Ian Hua / Quadcopter-mbedRTOS

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RTOS-Setup/src/tasks.cpp

Committer:
pHysiX
Date:
2014-05-08
Revision:
21:b642c18eccd1
Parent:
3:605fbcb54e75
Child:
22:ef8aa9728013

File content as of revision 21:b642c18eccd1:

#include "tasks.h"
#include "setup.h"

void createThreads(void)
{
    /* Create threads */
    RtosTimer thread1(Task1, osTimerPeriodic, NULL);
    RtosTimer thread2(Task2, osTimerPeriodic, NULL);
    RtosTimer thread3(Task3, osTimerPeriodic, (void *)0);
    RtosTimer thread4(Task4, osTimerPeriodic, (void *)0);

    /* Start threads */
    thread1.start(TASK1_PERIOD);
    thread2.start(TASK2_PERIOD);
    thread3.start(TASK3_PERIOD);
    thread4.start(TASK4_PERIOD);

    /* Execute state machine forever */
    Thread::wait(osWaitForever);
}

/*
int abs(float input)
{
    if (input < 0.0)
        return -1* (int) input;
    else
        return input;
}
*/