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Dependencies:   mbed FreeRTOS

userTask.cpp@26:732bc37fbefd, 2018-12-13 (annotated)

Committer:
MasashiNomura
Date:
Thu Dec 13 12:15:35 2018 +0000
Revision:
26:732bc37fbefd
Parent:
25:f3a6e7eec9c3
Child:
27:ff63c23bc689
2018/12/13 Add MotorOfs Function

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;
takeru0x1103 18:5aa48aec9cae 73 //
takeru0x1103 1:15ab74f0d0f1 74 while(1){
takeru0x1103 16:05b9e44889f1 75 led1=!led1;
MasashiNomura 23:79e20be4bc5b 76 bDoCtrlAtt = false;
MasashiNomura 23:79e20be4bc5b 77 bDoCtrlMot = false;
MasashiNomura 24:c5945aaae777 78
MasashiNomura 24:c5945aaae777 79 // PID係数アップデートチェック
MasashiNomura 24:c5945aaae777 80 if(gf_PidParaUpdate){
MasashiNomura 24:c5945aaae777 81 hb.setAttPara(g_PidPara);
MasashiNomura 24:c5945aaae777 82 sp.printf("Pp : [%f]\r\n",g_PidPara.PP);
MasashiNomura 24:c5945aaae777 83 sp.printf("P : [%f]\r\n",g_PidPara.P);
MasashiNomura 24:c5945aaae777 84 sp.printf("I : [%f]\r\n",g_PidPara.I);
MasashiNomura 24:c5945aaae777 85 sp.printf("D : [%f]\r\n",g_PidPara.D);
MasashiNomura 24:c5945aaae777 86 sp.printf("IMAX: [%f]\r\n",g_PidPara.IMax);
MasashiNomura 24:c5945aaae777 87 sp.printf("IMIN: [%f]\r\n",g_PidPara.IMin);
MasashiNomura 24:c5945aaae777 88 gf_PidParaUpdate = false;
MasashiNomura 24:c5945aaae777 89 }
MasashiNomura 25:f3a6e7eec9c3 90 for(int i = 0; i < 4; ++i){
MasashiNomura 25:f3a6e7eec9c3 91 if(gf_MotParaUpdate[i]){
MasashiNomura 25:f3a6e7eec9c3 92 hb.setMotPara((UCHAR)i, g_MotPara[i]);
MasashiNomura 25:f3a6e7eec9c3 93 sp.printf("num : [%d]\r\n",i);
MasashiNomura 25:f3a6e7eec9c3 94 //sp.printf("ofs : [%d]\r\n",g_MotPara[i].offset);
MasashiNomura 25:f3a6e7eec9c3 95 sp.printf("low : [%d]\r\n",g_MotPara[i].limit_low);
MasashiNomura 25:f3a6e7eec9c3 96 sp.printf("hi : [%d]\r\n",g_MotPara[i].limit_hi);
MasashiNomura 25:f3a6e7eec9c3 97 gf_MotParaUpdate[i] = false;
MasashiNomura 25:f3a6e7eec9c3 98 }
MasashiNomura 25:f3a6e7eec9c3 99 }
MasashiNomura 25:f3a6e7eec9c3 100 if(gf_StopMot){
MasashiNomura 25:f3a6e7eec9c3 101 setStateF(MOT_STOP);
MasashiNomura 25:f3a6e7eec9c3 102 hb.getCurMotVal();
MasashiNomura 25:f3a6e7eec9c3 103 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 104 }
MasashiNomura 23:79e20be4bc5b 105
takeru0x1103 21:78302ecdb661 106 //▼①状態読み出し系
MasashiNomura 22:24c9c2dedca9 107 hb.getAttitude(); //現在角度読み出し
MasashiNomura 22:24c9c2dedca9 108 hb.controlEngine(); //エンジン回転数読み出し
MasashiNomura 22:24c9c2dedca9 109 hb.getUserCommand(); //操作ボタン状態読み出し
takeru0x1103 18:5aa48aec9cae 110
takeru0x1103 21:78302ecdb661 111 //▼②ステート遷移
