ajout module_mouvement
Dependencies: mbed xbee_lib ADXL345_I2C IMUfilter ITG3200 Motor RangeFinder Servo mbos PID
Fork of Labo_TRSE_Drone by
Revision 8:d37c4e566cbf, committed 2013-03-20
- Comitter:
- Gaetan
- Date:
- Wed Mar 20 14:15:01 2013 +0000
- Parent:
- 7:4757e20e6f0f
- Parent:
- 6:0e3d95e9885e
- Child:
- 9:b7a62fc27346
- Commit message:
- re-ajout des librairies ...
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Mar 20 13:51:40 2013 +0000 +++ b/main.cpp Wed Mar 20 14:15:01 2013 +0000 @@ -1,4 +1,5 @@ -#include "mbed.h" +/*#include "mbed.h" +#include "mbos.h" DigitalOut myled(LED1); @@ -11,4 +12,57 @@ //modification } +}*/ +#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 14:15:01 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 14:15:01 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/tristanjph/code/xbee_lib/#6455a079bdb3