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Dependencies:   mbed FreeRTOS

userTask.cpp@34:234b87f3e6ce, 2018-12-22 (annotated)

Committer:
MasashiNomura
Date:
Sat Dec 22 09:08:10 2018 +0000
Revision:
34:234b87f3e6ce
Parent:
33:eb260dbfc22a
Child:
35:3779201b4c73
12/22 Modify SW etc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 21:78302ecdb661 1 //RTOS関連------------------
takeru0x1103 1:15ab74f0d0f1 2 #include "FreeRTOS.h"
takeru0x1103 1:15ab74f0d0f1 3 #include "task.h"
takeru0x1103 21:78302ecdb661 4 //#include "queue.h"
takeru0x1103 21:78302ecdb661 5 //------------------RTOS関連
takeru0x1103 21:78302ecdb661 6
takeru0x1103 17:f9610f3cfa1b 7 #include "globalFlags.h"
takeru0x1103 17:f9610f3cfa1b 8 #include "HbManager.h"
takeru0x1103 18:5aa48aec9cae 9 #include "hbCommand.h"
takeru0x1103 18:5aa48aec9cae 10 #include "uart.h"
MasashiNomura 24:c5945aaae777 11 #include "fpga.h"
takeru0x1103 1:15ab74f0d0f1 12
takeru0x1103 18:5aa48aec9cae 13 //タスクハンドル（停止とか再開に必要）
takeru0x1103 18:5aa48aec9cae 14 static xTaskHandle tskHandle[3]={NULL,};
takeru0x1103 1:15ab74f0d0f1 15
takeru0x1103 21:78302ecdb661 16 //------------------
takeru0x1103 18:5aa48aec9cae 17 //タスク停止
takeru0x1103 18:5aa48aec9cae 18 //------------------
takeru0x1103 18:5aa48aec9cae 19 static void taskStop(int iId){
takeru0x1103 18:5aa48aec9cae 20 sp.printf("Task[%d] Stop\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 21 vTaskSuspend(tskHandle[iId]);//タスクを止める
takeru0x1103 18:5aa48aec9cae 22 }
takeru0x1103 18:5aa48aec9cae 23
takeru0x1103 21:78302ecdb661 24 //------------------
takeru0x1103 18:5aa48aec9cae 25 //タスク再開
takeru0x1103 18:5aa48aec9cae 26 //------------------
takeru0x1103 18:5aa48aec9cae 27 static void taskStart(int iId){
takeru0x1103 18:5aa48aec9cae 28 sp.printf("Task[%d] Start!!\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 29 vTaskResume(tskHandle[iId]);//タスク再開
takeru0x1103 18:5aa48aec9cae 30 }
takeru0x1103 18:5aa48aec9cae 31
takeru0x1103 18:5aa48aec9cae 32 //========================================================
takeru0x1103 21:78302ecdb661 33 //コマンド解析タスク
takeru0x1103 21:78302ecdb661 34 //========================================================
takeru0x1103 21:78302ecdb661 35 void taskCmdParser(void *pvParameters){
takeru0x1103 21:78302ecdb661 36 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 37 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 38
takeru0x1103 21:78302ecdb661 39 // vTaskDelay(300);//制御タスクを先に走らせたいので待たす
takeru0x1103 21:78302ecdb661 40
takeru0x1103 21:78302ecdb661 41 while(1){
takeru0x1103 21:78302ecdb661 42 led2=!led2;
takeru0x1103 21:78302ecdb661 43 //コマンド解釈
takeru0x1103 21:78302ecdb661 44 commandParse();
takeru0x1103 21:78302ecdb661 45
takeru0x1103 21:78302ecdb661 46 //
