Diff: userTask.cpp

Revision:

8:1ca49cb18290

Parent:

1:15ab74f0d0f1

Child:

14:76a56d517103

--- a/userTask.cpp	Sat Nov 24 11:49:51 2018 +0000
+++ b/userTask.cpp	Mon Nov 26 13:58:16 2018 +0000
@@ -5,6 +5,9 @@
 #include "led.h"
 #include "command.h"
 #include "userOperate.h"
+#include "Gyro.h"
+#include "uart.h"
+#include "globalFlags.h"
 
 
 //----------------------------------------------------------------
@@ -13,20 +16,24 @@
 void task50Hz(void *pvParameters){
 
     int8_t *pcTaskName;
+    portTickType xLastWakeTime;
+    Gyro    gy;
+    
     pcTaskName = (int8_t *) pvParameters;
-    portTickType xLastWakeTime;
     xLastWakeTime = xTaskGetTickCount();
-
+    
     while(1){
         ledTggle();
         
-        if(gDebugFlg){
+        if(!gDebugFlg){
             userTest();
-        }else{
-            userIdleSet();
         }
         
         //次の周期まで待つ
+        sp.printf("%0.2f,%0.2f\r\n",gy.GetAngle(),gy.GetAngularRate());
+        
+        if(gfSetYawRef){gy.SetYawRef();}
+        
         vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
     }
 }
@@ -38,7 +45,10 @@
     portBASE_TYPE   TaskRtn;
     TaskRtn= xTaskCreate(task50Hz, (signed portCHAR *)"TaskB", 192, NULL, 1, NULL);
     //
-    if(TaskRtn==pdTRUE){printf("task1 OK\r\n");}
+    if(TaskRtn==pdTRUE){
+        printf("task1 OK\r\n");
+    }
+    
     //カーネルの起動
     vTaskStartScheduler();
 }