Ian Hua / Quadcopter-mbedRTOS

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Diff: RTOS-Setup/inc/setup.h

Revision:
22:ef8aa9728013
Parent:
21:b642c18eccd1
Child:
27:18b6580eb0b1
--- a/RTOS-Setup/inc/setup.h	Thu May 08 09:39:12 2014 +0000
+++ b/RTOS-Setup/inc/setup.h	Thu May 08 10:33:43 2014 +0000
@@ -1,3 +1,9 @@
+/* File:    setup.h
+ * Author:  Trung Tin Ian HUA
+ * Date:    May 2014
+ * Purpose: Setup code to initialise all devices.
+ */ 
+
 #include "mbed.h"
 #include "MPU6050_6Axis_MotionApps20.h"
 #include "PID.h"
@@ -10,46 +16,44 @@
 #ifndef _SETUP_H_
 #define _SETUP_H_
 
+/* PID Gains: */
+extern float KP_PITCH_STABLE;
+extern float KP_ROLL_STABLE;
 extern float KP_YAW_RATE;
 extern float KP_PITCH_RATE;
 extern float KP_ROLL_RATE;
-
 extern float PID_TI_RATE;
 extern float PID_TI_STABLE;
 
 #define ESC_FREQUENCY 200
 #define ESC_PERIOD_US 1000000/ESC_FREQUENCY
 
+/* Sensors and devices: */
 extern Serial BT;
 extern DigitalOut BT_CMD;
-
 extern MPU6050 imu;
 extern uint16_t packetSize;
-
-#ifdef ENABLE_COMPASS
-extern HMC5883L compass;
-#endif
+extern MPL3115A2 altimeter;
+extern PwmOut ESC[4];
 
-extern MPL3115A2 altimeter;
-
-//extern DigitalOut LED[];
-
+/* PID Devices: */
 extern PID pitchPIDstable;
 extern PID rollPIDstable;
 extern PID yawPIDrate;
 extern PID pitchPIDrate;
 extern PID rollPIDrate;
 
-extern PwmOut ESC[4];
-
+/* Setup routines: */
 bool setupALLdevices(void);
 bool setup_ESC(void);
 bool setup_bt(void);
 bool setup_PID(void);
 bool setup_mpu6050(void);
+bool setup_altimeter(void);
+
 #ifdef ENABLE_COMPASS
+extern HMC5883L compass;
 bool setup_compass(void);
 #endif
-bool setup_altimeter(void);
 
 #endif