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Dependencies:   mbed FreeRTOS

userTask.cpp@22:24c9c2dedca9, 2018-12-06 (annotated)

Committer:
MasashiNomura
Date:
Thu Dec 06 11:03:13 2018 +0000
Revision:
22:24c9c2dedca9
Parent:
21:78302ecdb661
Child:
23:79e20be4bc5b
Temp State Transfer

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 21:78302ecdb661 1 //RTOS関連------------------
takeru0x1103 1:15ab74f0d0f1 2 #include "FreeRTOS.h"
takeru0x1103 1:15ab74f0d0f1 3 #include "task.h"
takeru0x1103 21:78302ecdb661 4 //#include "queue.h"
takeru0x1103 21:78302ecdb661 5 //------------------RTOS関連
takeru0x1103 21:78302ecdb661 6
takeru0x1103 17:f9610f3cfa1b 7 #include "globalFlags.h"
takeru0x1103 17:f9610f3cfa1b 8 #include "HbManager.h"
takeru0x1103 18:5aa48aec9cae 9 #include "hbCommand.h"
takeru0x1103 18:5aa48aec9cae 10 #include "uart.h"
takeru0x1103 1:15ab74f0d0f1 11
takeru0x1103 18:5aa48aec9cae 12 //タスクハンドル（停止とか再開に必要）
takeru0x1103 18:5aa48aec9cae 13 static xTaskHandle tskHandle[3]={NULL,};
takeru0x1103 1:15ab74f0d0f1 14
takeru0x1103 21:78302ecdb661 15 //------------------
takeru0x1103 18:5aa48aec9cae 16 //タスク停止
takeru0x1103 18:5aa48aec9cae 17 //------------------
takeru0x1103 18:5aa48aec9cae 18 static void taskStop(int iId){
takeru0x1103 18:5aa48aec9cae 19 sp.printf("Task[%d] Stop\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 20 vTaskSuspend(tskHandle[iId]);//タスクを止める
takeru0x1103 18:5aa48aec9cae 21 }
takeru0x1103 18:5aa48aec9cae 22
takeru0x1103 21:78302ecdb661 23 //------------------
takeru0x1103 18:5aa48aec9cae 24 //タスク再開
takeru0x1103 18:5aa48aec9cae 25 //------------------
takeru0x1103 18:5aa48aec9cae 26 static void taskStart(int iId){
takeru0x1103 18:5aa48aec9cae 27 sp.printf("Task[%d] Start!!\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 28 vTaskResume(tskHandle[iId]);//タスク再開
takeru0x1103 18:5aa48aec9cae 29 }
takeru0x1103 18:5aa48aec9cae 30
takeru0x1103 18:5aa48aec9cae 31 //========================================================
takeru0x1103 21:78302ecdb661 32 //コマンド解析タスク
takeru0x1103 21:78302ecdb661 33 //========================================================
takeru0x1103 21:78302ecdb661 34 void taskCmdParser(void *pvParameters){
takeru0x1103 21:78302ecdb661 35 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 36 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 37
takeru0x1103 21:78302ecdb661 38 // vTaskDelay(300);//制御タスクを先に走らせたいので待たす
takeru0x1103 21:78302ecdb661 39
takeru0x1103 21:78302ecdb661 40 while(1){
takeru0x1103 21:78302ecdb661 41 led2=!led2;
takeru0x1103 21:78302ecdb661 42 //コマンド解釈
takeru0x1103 21:78302ecdb661 43 commandParse();
takeru0x1103 21:78302ecdb661 44
takeru0x1103 21:78302ecdb661 45 //
takeru0x1103 21:78302ecdb661 46 if(gf_Armed){
MasashiNomura 22:24c9c2dedca9 47 setState(WAKEUP);
MasashiNomura 22:24c9c2dedca9 48 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 49 // taskStop(0);//制御タスクを止める
