DP
Dependencies: FastAnalogIn mbed-rtos mbed
threads.h
- Committer:
- romankrej
- Date:
- 2015-04-26
- Revision:
- 0:f3b355df6f26
File content as of revision 0:f3b355df6f26:
#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