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/tasks.h@10:ef5fe86f67fe, 2014-05-01 (annotated)

Committer:
pHysiX
Date:
Thu May 01 23:50:21 2014 +0000
Revision:
10:ef5fe86f67fe
Parent:
9:371950017779
Child:
12:953d25061417
Fixed quaternion stability: FIFO was not serviced fast enough, and lacked correct tidying after each read

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 1:43f8ac7ca6d7 1 #include "mbed.h"
pHysiX 1:43f8ac7ca6d7 2 #include "rtos.h"
pHysiX 1:43f8ac7ca6d7 3
pHysiX 1:43f8ac7ca6d7 4 #ifndef _TASKS_H_
pHysiX 1:43f8ac7ca6d7 5 #define _TASKS_H_
pHysiX 1:43f8ac7ca6d7 6
pHysiX 1:43f8ac7ca6d7 7 #include "Task1.h"
pHysiX 1:43f8ac7ca6d7 8 #include "Task2.h"
pHysiX 1:43f8ac7ca6d7 9 #include "Task3.h"
pHysiX 1:43f8ac7ca6d7 10 #include "Task4.h"
pHysiX 1:43f8ac7ca6d7 11
pHysiX 9:371950017779 12 // 1khz / (1 + 9) = 100 Hz (Fsample)
pHysiX 9:371950017779 13 #define IMU_SAMPLE_RATE_DIVIDER 9
pHysiX 9:371950017779 14 // Fsample Hz / (1 + 0) = 100 Hz
pHysiX 9:371950017779 15 #define IMU_FIFO_RATE_DIVIDER 0x00
pHysiX 3:605fbcb54e75 16
pHysiX 10:ef5fe86f67fe 17 #define TASK1_FREQUENCY 100
pHysiX 10:ef5fe86f67fe 18 #define TASK2_FREQUENCY 200
pHysiX 1:43f8ac7ca6d7 19 #define TASK3_FREQUENCY 50
pHysiX 10:ef5fe86f67fe 20 #define TASK4_FREQUENCY 200
pHysiX 1:43f8ac7ca6d7 21
pHysiX 3:605fbcb54e75 22 void createThreads(void);
pHysiX 1:43f8ac7ca6d7 23
pHysiX 1:43f8ac7ca6d7 24 #endif