Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task1.cpp

Revision:
31:3dde2201e54d
Parent:
30:d9b988f8d84f
Child:
33:f88a6ee18103
--- a/RTOS-Threads/src/Task1.cpp	Mon May 12 04:43:38 2014 +0000
+++ b/RTOS-Threads/src/Task1.cpp	Mon May 12 05:12:19 2014 +0000
@@ -1,7 +1,8 @@
 /* File:        Task1.cpp
  * Author:      Trung Tin Ian HUA
  * Date:        May 2014
- * Purpose:     Thread1: Code to read Yaw Pitch Roll angles from MPU6050 DMP.
+ * Functions:   Thread1: Service YPR telemetry output
+ * Functions:   AHRSSample: Read MPU6050 DMP and calculate YPR
  * Settings:    100Hz
  * Timing:      1440us
  */
@@ -31,9 +32,6 @@
 double heading = 0;
 #endif
 
-#ifdef TIME_TASK1
-Timer _t1;
-#endif
 // ================================================================
 // === YPR THREAD ===
 // ================================================================
@@ -42,37 +40,20 @@
     switch (box_demo) {
         case true:
             AHRSSample();
-            
-            BT.printf("
+            if (box_demo)
+                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]);
             break;
-
-        case false:
-#ifdef TIME_TASK1
-            _t1.reset();
-            _t1.start();
-#endif
-            if (armed) {
-                switch (mode) {
-                    case RATE:
-                        break;
-
-                    case ATTITUDE:
-                    default:
-                        AHRSSample();
-
-                        counterTask1 = true;
-                        break;
-                }
-            }
     }
 }
-
+//Timer
 // ================================================================
 // === Helper functions ===
 // ================================================================
 
 void AHRSSample(void)
 {
+//Timer
     // reset interrupt flag and get INT_STATUS byte
     mpuIntStatus = imu.getIntStatus();
 
@@ -120,4 +101,5 @@
         ypr[0] += 0.02*heading;
         */
     }
-}
\ No newline at end of file
+//Timer
+}