Diff: userTask.cpp

Revision:

26:732bc37fbefd

Parent:

25:f3a6e7eec9c3

Child:

27:ff63c23bc689

--- a/userTask.cpp	Wed Dec 12 23:52:22 2018 +0000
+++ b/userTask.cpp	Thu Dec 13 12:15:35 2018 +0000
@@ -156,19 +156,44 @@
                 //SWのチェック
                 //離陸ボタン押下
                 //とりあえず、YawCtrlで代用
-                if(hb.chkSWUserOpe(HbUserOpe::YAW_CTRL))
-                {
-                    // TODO IMU Cal
-                    hb.calAtt();
-                    setState(TAKE_OFF);
+                //if(hb.chkSWUserOpe(HbUserOpe::YAW_CTRL))
+                //{
+                //    // TODO IMU Cal
+                //    hb.calAtt();
+                //    setState(TAKE_OFF);
+                //}
+                if(hb.chkSWUserOpe(HbUserOpe::F_L)){
+                    // Front Left 
+                    hb.addMotOfs(HbUserOpe::F_L);
+                }
+                if(hb.chkSWUserOpe(HbUserOpe::F_R)){
+                    // Front Right 
+                    hb.addMotOfs(HbUserOpe::F_R);
                 }
+                if(hb.chkSWUserOpe(HbUserOpe::R_L)){
+                    // Rear Left 
+                    hb.addMotOfs(HbUserOpe::R_L);
+                }
+                if(hb.chkSWUserOpe(HbUserOpe::R_R)){
+                    // Rear Right
+                    hb.addMotOfs(HbUserOpe::R_R);
+                }
+                if(hb.chkSWUserOpeRE(HbUserOpe::EMG_STOP)){
+                    // 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
+                    //sp.printf("RisingEdge!\r\n");
+                    for(int i = 0; i < 4; ++i){
+                        gf_MtReq[i].bf.req = true;
+                        gf_MtReq[i].bf.val = 0;
+                    }
+                }
+                
                 //else if(hb.chkSWUserOpe(HbUserOpe::ENG_STOP))
                 //{
                 //   setState(SLEEP);
                 //}
-                if(hb.chkSWUserOpeAny()){
-                    sp.printf("SW :[%X]\r\n",hb.getUserSw());
-                }
+                //if(hb.chkSWUserOpeAny()){
+                //    sp.printf("SW :[%X]\r\n",hb.getUserSw());
+                //}
                 bDoCtrlMot = true;
             break;
             case TAKE_OFF:
@@ -240,6 +265,10 @@
             gf_Print.flg=gf_Mon.flg;
             sp.printf("\r\n");
         }
+        if(gf_DbgPrint.flg != 0){
+            gf_DbgPrint.flg = 0;
+            sp.printf("\r\n");
+        }
         
         //次の周期まで待つ
         vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
@@ -281,11 +310,11 @@
     portBASE_TYPE   TaskRtn;//タスククリエイトの結果を受け取る型
     
     //タスク０：コマンド解析タスク
-    TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 256, NULL, 1, &tskHandle[0]);
+    TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 512, NULL, 1, &tskHandle[0]);
     if(TaskRtn==pdTRUE){sp.printf("Task0 Set : Command parser\r\n");}
 
     //タスク１：制御タスク
-    TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 512, NULL, 2, &tskHandle[1]);
+    TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 640, NULL, 2, &tskHandle[1]);
     if(TaskRtn==pdTRUE){sp.printf("Task1 Set : Hoverbike Control\r\n");}
         
     //タスク２：デバッグタスク