TaskGyroscope.cpp

00001 /*
00002  * TaskGyroscope.cpp
00003  *
00004  *  Created on: May 30, 2016
00005  *      Author: Adrian
00006  */
00007 
00008 #include "TaskGyroscope.h "
00009 
00010 TaskGyroscope::TaskGyroscope(MPU9250* mpu9250,Mutex* mutexI2C, Queue<MPU9250GyroscopeMessage,GYROSCOPE_QUEUE_LENGHT>* queue){
00011     this->mpu9250 = mpu9250;
00012     setMutex(mutexI2C);
00013     setQueue(queue);
00014 }
00015 
00016 TaskGyroscope::TaskGyroscope(MPU9250* mpu9250,rtos::Mutex* mutexI2C,
00017     rtos::Queue<MPU9250GyroscopeMessage,GYROSCOPE_QUEUE_LENGHT>* queue,
00018     osPriority priority, uint32_t stackSize, unsigned char *stackPointer){
00019     this->mpu9250 = mpu9250;
00020     setMutex(mutexI2C);
00021     setQueue(queue);
00022     setPriority(priority);
00023     setStackSize(stackSize);
00024     setStackPointer(stackPointer);
00025     setState(SLEEPING);
00026 }
00027 
00028 TaskGyroscope::~TaskGyroscope() {
00029     // TODO Auto-generated destructor stub
00030 }
00031 
00032 void TaskGyroscope::measure(){
00033     MPU9250GyroscopeMessage mpu9250GyroscopeMessage;
00034 
00035     while(true){
00036         mutexInterface->lock(osWaitForever);
00037         mpu9250GyroscopeMessage.setXGyro(mpu9250->getXAxisGyro());
00038         mpu9250GyroscopeMessage.setYGyro(mpu9250->getYAxisGyro());
00039         mpu9250GyroscopeMessage.setZGyro(mpu9250->getZAxisGyro());
00040         mutexInterface->unlock();
00041 
00042         queue->put(&mpu9250GyroscopeMessage,osWaitForever);
00043         osDelay(GYROSCOPE_TASK_DELAY_MS);
00044     }
00045 
00046 
00047 }
00048 
00049 void TaskGyroscope::setQueue(Queue<MPU9250GyroscopeMessage,GYROSCOPE_QUEUE_LENGHT>* queue){
00050     this->queue = queue;
00051 }