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[MOD]: Fixed bug, Add #endif

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This commit is contained in:
but0n 2016-11-28 21:40:35 +08:00
parent 7738691880
commit 9b87bc1a52
1 changed files with 27 additions and 19 deletions
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46
src/main.c
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@ -77,24 +77,7 @@ void Comput(SixAxis cache) {
g_Yaw = atan2(2 * (g_q1 * g_q2 + g_q0 * g_q3), g_q0*g_q0 + g_q1*g_q1 - g_q2*g_q2 - g_q3*g_q3) * 57.3;
}
void uart_task() {
while(1) {
uart_sendStr("Pitch Angle: ");
uart_Float2Char(g_Pitch);
uart_sendStr("; Roll Angle: ");
uart_Float2Char(g_Roll);
uart_sendStr("; Yaw Angle: ");
uart_Float2Char(g_Yaw);
UART_CR();
vTaskDelay(100);
}
}
#define DEBUG_MPU6050_EULER //Config
#define DEBUG_BLDC //Config
#if defined (DEBUG_MPU6050_EULER) || defined (DEBUG_MPU6050_SOURCEDATA) || defined (DEBUG_BLDC)
SixAxis sourceData;
@ -121,6 +104,7 @@ void uart_task() {
.Channel2 = &MOTOR4,
.Gyro = &sourceData.gX,
};
#endif
void mpu_task() {
while(1) {
@ -130,9 +114,33 @@ void mpu_task() {
}
}
void pid_task() {
while(1) {
pid_SingleAxis(&g_pid_roll, 0);
vTaskDelay(10);
}
}
void uart_task() {
while(1) {
uart_sendStr("Pitch Angle: ");
uart_Float2Char(g_Pitch);
uart_sendStr("; Roll Angle: ");
uart_Float2Char(g_Roll);
uart_sendStr("; Yaw Angle: ");
uart_Float2Char(g_Yaw);
UART_CR();
vTaskDelay(100);
}
}
int main() {
#ifdef DEBUG_BLDC
//Brushless motor auto init
MOTOR_SETTING();
#endif