MasashiNomura 24:c5945aaae777 47 // if(gf_Armed){
MasashiNomura 24:c5945aaae777 48 // setState(WAKEUP);
MasashiNomura 24:c5945aaae777 49 // gf_Armed = false;
MasashiNomura 24:c5945aaae777 50 // // taskStop(0);//制御タスクを止める
MasashiNomura 24:c5945aaae777 51 // // taskStart(2);//デバッグタスク再開
MasashiNomura 24:c5945aaae777 52 // }
MasashiNomura 22:24c9c2dedca9 53 // else{
MasashiNomura 22:24c9c2dedca9 54 // taskStop(2);//デバッグタスクを止める
MasashiNomura 22:24c9c2dedca9 55 // taskStart(0);//制御タスク再開
MasashiNomura 22:24c9c2dedca9 56 // }//switch
takeru0x1103 21:78302ecdb661 57
takeru0x1103 21:78302ecdb661 58 //次の周期まで待つ
takeru0x1103 21:78302ecdb661 59 vTaskDelayUntil(&xLastWakeTime, 50 / portTICK_RATE_MS );
takeru0x1103 21:78302ecdb661 60 }
takeru0x1103 21:78302ecdb661 61 }
takeru0x1103 21:78302ecdb661 62 //========================================================
takeru0x1103 17:f9610f3cfa1b 63 //ホバーバイク制御タスク
takeru0x1103 18:5aa48aec9cae 64 //========================================================
takeru0x1103 17:f9610f3cfa1b 65 void taskHbControl(void *pvParameters){
takeru0x1103 21:78302ecdb661 66 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 67 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 68
takeru0x1103 17:f9610f3cfa1b 69 HbManager hb;
takeru0x1103 8:1ca49cb18290 70
MasashiNomura 23:79e20be4bc5b 71 bool bDoCtrlAtt;
MasashiNomura 23:79e20be4bc5b 72 bool bDoCtrlMot;
MasashiNomura 31:56c554c560c1 73 bool bDoCtrlEng;
MasashiNomura 31:56c554c560c1 74 //INT16 tmpRpm, difRpm;
MasashiNomura 33:eb260dbfc22a 75 INT16 AxlRpm;
takeru0x1103 1:15ab74f0d0f1 76 while(1){
takeru0x1103 16:05b9e44889f1 77 led1=!led1;
MasashiNomura 23:79e20be4bc5b 78 bDoCtrlAtt = false;
MasashiNomura 23:79e20be4bc5b 79 bDoCtrlMot = false;
MasashiNomura 31:56c554c560c1 80 bDoCtrlEng = false;
MasashiNomura 24:c5945aaae777 81 // PID係数アップデートチェック
MasashiNomura 24:c5945aaae777 82 if(gf_PidParaUpdate){
MasashiNomura 24:c5945aaae777 83 hb.setAttPara(g_PidPara);
MasashiNomura 24:c5945aaae777 84 sp.printf("Pp : [%f]\r\n",g_PidPara.PP);
MasashiNomura 24:c5945aaae777 85 sp.printf("P : [%f]\r\n",g_PidPara.P);
MasashiNomura 24:c5945aaae777 86 sp.printf("I : [%f]\r\n",g_PidPara.I);
MasashiNomura 24:c5945aaae777 87 sp.printf("D : [%f]\r\n",g_PidPara.D);
MasashiNomura 24:c5945aaae777 88 sp.printf("IMAX: [%f]\r\n",g_PidPara.IMax);
MasashiNomura 24:c5945aaae777 89 sp.printf("IMIN: [%f]\r\n",g_PidPara.IMin);
MasashiNomura 31:56c554c560c1 90 sp.printf("V : [%f]\r\n",g_PidPara.V);
MasashiNomura 24:c5945aaae777 91 gf_PidParaUpdate = false;
MasashiNomura 24:c5945aaae777 92 }
MasashiNomura 25:f3a6e7eec9c3 93 for(int i = 0; i < 4; ++i){
MasashiNomura 25:f3a6e7eec9c3 94 if(gf_MotParaUpdate[i]){
MasashiNomura 32:7f4145cc3551 95 // hb.setMotPara((UCHAR)i, g_MotPara[i]);
