Code for an autonomous plane I'm building. Includes process scheduling, process communication, and hardware sensor interfacing (via I2C). NOTE: currently in development, source code will be updated frequently.
control.cpp@2:452dd766d212, 2013-11-01 (annotated)
- Committer:
- teamgoat
- Date:
- Fri Nov 01 00:48:06 2013 +0000
- Revision:
- 2:452dd766d212
- Parent:
- 1:1abb115c2005
- Child:
- 4:44a5b1e8fd27
broken :(
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
teamgoat | 0:0c627ff4c5ed | 1 | #include "control.h" |
teamgoat | 0:0c627ff4c5ed | 2 | #include "sensor.h" |
teamgoat | 0:0c627ff4c5ed | 3 | #include "steps.h" |
teamgoat | 0:0c627ff4c5ed | 4 | #include "mbed.h" |
teamgoat | 0:0c627ff4c5ed | 5 | |
teamgoat | 0:0c627ff4c5ed | 6 | #define MAXPROC 15 |
teamgoat | 0:0c627ff4c5ed | 7 | |
teamgoat | 0:0c627ff4c5ed | 8 | process procs[MAXPROC] = {0}; |
teamgoat | 0:0c627ff4c5ed | 9 | |
teamgoat | 0:0c627ff4c5ed | 10 | int main() |
teamgoat | 0:0c627ff4c5ed | 11 | { |
teamgoat | 2:452dd766d212 | 12 | init(); |
teamgoat | 0:0c627ff4c5ed | 13 | while (true) |
teamgoat | 0:0c627ff4c5ed | 14 | { |
teamgoat | 0:0c627ff4c5ed | 15 | schedule(); |
teamgoat | 2:452dd766d212 | 16 | } |
teamgoat | 0:0c627ff4c5ed | 17 | } |
teamgoat | 0:0c627ff4c5ed | 18 | |
teamgoat | 2:452dd766d212 | 19 | void init() |
teamgoat | 0:0c627ff4c5ed | 20 | { |
teamgoat | 2:452dd766d212 | 21 | // initialize i2c sensors |
teamgoat | 2:452dd766d212 | 22 | init_sensors(); |
teamgoat | 2:452dd766d212 | 23 | // set initial processes |
teamgoat | 0:0c627ff4c5ed | 24 | procs[0].status = READY; |
teamgoat | 0:0c627ff4c5ed | 25 | procs[0].start = &get_sensor_data; |
teamgoat | 0:0c627ff4c5ed | 26 | return; |
teamgoat | 0:0c627ff4c5ed | 27 | } |
teamgoat | 0:0c627ff4c5ed | 28 | |
teamgoat | 0:0c627ff4c5ed | 29 | void schedule() |
teamgoat | 0:0c627ff4c5ed | 30 | { |
teamgoat | 0:0c627ff4c5ed | 31 | for (int i=0; i<MAXPROC; i++) |
teamgoat | 0:0c627ff4c5ed | 32 | { |
teamgoat | 0:0c627ff4c5ed | 33 | process proc = procs[i]; |
teamgoat | 0:0c627ff4c5ed | 34 | if(proc.status == READY) |
teamgoat | 0:0c627ff4c5ed | 35 | { |
teamgoat | 0:0c627ff4c5ed | 36 | proc.start(); |
teamgoat | 0:0c627ff4c5ed | 37 | return; |
teamgoat | 0:0c627ff4c5ed | 38 | } |
teamgoat | 0:0c627ff4c5ed | 39 | } |
teamgoat | 0:0c627ff4c5ed | 40 | } |
teamgoat | 0:0c627ff4c5ed | 41 |