Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Setup/inc/tasks.h

Revision:
9:371950017779
Parent:
3:605fbcb54e75
Child:
10:ef5fe86f67fe
diff -r f3e192cc714c -r 371950017779 RTOS-Setup/inc/tasks.h
--- a/RTOS-Setup/inc/tasks.h	Wed Apr 30 12:22:56 2014 +0000
+++ b/RTOS-Setup/inc/tasks.h	Wed Apr 30 13:49:12 2014 +0000
@@ -9,10 +9,12 @@
 #include "Task3.h"
 #include "Task4.h"
 
-// 1khz / (1 + 4) = 200 Hz
-#define IMU_SAMPLE_RATE_DIVIDER 4
+// 1khz / (1 + 9) = 100 Hz (Fsample)
+#define IMU_SAMPLE_RATE_DIVIDER 9
+// Fsample Hz / (1 + 0) = 100 Hz
+#define IMU_FIFO_RATE_DIVIDER   0x00
 
-#define TASK1_FREQUENCY 250
+#define TASK1_FREQUENCY 200
 #define TASK2_FREQUENCY 100
 #define TASK3_FREQUENCY 50
 #define TASK4_FREQUENCY 100