Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/inc/Task3.h@45:3847d7bf8b2c, 2014-05-17 (annotated)

Committer:
pHysiX
Date:
Sat May 17 09:12:20 2014 +0000
Revision:
45:3847d7bf8b2c
Parent:
44:4be5c01c6de2
Child:
47:89a7077a70d3
Child:
48:9dbdc4144f00
Retuned Roll PID to counter CM

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 1:43f8ac7ca6d7 7 #include "mbed.h"
pHysiX 1:43f8ac7ca6d7 8 #include "rtos.h"
pHysiX 1:43f8ac7ca6d7 9 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 10
pHysiX 1:43f8ac7ca6d7 11 #ifndef _TASK3_H_
pHysiX 1:43f8ac7ca6d7 12 #define _TASKS3_H_
pHysiX 1:43f8ac7ca6d7 13
pHysiX 22:ef8aa9728013 14 // ms timing: Refer to tasks.h to change frequency of Task3.
pHysiX 1:43f8ac7ca6d7 15 #define TASK3_PERIOD 1000/TASK3_FREQUENCY
pHysiX 1:43f8ac7ca6d7 16
pHysiX 25:a7cfe421cb4a 17 enum FLIGHT_MODE {
pHysiX 25:a7cfe421cb4a 18 RATE,
pHysiX 27:18b6580eb0b1 19 ATTITUDE
pHysiX 25:a7cfe421cb4a 20 };
pHysiX 25:a7cfe421cb4a 21
pHysiX 44:4be5c01c6de2 22 extern volatile int RCCommand[5];
pHysiX 44:4be5c01c6de2 23 extern volatile int inputYPR[3];
pHysiX 44:4be5c01c6de2 24 extern volatile float ypr_offset[3];
pHysiX 1:43f8ac7ca6d7 25
pHysiX 36:d95e3d6f2fc4 26 extern FLIGHT_MODE mode;
pHysiX 3:605fbcb54e75 27
pHysiX 36:d95e3d6f2fc4 28 extern AnalogIn voltageSense;
pHysiX 25:a7cfe421cb4a 29
pHysiX 22:ef8aa9728013 30 /* Thread3: RC & BT Command, and Telemetry */
pHysiX 1:43f8ac7ca6d7 31 void Task3(void const *argument);
pHysiX 1:43f8ac7ca6d7 32
pHysiX 33:f88a6ee18103 33 // ========================
pHysiX 33:f88a6ee18103 34 // === Helper functions ===
pHysiX 33:f88a6ee18103 35 // ========================
pHysiX 17:18c3bd016e49 36 int constrainRCCommand(int input);
pHysiX 32:7a9be7761c46 37 int deadbandInputYPR(int input);
pHysiX 45:3847d7bf8b2c 38 int constrainInputY(int input);
pHysiX 45:3847d7bf8b2c 39 int constrainInputPR(int input);
pHysiX 32:7a9be7761c46 40 void uartDecoder(char input);
pHysiX 17:18c3bd016e49 41
pHysiX 1:43f8ac7ca6d7 42 #endif