Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task2_Master.cpp

Revision:
51:04c6af4319e1
Parent:
50:8a0accb23007
--- a/RTOS-Threads/src/Task2_Master.cpp	Mon May 19 14:16:47 2014 +0000
+++ b/RTOS-Threads/src/Task2_Master.cpp	Mon May 19 15:30:05 2014 +0000
@@ -32,6 +32,8 @@
 double heading = 0;
 #endif
 
+float altitude, temperature;
+
 /* YPR Adjust */
 volatile float adjust_attitude[3] = {0.0, 0.0, 0.0};
 
@@ -44,8 +46,15 @@
 void Task2_Master(void const *argument)
 {
     while(1) {
+        //PC.printf("T2M\n");
         sem_Task2_Master.wait();
+        //PC.printf("T2M Sem\n");
+        
+        mutex_i2c.lock();
         AHRSSample();
+        altitude = altimeter.Altitude_m();
+        altimeter.Temp_C();
+        mutex_i2c.unlock();
 
         if (armed) {
             switch (mode) {
@@ -68,6 +77,7 @@
                     break;
             }
         }
+        Thread::wait(TASK2_MASTER_PERIOD);
     }
 }
 
@@ -79,6 +89,7 @@
 // ************************
 void Task2_Master_ISR(void const *argument)
 {
+    //PC.printf("T2M ISR\n");
     sem_Task2_Master.release();
 }