MasashiNomura 32:7f4145cc3551 96 // sp.printf("num : [%d]\r\n",i);
MasashiNomura 32:7f4145cc3551 97 // //sp.printf("ofs : [%d]\r\n",g_MotPara[i].offset);
MasashiNomura 32:7f4145cc3551 98 // sp.printf("low : [%d]\r\n",g_MotPara[i].limit_low);
MasashiNomura 32:7f4145cc3551 99 // sp.printf("hi : [%d]\r\n",g_MotPara[i].limit_hi);
MasashiNomura 25:f3a6e7eec9c3 100 gf_MotParaUpdate[i] = false;
MasashiNomura 25:f3a6e7eec9c3 101 }
MasashiNomura 25:f3a6e7eec9c3 102 }
MasashiNomura 25:f3a6e7eec9c3 103 if(gf_StopMot){
MasashiNomura 29:eb3d72dd94aa 104 //setStateF(MOT_STOP);
MasashiNomura 29:eb3d72dd94aa 105 //hb.getCurMotVal();
MasashiNomura 29:eb3d72dd94aa 106 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 107 gf_MtReq[i].req = true;
MasashiNomura 32:7f4145cc3551 108 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 109 gf_MtReqOfs[i].req = true;
MasashiNomura 32:7f4145cc3551 110 gf_MtReqOfs[i].val = 0;
MasashiNomura 29:eb3d72dd94aa 111 }
MasashiNomura 25:f3a6e7eec9c3 112 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 113 }
MasashiNomura 23:79e20be4bc5b 114
MasashiNomura 29:eb3d72dd94aa 115
takeru0x1103 21:78302ecdb661 116 //▼①状態読み出し系
MasashiNomura 22:24c9c2dedca9 117 hb.getAttitude(); //現在角度読み出し
MasashiNomura 22:24c9c2dedca9 118 hb.controlEngine(); //エンジン回転数読み出し
MasashiNomura 22:24c9c2dedca9 119 hb.getUserCommand(); //操作ボタン状態読み出し
MasashiNomura 29:eb3d72dd94aa 120
takeru0x1103 21:78302ecdb661 121 //▼②ステート遷移
MasashiNomura 22:24c9c2dedca9 122 switch(gf_State){
MasashiNomura 22:24c9c2dedca9 123 case SLEEP:
MasashiNomura 22:24c9c2dedca9 124 if(gf_Dbg){
MasashiNomura 24:c5945aaae777 125 gf_Dbg = false;
MasashiNomura 22:24c9c2dedca9 126 taskStart(2);
MasashiNomura 22:24c9c2dedca9 127 }
MasashiNomura 22:24c9c2dedca9 128 break;
MasashiNomura 22:24c9c2dedca9 129 case WAKEUP:
MasashiNomura 24:c5945aaae777 130 //各種モーター
MasashiNomura 24:c5945aaae777 131 //機材のチェック
MasashiNomura 24:c5945aaae777 132 // if(hb.chkMotor() == true){
MasashiNomura 25:f3a6e7eec9c3 133 hb.calAtt();
MasashiNomura 23:79e20be4bc5b 134 setState(STANDBY);
MasashiNomura 24:c5945aaae777 135 // }
MasashiNomura 22:24c9c2dedca9 136 break;
MasashiNomura 22:24c9c2dedca9 137 case STANDBY:
MasashiNomura 25:f3a6e7eec9c3 138 // モーター回転数のチェック→モーターの回転数をオフセット値まで上げる
MasashiNomura 25:f3a6e7eec9c3 139 //nxtStatFlg = true;
MasashiNomura 25:f3a6e7eec9c3 140 //for(int i = 0; i < 4; ++i){
MasashiNomura 25:f3a6e7eec9c3 141 // if(gf_MtReq[i].bf.req){
MasashiNomura 25:f3a6e7eec9c3 142 // bDoCtrlMot = true;
MasashiNomura 25:f3a6e7eec9c3 143 // }
MasashiNomura 25:f3a6e7eec9c3 144 //}
MasashiNomura 25:f3a6e7eec9c3 145 if(!bDoCtrlMot){
MasashiNomura 25:f3a6e7eec9c3 146 if(hb.chkInRangeIDLE()){
MasashiNomura 25:f3a6e7eec9c3 147 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 148 }
