Ian Hua / Quadcopter-mbedRTOS

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

RTOS-Threads/inc/Task3.h

Committer:
pHysiX
Date:
2014-05-13
Revision:
38:ef65533cca32
Parent:
36:d95e3d6f2fc4
Child:
44:4be5c01c6de2

File content as of revision 38:ef65533cca32:

/* File:        Task3.h
 * Author:      Trung Tin Ian HUA
 * Date:        May 2014
 * Purpose:     Thread3: RC & BT Command, and Telemetry
 * Settings:    50Hz
 */ 
#include "mbed.h"
#include "rtos.h"
#include "tasks.h"

#ifndef _TASK3_H_
#define _TASKS3_H_

// ms timing: Refer to tasks.h to change frequency of Task3.
#define TASK3_PERIOD 1000/TASK3_FREQUENCY

enum FLIGHT_MODE {
    RATE,
    ATTITUDE
};

extern int RCCommand[5];
extern int inputYPR[3];
extern float ypr_offset[3];

extern FLIGHT_MODE mode;

extern AnalogIn voltageSense;

/* Thread3: RC & BT Command, and Telemetry */
void Task3(void const *argument);

// ========================
// === Helper functions ===
// ========================
int constrainRCCommand(int input);
int deadbandInputYPR(int input);
int constrainInputYPR(int input);
void uartDecoder(char input);

#endif