerometer_process;
00038 Servo_control Servo_process;
00039 Command_handler Com_Handler;
00040 Serial_Out Serial_Out_Proc;
00041 Motor_controller M_cont_process;
00042 
00043 //---------------------------------------------------------------------------
00044 
00045 
00046 
00047 //      IO Pins
00048 //
00049 //DigitalOut led1(LED1);
00050 //DigitalOut led2(LED2);
00051 
00052 
00053 //---------------------------------------------------------------------------
00054  
00055 
00056 //---------------------------------------------------------------------------
00057 //extra declarations
00058 
00059 
00060 
00061 
00062 
00063 
00064 
00065 
00066 BusOut leds(LED1, LED2, LED3, LED4);
00067 
00068 
00069 //---------------------------------------------------------------------------
00070 template<> OS_PROCESS void TProc2::Exec()
00071 {
00072     for(;;)
00073     {
00074         Sleep(500); //suspend process
00075         //printf("e\n");
00076         //led1 = !led1;
00077         //leds = 0x1;
00078     }
00079 }
00080 
00081 //---------------------------------------------------------------------------
00082 
00083 
00084 
00085 void OS::SystemTimerUserHook()
00086 {
00087     static int cnt=0;
00088     if (++cnt == 2000)
00089     {
00090         cnt = 0;
00091         //led2.write(1);
00092         timerEvent.SignalISR();
00093     }
00094 }
00095 
00096 //---------------------------------------------------------------------------
00097 void OS::IdleProcessUserHook()
00098 {
00099     __WFI(); //sleep the ucontroller and wait for interrupt
00100 }
00101 //-----------------------------------------------------------------------------
00102 
00103 #endif
00104 
00105