MasashiNomura 22:24c9c2dedca9 112 switch(gf_State){
MasashiNomura 22:24c9c2dedca9 113 case SLEEP:
MasashiNomura 22:24c9c2dedca9 114 if(gf_Dbg){
MasashiNomura 24:c5945aaae777 115 gf_Dbg = false;
MasashiNomura 22:24c9c2dedca9 116 taskStart(2);
MasashiNomura 22:24c9c2dedca9 117 }
MasashiNomura 23:79e20be4bc5b 118 else if(gf_Armed){
MasashiNomura 24:c5945aaae777 119 gf_Armed = false;
MasashiNomura 24:c5945aaae777 120 // hb.initChkMotor();
MasashiNomura 23:79e20be4bc5b 121 setState(WAKEUP);
MasashiNomura 23:79e20be4bc5b 122 }
MasashiNomura 22:24c9c2dedca9 123 break;
MasashiNomura 22:24c9c2dedca9 124 case WAKEUP:
MasashiNomura 24:c5945aaae777 125 //各種モーター
MasashiNomura 24:c5945aaae777 126 //機材のチェック
MasashiNomura 24:c5945aaae777 127 // if(hb.chkMotor() == true){
MasashiNomura 25:f3a6e7eec9c3 128 hb.calAtt();
MasashiNomura 25:f3a6e7eec9c3 129 // STANDBYでモーター回転をオフセット値まで上げるためのフラグセット
MasashiNomura 25:f3a6e7eec9c3 130 //for(int i = 0; i < 4; ++i){
MasashiNomura 25:f3a6e7eec9c3 131 // gf_MtReq[i].bf.req = true;
MasashiNomura 25:f3a6e7eec9c3 132 // gf_MtReq[i].bf.val = 200;
MasashiNomura 25:f3a6e7eec9c3 133 //}
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 23:79e20be4bc5b 157 //離陸ボタン押下
MasashiNomura 23:79e20be4bc5b 158 //とりあえず、YawCtrlで代用
MasashiNomura 26:732bc37fbefd 159 //if(hb.chkSWUserOpe(HbUserOpe::YAW_CTRL))
MasashiNomura 26:732bc37fbefd 160 //{
MasashiNomura 26:732bc37fbefd 161 // // TODO IMU Cal
MasashiNomura 26:732bc37fbefd 162 // hb.calAtt();
MasashiNomura 26:732bc37fbefd 163 // setState(TAKE_OFF);
MasashiNomura 26:732bc37fbefd 164 //}
MasashiNomura 26:732bc37fbefd 165 if(hb.chkSWUserOpe(HbUserOpe::F_L)){
MasashiNomura 26:732bc37fbefd 166 // Front Left
MasashiNomura 26:732bc37fbefd 167 hb.addMotOfs(HbUserOpe::F_L);
MasashiNomura 26:732bc37fbefd 168 }
MasashiNomura 26:732bc37fbefd 169 if(hb.chkSWUserOpe(HbUserOpe::F_R)){
MasashiNomura 26:732bc37fbefd 170 // Front Right
MasashiNomura 26:732bc37fbefd 171 hb.addMotOfs(HbUserOpe::F_R);
MasashiNomura 23:79e20be4bc5b 172 }
MasashiNomura 26:732bc37fbefd 173 if(hb.chkSWUserOpe(HbUserOpe::R_L)){
MasashiNomura 26:732bc37fbefd 174 // Rear Left
MasashiNomura 26:732bc37fbefd 175 hb.addMotOfs(HbUserOpe::R_L);
MasashiNomura 26:732bc37fbefd 176 }
MasashiNomura 26:732bc37fbefd 177 if(hb.chkSWUserOpe(HbUserOpe::R_R)){
MasashiNomura 26:732bc37fbefd 178 // Rear Right
MasashiNomura 26:732bc37fbefd 179 hb.addMotOfs(HbUserOpe::R_R);
MasashiNomura 26:732bc37fbefd 180 }
MasashiNomura 26:732bc37fbefd 181 if(hb.chkSWUserOpeRE(HbUserOpe::EMG_STOP)){
MasashiNomura 26:732bc37fbefd 182 // EMG STOP だが、テスト用のため、モーターのオフセットを0にして回転を止める