MasashiNomura 22:24c9c2dedca9 50 // taskStart(2);//デバッグタスク再開
MasashiNomura 22:24c9c2dedca9 51 }
MasashiNomura 22:24c9c2dedca9 52 // else{
MasashiNomura 22:24c9c2dedca9 53 // taskStop(2);//デバッグタスクを止める
MasashiNomura 22:24c9c2dedca9 54 // taskStart(0);//制御タスク再開
MasashiNomura 22:24c9c2dedca9 55 // }//switch
takeru0x1103 21:78302ecdb661 56
takeru0x1103 21:78302ecdb661 57 //次の周期まで待つ
takeru0x1103 21:78302ecdb661 58 vTaskDelayUntil(&xLastWakeTime, 50 / portTICK_RATE_MS );
takeru0x1103 21:78302ecdb661 59 }
takeru0x1103 21:78302ecdb661 60 }
takeru0x1103 21:78302ecdb661 61 //========================================================
takeru0x1103 17:f9610f3cfa1b 62 //ホバーバイク制御タスク
takeru0x1103 18:5aa48aec9cae 63 //========================================================
takeru0x1103 17:f9610f3cfa1b 64 void taskHbControl(void *pvParameters){
takeru0x1103 21:78302ecdb661 65 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 66 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 67
takeru0x1103 17:f9610f3cfa1b 68 HbManager hb;
takeru0x1103 8:1ca49cb18290 69
takeru0x1103 18:5aa48aec9cae 70 //
takeru0x1103 1:15ab74f0d0f1 71 while(1){
takeru0x1103 16:05b9e44889f1 72 led1=!led1;
takeru0x1103 21:78302ecdb661 73 //▼①状態読み出し系
MasashiNomura 22:24c9c2dedca9 74 hb.getAttitude(); //現在角度読み出し
MasashiNomura 22:24c9c2dedca9 75 hb.controlEngine(); //エンジン回転数読み出し
MasashiNomura 22:24c9c2dedca9 76 hb.getUserCommand(); //操作ボタン状態読み出し
takeru0x1103 18:5aa48aec9cae 77
takeru0x1103 21:78302ecdb661 78 //▼②ステート遷移
MasashiNomura 22:24c9c2dedca9 79 switch(gf_State){
MasashiNomura 22:24c9c2dedca9 80 case SLEEP:
MasashiNomura 22:24c9c2dedca9 81 if(gf_Dbg){
MasashiNomura 22:24c9c2dedca9 82 taskStart(2);
MasashiNomura 22:24c9c2dedca9 83 }
MasashiNomura 22:24c9c2dedca9 84 break;
MasashiNomura 22:24c9c2dedca9 85 case WAKEUP:
MasashiNomura 22:24c9c2dedca9 86 break;
MasashiNomura 22:24c9c2dedca9 87 case STANDBY:
MasashiNomura 22:24c9c2dedca9 88 break;
MasashiNomura 22:24c9c2dedca9 89 case IDLE:
MasashiNomura 22:24c9c2dedca9 90 break;
MasashiNomura 22:24c9c2dedca9 91 case TAKE_OFF:
MasashiNomura 22:24c9c2dedca9 92 break;
MasashiNomura 22:24c9c2dedca9 93 case GROUND:
MasashiNomura 22:24c9c2dedca9 94 break;
MasashiNomura 22:24c9c2dedca9 95 case HOVER:
MasashiNomura 22:24c9c2dedca9 96 break;
MasashiNomura 22:24c9c2dedca9 97 case DRIVE:
MasashiNomura 22:24c9c2dedca9 98 break;
MasashiNomura 22:24c9c2dedca9 99 case EMGGND:
MasashiNomura 22:24c9c2dedca9 100 break;
MasashiNomura 22:24c9c2dedca9 101 }
takeru0x1103 21:78302ecdb661 102
takeru0x1103 21:78302ecdb661 103 //▼③各種設定
takeru0x1103 21:78302ecdb661 104 //hb.controlAttitude(); //姿勢制御
takeru0x1103 21:78302ecdb661 105 //hb.controlMotor();//モーター指令出し
takeru0x1103 18:5aa48aec9cae 106
takeru0x1103 18:5aa48aec9cae 107
