Ian Hua / Quadcopter-mbedRTOS

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RTOS-Threads/inc/Task3.h

Committer:
pHysiX
Date:
2014-05-18
Revision:
47:89a7077a70d3
Parent:
45:3847d7bf8b2c

File content as of revision 47:89a7077a70d3:

/* 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 volatile int RCCommand[5];
extern volatile int inputYPR[3];
extern volatile 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, int axis);
void uartDecoder(char input);

#endif