Diff: userTask.cpp

Revision:

41:45c982b1c5b6

Parent:

40:debe99e228d3

Child:

46:5074781a28dd

--- a/userTask.cpp	Mon Jan 21 06:32:24 2019 +0000
+++ b/userTask.cpp	Mon Jan 21 11:57:35 2019 +0000
@@ -80,7 +80,10 @@
     float AxlRow;
     float TrtlRow;
     while(1){
+        // DISPLAY LED
         led1=!led1;
+        setDO4LED(gf_State);
+
         hb.proofOfSurvival();
         bDoCtrlAtt = false;
         bDoCtrlMot = false;
@@ -134,13 +137,13 @@
                 }
                 if(hb.chkSWUserOpeAny()){
                     typUserSw sw = hb.getUserSw();
-                    sp.printf("%d%d%d%d%d%d%d%d%d%d\r\n",sw.bf.brk_l,sw.bf.flt_off,sw.bf.r_eng_down,sw.bf.r_eng_up,sw.bf.rsv_1
-                                    ,sw.bf.brk_r,sw.bf.flt_on,sw.bf.f_eng_down,sw.bf.f_eng_up, sw.bf.all_stop);
+                    //sp.printf("%d%d%d%d%d%d%d%d%d%d\r\n",sw.bf.brk_l,sw.bf.flt_off,sw.bf.r_eng_down,sw.bf.r_eng_up,sw.bf.rsv_1
+                    //                ,sw.bf.brk_r,sw.bf.flt_on,sw.bf.f_eng_down,sw.bf.f_eng_up, sw.bf.all_stop);
                 } else {
                     //TrtlRow = hb.getUserEngTrottleRaw();
-                    if(gf_Print.bf.ain){
+                    if(gf_Print.d2.bf.ain){
                         AxlRow = hb.getUserMotAxlRaw();
-                        sp.printf("MotAxl:%f\r\n",AxlRow);
+                        sp.printf("MotAxl:%f ",AxlRow);
                     }
                 }
                 // 浮上（離陸）ボタン、着陸ボタンの同時長押し監視
@@ -295,6 +298,10 @@
                 }
                 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
                     if(hb.chkSetHvAxl(FRONT)){
+                        gf_AxReq[0].bf.req = true;
+                        //gf_AxReq[1].bf.req = true;
+                        gf_AxReq[0].bf.val = 0;
+                        //gf_AxReq[1].bf.val = 0;
                         setState(CHK_EG_MID);
                     }
                 }
@@ -315,6 +322,7 @@
                         setState(CHK_EG_R);
                     }
                 }
+                bDoCtrlEng = true;
             break;
             case CHK_EG_R:
                 if(gf_StateEnt){
@@ -329,6 +337,10 @@
                 }
                 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
                     if(hb.chkSetHvAxl(REAR)){
+                        //gf_AxReq[0].bf.req = true;
+                        gf_AxReq[1].bf.req = true;
+                        //gf_AxReq[0].bf.val = 0;
+                        gf_AxReq[1].bf.val = 0;
                         setState(CHK_EG_EXIT);
                     }
                 }
@@ -347,6 +359,7 @@
                         setState(SLEEP);
                     }
                 }
+                bDoCtrlEng = true;
             break;
             case CHK_ENT:    //チェックエンター
                 if(gf_StateEnt){
@@ -436,16 +449,13 @@
         if(bDoCtrlMot)hb.controlMotor();//モーター指令出し
         if(bDoCtrlEng)hb.controlEngine();//エンジン指令出し
 
-        if(gf_Print.bf.stat){
-            sp.printf("stat : [%X]\r\n",gf_State);
+        if(gf_Print.d1.bf.stat){
+            sp.printf("stat : [%X] ",gf_State);
         }
         //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）
-        if(gf_Print.flg!=0){
-            gf_Print.flg=gf_Mon.flg;
-            sp.printf("\r\n");
-        }
-        if(gf_DbgPrint.flg != 0){
-            gf_DbgPrint.flg = 0;
+        if(gf_Print.d1.flg!=0 || gf_Print.d2.flg!=0){
+            gf_Print.d1.flg=gf_Mon.d1.flg;
+            gf_Print.d2.flg=gf_Mon.d2.flg;
             sp.printf("\r\n");
         }