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Dependencies:   mbed FreeRTOS

globalFlags.h@20:0394e15412c3, 2018-12-05 (annotated)

Committer:
takeru0x1103
Date:
Wed Dec 05 01:43:55 2018 +0000
Revision:
20:0394e15412c3
Parent:
19:4b0fe9a5ec38
Child:
21:78302ecdb661
1205_?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 8:1ca49cb18290 1 #ifndef __GLOBALFLAGS_H__
takeru0x1103 8:1ca49cb18290 2 #define __GLOBALFLAGS_H__
takeru0x1103 8:1ca49cb18290 3
takeru0x1103 16:05b9e44889f1 4 #include "mbed.h"
takeru0x1103 17:f9610f3cfa1b 5 #include "typedef.h"
takeru0x1103 17:f9610f3cfa1b 6
takeru0x1103 19:4b0fe9a5ec38 7 #define G_CMD_BUF_SIZ 32
takeru0x1103 19:4b0fe9a5ec38 8 #define STATE_QUE_SIZ 8
takeru0x1103 19:4b0fe9a5ec38 9
takeru0x1103 17:f9610f3cfa1b 10 typedef union{
takeru0x1103 17:f9610f3cfa1b 11 UINT16 flg;
takeru0x1103 17:f9610f3cfa1b 12 struct{
takeru0x1103 17:f9610f3cfa1b 13 bool e1 : 1;//前エンジン回転数
takeru0x1103 17:f9610f3cfa1b 14 bool e2 : 1;//後ろエンジン回転数
takeru0x1103 17:f9610f3cfa1b 15 bool m1 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 16 bool m2 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 17 bool m3 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 18 bool m4 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 19 bool gy : 1;//ジャイロ
takeru0x1103 17:f9610f3cfa1b 20 bool yaw : 1;//ヨー角
takeru0x1103 18:5aa48aec9cae 21 bool fb : 1;//PID制御feedback結果
takeru0x1103 18:5aa48aec9cae 22 bool pp : 1;//P制御ゲイン（アウターループ）
takeru0x1103 18:5aa48aec9cae 23 bool p : 1;//P制御ゲイン
takeru0x1103 18:5aa48aec9cae 24 bool i : 1;//I制御ゲイン
takeru0x1103 18:5aa48aec9cae 25 bool d : 1;//D制御ゲイン
takeru0x1103 17:f9610f3cfa1b 26 }bf;
takeru0x1103 17:f9610f3cfa1b 27 }typPrintFlag;
takeru0x1103 17:f9610f3cfa1b 28
takeru0x1103 17:f9610f3cfa1b 29 typedef union{
takeru0x1103 17:f9610f3cfa1b 30 UINT16 flg;
takeru0x1103 17:f9610f3cfa1b 31 struct{
takeru0x1103 17:f9610f3cfa1b 32 bool e1 : 1;//
takeru0x1103 17:f9610f3cfa1b 33 bool e2 : 1;//
takeru0x1103 17:f9610f3cfa1b 34 bool m1 : 1;//
takeru0x1103 17:f9610f3cfa1b 35 bool m2 : 1;//
takeru0x1103 17:f9610f3cfa1b 36 bool m3 : 1;//
takeru0x1103 17:f9610f3cfa1b 37 bool m4 : 1;//
takeru0x1103 17:f9610f3cfa1b 38 bool gy : 1;//
takeru0x1103 17:f9610f3cfa1b 39 bool yaw : 1;//
takeru0x1103 18:5aa48aec9cae 40 bool fb : 1;//PID制御feedback結果
takeru0x1103 18:5aa48aec9cae 41 bool pp : 1;//P制御ゲイン（アウターループ）
takeru0x1103 18:5aa48aec9cae 42 bool p : 1;//P制御ゲイン
takeru0x1103 18:5aa48aec9cae 43 bool i : 1;//I制御ゲイン
takeru0x1103 18:5aa48aec9cae 44 bool d : 1;//D制御ゲイン
takeru0x1103 17:f9610f3cfa1b 45 }bf;
takeru0x1103 17:f9610f3cfa1b 46 }typCalFlag;
takeru0x1103 17:f9610f3cfa1b 47
takeru0x1103 19:4b0fe9a5ec38 48 //
takeru0x1103 17:f9610f3cfa1b 49 typedef union{
takeru0x1103 17:f9610f3cfa1b 50 UINT16 dt;
takeru0x1103 17:f9610f3cfa1b 51 struct{
takeru0x1103 18:5aa48aec9cae 52 UINT16 val : 12;//アクセル設定値
takeru0x1103 17:f9610f3cfa1b 53 bool req : 1;//アクセル更新要求
