Ian Hua
/
Quadcopter-mbedRTOS
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RTOS-Setup/inc/setup.h
- Committer:
- pHysiX
- Date:
- 2014-04-30
- Revision:
- 4:01921a136f58
- Parent:
- 3:605fbcb54e75
- Child:
- 12:953d25061417
File content as of revision 4:01921a136f58:
#include "mbed.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "PID.h"
#ifndef _SETUP_H_
#define _SETUP_H_
#define KP_YAW_RATE 1.0
#define KP_PITCH_RATE 1.0
#define KP_ROLL_RATE 1.0
#define ESC_FREQUENCY 400
#define ESC_PERIOD_US 1000000/ESC_FREQUENCY
extern Serial BT;
extern DigitalOut BT_CMD;
extern MPU6050 imu;
extern uint16_t packetSize;
//extern DigitalOut LED[];
extern PID yawPIDrate;
extern PID pitchPIDrate;
extern PID rollPIDrate;
extern PwmOut ESC[4];
bool setupALLdevices(void);
bool setup_ESC(void);
bool setup_bt(void);
bool setup_PID(void);
bool setup_mpu6050(void);
#endif