Diff: main.cpp

Revision:

2:969dfa4f2436

Parent:

0:c6a85bb2a827

--- a/main.cpp	Wed Mar 04 18:53:43 2015 +0000
+++ b/main.cpp	Wed Apr 01 11:19:21 2015 +0000
@@ -7,69 +7,53 @@
 #include "Rc.h"
 #include "FlightController.h"
 #include "NavigationController.h"
+#include "ConfigFileWrapper.h"
 
+//Debug serial
 MODSERIAL                           _debug(USBTX, USBRX);
 
-//Wireless Serial
-MODSERIAL                           _base(p9, p10);
-
-//GPS Serial
-//MODSERIAL                           _gps(p13, p14);
-
-//Onboard LED's
-//DigitalOut                          _led1(LED1);
-//DigitalOut                          _led2(LED2);
-//DigitalOut                          _led3(LED3);
-//DigitalOut                          _led4(LED4);
-
-//MaxBotix Ping sensor
-//Timer                               _maxBotixTimer;
-//Sonar                               _maxBotixSensor(p15, _maxBotixTimer);
-
-//Lidar
-//LidarLite                           _lidar(p28, p27);
-
-//Unused analog pins
+//Unused analog pins, set to DigitalOut to remove noise.
 DigitalOut                          _spare1(p16);
 DigitalOut                          _spare2(p17);
 DigitalOut                          _spare3(p18);
 DigitalOut                          _spare4(p19);
-
-//Classes
-Status                              _status;
-//Sensors                             *_sensors(_status, p13, p14, p15, p28, p27);
-//BaseStation                         *_baseStation(p9, p10);
-Rc                                  _rc;
-FlightController                    _flightController;
-//NavigationController                *_navigationController;           
-
+  
 int main()
 {
-    _base.baud(115200);
+    _debug.baud(115200);
     
     DEBUG("\r\n");  
     DEBUG("********************************************************************************\r\n");
     DEBUG("Starting Setup\r\n");
     DEBUG("********************************************************************************\r\n");
     
-    //Set Status
-    _status.initialise();
-    
-    //Initalise Base Station
-        
-    //Initialise RC
-    _rc.initialise(_status, p8);
+    ConfigFileWrapper _configFileWrapper = ConfigFileWrapper(); // No update
+    Thread::wait(100); 
+    Status _status = Status(); // 10 Hz called from main
+    Thread::wait(100); 
+    Sensors _sensors = Sensors(_status, _configFileWrapper, p13, p14, p28, p27, p15); // 50Hz called from navigation controller
+    Thread::wait(100); 
+    Rc _rc = Rc(_status, p8); // 50Hz called from navigation controller
+    Thread::wait(100); 
+    NavigationController _navigationController = NavigationController(_status, _sensors, _rc, _configFileWrapper); // 50Hz internal thread
+    Thread::wait(100); 
+    FlightController _flightController = FlightController(_status, _sensors, _navigationController, _configFileWrapper, p21, p22, p23, p24); // 500Hz internal thread
+    Thread::wait(100); 
+    BaseStation _baseStation = BaseStation(_status, _rc, _sensors, _navigationController, _flightController, _configFileWrapper, p9, p10); // 5Hz internal thread
+    Thread::wait(100); 
     
-    //Initialise Sensors
-    
-    //Initialise Navigation
-    
-    //Initialise Flight Controller
-    _flightController.initialise(_status, _sensors, _navigationController, p21, p22, p23, p24);
-    
-    
+    //Thread::wait(10000); 
     
     DEBUG("********************************************************************************\r\n");
     DEBUG("Finished Setup\r\n");
     DEBUG("********************************************************************************\r\n"); 
+    
+    _status.setInitialised(true);
+    
+    osThreadSetPriority(osThreadGetId(), osPriorityNormal);
+    while(true)
+    {
+        _status.update();
+        Thread::wait(100);   
+    }
 }