Ian Hua
/
Quadcopter-mbedRTOS
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Diff: RTOS-Setup/src/tasks.cpp
- Revision:
- 3:605fbcb54e75
- Parent:
- 2:ab967d7b4346
- Child:
- 21:b642c18eccd1
--- a/RTOS-Setup/src/tasks.cpp Tue Apr 29 11:43:32 2014 +0000
+++ b/RTOS-Setup/src/tasks.cpp Tue Apr 29 14:53:32 2014 +0000
@@ -1,8 +1,20 @@
#include "tasks.h"
#include "setup.h"
-void ledReset(void)
+void createThreads(void)
{
- for (int i = 0; i < 4; i++)
- LED[i] = 0;
+ /* Create threads */
+ RtosTimer thread1(Task1, osTimerPeriodic, NULL);
+ RtosTimer thread2(Task2, osTimerPeriodic, NULL);
+ RtosTimer thread3(Task3, osTimerPeriodic, (void *)0);
+ RtosTimer thread4(Task4, osTimerPeriodic, (void *)0);
+
+ /* Start threads */
+ thread1.start(TASK1_PERIOD);
+ thread2.start(TASK2_PERIOD);
+ thread3.start(TASK3_PERIOD);
+ thread4.start(TASK4_PERIOD);
+
+ /* Execute state machine forever */
+ Thread::wait(osWaitForever);
}