33a148b4dd
The finished CLI implementation. All actions should be in a working condition. It should be able to read messages from any serial writer/reader. To do later if time build an desktop application to communicate with
54 lines
2.3 KiB
C
54 lines
2.3 KiB
C
/**************************************************************************
|
|
* NAME: tasks.h *
|
|
* *
|
|
* AUTHOR: Jonas Holmberg *
|
|
* *
|
|
* PURPOSE: Defining the the scheduler to be used in the system to *
|
|
* organize the runtime for the tasks in the system based on *
|
|
* priority. *
|
|
* *
|
|
* INFORMATION: Adds the initial task values for each task that can be in *
|
|
* the system, in the c file. In the h file functions that *
|
|
* when called will* perform the action of its corresponding *
|
|
* task. *
|
|
* *
|
|
* GLOBAL VARIABLES: *
|
|
* Variable Type Description *
|
|
* -------- ---- ----------- *
|
|
***************************************************************************/
|
|
|
|
#ifndef SCHEDULER_TASKS_H_
|
|
#define SCHEDULER_TASKS_H_
|
|
|
|
#include <stdint.h>
|
|
|
|
#define GetUpdateRateHz(x) (1000000 / x) //x is the desired hz value given in micro seconds
|
|
#define GetUpdateRateMs(x) (x*1000) //X is the desired ms value given as micro seconds
|
|
#define GetUpdateRateUs(x) (x) //X is the desired us value given as micro seconds (Its the same, used for clarification)
|
|
#define GetUpdateRateSeconds(x) (x * 1000000) //X is the desired second value given as micro seconds
|
|
|
|
//All the task functions in the system, one for each task
|
|
void systemTaskSystem(void);
|
|
void systemTaskGyroPid(void);
|
|
void systemTaskAccelerometer(void);
|
|
void systemTaskAttitude(void);
|
|
void systemTaskRx(void);
|
|
bool systemTaskRxCheck(uint32_t currentDeltaTime);
|
|
void systemTaskRxCli(void);
|
|
bool systemTaskRxCliCheck(uint32_t currentDeltaTime);
|
|
void systemTaskSerial(void);
|
|
void systemTaskBattery(void);
|
|
void systemTaskBaro(void);
|
|
void systemTaskCompass(void);
|
|
void systemTaskGps(void);
|
|
void systemTaskSonar(void);
|
|
void systemTaskAltitude(void);
|
|
void systemTaskBeeper(void);
|
|
|
|
//Tasks used only for testing purposes
|
|
void systemTaskDebug_1(void);
|
|
void systemTaskDebug_2(void);
|
|
void systemTaskDebug_3(void);
|
|
|
|
#endif /* SCHEDULER_TASKS_H_ */
|