Ian Hua / Quadcopter-mbedRTOS

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RTOS-Setup/inc/setup.h

Committer:
pHysiX
Date:
2014-05-02
Revision:
14:267368c83b6a
Parent:
12:953d25061417
Child:
20:b193a50a2ba3

File content as of revision 14:267368c83b6a:

#include "mbed.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "PID.h"
#include "MPL3115A2.h"

#ifdef ENABLE_COMPASS
#include "HMC5883L.h"
#endif

#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 200
#define ESC_PERIOD_US 1000000/ESC_FREQUENCY

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 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);
#ifdef ENABLE_COMPASS
bool setup_compass(void);
#endif
bool setup_altimeter(void);

#endif