void AppMain()
{
uint32_t i=0;
uint32_t speed1=250;
uint32_t speed2=500;
uint32_t speed3=750;
uint32_t speed4=1000;
ESC_Init(1,50,5000,6000);
ESC_SetChannel(1);
ESC_SetChannel(2);
ESC_SetChannel(3);
ESC_SetChannel(4);
while(1)
{
ESC_SetSpeed(1,speed1);
ESC_SetSpeed(2,speed2);
ESC_SetSpeed(3,speed3);
ESC_SetSpeed(4,speed4);
speed1=(speed1+1)%1001;
speed2=(speed2+1)%1001;
speed3=(speed3+1)%1001;
speed4=(speed4+1)%1001;
for(i=0; i<1000000; i++);
}
}
void Idle_Task(void * pvParameters){
int i;
for (i=1;i<=4;i++)
{
ESC_SetChannel(i);
ESC_SetSpeed(i,0);
}
for (;;){
qLedsFlash(2,50);
vTaskDelay(500/portTICK_RATE_MS);
}
}
void ESC_Init(ESC_t *esc, uint16_t pin)
{
uint16_t Prescaler = GetPrescaler();
esc->pin_number = pin;
esc->speed = 0;
// devided by 1000000 because ESC data is in the base of us instead of s
esc->run_min = (((SystemCoreClock/1000000)/ (2 * Prescaler)) * (ESC_INIT_HIGH));
Delay(500000);
ESC_SetSpeed(esc);
Delay(2500000);
esc->run_min = (((SystemCoreClock/1000000)/ (2 * Prescaler)) * (ESC_RUN_MIN));
esc->run_max = (((SystemCoreClock/1000000)/ (2 * Prescaler)) * (ESC_RUN_MAX));
esc->lift_quad_min = 0;
}
