Ian Hua / Quadcopter-mbedRTOS

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RTOS-Setup/inc/tasks.h

Committer:
pHysiX
Date:
2014-05-12
Revision:
30:d9b988f8d84f
Parent:
27:18b6580eb0b1
Child:
31:3dde2201e54d

File content as of revision 30:d9b988f8d84f:

/* File:    tasks.h
 * Author:  Trung Tin Ian HUA
 * Date:    May 2014
 * Purpose: Code to intialise and start all threads.
 */

#include "mbed.h"
#include "rtos.h"

#ifndef _TASKS_H_
#define _TASKS_H_

#include "Task1.h"
#include "Task2_Master.h"
#include "Task2_Slave.h"
#include "Task3.h"
#include "Task4.h"

// 1khz / (1 + 9) = 100 Hz (Fsample)
#define IMU_SAMPLE_RATE_DIVIDER 9
// Fsample Hz / (1 + 0) = 100 Hz
#define IMU_FIFO_RATE_DIVIDER   0x00

// Frequency (Hz):
#define TASK1_FREQUENCY         100
#define TASK2_MASTER_FREQUENCY  100
#define TASK2_SLAVE_FREQUENCY   200
#define TASK3_FREQUENCY         50
#define TASK4_FREQUENCY         333

#define ESC_FREQUENCY 400
#define ESC_PERIOD_US 1000000/ESC_FREQUENCY

void createThreads(void);

#endif