Diff: userTask.cpp

Revision:

1:15ab74f0d0f1

Child:

8:1ca49cb18290

diff -r ecd925601fc6 -r 15ab74f0d0f1 userTask.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/userTask.cpp	Sat Nov 24 11:35:48 2018 +0000
@@ -0,0 +1,46 @@
+//RTOS関連
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "led.h"
+#include "command.h"
+#include "userOperate.h"
+
+
+//----------------------------------------------------------------
+//タスク処理
+//----------------------------------------------------------------
+void task50Hz(void *pvParameters){
+
+    int8_t *pcTaskName;
+    pcTaskName = (int8_t *) pvParameters;
+    portTickType xLastWakeTime;
+    xLastWakeTime = xTaskGetTickCount();
+
+    while(1){
+        ledTggle();
+        
+        if(gDebugFlg){
+            userTest();
+        }else{
+            userIdleSet();
+        }
+        
+        //次の周期まで待つ
+        vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
+    }
+}
+
+//-------------------------------------------------------------
+//初期化
+//-------------------------------------------------------------
+void taskInit(){
+    portBASE_TYPE   TaskRtn;
+    TaskRtn= xTaskCreate(task50Hz, (signed portCHAR *)"TaskB", 192, NULL, 1, NULL);
+    //
+    if(TaskRtn==pdTRUE){printf("task1 OK\r\n");}
+    //カーネルの起動
+    vTaskStartScheduler();
+}
+
+