takeru0x1103 17:f9610f3cfa1b 54 }bf;
takeru0x1103 17:f9610f3cfa1b 55 }typAccel;
takeru0x1103 17:f9610f3cfa1b 56
takeru0x1103 19:4b0fe9a5ec38 57 //ステート定義
takeru0x1103 19:4b0fe9a5ec38 58 enum enmHbState
takeru0x1103 19:4b0fe9a5ec38 59 {NONE //何もなし
takeru0x1103 20:0394e15412c3 60 ,WAKEUP //起動処理
takeru0x1103 20:0394e15412c3 61 ,STANDBY //スタンバイ(エンジンかかるの待ち)
takeru0x1103 20:0394e15412c3 62 ,IDLE //アイドル(エンジン)
takeru0x1103 20:0394e15412c3 63 ,TAKE_OFF //離陸
takeru0x1103 20:0394e15412c3 64 ,HOVER //ホバリング
takeru0x1103 20:0394e15412c3 65 ,GROUND //着陸
takeru0x1103 20:0394e15412c3 66 ,CHK_ENT //チェックエンター
takeru0x1103 20:0394e15412c3 67 ,CHK_MOT //モーターチェック
takeru0x1103 20:0394e15412c3 68 ,CHK_AXL //アクセルサーボチェック
takeru0x1103 20:0394e15412c3 69 ,CHK_ATT //姿勢制御チェック
takeru0x1103 20:0394e15412c3 70 ,CHK_EXIT //チェックステート脱出
takeru0x1103 19:4b0fe9a5ec38 71 };
takeru0x1103 19:4b0fe9a5ec38 72
takeru0x1103 17:f9610f3cfa1b 73 /////////////////////////////////////////////////
takeru0x1103 19:4b0fe9a5ec38 74 class GlobalFlags{
takeru0x1103 19:4b0fe9a5ec38 75 private:
takeru0x1103 19:4b0fe9a5ec38 76 enmHbState stateQueue[STATE_QUE_SIZ];//ステート予約用のキューバッファ
takeru0x1103 19:4b0fe9a5ec38 77 int wp; //ライトポインタ
takeru0x1103 19:4b0fe9a5ec38 78 int rp; //リードポインタ
takeru0x1103 19:4b0fe9a5ec38 79 bool full; //フルフラグ
takeru0x1103 19:4b0fe9a5ec38 80 bool empty; //エンプティフラグ
takeru0x1103 19:4b0fe9a5ec38 81 public:
takeru0x1103 20:0394e15412c3 82 enmHbState state;//現在のステート
takeru0x1103 20:0394e15412c3 83 GlobalFlags();//コンストラクタ
takeru0x1103 19:4b0fe9a5ec38 84 bool push(enmHbState iState);
takeru0x1103 19:4b0fe9a5ec38 85 bool pull();
takeru0x1103 19:4b0fe9a5ec38 86 };
takeru0x1103 16:05b9e44889f1 87
takeru0x1103 17:f9610f3cfa1b 88 //モニタ用LED
takeru0x1103 16:05b9e44889f1 89 extern DigitalOut led1;
takeru0x1103 16:05b9e44889f1 90 extern DigitalOut led2;
takeru0x1103 16:05b9e44889f1 91 extern DigitalOut led3;
takeru0x1103 16:05b9e44889f1 92 extern DigitalOut led4;
takeru0x1103 8:1ca49cb18290 93
takeru0x1103 19:4b0fe9a5ec38 94 extern GlobalFlags gf;
takeru0x1103 19:4b0fe9a5ec38 95
takeru0x1103 19:4b0fe9a5ec38 96 extern char g_CmdBuf[G_CMD_BUF_SIZ] ;// コマンド受け渡しバッファ
takeru0x1103 19:4b0fe9a5ec38 97 extern bool gf_CmdPrs; //コマンドパーサー実行要求フラグ
takeru0x1103 19:4b0fe9a5ec38 98
takeru0x1103 19:4b0fe9a5ec38 99 extern typPrintFlag gf_Print; //デバッグプリントフラグ（１回表示）
takeru0x1103 19:4b0fe9a5ec38 100 extern typPrintFlag gf_Mon; //デバッグモニタフラグ（繰り返し表示）
takeru0x1103 18:5aa48aec9cae 101 extern typCalFlag gf_Cal; //
takeru0x1103 20:0394e15412c3 102 //extern typChkFlag gf_Chk; //チェックフラグ
takeru0x1103 17:f9610f3cfa1b 103 extern typAccel gf_AxReq[2]; //アクセル更新
takeru0x1103 17:f9610f3cfa1b 104 extern typAccel gf_MtReq[4]; //モーター更新
takeru0x1103 18:5aa48aec9cae 105 extern bool gf_AttCntEna; //姿勢制御イネーブル
takeru0x1103 8:1ca49cb18290 106
takeru0x1103 18:5aa48aec9cae 107
takeru0x1103 19:4b0fe9a5ec38 108
takeru0x1103 19:4b0fe9a5ec38 109
takeru0x1103 18:5aa48aec9cae 110 #endif