MasashiNomura 26:732bc37fbefd 183 //sp.printf("RisingEdge!\r\n");
MasashiNomura 26:732bc37fbefd 184 for(int i = 0; i < 4; ++i){
MasashiNomura 26:732bc37fbefd 185 gf_MtReq[i].bf.req = true;
MasashiNomura 26:732bc37fbefd 186 gf_MtReq[i].bf.val = 0;
MasashiNomura 26:732bc37fbefd 187 }
MasashiNomura 26:732bc37fbefd 188 }
MasashiNomura 26:732bc37fbefd 189
MasashiNomura 23:79e20be4bc5b 190 //else if(hb.chkSWUserOpe(HbUserOpe::ENG_STOP))
MasashiNomura 23:79e20be4bc5b 191 //{
MasashiNomura 23:79e20be4bc5b 192 // setState(SLEEP);
MasashiNomura 23:79e20be4bc5b 193 //}
MasashiNomura 26:732bc37fbefd 194 //if(hb.chkSWUserOpeAny()){
MasashiNomura 26:732bc37fbefd 195 // sp.printf("SW :[%X]\r\n",hb.getUserSw());
MasashiNomura 26:732bc37fbefd 196 //}
MasashiNomura 25:f3a6e7eec9c3 197 bDoCtrlMot = true;
MasashiNomura 22:24c9c2dedca9 198 break;
MasashiNomura 22:24c9c2dedca9 199 case TAKE_OFF:
MasashiNomura 23:79e20be4bc5b 200 // エンジン回転数のチェック
MasashiNomura 23:79e20be4bc5b 201 // 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 202 // if(hb.chkSWUserOpe(HbUserOpe::STOP)){
MasashiNomura 23:79e20be4bc5b 203 // setState(GROUND);
MasashiNomura 23:79e20be4bc5b 204 // }
MasashiNomura 23:79e20be4bc5b 205 //else
MasashiNomura 23:79e20be4bc5b 206 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 207 bDoCtrlAtt = true;
MasashiNomura 23:79e20be4bc5b 208 //if(hb.chkSWUserOpe(HbUserOpe::STOP)){
MasashiNomura 23:79e20be4bc5b 209 // setState(HOVER);
MasashiNomura 23:79e20be4bc5b 210 //}
MasashiNomura 23:79e20be4bc5b 211
MasashiNomura 22:24c9c2dedca9 212 break;
MasashiNomura 22:24c9c2dedca9 213 case GROUND:
MasashiNomura 23:79e20be4bc5b 214 // そのままスルー
MasashiNomura 23:79e20be4bc5b 215 setState(IDLE);
MasashiNomura 22:24c9c2dedca9 216 break;
MasashiNomura 22:24c9c2dedca9 217 case HOVER:
MasashiNomura 23:79e20be4bc5b 218 //
MasashiNomura 22:24c9c2dedca9 219 break;
MasashiNomura 22:24c9c2dedca9 220 case DRIVE:
MasashiNomura 22:24c9c2dedca9 221 break;
MasashiNomura 22:24c9c2dedca9 222 case EMGGND:
MasashiNomura 22:24c9c2dedca9 223 break;
MasashiNomura 23:79e20be4bc5b 224 case CHK_ENT: //チェックエンター
MasashiNomura 23:79e20be4bc5b 225 sp.printf("Check enter\r\n");
MasashiNomura 23:79e20be4bc5b 226 break;
MasashiNomura 23:79e20be4bc5b 227 case CHK_MOT: //モーターチェック
MasashiNomura 23:79e20be4bc5b 228 sp.printf("Check Motor\r\n");
MasashiNomura 23:79e20be4bc5b 229 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 230 break;
MasashiNomura 23:79e20be4bc5b 231 case CHK_AXL: //アクセルサーボチェック
MasashiNomura 23:79e20be4bc5b 232 sp.printf("Check Accel Servo\r\n");
MasashiNomura 23:79e20be4bc5b 233 break;
