Ian Hua
/
Quadcopter-mbedRTOS
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RTOS-Setup/inc/tasks.h@32:7a9be7761c46, 2014-05-12 (annotated)
- Committer:
- pHysiX
- Date:
- Mon May 12 13:20:06 2014 +0000
- Revision:
- 32:7a9be7761c46
- Parent:
- 31:3dde2201e54d
- Child:
- 36:d95e3d6f2fc4
Increased PID and ESC update frequency.; ; Thread1: Only services ypr telemetry output; Thread2: Cascaded PI-PI control; Thread3: Changed UART control; Thread4: Changed calibration output and throttle, removed ESCpower output
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 | 1:43f8ac7ca6d7 | 6 | #include "mbed.h" |
| pHysiX | 1:43f8ac7ca6d7 | 7 | #include "rtos.h" |
| pHysiX | 1:43f8ac7ca6d7 | 8 | |
| pHysiX | 1:43f8ac7ca6d7 | 9 | #ifndef _TASKS_H_ |
| pHysiX | 1:43f8ac7ca6d7 | 10 | #define _TASKS_H_ |
| pHysiX | 1:43f8ac7ca6d7 | 11 | |
| pHysiX | 1:43f8ac7ca6d7 | 12 | #include "Task1.h" |
| pHysiX | 26:4a3323ee36d5 | 13 | #include "Task2_Master.h" |
| pHysiX | 26:4a3323ee36d5 | 14 | #include "Task2_Slave.h" |
| pHysiX | 1:43f8ac7ca6d7 | 15 | #include "Task3.h" |
| pHysiX | 1:43f8ac7ca6d7 | 16 | #include "Task4.h" |
| pHysiX | 1:43f8ac7ca6d7 | 17 | |
| pHysiX | 16:9072cd6fa8d1 | 18 | // 1khz / (1 + 9) = 100 Hz (Fsample) |
| pHysiX | 13:6a983f2d42ea | 19 | #define IMU_SAMPLE_RATE_DIVIDER 9 |
| pHysiX | 16:9072cd6fa8d1 | 20 | // Fsample Hz / (1 + 0) = 100 Hz |
| pHysiX | 13:6a983f2d42ea | 21 | #define IMU_FIFO_RATE_DIVIDER 0x00 |
| pHysiX | 3:605fbcb54e75 | 22 | |
| pHysiX | 22:ef8aa9728013 | 23 | // Frequency (Hz): |
| pHysiX | 27:18b6580eb0b1 | 24 | #define TASK1_FREQUENCY 100 |
| pHysiX | 32:7a9be7761c46 | 25 | #define TASK2_MASTER_FREQUENCY 200 |
| pHysiX | 32:7a9be7761c46 | 26 | #define TASK2_SLAVE_FREQUENCY 400 |
| pHysiX | 27:18b6580eb0b1 | 27 | #define TASK3_FREQUENCY 50 |
| pHysiX | 31:3dde2201e54d | 28 | #define TASK4_FREQUENCY 400 |
| pHysiX | 27:18b6580eb0b1 | 29 | |
| pHysiX | 27:18b6580eb0b1 | 30 | #define ESC_FREQUENCY 400 |
| pHysiX | 27:18b6580eb0b1 | 31 | #define ESC_PERIOD_US 1000000/ESC_FREQUENCY |
| pHysiX | 1:43f8ac7ca6d7 | 32 | |
| pHysiX | 3:605fbcb54e75 | 33 | void createThreads(void); |
| pHysiX | 1:43f8ac7ca6d7 | 34 | |
| pHysiX | 1:43f8ac7ca6d7 | 35 | #endif |