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-Setup/inc/tasks.h

Committer:
pHysiX
Date:
2014-05-12
Revision:
32:7a9be7761c46
Parent:
31:3dde2201e54d
Child:
36:d95e3d6f2fc4

File content as of revision 32:7a9be7761c46:

/* 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  200
#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