Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/inc/Task2_Master.h

Committer:
pHysiX
Date:
2014-05-19
Revision:
50:8a0accb23007
Parent:
44:4be5c01c6de2
Child:
51:04c6af4319e1

File content as of revision 50:8a0accb23007:

/* File:        Task2_Master.h
 * Author:      Trung Tin Ian HUA
 * Date:        May 2014
 * Purpose:     Thread2M: Master PID control loop (attitude)
 * Functions:   AHRSSample: Read MPU6050 DMP and calculate YPR
 * Settings:    200Hz
 */
#include "mbed.h"
#include "rtos.h"
#include "tasks.h"

#ifndef _TASK2_MASTER_H_
#define _TASK2_MASTER_H_

// 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 volatile float ypr[3];
extern volatile float adjust_attitude[3];

/* Thread2-Master: Attitude PID Control */
void Task2_Master(void const *argument);

// ========================
// === Helper functions ===
// ========================
void Task2_Master_ISR(void const *argument);
void AHRSSample(void);

#endif