Ian Hua
/
Quadcopter-mbedRTOS
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RTOS-Setup/inc/tasks.h
- Committer:
- pHysiX
- Date:
- 2014-05-13
- Revision:
- 38:ef65533cca32
- Parent:
- 36:d95e3d6f2fc4
- Child:
- 39:02782ad251db
File content as of revision 38:ef65533cca32:
/* 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 50
#define TASK2_MASTER_FREQUENCY 100
#define TASK2_SLAVE_FREQUENCY 400
#define TASK3_FREQUENCY 50
#define TASK4_FREQUENCY 400
#define ESC_FREQUENCY 400
#define ESC_PERIOD_US 1000000/ESC_FREQUENCY
void createThreads(void);
#endif