Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task4.cpp

Revision:
50:8a0accb23007
Parent:
44:4be5c01c6de2
Child:
51:04c6af4319e1
--- a/RTOS-Threads/src/Task4.cpp	Mon May 19 13:33:34 2014 +0000
+++ b/RTOS-Threads/src/Task4.cpp	Mon May 19 14:16:47 2014 +0000
@@ -6,11 +6,13 @@
  * 200Hz <= PWM frequency <= 400Hz
  * Frequency:   400Hz
  * Refer to tasks.h to change PWM frequency
- * Timing:      
+ * Timing:
  */
 #include "tasks.h"
 #include "setup.h"
 
+Semaphore sem_Task4(1);
+
 volatile int ESCpower[4] = {0, 0, 0, 0};
 int stallESC = 0;
 
@@ -24,10 +26,8 @@
 // ==================
 // === ESC UPDATE ===
 // ==================
-//Timer
 void Task4(void const *argurment)
 {
-//Timer
     if (armed) {
         if (calibration_mode) {
             for (int i = 0; i < 4; i++)
@@ -73,7 +73,6 @@
             ESC[i].pulsewidth_us(ESCpower[i]);
         }
     }
-//Timer
 }
 
 
@@ -82,6 +81,11 @@
 // ************************
 // *** Helper functions ***
 // ************************
+void Task4_ISR(void const *argument)
+{
+    //sem_Task4.release();
+}
+
 int constrainESC(float input)
 {
     if (input < 1100.0)