Arnaud Suire
ajout module_mouvement
Dependencies: mbed xbee_lib ADXL345_I2C IMUfilter ITG3200 Motor RangeFinder Servo mbos PID
Fork of
Labo_TRSE_Drone
by 
HERBERT Nicolas
Revision 6:0e3d95e9885e, committed 2013-03-20
- Comitter:
- Gaetan
- Date:
- Wed Mar 20 11:01:06 2013 +0000
- Parent:
- 5:58b31dbee84d
- Child:
- 8:d37c4e566cbf
- Commit message:
- Ajout des librairies xbee_lib + mbos
Changed in this revision
--- a/main.cpp Wed Jan 30 17:26:04 2013 +0000
+++ b/main.cpp Wed Mar 20 11:01:06 2013 +0000
@@ -1,4 +1,5 @@
-#include "mbed.h"
+/*#include "mbed.h"
+#include "mbos.h"
DigitalOut myled(LED1);
@@ -9,4 +10,57 @@
myled = 0;
wait(0.2);
}
+}*/
+#include "mbed.h"
+#include "mbos.h"
+
+#define TASK1_ID 1 // Id for task 1 (idle task is 0)
+#define TASK1_PRIO 50 // priority for task 1
+#define TASK1_STACK_SZ 32 // stack size for task 1 in words
+#define TASK2_ID 2 // Id for task 2
+#define TASK2_PRIO 60 // priority for task 2
+#define TASK2_STACK_SZ 32 // stack size for task 2 in words
+#define TIMER0_ID 0 // Id for timer 0
+#define TIMER0_PERIOD 1000 // Time period in milliseconds
+#define TIMER0_EVENT 1 // Event flag (1 << 0)
+#define T1_TO_T2_EVENT 2 // Event flag (1 << 1)
+
+void task1(void); // task function prototypes
+void task2(void);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+mbos os(2, 1); // Instantiate mbos with 2 tasks & 1 timer
+
+int main(void)
+{
+ // Configure tasks and timers
+ os.CreateTask(TASK1_ID, TASK1_PRIO, TASK1_STACK_SZ, task1);
+ os.CreateTask(TASK2_ID, TASK2_PRIO, TASK2_STACK_SZ, task2);
+ os.CreateTimer(TIMER0_ID, TIMER0_EVENT, TASK1_ID);
+ // Start mbos
+ os.Start();
+ // never return!
}
+
+void task1(void)
+{
+ os.SetTimer(TIMER0_ID, TIMER0_PERIOD, TIMER0_PERIOD);
+ while(1){
+ os.WaitEvent(TIMER0_EVENT);
+ led1 = !led1;
+ os.SetEvent(T1_TO_T2_EVENT, TASK2_ID);
+ }
+}
+
+void task2(void)
+{
+ while(1){
+ os.WaitEvent(T1_TO_T2_EVENT);
+ led2 = 1;
+ wait_ms(100);
+ led2 = 0;
+ }
+}
+/*@endcode
+ */
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbos.lib Wed Mar 20 11:01:06 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AndrewL/code/mbos/#cf660b28b2a4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xbee_lib.lib Wed Mar 20 11:01:06 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/tristanjph/code/xbee_lib/#6455a079bdb3