Ian Hua
/
Quadcopter-mbedRTOS
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RTOS-Threads/inc/Task2_Slave.h
- Committer:
- pHysiX
- Date:
- 2014-05-19
- Revision:
- 51:04c6af4319e1
- Parent:
- 50:8a0accb23007
File content as of revision 51:04c6af4319e1:
/* File: Task2_Slave.cpp
* Author: Trung Tin Ian HUA
* Date: May 2014
* Purpose: Thread2S: Slave PID control loop (rate)
* Functions: Gyro sample
* Settings: 400Hz
*/
#include "mbed.h"
#include "rtos.h"
#include "tasks.h"
#ifndef _TASK2_SLAVE_H_
#define _TASK2_SLAVE_H_
// ms timing: Refer to tasks.h to change frequency of Task2_Slave.
#define TASK2_SLAVE_PERIOD 1000/TASK2_MASTER_FREQUENCY
extern volatile float adjust[3];
extern int16_t gz;
extern volatile int gyro[3];
extern Semaphore sem_Task2_Slave;
/* Thread2-Slave: Gyro sample and Rate PID Control */
void Task2_Slave(void const *argument);
// ========================
// === Helper functions ===
// ========================
void Task2_Slave_ISR(void const *argument);
void gyroSample(void);
#endif