SEAN O CONNELL / Mbed 2 deprecated mDot_LoRa_Sensornode

lora sensnode

Dependencies:   libmDot mbed-rtos mbed

Fork of mDot_LoRa_Sensornode by Adrian Mitevski

app/TaskGyroscope.h@1:e67174cc4953, 2016-08-10 (annotated)

Committer:
socie123
Date:
Wed Aug 10 12:54:10 2016 +0000
Revision:
1:e67174cc4953
Parent:
0:f2815503561f 
lora sensnode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mitea1 0:f2815503561f 1 /**
mitea1 0:f2815503561f 2 * @file TaskGyroscope.h
mitea1 0:f2815503561f 3 *
mitea1 0:f2815503561f 4 * @author Adrian
mitea1 0:f2815503561f 5 * @date 30.05.2016
mitea1 0:f2815503561f 6 *
mitea1 0:f2815503561f 7 */
mitea1 0:f2815503561f 8
mitea1 0:f2815503561f 9 #include "MPU9250.h"
mitea1 0:f2815503561f 10 #include "MPU9250GyroscopeMessage.h"
mitea1 0:f2815503561f 11 #include "main.h"
mitea1 0:f2815503561f 12
mitea1 0:f2815503561f 13 #ifndef TASKGYROSCOPE_H_
mitea1 0:f2815503561f 14 #define TASKGYROSCOPE_H_
mitea1 0:f2815503561f 15
mitea1 0:f2815503561f 16 /**
mitea1 0:f2815503561f 17 * @class TaskGyroscope
mitea1 0:f2815503561f 18 * @brief This TaskGyroscope Class handles the gyroscope measurement using the MPU9250.
mitea1 0:f2815503561f 19 * Starting the task using the start() starts the measurement of all axis.
mitea1 0:f2815503561f 20 * It can be used alongside with other measurement Tasks inside the mbed::rtos
mitea1 0:f2815503561f 21 * environment. The Task Class basically wraps mbeds Thread functionality.
mitea1 0:f2815503561f 22 */
mitea1 0:f2815503561f 23 class TaskGyroscope {
mitea1 0:f2815503561f 24 public:
mitea1 0:f2815503561f 25 TaskGyroscope(MPU9250*,Mutex*, Queue<MPU9250GyroscopeMessage,GYROSCOPE_QUEUE_LENGHT>*);
mitea1 0:f2815503561f 26 TaskGyroscope(MPU9250*,Mutex*,Queue<MPU9250GyroscopeMessage,GYROSCOPE_QUEUE_LENGHT>*,
mitea1 0:f2815503561f 27 osPriority, uint32_t, unsigned char*);
mitea1 0:f2815503561f 28 virtual ~TaskGyroscope();
mitea1 0:f2815503561f 29
mitea1 0:f2815503561f 30
mitea1 0:f2815503561f 31 /**
mitea1 0:f2815503561f 32 * @brief Starts the task by building it and connecting a callback function to
mitea1 0:f2815503561f 33 * the mbed::Thread
mitea1 0:f2815503561f 34 * @return
mitea1 0:f2815503561f 35 */
mitea1 0:f2815503561f 36 osStatus start();
mitea1 0:f2815503561f 37
mitea1 0:f2815503561f 38 /**
mitea1 0:f2815503561f 39 * @brief Stops the task. Should only be used after start() was used
mitea1 0:f2815503561f 40 * @return
mitea1 0:f2815503561f 41 */
mitea1 0:f2815503561f 42 osStatus stop();
mitea1 0:f2815503561f 43
mitea1 0:f2815503561f 44
mitea1 0:f2815503561f 45 /**
mitea1 0:f2815503561f 46 * @brief Gets the actual state of the Task either RUNNING or SLEEPING
mitea1 0:f2815503561f 47 * @return
mitea1 0:f2815503561f 48 */
mitea1 0:f2815503561f 49 TASK_STATE getState();
mitea1 0:f2815503561f 50
mitea1 0:f2815503561f 51 private:
mitea1 0:f2815503561f 52 rtos::Thread* thread;
mitea1 0:f2815503561f 53 rtos::Queue<MPU9250GyroscopeMessage,GYROSCOPE_QUEUE_LENGHT>* queue;
mitea1 0:f2815503561f 54 rtos::Mutex* mutexI2C ;
