Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/inc/Task3.h@27:18b6580eb0b1, 2014-05-10 (annotated)

Committer:
pHysiX
Date:
Sat May 10 01:39:02 2014 +0000
Revision:
27:18b6580eb0b1
Parent:
25:a7cfe421cb4a
Child:
30:d9b988f8d84f
Alternative1: Run Master only when YPR is updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 22:ef8aa9728013 1 /* File: Task3.h
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 22:ef8aa9728013 4 * Purpose: Thread3: RC & BT Command, and Telemetry
pHysiX 22:ef8aa9728013 5 * Settings: 50Hz
pHysiX 22:ef8aa9728013 6 */
pHysiX 22:ef8aa9728013 7
pHysiX 1:43f8ac7ca6d7 8 #include "mbed.h"
pHysiX 1:43f8ac7ca6d7 9 #include "rtos.h"
pHysiX 1:43f8ac7ca6d7 10 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 11
pHysiX 1:43f8ac7ca6d7 12 #ifndef _TASK3_H_
pHysiX 1:43f8ac7ca6d7 13 #define _TASKS3_H_
pHysiX 1:43f8ac7ca6d7 14
pHysiX 22:ef8aa9728013 15 // ms timing: Refer to tasks.h to change frequency of Task3.
pHysiX 1:43f8ac7ca6d7 16 #define TASK3_PERIOD 1000/TASK3_FREQUENCY
pHysiX 1:43f8ac7ca6d7 17
pHysiX 12:953d25061417 18 /* Scale:
pHysiX 12:953d25061417 19 Vin = ADC * Vread * scale
pHysiX 12:953d25061417 20 Vin = (2^n-1)/3.3 * k*Vin * scale * ADJUST
pHysiX 12:953d25061417 21 */
pHysiX 12:953d25061417 22 #define VOLTAGE_SCALE 49.60248447
pHysiX 12:953d25061417 23
pHysiX 25:a7cfe421cb4a 24 //typedef enum {
pHysiX 25:a7cfe421cb4a 25 enum FLIGHT_MODE {
pHysiX 25:a7cfe421cb4a 26 RATE,
pHysiX 27:18b6580eb0b1 27 ATTITUDE
pHysiX 25:a7cfe421cb4a 28 };
pHysiX 25:a7cfe421cb4a 29
pHysiX 1:43f8ac7ca6d7 30 extern float ypr_offset[3];
pHysiX 1:43f8ac7ca6d7 31
pHysiX 3:605fbcb54e75 32 extern bool box_demo;
pHysiX 5:4879ef0e6d41 33 extern bool rc_out;
pHysiX 5:4879ef0e6d41 34 extern bool gyro_out;
pHysiX 21:b642c18eccd1 35 extern bool command_check;
pHysiX 21:b642c18eccd1 36 extern bool adjust_check;
pHysiX 3:605fbcb54e75 37
pHysiX 3:605fbcb54e75 38 extern int RCCommand[5];
pHysiX 21:b642c18eccd1 39 extern int inputYPR[3];
pHysiX 3:605fbcb54e75 40
pHysiX 25:a7cfe421cb4a 41 extern FLIGHT_MODE mode;
pHysiX 25:a7cfe421cb4a 42
pHysiX 22:ef8aa9728013 43 /* Thread3: RC & BT Command, and Telemetry */
pHysiX 1:43f8ac7ca6d7 44 void Task3(void const *argument);
pHysiX 1:43f8ac7ca6d7 45
pHysiX 17:18c3bd016e49 46 int constrainRCCommand(int input);
pHysiX 17:18c3bd016e49 47
pHysiX 1:43f8ac7ca6d7 48 #endif