takeru0x1103 18:5aa48aec9cae 108 //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）
takeru0x1103 18:5aa48aec9cae 109 if(gf_Print.flg!=0){
takeru0x1103 18:5aa48aec9cae 110 gf_Print.flg=gf_Mon.flg;
takeru0x1103 18:5aa48aec9cae 111 sp.printf("\r\n");
takeru0x1103 18:5aa48aec9cae 112 }
takeru0x1103 1:15ab74f0d0f1 113
takeru0x1103 1:15ab74f0d0f1 114 //次の周期まで待つ
takeru0x1103 1:15ab74f0d0f1 115 vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
takeru0x1103 1:15ab74f0d0f1 116 }
takeru0x1103 1:15ab74f0d0f1 117 }
takeru0x1103 18:5aa48aec9cae 118 //========================================================
takeru0x1103 21:78302ecdb661 119 //タスク２：デバッグ用タスク
takeru0x1103 18:5aa48aec9cae 120 //========================================================
takeru0x1103 18:5aa48aec9cae 121 void taskDebug(void *pvParameters){
takeru0x1103 21:78302ecdb661 122
takeru0x1103 21:78302ecdb661 123 taskStop(2);//自ら止めてレジュームされるまで待つ
takeru0x1103 18:5aa48aec9cae 124
takeru0x1103 21:78302ecdb661 125 //この関数をリターンしてしまうと他のタスクも止まるのでwhileで回すこと！
takeru0x1103 18:5aa48aec9cae 126 while(1){
takeru0x1103 21:78302ecdb661 127
MasashiNomura 22:24c9c2dedca9 128
MasashiNomura 22:24c9c2dedca9 129
MasashiNomura 22:24c9c2dedca9 130 gf_Dbg = false;
takeru0x1103 21:78302ecdb661 131 //自タスク停止させて次の周期まで待つ
takeru0x1103 18:5aa48aec9cae 132 taskStop(2);
takeru0x1103 18:5aa48aec9cae 133 }
takeru0x1103 18:5aa48aec9cae 134 }
takeru0x1103 17:f9610f3cfa1b 135
takeru0x1103 1:15ab74f0d0f1 136 //-------------------------------------------------------------
takeru0x1103 17:f9610f3cfa1b 137 //初期化：タスク登録
takeru0x1103 1:15ab74f0d0f1 138 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 139 void taskInit(){
takeru0x1103 21:78302ecdb661 140 portBASE_TYPE TaskRtn;//タスククリエイトの結果を受け取る型
takeru0x1103 18:5aa48aec9cae 141
takeru0x1103 21:78302ecdb661 142 //タスク０：コマンド解析タスク
takeru0x1103 21:78302ecdb661 143 TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 32, NULL, 1, &tskHandle[0]);
takeru0x1103 21:78302ecdb661 144 if(TaskRtn==pdTRUE){sp.printf("Task0 Set : Command parser\r\n");}
takeru0x1103 21:78302ecdb661 145
takeru0x1103 21:78302ecdb661 146 //タスク１：制御タスク
takeru0x1103 21:78302ecdb661 147 TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 192, NULL, 2, &tskHandle[1]);
takeru0x1103 21:78302ecdb661 148 if(TaskRtn==pdTRUE){sp.printf("Task1 Set : Hoverbike Control\r\n");}
takeru0x1103 21:78302ecdb661 149
takeru0x1103 21:78302ecdb661 150 //タスク２：デバッグタスク
takeru0x1103 21:78302ecdb661 151 TaskRtn= xTaskCreate(taskDebug, (signed portCHAR *)"TaskDebug", 64, NULL, 0, &tskHandle[2]);
takeru0x1103 21:78302ecdb661 152 if(TaskRtn==pdTRUE){sp.printf("Task2 Set : Debug\r\n");}
takeru0x1103 8:1ca49cb18290 153
takeru0x1103 21:78302ecdb661 154 //RTOSカーネル起動（タスクが走り出す）
takeru0x1103 1:15ab74f0d0f1 155 vTaskStartScheduler();
takeru0x1103 1:15ab74f0d0f1 156 }
takeru0x1103 1:15ab74f0d0f1 157
takeru0x1103 1:15ab74f0d0f1 158