MasashiNomura 23:79e20be4bc5b 234 case CHK_ATT: //姿勢制御チェック
MasashiNomura 23:79e20be4bc5b 235 sp.printf("Check Attitude\r\n");
MasashiNomura 23:79e20be4bc5b 236 bDoCtrlAtt = true;
MasashiNomura 23:79e20be4bc5b 237 break;
MasashiNomura 23:79e20be4bc5b 238 case CHK_EXIT: //チェックステート脱出
MasashiNomura 23:79e20be4bc5b 239 sp.printf("Check Exit\r\n");
MasashiNomura 23:79e20be4bc5b 240 break;
MasashiNomura 25:f3a6e7eec9c3 241 case MOT_STOP:
MasashiNomura 25:f3a6e7eec9c3 242 if(hb.stopMotor() == true){
MasashiNomura 25:f3a6e7eec9c3 243 hb.initMotVal();
MasashiNomura 25:f3a6e7eec9c3 244 setState(SLEEP);
MasashiNomura 25:f3a6e7eec9c3 245 sp.printf("MOTOR STOPPED!\r\n");
MasashiNomura 25:f3a6e7eec9c3 246 }
MasashiNomura 25:f3a6e7eec9c3 247 else{
MasashiNomura 25:f3a6e7eec9c3 248 //bDoCtrlMot = true;
MasashiNomura 25:f3a6e7eec9c3 249 sp.printf(".");
MasashiNomura 25:f3a6e7eec9c3 250 }
MasashiNomura 25:f3a6e7eec9c3 251 break;
MasashiNomura 22:24c9c2dedca9 252 }
takeru0x1103 21:78302ecdb661 253
takeru0x1103 21:78302ecdb661 254 //▼③各種設定
takeru0x1103 21:78302ecdb661 255 //hb.controlAttitude(); //姿勢制御
takeru0x1103 21:78302ecdb661 256 //hb.controlMotor();//モーター指令出し
MasashiNomura 23:79e20be4bc5b 257 if(bDoCtrlAtt)hb.controlAttitude(); //姿勢制御
MasashiNomura 23:79e20be4bc5b 258 if(bDoCtrlMot)hb.controlMotor();//モーター指令出し
takeru0x1103 18:5aa48aec9cae 259
MasashiNomura 23:79e20be4bc5b 260 if(gf_Print.bf.stat){
MasashiNomura 23:79e20be4bc5b 261 sp.printf("stat : [%X]\r\n",gf_State);
MasashiNomura 23:79e20be4bc5b 262 }
takeru0x1103 18:5aa48aec9cae 263 //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 264 if(gf_Print.flg!=0){
takeru0x1103 18:5aa48aec9cae 265 gf_Print.flg=gf_Mon.flg;
takeru0x1103 18:5aa48aec9cae 266 sp.printf("\r\n");
takeru0x1103 18:5aa48aec9cae 267 }
MasashiNomura 26:732bc37fbefd 268 if(gf_DbgPrint.flg != 0){
MasashiNomura 26:732bc37fbefd 269 gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 270 sp.printf("\r\n");
MasashiNomura 26:732bc37fbefd 271 }
takeru0x1103 1:15ab74f0d0f1 272
takeru0x1103 1:15ab74f0d0f1 273 //次の周期まで待つ
takeru0x1103 1:15ab74f0d0f1 274 vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
takeru0x1103 1:15ab74f0d0f1 275 }
takeru0x1103 1:15ab74f0d0f1 276 }
takeru0x1103 18:5aa48aec9cae 277 //========================================================
takeru0x1103 21:78302ecdb661 278 //タスク２：デバッグ用タスク
takeru0x1103 18:5aa48aec9cae 279 //========================================================
takeru0x1103 18:5aa48aec9cae 280 void taskDebug(void *pvParameters){
takeru0x1103 21:78302ecdb661 281
takeru0x1103 21:78302ecdb661 282 taskStop(2);//自ら止めてレジュームされるまで待つ
