roverSTM  UM2 2013
Projet M1 Navarro Benjamin
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tasks.h
1 /*
2  * tasks.h
3  *
4  * Created on: 9 fŽvr. 2013
5  * Author: Benjamin Navarro
6  */
7 
8 #ifndef TASKS_H_
9 #define TASKS_H_
10 
11 #include "stm32f4xx.h"
12 #include "stm32f4_discovery.h"
13 
14 #include "FreeRTOS.h"
15 #include "FreeRTOS_Hooks.h"
16 #include "task.h"
17 #include "queue.h"
18 #include "timers.h"
19 #include "semphr.h"
20 
21 #include "nmea/nmea.h"
22 
23 #include <stdio.h>
24 #include <string.h>
25 
26 #include "MyLib.h"
27 #include "registers.h"
28 
29 /*** Motors related stuff ***/
30 #define MAX_ANGLE 20.0
31 
32 #define setMotorSpeed(dir, percent) TIM_SetCompare1(TIM3, dir ? 1500 + (uint16_t) percent*5 : 1500 - (uint16_t) percent*5);
33 #define setDirectionAngle(angle) TIM_SetCompare2(TIM3, 2000 - (uint16_t) (angle+20.0)*25);
34 
35 #define ESCProgramming 0
36 
37 typedef enum _dir {
38  backward = 0,
39  forward
40 } dir;
41 
42 /*** Motors related stuff ***/
43 extern xTaskHandle MotorHandle;
44 
45 /*** GPS related stuff ***/
46 extern xQueueHandle GPSQueue;
47 extern nmeaINFO GPSInfo;
48 extern nmeaPOS GPSPos;
49 
50 #define NMEA_SENTENCE_LENGTH 100
51 #define GPS_QUEUE_SIZE 10
52 
53 /*** SPI (RPi) related stuff ***/
54 #define READ_COMMAND 0x00
55 #define WRITE_COMMAND 0x80
56 
57 /*** Global variables ***/
58 extern uint16_t US_Distance;
59 extern int16_t heading;
60 extern registerOperations regs;
61 
62 /*** Tasks prototypes ***/
63 void MotorTask (void * pvArg);
64 void I2CTask (void * pvArg);
65 void GPSTask (void * pvArg);
66 void SPITask (void * pvArg);
67 
68 #endif /* TASKS_H_ */
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