Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/src/Task1.cpp@36:d95e3d6f2fc4, 2014-05-13 (annotated)

Committer:
pHysiX
Date:
Tue May 13 04:05:34 2014 +0000
Revision:
36:d95e3d6f2fc4
Parent:
34:228d87c45151
Child:
37:29feef05d848
Telemetry output completely changed; Code tidied

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 22:ef8aa9728013 1 /* File: Task1.cpp
pHysiX 22:ef8aa9728013 2 * Author: Trung Tin Ian HUA
pHysiX 22:ef8aa9728013 3 * Date: May 2014
pHysiX 36:d95e3d6f2fc4 4 * Functions: Thread1: Telemetry output
pHysiX 22:ef8aa9728013 5 * Settings: 100Hz
pHysiX 36:d95e3d6f2fc4 6 * Timing: //1440us
pHysiX 22:ef8aa9728013 7 */
pHysiX 1:43f8ac7ca6d7 8 #include "Task1.h"
pHysiX 1:43f8ac7ca6d7 9 #include "setup.h"
pHysiX 1:43f8ac7ca6d7 10
pHysiX 36:d95e3d6f2fc4 11 bool box_demo = false;
pHysiX 36:d95e3d6f2fc4 12 bool rc_out = false;
pHysiX 36:d95e3d6f2fc4 13 bool gyro_out = false;
pHysiX 36:d95e3d6f2fc4 14 bool command_check = false;
pHysiX 36:d95e3d6f2fc4 15 bool adjust_check = false;
pHysiX 33:f88a6ee18103 16
pHysiX 34:228d87c45151 17
pHysiX 34:228d87c45151 18
pHysiX 34:228d87c45151 19
pHysiX 36:d95e3d6f2fc4 20 // =================
pHysiX 36:d95e3d6f2fc4 21 // === TELEMETRY ===
pHysiX 36:d95e3d6f2fc4 22 // =================
pHysiX 36:d95e3d6f2fc4 23 void Task1(void const *argument)
pHysiX 30:d9b988f8d84f 24 {
pHysiX 36:d95e3d6f2fc4 25 switch (box_demo) {
pHysiX 36:d95e3d6f2fc4 26 case true:
pHysiX 36:d95e3d6f2fc4 27 BT.printf("\nY%3.2f\nP%3.2f\nR%3.2f\n", ypr[0] - ypr_offset[0], ypr[1] - ypr_offset[1], ypr[2] - ypr_offset[2]);
pHysiX 36:d95e3d6f2fc4 28 BT.printf("\nA%3.2f\nT%2.2f\n", altimeter.Altitude_m(), altimeter.Temp_C());
pHysiX 30:d9b988f8d84f 29
pHysiX 36:d95e3d6f2fc4 30 BT.printf("\nV%2.2f\n", voltageSense*VOLTAGE_SCALE);
pHysiX 36:d95e3d6f2fc4 31 break;
pHysiX 36:d95e3d6f2fc4 32 case false:
pHysiX 36:d95e3d6f2fc4 33 AHRSSample();
pHysiX 36:d95e3d6f2fc4 34 break;
pHysiX 36:d95e3d6f2fc4 35 default:
pHysiX 36:d95e3d6f2fc4 36 break;
pHysiX 36:d95e3d6f2fc4 37 }
pHysiX 30:d9b988f8d84f 38
pHysiX 36:d95e3d6f2fc4 39 if (gyro_out)
pHysiX 36:d95e3d6f2fc4 40 BT.printf("%3d %3d %3d\n", (int) gyro[0], (int) gyro[1], (int) gyro[2]);
pHysiX 30:d9b988f8d84f 41
pHysiX 36:d95e3d6f2fc4 42 else if (rc_out)
pHysiX 36:d95e3d6f2fc4 43 BT.printf("%5d %5d %5d %5d %5d\n", RCCommand[0], RCCommand[1], RCCommand[2], RCCommand[3], RCCommand[4]);
pHysiX 30:d9b988f8d84f 44
pHysiX 36:d95e3d6f2fc4 45 else if (command_check)
pHysiX 36:d95e3d6f2fc4 46 BT.printf("%3d %3d %3d\n", inputYPR[0], inputYPR[1], inputYPR[2]);
pHysiX 30:d9b988f8d84f 47
pHysiX 36:d95e3d6f2fc4 48 else if (adjust_check)
pHysiX 36:d95e3d6f2fc4 49 BT.printf("%3.2f %3.2f %3.2f\n", adjust[0], adjust[1], adjust[2]);
pHysiX 30:d9b988f8d84f 50
pHysiX 36:d95e3d6f2fc4 51 else if (ESC_check)
pHysiX 36:d95e3d6f2fc4 52 BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
pHysiX 30:d9b988f8d84f 53
pHysiX 36:d95e3d6f2fc4 54 else {}
pHysiX 36:d95e3d6f2fc4 55 }
pHysiX 31:3dde2201e54d 56 //Timer