Diff: app/TaskGyroscope.cpp

Revision:

0:f2815503561f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/app/TaskGyroscope.cpp	Wed Jul 06 20:40:36 2016 +0000
@@ -0,0 +1,95 @@
+/*
+ * TaskGyroscope.cpp
+ *
+ *  Created on: May 30, 2016
+ *      Author: Adrian
+ */
+
+#include "TaskGyroscope.h"
+
+TaskGyroscope::TaskGyroscope(MPU9250* mpu9250,Mutex* mutexI2C, Queue<MPU9250GyroscopeMessage,GYROSCOPE_QUEUE_LENGHT>* queue){
+	this->mpu9250 = mpu9250;
+	setMutex(mutexI2C);
+	setQueue(queue);
+}
+
+TaskGyroscope::TaskGyroscope(MPU9250* mpu9250,rtos::Mutex* mutexI2C,
+	rtos::Queue<MPU9250GyroscopeMessage,GYROSCOPE_QUEUE_LENGHT>* queue,
+	osPriority priority, uint32_t stackSize, unsigned char *stackPointer){
+	this->mpu9250 = mpu9250;
+	setMutex(mutexI2C);
+	setQueue(queue);
+	setPriority(priority);
+	setStackSize(stackSize);
+	setStackPointer(stackPointer);
+	setState(SLEEPING);
+}
+
+TaskGyroscope::~TaskGyroscope() {
+	// TODO Auto-generated destructor stub
+}
+
+osStatus TaskGyroscope::start(){
+	setState(RUNNING);
+	this->thread = new rtos::Thread(callBack,this);
+}
+
+osStatus TaskGyroscope::stop(){
+	thread->terminate();
+	setState(SLEEPING);
+	delete this->thread;
+}
+
+void TaskGyroscope::callBack(void const* data){
+	// WOODHAMMER METHOD of Casting!
+	const TaskGyroscope* constInstance = static_cast<const TaskGyroscope* >(data);
+	TaskGyroscope* instance = const_cast<TaskGyroscope*>(constInstance);
+
+	instance->measureGyroscope();
+}
+
+void TaskGyroscope::measureGyroscope(){
+	MPU9250GyroscopeMessage mpu9250GyroscopeMessage;
+
+	while(true){
+		mutexI2C->lock(osWaitForever);
+		mpu9250GyroscopeMessage.setXGyro(mpu9250->getXAxisGyro());
+		mpu9250GyroscopeMessage.setYGyro(mpu9250->getYAxisGyro());
+		mpu9250GyroscopeMessage.setZGyro(mpu9250->getZAxisGyro());
+		mutexI2C->unlock();
+
+		queue->put(&mpu9250GyroscopeMessage,osWaitForever);
+		osDelay(GYROSCOPE_TASK_DELAY_MS);
+	}
+
+
+}
+
+void TaskGyroscope::setQueue(Queue<MPU9250GyroscopeMessage,GYROSCOPE_QUEUE_LENGHT>* queue){
+	this->queue = queue;
+}
+
+void TaskGyroscope::setMutex(Mutex* mutex){
+	this->mutexI2C = mutex;
+}
+
+void TaskGyroscope::setPriority(osPriority priority){
+	this->priority = priority;
+}
+
+void TaskGyroscope::setStackSize(uint32_t stacksize){
+	this->stack_size = stacksize;
+}
+
+void TaskGyroscope::setStackPointer(unsigned char* stackPointer){
+	this->stack_pointer = stackPointer;
+}
+
+void TaskGyroscope::setState(TASK_STATE state){
+	this->state = state;
+}
+
+TASK_STATE TaskGyroscope::getState(){
+	return state;
+}
+