Ian Hua / Quadcopter-mbedRTOS

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main.cpp@0:8c28fac22d27, 2014-04-29 (annotated)

Committer:
pHysiX
Date:
Tue Apr 29 10:36:33 2014 +0000
Revision:
0:8c28fac22d27
Child:
2:ab967d7b4346
MPU6050: DMP, RTOS

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 0:8c28fac22d27 8 bool error = false;
pHysiX 0:8c28fac22d27 9
pHysiX 0:8c28fac22d27 10 /* Setup devices */
pHysiX 0:8c28fac22d27 11 if (setup_led())
pHysiX 0:8c28fac22d27 12 error = false;
pHysiX 0:8c28fac22d27 13 else
pHysiX 0:8c28fac22d27 14 error = true;
pHysiX 0:8c28fac22d27 15
pHysiX 0:8c28fac22d27 16 if (setup_bt()) {
pHysiX 0:8c28fac22d27 17 error = false;
pHysiX 0:8c28fac22d27 18 BT.printf("test\n");
pHysiX 0:8c28fac22d27 19 }
pHysiX 0:8c28fac22d27 20 else
pHysiX 0:8c28fac22d27 21 error = true;
pHysiX 0:8c28fac22d27 22
pHysiX 0:8c28fac22d27 23 if (setup_mpu6050()) {
pHysiX 0:8c28fac22d27 24 error = false;
pHysiX 0:8c28fac22d27 25 BT.printf("Setup done!\n");
pHysiX 0:8c28fac22d27 26 }
pHysiX 0:8c28fac22d27 27 else error = true;
pHysiX 0:8c28fac22d27 28
pHysiX 0:8c28fac22d27 29 if (!error) {
pHysiX 0:8c28fac22d27 30 /* Create threads */
pHysiX 0:8c28fac22d27 31 RtosTimer thread1(Task1, osTimerPeriodic, NULL);
pHysiX 0:8c28fac22d27 32 RtosTimer thread2(Task2, osTimerPeriodic, NULL);
pHysiX 0:8c28fac22d27 33 RtosTimer thread3(Task3, osTimerPeriodic, (void *)0);
pHysiX 0:8c28fac22d27 34 //RtosTimer thread4(Task4, osTimerPeriodic, (void *)0);
pHysiX 0:8c28fac22d27 35
pHysiX 0:8c28fac22d27 36 /* Start threads */
pHysiX 0:8c28fac22d27 37 thread1.start(TASK1_PERIOD);
pHysiX 0:8c28fac22d27 38 thread2.start(TASK2_PERIOD);
pHysiX 0:8c28fac22d27 39 thread3.start(TASK3_PERIOD);
pHysiX 0:8c28fac22d27 40 //thread4.start(TASK4_PERIOD);
pHysiX 0:8c28fac22d27 41
pHysiX 0:8c28fac22d27 42 /* Execute state machine forever */
pHysiX 0:8c28fac22d27 43 Thread::wait(osWaitForever);
pHysiX 0:8c28fac22d27 44 } else {
pHysiX 0:8c28fac22d27 45 imu.debugSerial.printf("Setup failed!\n");
pHysiX 0:8c28fac22d27 46 return 0;
pHysiX 0:8c28fac22d27 47 }
pHysiX 0:8c28fac22d27 48 }