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Dependencies:   mbed FreeRTOS

userTask.cpp@1:15ab74f0d0f1, 2018-11-24 (annotated)

Committer:
takeru0x1103
Date:
Sat Nov 24 11:35:48 2018 +0000
Revision:
1:15ab74f0d0f1
Child:
8:1ca49cb18290
8??????;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 1:15ab74f0d0f1 1 //RTOS関連
takeru0x1103 1:15ab74f0d0f1 2 #include "FreeRTOS.h"
takeru0x1103 1:15ab74f0d0f1 3 #include "task.h"
takeru0x1103 1:15ab74f0d0f1 4 #include "queue.h"
takeru0x1103 1:15ab74f0d0f1 5 #include "led.h"
takeru0x1103 1:15ab74f0d0f1 6 #include "command.h"
takeru0x1103 1:15ab74f0d0f1 7 #include "userOperate.h"
takeru0x1103 1:15ab74f0d0f1 8
takeru0x1103 1:15ab74f0d0f1 9
takeru0x1103 1:15ab74f0d0f1 10 //----------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 11 //タスク処理
takeru0x1103 1:15ab74f0d0f1 12 //----------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 13 void task50Hz(void *pvParameters){
takeru0x1103 1:15ab74f0d0f1 14
takeru0x1103 1:15ab74f0d0f1 15 int8_t *pcTaskName;
takeru0x1103 1:15ab74f0d0f1 16 pcTaskName = (int8_t *) pvParameters;
takeru0x1103 1:15ab74f0d0f1 17 portTickType xLastWakeTime;
takeru0x1103 1:15ab74f0d0f1 18 xLastWakeTime = xTaskGetTickCount();
takeru0x1103 1:15ab74f0d0f1 19
takeru0x1103 1:15ab74f0d0f1 20 while(1){
takeru0x1103 1:15ab74f0d0f1 21 ledTggle();
takeru0x1103 1:15ab74f0d0f1 22
takeru0x1103 1:15ab74f0d0f1 23 if(gDebugFlg){
takeru0x1103 1:15ab74f0d0f1 24 userTest();
takeru0x1103 1:15ab74f0d0f1 25 }else{
takeru0x1103 1:15ab74f0d0f1 26 userIdleSet();
takeru0x1103 1:15ab74f0d0f1 27 }
takeru0x1103 1:15ab74f0d0f1 28
takeru0x1103 1:15ab74f0d0f1 29 //次の周期まで待つ
takeru0x1103 1:15ab74f0d0f1 30 vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
takeru0x1103 1:15ab74f0d0f1 31 }
takeru0x1103 1:15ab74f0d0f1 32 }
takeru0x1103 1:15ab74f0d0f1 33
takeru0x1103 1:15ab74f0d0f1 34 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 35 //初期化
takeru0x1103 1:15ab74f0d0f1 36 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 37 void taskInit(){
takeru0x1103 1:15ab74f0d0f1 38 portBASE_TYPE TaskRtn;
takeru0x1103 1:15ab74f0d0f1 39 TaskRtn= xTaskCreate(task50Hz, (signed portCHAR *)"TaskB", 192, NULL, 1, NULL);
takeru0x1103 1:15ab74f0d0f1 40 //
takeru0x1103 1:15ab74f0d0f1 41 if(TaskRtn==pdTRUE){printf("task1 OK\r\n");}
takeru0x1103 1:15ab74f0d0f1 42 //カーネルの起動
takeru0x1103 1:15ab74f0d0f1 43 vTaskStartScheduler();
takeru0x1103 1:15ab74f0d0f1 44 }
takeru0x1103 1:15ab74f0d0f1 45
takeru0x1103 1:15ab74f0d0f1 46