Diff: userTask.cpp

Revision:

17:f9610f3cfa1b

Parent:

16:05b9e44889f1

Child:

18:5aa48aec9cae

--- a/userTask.cpp	Wed Nov 28 01:31:46 2018 +0000
+++ b/userTask.cpp	Fri Nov 30 05:24:27 2018 +0000
@@ -2,61 +2,65 @@
 #include "FreeRTOS.h"
 #include "task.h"
 #include "queue.h"
-//#include "led.h"
+#include "globalFlags.h"
+#include "HbManager.h"
 #include "command.h"
-#include "hbManager.h"
-#include "Gyro.h"
-#include "uart.h"
-#include "globalFlags.h"
 
 
 //----------------------------------------------------------------
-//タスク処理
+//ホバーバイク制御タスク
 //----------------------------------------------------------------
-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);
+void taskHbControl(void *pvParameters){
+    int8_t          *pcTaskName;
+    portTickType    xLastWakeTime;
+    HbManager       hb;
     
     pcTaskName = (int8_t *) pvParameters;
     xLastWakeTime = xTaskGetTickCount();
     
     while(1){
         led1=!led1;
-        
-        if(!gDebugFlg){
-            userTest();
-        }
+        //
+        hb.controlEngine();
         
         //次の周期まで待つ
-        sp.printf("%0.2f\t%d\r\n",gy.GetAngle(),gy.GetAngularRate());
-        
-        if(gfSetYawRef){gy.SetYawRef();}
-        
         vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
     }
 }
 
+//----------------------------------------------------------------
+//コマンド解析タスク
+//----------------------------------------------------------------
+void taskCmdParser(void *pvParameters){
+    int8_t *pcTaskName;
+    portTickType xLastWakeTime;
+    
+    pcTaskName = (int8_t *) pvParameters;
+    xLastWakeTime = xTaskGetTickCount();
+    
+    while(1){
+        led2=!led2;
+        //
+        commandParse();
+        //次の周期まで待つ
+        vTaskDelayUntil(&xLastWakeTime, 100 / portTICK_RATE_MS );
+    }
+}
+
+
+
 //-------------------------------------------------------------
-//初期化
+//初期化：タスク登録
 //-------------------------------------------------------------
 void taskInit(){
     portBASE_TYPE   TaskRtn;
-    TaskRtn= xTaskCreate(task50Hz, (signed portCHAR *)"TaskB", 192, NULL, 1, NULL);
+    
     //
-    if(TaskRtn==pdTRUE){
-        printf("task1 OK\r\n");
-    }
+    TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"Task50Hz", 192, NULL, 1, NULL);
+    if(TaskRtn==pdTRUE){printf("Hoverbike Control task Set\r\n");}
+    //
+    TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskParser", 192, NULL, 1, NULL);
+    if(TaskRtn==pdTRUE){printf("Command Parser task Set\r\n");}
     
     //カーネルの起動
     vTaskStartScheduler();