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[style]: (main) Add Indent, more readable.

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This commit is contained in:
but0n 2016-12-14 15:02:29 +08:00
parent d896ce8760
commit 880d85ba90
1 changed files with 68 additions and 68 deletions
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136
src/main.c
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@ -115,12 +115,12 @@ void mpu_task() {
}
#ifdef DEBUG_BLDC
void pid_task() {
while(1) {
pid_SingleAxis(&g_pid_roll, 0);
vTaskDelay(10);
void pid_task() {
while(1) {
pid_SingleAxis(&g_pid_roll, 0);
vTaskDelay(10);
}
}
}
#endif
void uart_task() {
@ -184,10 +184,10 @@ void uart_debugPID() {
int main() {
#ifdef DEBUG_BLDC
//Brushless motor auto init
MOTOR_SETTING();
#endif
#ifdef DEBUG_BLDC
//Brushless motor auto init
MOTOR_SETTING();
#endif
uart_init(72, 115200);
uart_sendStr("Config MPU6050...");
@ -203,85 +203,85 @@ int main() {
uart_sendStr("Stack Overflow...");
while(1);
// Main Loop
while(1) {
#ifdef DEBUG_WIFI
wifi_Config();
while(1) {
wifi_sendCmd("AT+CIPSEND=0,20");
delay(50);
wifi_sendCmd("<html>aki<br></html>");
delay(1000);
}
#endif
#ifdef DEBUG_MPU6050_SOURCEDATA
MPU6050_getStructData(&sourceData);
MPU6050_debug(&sourceData);
#endif
#ifdef DEBUG_WIFI
wifi_Config();
while(1) {
wifi_sendCmd("AT+CIPSEND=0,20");
delay(50);
wifi_sendCmd("<html>aki<br></html>");
delay(1000);
}
#endif
#ifdef DEBUG_MPU6050_SOURCEDATA
MPU6050_getStructData(&sourceData);
MPU6050_debug(&sourceData);
#endif
#if defined (DEBUG_BLDC)
MPU6050_getStructData(&sourceData);
Comput(sourceData);
#if defined (DEBUG_BLDC)
MPU6050_getStructData(&sourceData);
Comput(sourceData);
pid_SingleAxis(&g_pid_roll, 0);
TTY_CLEAR();
pid_SingleAxis(&g_pid_roll, 0);
TTY_CLEAR();
TTY_RED();
uart_sendStr(" Motor占空比: ");
TTY_NONE();
TTY_BLUE();
uart_showData(*g_pid_roll.Channel1);
uart_sendStr("\t");
uart_showData(*g_pid_roll.Channel2);
TTY_NONE();
TTY_RED();
uart_sendStr(" Motor占空比: ");
TTY_NONE();
TTY_BLUE();
uart_showData(*g_pid_roll.Channel1);
uart_sendStr("\t");
uart_showData(*g_pid_roll.Channel2);
TTY_NONE();
uart_sendStr("\n\rRoll:\t");
uart_Float2Char(*g_pid_roll.Feedback);
uart_sendStr("\n\rRoll:\t");
uart_Float2Char(*g_pid_roll.Feedback);
uart_sendStr("\tGyro:\t");
uart_Float2Char(*g_pid_roll.Gyro);
uart_sendStr("\tGyro:\t");
uart_Float2Char(*g_pid_roll.Gyro);
uart_sendStr("\n\rP:\t");
uart_Float2Char(g_pid_roll.p);
uart_sendStr("\n\rP:\t");
uart_Float2Char(g_pid_roll.p);
uart_sendStr("\n\rI:\t");
uart_Float2Char(g_pid_roll.i);
uart_sendStr("\n\rI:\t");
uart_Float2Char(g_pid_roll.i);
uart_sendStr("\n\rD:\t");
uart_Float2Char(g_pid_roll.d);
uart_sendStr("\n\rD:\t");
uart_Float2Char(g_pid_roll.d);
uart_sendStr("\n\r=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=\n\rInner Cache:\t");
uart_Float2Char(g_pid_roll.InnerLast);
uart_sendStr("\n\rOutter Cache:\t");
uart_Float2Char(g_pid_roll.OutterLast);
uart_sendStr("\n\r=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=_=\n\rInner Cache:\t");
uart_Float2Char(g_pid_roll.InnerLast);
uart_sendStr("\n\rOutter Cache:\t");
uart_Float2Char(g_pid_roll.OutterLast);
uart_sendStr("\n\rOutput:\t\t");
TTY_RED();
uart_showData(g_pid_roll.output);
TTY_NONE();
uart_sendStr("\n\r");
uart_sendStr("\n\rOutput:\t\t");
TTY_RED();
uart_showData(g_pid_roll.output);
TTY_NONE();
uart_sendStr("\n\r");
#endif
#endif
#ifdef DEBUG_MPU6050_EULER
MPU6050_getStructData(&sourceData);
#ifdef DEBUG_MPU6050_EULER
MPU6050_getStructData(&sourceData);
Comput(sourceData);
Comput(sourceData);
uart_sendStr("Pitch Angle: ");
uart_Float2Char(g_Pitch);
uart_sendStr("Pitch Angle: ");
uart_Float2Char(g_Pitch);
uart_sendStr("; Roll Angle: ");
uart_Float2Char(g_Roll);
uart_sendStr("; Roll Angle: ");
uart_Float2Char(g_Roll);
uart_sendStr("; Yaw Angle: ");
uart_Float2Char(g_Yaw);
uart_sendStr("; Yaw Angle: ");
uart_Float2Char(g_Yaw);
UART_CR();
UART_CR();
delay(100);
#endif
delay(100);
#endif
}
}