mitea1 0:f2815503561f 55 osPriority priority;
mitea1 0:f2815503561f 56 uint32_t stack_size;
mitea1 0:f2815503561f 57 unsigned char *stack_pointer;
mitea1 0:f2815503561f 58
mitea1 0:f2815503561f 59 TASK_STATE state;
mitea1 0:f2815503561f 60
mitea1 0:f2815503561f 61 MPU9250* mpu9250;
mitea1 0:f2815503561f 62
mitea1 0:f2815503561f 63
mitea1 0:f2815503561f 64 /**
mitea1 0:f2815503561f 65 * @brief A Callback function thats called by the mbed::Thread of this TaskClass
mitea1 0:f2815503561f 66 * @param
mitea1 0:f2815503561f 67 */
mitea1 0:f2815503561f 68 static void callBack(void const *);
mitea1 0:f2815503561f 69
mitea1 0:f2815503561f 70 /**
mitea1 0:f2815503561f 71 * @brief A thread safe method that acquires data from the gyroscope. After acquiring data from the
mitea1 0:f2815503561f 72 * it stores the data inside a MPU9250GyroscopeMessage
mitea1 0:f2815503561f 73 */
mitea1 0:f2815503561f 74 void measureGyroscope();
mitea1 0:f2815503561f 75
mitea1 0:f2815503561f 76
mitea1 0:f2815503561f 77 /**
mitea1 0:f2815503561f 78 * @brief Sets the message Queue of the Task where the measured values will be stored
mitea1 0:f2815503561f 79 * after the measurement
mitea1 0:f2815503561f 80 * @param queueGyro the queue where the MPU9250GyroscopeMessage will be stored
mitea1 0:f2815503561f 81 */
mitea1 0:f2815503561f 82 void setQueue(Queue<MPU9250GyroscopeMessage,GYROSCOPE_QUEUE_LENGHT>* queueGyro);
mitea1 0:f2815503561f 83
mitea1 0:f2815503561f 84 /**
mitea1 0:f2815503561f 85 * @brief Sets the mutex thats used for a thread safe measurement
mitea1 0:f2815503561f 86 * @param mutexI2C the I2C mutex
mitea1 0:f2815503561f 87 */
mitea1 0:f2815503561f 88 void setMutex(Mutex* mutexI2C);
mitea1 0:f2815503561f 89
mitea1 0:f2815503561f 90 /**
mitea1 0:f2815503561f 91 * @brief Sets the priority of the Task
mitea1 0:f2815503561f 92 * @param priority priority of the Task
mitea1 0:f2815503561f 93 */
mitea1 0:f2815503561f 94 void setPriority(osPriority priority);
mitea1 0:f2815503561f 95
mitea1 0:f2815503561f 96 /**
mitea1 0:f2815503561f 97 * @brief Sets the size of the Task
mitea1 0:f2815503561f 98 * @param stackSize the stack size in Bytes
mitea1 0:f2815503561f 99 */
mitea1 0:f2815503561f 100 void setStackSize(uint32_t stackSize);
mitea1 0:f2815503561f 101
mitea1 0:f2815503561f 102 /**
mitea1 0:f2815503561f 103 * @brief Sets the stack pointer of for the task stack
mitea1 0:f2815503561f 104 * @param stackPointer
mitea1 0:f2815503561f 105 */
mitea1 0:f2815503561f 106 void setStackPointer(unsigned char* stackPointer);
mitea1 0:f2815503561f 107
mitea1 0:f2815503561f 108
mitea1 0:f2815503561f 109 /**
mitea1 0:f2815503561f 110 * @brief Sets the actual state of the Task.
mitea1 0:f2815503561f 111 * @param taskState either RUNNING or SLEEPING
mitea1 0:f2815503561f 112 */
mitea1 0:f2815503561f 113 void setState(TASK_STATE taskState);
mitea1 0:f2815503561f 114
mitea1 0:f2815503561f 115 };
mitea1 0:f2815503561f 116
mitea1 0:f2815503561f 117 #endif /* TASKGYROSCOPE_H_ */