Diff: userTask.cpp

Revision:

16:05b9e44889f1

Parent:

14:76a56d517103

Child:

17:f9610f3cfa1b

--- a/userTask.cpp	Tue Nov 27 05:23:44 2018 +0000
+++ b/userTask.cpp	Wed Nov 28 01:31:46 2018 +0000
@@ -2,9 +2,9 @@
 #include "FreeRTOS.h"
 #include "task.h"
 #include "queue.h"
-#include "led.h"
+//#include "led.h"
 #include "command.h"
-#include "userOperate.h"
+#include "hbManager.h"
 #include "Gyro.h"
 #include "uart.h"
 #include "globalFlags.h"
@@ -14,7 +14,16 @@
 //タスク処理
 //----------------------------------------------------------------
 void task50Hz(void *pvParameters){
+    
+    long    tmp;
+   /* 
+    tmp = strtol( "0x0001" , NULL , 16);//Z軸角速度
+    sp.printf("%d(%X)\r\n",tmp,tmp);
 
+    tmp = strtol( "0xFFFE" , NULL , 16);//Z軸角速度
+    sp.printf("%d(%X)\r\n",tmp,tmp);
+*/
+    
     int8_t *pcTaskName;
     portTickType xLastWakeTime;
     Gyro    gy(p28,p27);
@@ -23,14 +32,14 @@
     xLastWakeTime = xTaskGetTickCount();
     
     while(1){
-        ledTggle();
+        led1=!led1;
         
         if(!gDebugFlg){
             userTest();
         }
         
         //次の周期まで待つ
-        sp.printf("%0.2f,%0.2f\r\n",gy.GetAngle(),gy.GetAngularRate());
+        sp.printf("%0.2f\t%d\r\n",gy.GetAngle(),gy.GetAngularRate());
         
         if(gfSetYawRef){gy.SetYawRef();}