Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Setup/src/tasks.cpp

Revision:
27:18b6580eb0b1
Parent:
22:ef8aa9728013
Child:
31:3dde2201e54d
--- a/RTOS-Setup/src/tasks.cpp	Sat May 10 01:04:17 2014 +0000
+++ b/RTOS-Setup/src/tasks.cpp	Sat May 10 01:39:02 2014 +0000
@@ -11,13 +11,15 @@
 {
     /* Create threads */
     RtosTimer thread1(Task1, osTimerPeriodic, NULL);
-    RtosTimer thread2(Task2, osTimerPeriodic, NULL);
+    RtosTimer thread2Master(Task2_Master, osTimerPeriodic, NULL);
+    RtosTimer thread2Slave(Task2_Slave, osTimerPeriodic, NULL);
     RtosTimer thread3(Task3, osTimerPeriodic, (void *)0);
     RtosTimer thread4(Task4, osTimerPeriodic, (void *)0);
 
     /* Start threads */
     thread1.start(TASK1_PERIOD);
-    thread2.start(TASK2_PERIOD);
+    thread2Master.start(TASK2_MASTER_PERIOD);
+    thread2Slave.start(TASK2_SLAVE_PERIOD);
     thread3.start(TASK3_PERIOD);
     thread4.start(TASK4_PERIOD);