Ian Hua / Quadcopter-mbedRTOS

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

RTOS-Setup/inc/setup.h@50:8a0accb23007, 2014-05-19 (annotated)

Committer:
pHysiX
Date:
Mon May 19 14:16:47 2014 +0000
Revision:
50:8a0accb23007
Parent:
49:c882f9135033 
Semaphores implemented, currently no hanging. Need to test flight

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 22:ef8aa9728013 1 /* File: setup.h
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 22:ef8aa9728013 4 * Purpose: Setup code to initialise all devices.
pHysiX 48:9dbdc4144f00 5 */
pHysiX 1:43f8ac7ca6d7 6 #include "mbed.h"
pHysiX 1:43f8ac7ca6d7 7 #include "MPU6050_6Axis_MotionApps20.h"
pHysiX 48:9dbdc4144f00 8 #include "MPU6050_6Axis_MotionApps20_NB.h"
pHysiX 3:605fbcb54e75 9 #include "PID.h"
pHysiX 12:953d25061417 10 #include "MPL3115A2.h"
pHysiX 12:953d25061417 11
pHysiX 39:02782ad251db 12 #include "config.h"
pHysiX 39:02782ad251db 13
pHysiX 12:953d25061417 14 #ifdef ENABLE_COMPASS
pHysiX 12:953d25061417 15 #include "HMC5883L.h"
pHysiX 12:953d25061417 16 #endif
pHysiX 1:43f8ac7ca6d7 17
pHysiX 1:43f8ac7ca6d7 18 #ifndef _SETUP_H_
pHysiX 1:43f8ac7ca6d7 19 #define _SETUP_H_
pHysiX 1:43f8ac7ca6d7 20
pHysiX 22:ef8aa9728013 21 /* PID Gains: */
pHysiX 20:b193a50a2ba3 22 extern float KP_YAW_RATE;
pHysiX 20:b193a50a2ba3 23 extern float KP_PITCH_RATE;
pHysiX 20:b193a50a2ba3 24 extern float KP_ROLL_RATE;
pHysiX 32:7a9be7761c46 25 extern float TI_YAW_RATE;
pHysiX 32:7a9be7761c46 26 extern float TI_PITCH_RATE;
pHysiX 32:7a9be7761c46 27 extern float TI_ROLL_RATE;
pHysiX 39:02782ad251db 28
pHysiX 39:02782ad251db 29 extern float KP_PITCH_ATTITUDE;
pHysiX 39:02782ad251db 30 extern float KP_ROLL_ATTITUDE;
pHysiX 39:02782ad251db 31 extern float TI_PITCH_ATTITUDE;
pHysiX 39:02782ad251db 32 extern float TI_ROLL_ATTITUDE;
pHysiX 21:b642c18eccd1 33
pHysiX 22:ef8aa9728013 34 /* Sensors and devices: */
pHysiX 1:43f8ac7ca6d7 35 extern Serial BT;
pHysiX 49:c882f9135033 36 extern Serial PC;
pHysiX 1:43f8ac7ca6d7 37 extern DigitalOut BT_CMD;
pHysiX 48:9dbdc4144f00 38 extern AnalogIn voltageSense;
pHysiX 48:9dbdc4144f00 39 //extern MPU6050 imu;
pHysiX 48:9dbdc4144f00 40 extern MPU6050_NB imu_nb;
pHysiX 1:43f8ac7ca6d7 41 extern uint16_t packetSize;
pHysiX 22:ef8aa9728013 42 extern MPL3115A2 altimeter;
pHysiX 22:ef8aa9728013 43 extern PwmOut ESC[4];
pHysiX 12:953d25061417 44
pHysiX 22:ef8aa9728013 45 /* PID Devices: */
pHysiX 39:02782ad251db 46 extern PID pitchPIDattitude;
pHysiX 39:02782ad251db 47 extern PID rollPIDattitude;
pHysiX 3:605fbcb54e75 48 extern PID yawPIDrate;
pHysiX 3:605fbcb54e75 49 extern PID pitchPIDrate;
pHysiX 3:605fbcb54e75 50 extern PID rollPIDrate;
pHysiX 1:43f8ac7ca6d7 51
pHysiX 22:ef8aa9728013 52 /* Setup routines: */
pHysiX 3:605fbcb54e75 53 bool setupALLdevices(void);
pHysiX 2:ab967d7b4346 54 bool setup_ESC(void);
pHysiX 1:43f8ac7ca6d7 55 bool setup_bt(void);
pHysiX 3:605fbcb54e75 56 bool setup_PID(void);
pHysiX 1:43f8ac7ca6d7 57 bool setup_mpu6050(void);
pHysiX 22:ef8aa9728013 58 bool setup_altimeter(void);
pHysiX 22:ef8aa9728013 59
pHysiX 12:953d25061417 60 #ifdef ENABLE_COMPASS
pHysiX 22:ef8aa9728013 61 extern HMC5883L compass;
pHysiX 12:953d25061417 62 bool setup_compass(void);
pHysiX 12:953d25061417 63 #endif
pHysiX 1:43f8ac7ca6d7 64
pHysiX 1:43f8ac7ca6d7 65 #endif