Revision 3:1345f959c490, committed 2018-05-02

Comitter:

mr_wang

Date:

Wed May 02 07:49:13 2018 +0000

Parent:

2:7d574b1ab3cd

Commit message:

ahah

Changed in this revision

--- a/main.cpp	Wed May 02 03:33:15 2018 +0000
+++ b/main.cpp	Wed May 02 07:49:13 2018 +0000
@@ -1,29 +1,31 @@
 #include "mbed.h"
 #include "rtos.h"
-
+#include "servo.h"
 #include "accgyro.h"
 //Serial pc(USBTX, USBRX);
 DigitalOut led2(LED2);
-Thread eventthread;
-EventQueue eventqueue;
+Thread event_thread;
+Thread ACCGYRO_thread;
+Thread SERVO_thread;
+EventQueue event_queue;
 
 int main()
 {   
-    SERVO_init();
-    ACCGYRO_init();
-    eventthread.start(callback(&eventqueue, &EventQueue::dispatch_forever));
-    //ACCGYRO_thread.start(ACCGYRO_init);
+    ACCGYRO_thread.start(ACCGYRO_init);
+    SERVO_thread.start(SERVO_init);
+    //SERVO_init();
+    //event_thread.start(callback(&event_queue, &EventQueue::dispatch_forever));
+    //ACCGYRO_init();
+    event_thread.start(callback(&event_queue, &EventQueue::dispatch_forever));
     //Thread::wait(osWaitForever);
-    //eventqueue.call_every(1000, SERVO_task);
-    eventqueue.call_every(1000, ACCGYRO_task);
+    event_queue.call_every(1000, SERVO_task);
+    event_queue.call_every(1000, ACCGYRO_task);
     //q.dispatch();
     //eventqueue.call_every(1000,printf,"LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_get_gyro_x());
     //q.dispatch();
-
-
     while(1)
     {
-        eventqueue.call(printf,"LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_get_gyro_x());
+        //eventqueue.call(printf,"LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_get_gyro_x());
         led2 = !led2;
         wait(1);
         //q.dispatch();

--- a/servo.cpp	Wed May 02 03:33:15 2018 +0000
+++ b/servo.cpp	Wed May 02 07:49:13 2018 +0000
@@ -1,9 +1,6 @@
 #include "mbed.h"
 #include "rtos.h"
-DigitalOut l1(LED1);
-DigitalOut l2(LED2);
-DigitalOut l3(LED3);
-DigitalOut l4(LED4);
+DigitalOut led3(LED3);
 RawSerial motor(PC_4,PC_5);
 unsigned char tx_buffer[3];
 unsigned char tx_buffer_ptr = 0;
@@ -18,6 +15,7 @@
 void Rx_interrupt();
 //EventQueue queue;
 //Thread t;
+
 void motor_update(unsigned char Id, unsigned short int Position)
 {
     unsigned char id,lo,hi;
@@ -32,6 +30,7 @@
 }
 void SERVO_task() 
 {
+    led3 = !led3;
     for(MotorID=0;MotorID<=1;MotorID++)
     {
         motor_update(MotorID,motorcp[MotorID]);
@@ -40,7 +39,6 @@
 }
 void SERVO_init() 
 {
-    l1 = !l1;
     motor.format(8,Serial::Even,1);
     motor.baud(115200);
     rx_buffer_ptr = 0;
@@ -48,8 +46,9 @@
     motor.attach(&Rx_interrupt, Serial::RxIrq);
     motor.attach(&Tx_interrupt, Serial::TxIrq);
     NVIC_EnableIRQ(USART3_IRQn);
-//    t.start(callback(&queue, &EventQueue::dispatch_forever));
+    //t.start(callback(&queue, &EventQueue::dispatch_forever));
     //queue.call_every(1000, SERVO_init);
+/*
     while(1)
     {
         motorcp[0]=7500;
@@ -59,6 +58,7 @@
         motorcp[1]=8500;
         Thread::wait(1000);
     }
+*/
 }
 
 void Tx_interrupt()