Ian Hua / Quadcopter-mbedRTOS

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RTOS-Setup/src/tasks.cpp@51:04c6af4319e1, 2014-05-19 (annotated)

Committer:
pHysiX
Date:
Mon May 19 15:30:05 2014 +0000
Revision:
51:04c6af4319e1
Parent:
50:8a0accb23007 
Code rearranged into threads. Timer reserved for time critical routines only. Implemented working semaphore and mutex

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 22:ef8aa9728013 1 /* File: tasks.h
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 22:ef8aa9728013 4 * Purpose: Code to intialise and start all threads.
pHysiX 22:ef8aa9728013 5 */
pHysiX 1:43f8ac7ca6d7 6 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 7 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 8
pHysiX 51:04c6af4319e1 9 Mutex mutex_i2c;
pHysiX 51:04c6af4319e1 10
pHysiX 3:605fbcb54e75 11 void createThreads(void)
pHysiX 1:43f8ac7ca6d7 12 {
pHysiX 51:04c6af4319e1 13 /* Create timer callbacks */
pHysiX 51:04c6af4319e1 14 RtosTimer thread2Slave_ISR(Task2_Slave_ISR, osTimerPeriodic, NULL);
pHysiX 51:04c6af4319e1 15 thread2Slave_ISR.start(TASK2_SLAVE_PERIOD);
pHysiX 50:8a0accb23007 16
pHysiX 50:8a0accb23007 17 RtosTimer thread2Master_ISR(Task2_Master_ISR, osTimerPeriodic, NULL);
pHysiX 50:8a0accb23007 18 thread2Master_ISR.start(TASK2_MASTER_PERIOD);
pHysiX 50:8a0accb23007 19
pHysiX 51:04c6af4319e1 20 RtosTimer thread3(Task3, osTimerPeriodic, NULL);
pHysiX 51:04c6af4319e1 21 thread3.start(TASK3_PERIOD);
pHysiX 51:04c6af4319e1 22
pHysiX 51:04c6af4319e1 23 //RtosTimer thread4(Task4, osTimerPeriodic, NULL);
pHysiX 51:04c6af4319e1 24 //thread4.start(TASK4_PERIOD);
pHysiX 50:8a0accb23007 25
pHysiX 51:04c6af4319e1 26 /* Create threads */
pHysiX 51:04c6af4319e1 27 Thread thread1(Task1, NULL, osPriorityIdle);
pHysiX 51:04c6af4319e1 28 Thread thread2Slave(Task2_Slave, NULL, osPriorityRealtime);
pHysiX 51:04c6af4319e1 29 Thread thread2Master(Task2_Master, NULL, osPriorityHigh);
pHysiX 51:04c6af4319e1 30 Thread thread4(Task4, NULL, osPriorityRealtime);
pHysiX 21:b642c18eccd1 31
pHysiX 3:605fbcb54e75 32 /* Execute state machine forever */
pHysiX 3:605fbcb54e75 33 Thread::wait(osWaitForever);
pHysiX 1:43f8ac7ca6d7 34 }