MasashiNomura 25:f3a6e7eec9c3 149 else{
MasashiNomura 25:f3a6e7eec9c3 150 // デバッグのためここもスルー
MasashiNomura 25:f3a6e7eec9c3 151 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 152 }
MasashiNomura 23:79e20be4bc5b 153 }
MasashiNomura 22:24c9c2dedca9 154 break;
MasashiNomura 22:24c9c2dedca9 155 case IDLE:
MasashiNomura 23:79e20be4bc5b 156 //SWのチェック
MasashiNomura 31:56c554c560c1 157 hb.chkSW(IDLE);
MasashiNomura 33:eb260dbfc22a 158 AxlRpm = hb.getUserMotAxl();
MasashiNomura 33:eb260dbfc22a 159 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 33:eb260dbfc22a 160 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 31:56c554c560c1 161 bDoCtrlEng = true;
MasashiNomura 25:f3a6e7eec9c3 162 bDoCtrlMot = true;
MasashiNomura 32:7f4145cc3551 163 //bDoCtrlAtt = true;
MasashiNomura 22:24c9c2dedca9 164 break;
MasashiNomura 22:24c9c2dedca9 165 case TAKE_OFF:
MasashiNomura 23:79e20be4bc5b 166 // エンジン回転数のチェック
MasashiNomura 23:79e20be4bc5b 167 // 着陸ボタンが優先度が高いので先に判定、たが、まだ作ってないのでコメントアウト
MasashiNomura 23:79e20be4bc5b 168 // if(hb.chkSWUserOpe(HbUserOpe::STOP)){
MasashiNomura 23:79e20be4bc5b 169 // setState(GROUND);
MasashiNomura 23:79e20be4bc5b 170 // }
MasashiNomura 23:79e20be4bc5b 171 //else
MasashiNomura 34:234b87f3e6ce 172 hb.chkSW(TAKE_OFF);
MasashiNomura 34:234b87f3e6ce 173 AxlRpm = hb.getUserMotAxl();
MasashiNomura 34:234b87f3e6ce 174 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 34:234b87f3e6ce 175 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 31:56c554c560c1 176 bDoCtrlEng = true;
MasashiNomura 23:79e20be4bc5b 177 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 178 bDoCtrlAtt = true;
MasashiNomura 23:79e20be4bc5b 179 //if(hb.chkSWUserOpe(HbUserOpe::STOP)){
MasashiNomura 23:79e20be4bc5b 180 // setState(HOVER);
MasashiNomura 23:79e20be4bc5b 181 //}
MasashiNomura 23:79e20be4bc5b 182
MasashiNomura 22:24c9c2dedca9 183 break;
MasashiNomura 22:24c9c2dedca9 184 case GROUND:
MasashiNomura 23:79e20be4bc5b 185 // そのままスルー
MasashiNomura 23:79e20be4bc5b 186 setState(IDLE);
MasashiNomura 22:24c9c2dedca9 187 break;
MasashiNomura 22:24c9c2dedca9 188 case HOVER:
MasashiNomura 23:79e20be4bc5b 189 //
MasashiNomura 22:24c9c2dedca9 190 break;
MasashiNomura 22:24c9c2dedca9 191 case DRIVE:
MasashiNomura 22:24c9c2dedca9 192 break;
MasashiNomura 22:24c9c2dedca9 193 case EMGGND:
MasashiNomura 22:24c9c2dedca9 194 break;
MasashiNomura 23:79e20be4bc5b 195 case CHK_ENT: //チェックエンター
MasashiNomura 23:79e20be4bc5b 196 sp.printf("Check enter\r\n");
MasashiNomura 23:79e20be4bc5b 197 break;
MasashiNomura 23:79e20be4bc5b 198 case CHK_MOT: //モーターチェック
MasashiNomura 23:79e20be4bc5b 199 sp.printf("Check Motor\r\n");
MasashiNomura 23:79e20be4bc5b 200 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 201 break;