MasashiNomura 24:c5945aaae777 283 UCHAR Num;
MasashiNomura 24:c5945aaae777 284 INT16 iVal;
MasashiNomura 25:f3a6e7eec9c3 285 //bool rvFlg;
MasashiNomura 24:c5945aaae777 286
takeru0x1103 21:78302ecdb661 287 //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 288 while(1){
MasashiNomura 24:c5945aaae777 289 for(Num = 0; Num < 8; ++Num){
MasashiNomura 24:c5945aaae777 290 for(iVal = 50; iVal < 300; ++iVal){
MasashiNomura 24:c5945aaae777 291 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 292 wait(0.002);
MasashiNomura 24:c5945aaae777 293 }
MasashiNomura 24:c5945aaae777 294 for(iVal = 300; iVal >= 50; --iVal){
MasashiNomura 24:c5945aaae777 295 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 296 wait(0.002);
MasashiNomura 24:c5945aaae777 297 }
MasashiNomura 24:c5945aaae777 298 }
MasashiNomura 23:79e20be4bc5b 299 //自タスク停止させて次の周期まで待つ
MasashiNomura 22:24c9c2dedca9 300 gf_Dbg = false;
MasashiNomura 23:79e20be4bc5b 301 sp.printf("Do DebugTask!");
takeru0x1103 18:5aa48aec9cae 302 taskStop(2);
takeru0x1103 18:5aa48aec9cae 303 }
takeru0x1103 18:5aa48aec9cae 304 }
takeru0x1103 17:f9610f3cfa1b 305
takeru0x1103 1:15ab74f0d0f1 306 //-------------------------------------------------------------
takeru0x1103 17:f9610f3cfa1b 307 //初期化：タスク登録
takeru0x1103 1:15ab74f0d0f1 308 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 309 void taskInit(){
takeru0x1103 21:78302ecdb661 310 portBASE_TYPE TaskRtn;//タスククリエイトの結果を受け取る型
takeru0x1103 18:5aa48aec9cae 311
takeru0x1103 21:78302ecdb661 312 //タスク０：コマンド解析タスク
MasashiNomura 26:732bc37fbefd 313 TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 512, NULL, 1, &tskHandle[0]);
takeru0x1103 21:78302ecdb661 314 if(TaskRtn==pdTRUE){sp.printf("Task0 Set : Command parser\r\n");}
takeru0x1103 21:78302ecdb661 315
takeru0x1103 21:78302ecdb661 316 //タスク１：制御タスク
MasashiNomura 26:732bc37fbefd 317 TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 640, NULL, 2, &tskHandle[1]);
takeru0x1103 21:78302ecdb661 318 if(TaskRtn==pdTRUE){sp.printf("Task1 Set : Hoverbike Control\r\n");}
takeru0x1103 21:78302ecdb661 319
takeru0x1103 21:78302ecdb661 320 //タスク２：デバッグタスク
MasashiNomura 23:79e20be4bc5b 321 TaskRtn= xTaskCreate(taskDebug, (signed portCHAR *)"TaskDebug", 192, NULL, 0, &tskHandle[2]);
takeru0x1103 21:78302ecdb661 322 if(TaskRtn==pdTRUE){sp.printf("Task2 Set : Debug\r\n");}
takeru0x1103 8:1ca49cb18290 323
takeru0x1103 21:78302ecdb661 324 //RTOSカーネル起動（タスクが走り出す）
takeru0x1103 1:15ab74f0d0f1 325 vTaskStartScheduler();
takeru0x1103 1:15ab74f0d0f1 326 }
takeru0x1103 1:15ab74f0d0f1 327
takeru0x1103 1:15ab74f0d0f1 328