Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Setup/inc/tasks.h

Revision:
27:18b6580eb0b1
Parent:
26:4a3323ee36d5
Child:
30:d9b988f8d84f
--- a/RTOS-Setup/inc/tasks.h	Sat May 10 01:04:17 2014 +0000
+++ b/RTOS-Setup/inc/tasks.h	Sat May 10 01:39:02 2014 +0000
@@ -22,10 +22,14 @@
 #define IMU_FIFO_RATE_DIVIDER   0x00
 
 // Frequency (Hz):
-#define TASK1_FREQUENCY 100
-#define TASK2_FREQUENCY 200
-#define TASK3_FREQUENCY 50
-#define TASK4_FREQUENCY 200
+#define TASK1_FREQUENCY         100
+#define TASK2_MASTER_FREQUENCY  100
+#define TASK2_SLAVE_FREQUENCY   200
+#define TASK3_FREQUENCY         50
+#define TASK4_FREQUENCY         400
+
+#define ESC_FREQUENCY 400
+#define ESC_PERIOD_US 1000000/ESC_FREQUENCY
 
 void createThreads(void);