MasashiNomura 23:79e20be4bc5b 202 case CHK_AXL: //アクセルサーボチェック
MasashiNomura 23:79e20be4bc5b 203 sp.printf("Check Accel Servo\r\n");
MasashiNomura 23:79e20be4bc5b 204 break;
MasashiNomura 23:79e20be4bc5b 205 case CHK_ATT: //姿勢制御チェック
MasashiNomura 23:79e20be4bc5b 206 sp.printf("Check Attitude\r\n");
MasashiNomura 23:79e20be4bc5b 207 bDoCtrlAtt = true;
MasashiNomura 23:79e20be4bc5b 208 break;
MasashiNomura 23:79e20be4bc5b 209 case CHK_EXIT: //チェックステート脱出
MasashiNomura 23:79e20be4bc5b 210 sp.printf("Check Exit\r\n");
MasashiNomura 23:79e20be4bc5b 211 break;
MasashiNomura 25:f3a6e7eec9c3 212 case MOT_STOP:
MasashiNomura 32:7f4145cc3551 213 // if(hb.stopMotor() == true){
MasashiNomura 32:7f4145cc3551 214 // hb.initMotVal();
MasashiNomura 32:7f4145cc3551 215 // setState(SLEEP);
MasashiNomura 32:7f4145cc3551 216 // sp.printf("MOTOR STOPPED!\r\n");
MasashiNomura 32:7f4145cc3551 217 // }
MasashiNomura 32:7f4145cc3551 218 // else{
MasashiNomura 32:7f4145cc3551 219 // //bDoCtrlMot = true;
MasashiNomura 32:7f4145cc3551 220 // sp.printf(".");
MasashiNomura 32:7f4145cc3551 221 // }
MasashiNomura 25:f3a6e7eec9c3 222 break;
MasashiNomura 22:24c9c2dedca9 223 }
takeru0x1103 21:78302ecdb661 224
takeru0x1103 21:78302ecdb661 225 //▼③各種設定
takeru0x1103 21:78302ecdb661 226 //hb.controlAttitude(); //姿勢制御
takeru0x1103 21:78302ecdb661 227 //hb.controlMotor();//モーター指令出し
MasashiNomura 23:79e20be4bc5b 228 if(bDoCtrlAtt)hb.controlAttitude(); //姿勢制御
MasashiNomura 23:79e20be4bc5b 229 if(bDoCtrlMot)hb.controlMotor();//モーター指令出し
MasashiNomura 31:56c554c560c1 230 //if(bDoCtrlEng)hb.controlEngine();//エンジン指令出し
MasashiNomura 31:56c554c560c1 231
MasashiNomura 23:79e20be4bc5b 232 if(gf_Print.bf.stat){
MasashiNomura 23:79e20be4bc5b 233 sp.printf("stat : [%X]\r\n",gf_State);
MasashiNomura 23:79e20be4bc5b 234 }
takeru0x1103 18:5aa48aec9cae 235 //表示フラグを落とす（けどモニタフラグが立ってる箇所は残る）
takeru0x1103 18:5aa48aec9cae 236 if(gf_Print.flg!=0){
takeru0x1103 18:5aa48aec9cae 237 gf_Print.flg=gf_Mon.flg;
takeru0x1103 18:5aa48aec9cae 238 sp.printf("\r\n");
takeru0x1103 18:5aa48aec9cae 239 }
MasashiNomura 26:732bc37fbefd 240 if(gf_DbgPrint.flg != 0){
MasashiNomura 26:732bc37fbefd 241 gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 242 sp.printf("\r\n");
MasashiNomura 26:732bc37fbefd 243 }
takeru0x1103 1:15ab74f0d0f1 244
takeru0x1103 1:15ab74f0d0f1 245 //次の周期まで待つ
takeru0x1103 1:15ab74f0d0f1 246 vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
takeru0x1103 1:15ab74f0d0f1 247 }
takeru0x1103 1:15ab74f0d0f1 248 }
takeru0x1103 18:5aa48aec9cae 249 //========================================================
takeru0x1103 21:78302ecdb661 250 //タスク２：デバッグ用タスク
takeru0x1103 18:5aa48aec9cae 251 //========================================================
