Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task2_Slave.cpp

Revision:
51:04c6af4319e1
Parent:
50:8a0accb23007
diff -r 8a0accb23007 -r 04c6af4319e1 RTOS-Threads/src/Task2_Slave.cpp
--- a/RTOS-Threads/src/Task2_Slave.cpp	Mon May 19 14:16:47 2014 +0000
+++ b/RTOS-Threads/src/Task2_Slave.cpp	Mon May 19 15:30:05 2014 +0000
@@ -18,7 +18,6 @@
 int16_t gx, gy, gz;
 volatile int gyro[3] = {0, 0, 0};
 
-bool counterESC = false;
 
 
 
@@ -28,8 +27,13 @@
 void Task2_Slave(void const *argument)
 {
     while (1) {
+        //PC.printf("T2S\n");
         sem_Task2_Slave.wait();
+        //PC.printf("T2S Sem\n");
+        
+        mutex_i2c.lock();
         gyroSample();
+        mutex_i2c.unlock();
 
         if (armed) {
             yawPIDrate.setSetPoint(inputYPR[0]);
@@ -46,8 +50,7 @@
                     adjust[0] = yawPIDrate.compute();
                     adjust[1] = pitchPIDrate.compute();
                     adjust[2] = rollPIDrate.compute();
-
-                    counterESC = true;
+                    
                     break;
 
                 case ATTITUDE:
@@ -63,11 +66,11 @@
                     adjust[1] = pitchPIDrate.compute();
                     adjust[2] = rollPIDrate.compute();
 
-                    counterESC = true;
                     break;
             }
-            //sem_Task4.release();
+            sem_Task4.release();
         }
+        Thread::wait(TASK2_SLAVE_PERIOD);
     }
 }
 
@@ -79,6 +82,7 @@
 // ************************
 void Task2_Slave_ISR(void const *argument)
 {
+    //PC.printf("T2S ISR\n");
     sem_Task2_Slave.release();
 }