Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/inc/Task2_Master.h

Revision:
36:d95e3d6f2fc4
Parent:
33:f88a6ee18103
Child:
38:ef65533cca32
--- a/RTOS-Threads/inc/Task2_Master.h	Tue May 13 02:44:10 2014 +0000
+++ b/RTOS-Threads/inc/Task2_Master.h	Tue May 13 04:05:34 2014 +0000
@@ -1,9 +1,11 @@
 /* File:        Task2_Master.h
  * Author:      Trung Tin Ian HUA
  * Date:        May 2014
- * Purpose:     Thread2-Master: Attitude PID Control
- * Settings:    100Hz
- */ 
+ * Purpose:     Thread2M: Master PID control loop (attitude)
+ * Functions:   AHRSSample: Read MPU6050 DMP and calculate YPR
+ * Settings:    200Hz
+ * Timing:      //40us
+ */
 #include "mbed.h"
 #include "rtos.h"
 #include "tasks.h"
@@ -14,9 +16,20 @@
 // ms timing: Refer to tasks.h to change frequency of Task2_Master.
 #define TASK2_MASTER_PERIOD 1000/TASK2_MASTER_FREQUENCY
 
+
+#ifdef ENABLE_COMPASS
+extern double heading;
+#endif
+
+extern float ypr[3];
 extern volatile float adjust_attitude[3];
 
 /* Thread2-Master: Attitude PID Control */
 void Task2_Master(void const *argument);
 
+// ========================
+// === Helper functions ===
+// ========================
+void AHRSSample(void);
+
 #endif