takeru0x1103 18:5aa48aec9cae 252 void taskDebug(void *pvParameters){
takeru0x1103 21:78302ecdb661 253
takeru0x1103 21:78302ecdb661 254 taskStop(2);//自ら止めてレジュームされるまで待つ
MasashiNomura 24:c5945aaae777 255 UCHAR Num;
MasashiNomura 24:c5945aaae777 256 INT16 iVal;
MasashiNomura 25:f3a6e7eec9c3 257 //bool rvFlg;
MasashiNomura 24:c5945aaae777 258
takeru0x1103 21:78302ecdb661 259 //この関数をリターンしてしまうと他のタスクも止まるのでwhileで回すこと！
takeru0x1103 18:5aa48aec9cae 260 while(1){
MasashiNomura 24:c5945aaae777 261 for(Num = 0; Num < 8; ++Num){
MasashiNomura 24:c5945aaae777 262 for(iVal = 50; iVal < 300; ++iVal){
MasashiNomura 24:c5945aaae777 263 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 264 wait(0.002);
MasashiNomura 24:c5945aaae777 265 }
MasashiNomura 24:c5945aaae777 266 for(iVal = 300; iVal >= 50; --iVal){
MasashiNomura 24:c5945aaae777 267 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 268 wait(0.002);
MasashiNomura 24:c5945aaae777 269 }
MasashiNomura 24:c5945aaae777 270 }
MasashiNomura 23:79e20be4bc5b 271 //自タスク停止させて次の周期まで待つ
MasashiNomura 22:24c9c2dedca9 272 gf_Dbg = false;
MasashiNomura 23:79e20be4bc5b 273 sp.printf("Do DebugTask!");
takeru0x1103 18:5aa48aec9cae 274 taskStop(2);
takeru0x1103 18:5aa48aec9cae 275 }
takeru0x1103 18:5aa48aec9cae 276 }
takeru0x1103 17:f9610f3cfa1b 277
takeru0x1103 1:15ab74f0d0f1 278 //-------------------------------------------------------------
takeru0x1103 17:f9610f3cfa1b 279 //初期化：タスク登録
takeru0x1103 1:15ab74f0d0f1 280 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 281 void taskInit(){
takeru0x1103 21:78302ecdb661 282 portBASE_TYPE TaskRtn;//タスククリエイトの結果を受け取る型
takeru0x1103 18:5aa48aec9cae 283
takeru0x1103 21:78302ecdb661 284 //タスク０：コマンド解析タスク
MasashiNomura 26:732bc37fbefd 285 TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 512, NULL, 1, &tskHandle[0]);
takeru0x1103 21:78302ecdb661 286 if(TaskRtn==pdTRUE){sp.printf("Task0 Set : Command parser\r\n");}
takeru0x1103 21:78302ecdb661 287
takeru0x1103 21:78302ecdb661 288 //タスク１：制御タスク
MasashiNomura 28:fdb3b144e342 289 TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 1024, NULL, 2, &tskHandle[1]);
takeru0x1103 21:78302ecdb661 290 if(TaskRtn==pdTRUE){sp.printf("Task1 Set : Hoverbike Control\r\n");}
takeru0x1103 21:78302ecdb661 291
takeru0x1103 21:78302ecdb661 292 //タスク２：デバッグタスク
MasashiNomura 23:79e20be4bc5b 293 TaskRtn= xTaskCreate(taskDebug, (signed portCHAR *)"TaskDebug", 192, NULL, 0, &tskHandle[2]);
takeru0x1103 21:78302ecdb661 294 if(TaskRtn==pdTRUE){sp.printf("Task2 Set : Debug\r\n");}
takeru0x1103 8:1ca49cb18290 295
takeru0x1103 21:78302ecdb661 296 //RTOSカーネル起動（タスクが走り出す）
takeru0x1103 1:15ab74f0d0f1 297 vTaskStartScheduler();
takeru0x1103 1:15ab74f0d0f1 298 }
takeru0x1103 1:15ab74f0d0f1 299
takeru0x1103 1:15ab74f0d0f1 300