Ian Hua
/
Quadcopter-mbedRTOS
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RTOS-Setup/inc/tasks.h@26:4a3323ee36d5, 2014-05-10 (annotated)
- Committer:
- pHysiX
- Date:
- Sat May 10 01:04:17 2014 +0000
- Revision:
- 26:4a3323ee36d5
- Parent:
- 22:ef8aa9728013
- Child:
- 27:18b6580eb0b1
Begun to implement Cascaded PID with tuned timings
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| pHysiX | 22:ef8aa9728013 | 1 | /* File: tasks.h |
| pHysiX | 22:ef8aa9728013 | 2 | * Author: Trung Tin Ian HUA |
| pHysiX | 22:ef8aa9728013 | 3 | * Date: May 2014 |
| pHysiX | 22:ef8aa9728013 | 4 | * Purpose: Code to intialise and start all threads. |
| pHysiX | 22:ef8aa9728013 | 5 | */ |
| pHysiX | 22:ef8aa9728013 | 6 | |
| pHysiX | 1:43f8ac7ca6d7 | 7 | #include "mbed.h" |
| pHysiX | 1:43f8ac7ca6d7 | 8 | #include "rtos.h" |
| pHysiX | 1:43f8ac7ca6d7 | 9 | |
| pHysiX | 1:43f8ac7ca6d7 | 10 | #ifndef _TASKS_H_ |
| pHysiX | 1:43f8ac7ca6d7 | 11 | #define _TASKS_H_ |
| pHysiX | 1:43f8ac7ca6d7 | 12 | |
| pHysiX | 1:43f8ac7ca6d7 | 13 | #include "Task1.h" |
| pHysiX | 26:4a3323ee36d5 | 14 | #include "Task2_Master.h" |
| pHysiX | 26:4a3323ee36d5 | 15 | #include "Task2_Slave.h" |
| pHysiX | 1:43f8ac7ca6d7 | 16 | #include "Task3.h" |
| pHysiX | 1:43f8ac7ca6d7 | 17 | #include "Task4.h" |
| pHysiX | 1:43f8ac7ca6d7 | 18 | |
| pHysiX | 16:9072cd6fa8d1 | 19 | // 1khz / (1 + 9) = 100 Hz (Fsample) |
| pHysiX | 13:6a983f2d42ea | 20 | #define IMU_SAMPLE_RATE_DIVIDER 9 |
| pHysiX | 16:9072cd6fa8d1 | 21 | // Fsample Hz / (1 + 0) = 100 Hz |
| pHysiX | 13:6a983f2d42ea | 22 | #define IMU_FIFO_RATE_DIVIDER 0x00 |
| pHysiX | 3:605fbcb54e75 | 23 | |
| pHysiX | 22:ef8aa9728013 | 24 | // Frequency (Hz): |
| pHysiX | 13:6a983f2d42ea | 25 | #define TASK1_FREQUENCY 100 |
| pHysiX | 10:ef5fe86f67fe | 26 | #define TASK2_FREQUENCY 200 |
| pHysiX | 1:43f8ac7ca6d7 | 27 | #define TASK3_FREQUENCY 50 |
| pHysiX | 10:ef5fe86f67fe | 28 | #define TASK4_FREQUENCY 200 |
| pHysiX | 1:43f8ac7ca6d7 | 29 | |
| pHysiX | 3:605fbcb54e75 | 30 | void createThreads(void); |
| pHysiX | 1:43f8ac7ca6d7 | 31 | |
| pHysiX | 1:43f8ac7ca6d7 | 32 | #endif |