Ian Hua / Quadcopter-mbedRTOS

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RTOS-Setup/src/tasks.cpp@21:b642c18eccd1, 2014-05-08 (annotated)

Committer:
pHysiX
Date:
Thu May 08 09:39:12 2014 +0000
Revision:
21:b642c18eccd1
Parent:
3:605fbcb54e75
Child:
22:ef8aa9728013
Primary PID disabled. Secondary (rate) PID enabled. P gain tuned

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 1:43f8ac7ca6d7 1 #include "tasks.h"
pHysiX 1:43f8ac7ca6d7 2 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 3
pHysiX 3:605fbcb54e75 4 void createThreads(void)
pHysiX 1:43f8ac7ca6d7 5 {
pHysiX 3:605fbcb54e75 6 /* Create threads */
pHysiX 3:605fbcb54e75 7 RtosTimer thread1(Task1, osTimerPeriodic, NULL);
pHysiX 3:605fbcb54e75 8 RtosTimer thread2(Task2, osTimerPeriodic, NULL);
pHysiX 3:605fbcb54e75 9 RtosTimer thread3(Task3, osTimerPeriodic, (void *)0);
pHysiX 3:605fbcb54e75 10 RtosTimer thread4(Task4, osTimerPeriodic, (void *)0);
pHysiX 3:605fbcb54e75 11
pHysiX 3:605fbcb54e75 12 /* Start threads */
pHysiX 3:605fbcb54e75 13 thread1.start(TASK1_PERIOD);
pHysiX 3:605fbcb54e75 14 thread2.start(TASK2_PERIOD);
pHysiX 3:605fbcb54e75 15 thread3.start(TASK3_PERIOD);
pHysiX 3:605fbcb54e75 16 thread4.start(TASK4_PERIOD);
pHysiX 21:b642c18eccd1 17
pHysiX 3:605fbcb54e75 18 /* Execute state machine forever */
pHysiX 3:605fbcb54e75 19 Thread::wait(osWaitForever);
pHysiX 1:43f8ac7ca6d7 20 }
pHysiX 21:b642c18eccd1 21
pHysiX 21:b642c18eccd1 22 /*
pHysiX 21:b642c18eccd1 23 int abs(float input)
pHysiX 21:b642c18eccd1 24 {
pHysiX 21:b642c18eccd1 25 if (input < 0.0)
pHysiX 21:b642c18eccd1 26 return -1* (int) input;
pHysiX 21:b642c18eccd1 27 else
pHysiX 21:b642c18eccd1 28 return input;
pHysiX 21:b642c18eccd1 29 }
pHysiX 21:b642c18eccd1 30 */
pHysiX 21:b642c18eccd1 31