Ian Hua / Quadcopter-mbedRTOS

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main.cpp@2:ab967d7b4346, 2014-04-29 (annotated)

Committer:
pHysiX
Date:
Tue Apr 29 11:43:32 2014 +0000
Revision:
2:ab967d7b4346
Parent:
0:8c28fac22d27
Child:
3:605fbcb54e75
Added in simple ESC initialise

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 0:8c28fac22d27 1 #include "mbed.h"
pHysiX 0:8c28fac22d27 2 #include "rtos.h"
pHysiX 0:8c28fac22d27 3 #include "setup.h"
pHysiX 0:8c28fac22d27 4 #include "tasks.h"
pHysiX 0:8c28fac22d27 5
pHysiX 0:8c28fac22d27 6 int main(void)
pHysiX 0:8c28fac22d27 7 {
pHysiX 2:ab967d7b4346 8 imu.debugSerial.baud(115200);
pHysiX 2:ab967d7b4346 9 imu.debugSerial.printf("hello\n");
pHysiX 0:8c28fac22d27 10 bool error = false;
pHysiX 2:ab967d7b4346 11
pHysiX 0:8c28fac22d27 12 /* Setup devices */
pHysiX 2:ab967d7b4346 13 if (setup_ESC())
pHysiX 2:ab967d7b4346 14 error = false;
pHysiX 2:ab967d7b4346 15 else {
pHysiX 2:ab967d7b4346 16 error = true;
pHysiX 2:ab967d7b4346 17 imu.debugSerial.printf("ESC FAILED!!!\n");
pHysiX 2:ab967d7b4346 18 }
pHysiX 2:ab967d7b4346 19
pHysiX 0:8c28fac22d27 20 if (setup_led())
pHysiX 0:8c28fac22d27 21 error = false;
pHysiX 0:8c28fac22d27 22 else
pHysiX 0:8c28fac22d27 23 error = true;
pHysiX 0:8c28fac22d27 24
pHysiX 0:8c28fac22d27 25 if (setup_bt()) {
pHysiX 0:8c28fac22d27 26 error = false;
pHysiX 2:ab967d7b4346 27 BT.printf("BT established!\n");
pHysiX 2:ab967d7b4346 28 } else
pHysiX 0:8c28fac22d27 29 error = true;
pHysiX 2:ab967d7b4346 30
pHysiX 0:8c28fac22d27 31 if (setup_mpu6050()) {
pHysiX 0:8c28fac22d27 32 error = false;
pHysiX 2:ab967d7b4346 33 BT.printf("MPU6050 established!\n");
pHysiX 2:ab967d7b4346 34 } else error = true;
pHysiX 0:8c28fac22d27 35
pHysiX 0:8c28fac22d27 36 if (!error) {
pHysiX 2:ab967d7b4346 37 imu.debugSerial.printf("Devices ready!\n");
pHysiX 0:8c28fac22d27 38 /* Create threads */
pHysiX 0:8c28fac22d27 39 RtosTimer thread1(Task1, osTimerPeriodic, NULL);
pHysiX 0:8c28fac22d27 40 RtosTimer thread2(Task2, osTimerPeriodic, NULL);
pHysiX 0:8c28fac22d27 41 RtosTimer thread3(Task3, osTimerPeriodic, (void *)0);
pHysiX 2:ab967d7b4346 42 RtosTimer thread4(Task4, osTimerPeriodic, (void *)0);
pHysiX 0:8c28fac22d27 43
pHysiX 0:8c28fac22d27 44 /* Start threads */
pHysiX 0:8c28fac22d27 45 thread1.start(TASK1_PERIOD);
pHysiX 0:8c28fac22d27 46 thread2.start(TASK2_PERIOD);
pHysiX 0:8c28fac22d27 47 thread3.start(TASK3_PERIOD);
pHysiX 2:ab967d7b4346 48 thread4.start(TASK4_PERIOD);
pHysiX 0:8c28fac22d27 49
pHysiX 0:8c28fac22d27 50 /* Execute state machine forever */
pHysiX 0:8c28fac22d27 51 Thread::wait(osWaitForever);
pHysiX 0:8c28fac22d27 52 } else {
pHysiX 0:8c28fac22d27 53 imu.debugSerial.printf("Setup failed!\n");
pHysiX 0:8c28fac22d27 54 return 0;
pHysiX 0:8c28fac22d27 55 }
pHysiX 0:8c28fac22d27 56 }