Ian Hua
/
Quadcopter-mbedRTOS
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RTOS-Threads/inc/Task2.h
- Committer:
- pHysiX
- Date:
- 2014-05-08
- Revision:
- 22:ef8aa9728013
- Parent:
- 21:b642c18eccd1
File content as of revision 22:ef8aa9728013:
/* File: Task2.h
* Author: Trung Tin Ian HUA
* Date: May 2014
* Purpose: Thread2: Gyro sample and PID Control loop
* Settings: 200Hz
*/
#include "mbed.h"
#include "rtos.h"
#include "tasks.h"
#ifndef _TASK2_H_
#define _TASK2_H_
// ms timing: Refer to tasks.h to change frequency of Task2.
#define TASK2_PERIOD 1000/TASK2_FREQUENCY
extern volatile float adjust[3];
extern volatile int gyro[3];
extern bool counterESC;
/* Thread2: Gyro Sample & PID Computation */
void Task2(void const *argument);
#endif