Diff: threads.h

Revision:

0:f3b355df6f26

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/threads.h	Sun Apr 26 13:14:02 2015 +0000
@@ -0,0 +1,98 @@
+#ifndef _COMMON_H
+#define _COMMON_H
+
+
+#include "mbed.h"
+#include "rtos.h"
+#include "can.h"
+#include "ultrasonic.h"
+#include "ledsensor.h"
+#include "control.h"
+#include "print.h"
+
+/* PROGRAM MODES */
+#define WAITING  0x01
+#define STARTING 0x02
+#define RUNNING  0x03
+#define STOP     0x04
+
+
+#define ULTRA   0
+#define LASER   1
+
+
+#define PID   0
+#define ST_FEEDBACK   1
+
+typedef struct states_t {
+    float phi1;
+    float omega1;
+    float phi2;
+    float omega2;
+    float current;  
+} states_t;
+
+
+
+extern InterruptIn butOff;
+
+extern cUltrasonic us100;
+extern cCan can;
+extern cPrint pc;
+extern cLedSensor baumer;
+extern cControl control;
+
+extern float K[4];
+extern char first;
+extern states_t states;
+extern Mutex mutex1;
+extern char  programMode;
+extern char stisknut;
+extern char sensor;
+extern char controller;
+
+
+void stopProg();
+
+
+/* 
+ * Thread for inicialization
+ */
+void initThread(void const *args);
+
+/*
+ * Thread for led diodes
+ */
+void ledThread(void const *args);
+
+/*
+ * Thread for ultrasonic sensor
+ */
+void usThread(void const *args);
+
+/*
+ * Thread for baumer sensor
+ */
+void laserThread(void const *args);
+
+/*
+ * Thread for control
+ */
+void controlThread(void const *args);
+
+/*
+ * Thread for collect data
+ */
+void collectThread(void const *args);
+
+/*
+ * Thread for sending synchronization
+ */
+void syncThread(void const *args);
+
+/*
+ * Thread for print results
+ */
+void printThread(void const *args);
+
+#endif
\ No newline at end of file