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Dependencies:   mbed FreeRTOS

HbManager.h@43:156199c2f9b6, 2019-01-24 (annotated)

Committer:
MasashiNomura
Date:
Thu Jan 24 13:21:01 2019 +0000
Revision:
43:156199c2f9b6
Parent:
40:debe99e228d3
Child:
46:5074781a28dd
20190124 Modify for 45inc.; Add to varialble servo step val , Blink LED when pressing up-down sw in HOVER State.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 16:05b9e44889f1 1 #ifndef __HBMANAGER_H__
takeru0x1103 16:05b9e44889f1 2 #define __HBMANAGER_H__
takeru0x1103 0:ecd925601fc6 3 /////////////////////////////////////////////////////////////////////
takeru0x1103 17:f9610f3cfa1b 4 #include "typedef.h"
takeru0x1103 17:f9610f3cfa1b 5 #include "HbEngine.h"
takeru0x1103 18:5aa48aec9cae 6 #include "HbAttitude.h"
takeru0x1103 18:5aa48aec9cae 7 #include "HbMotor.h"
takeru0x1103 18:5aa48aec9cae 8 #include "Imu.h"
MasashiNomura 22:24c9c2dedca9 9 #include "HbUserOpe.h"
takeru0x1103 17:f9610f3cfa1b 10
takeru0x1103 0:ecd925601fc6 11
takeru0x1103 19:4b0fe9a5ec38 12
takeru0x1103 19:4b0fe9a5ec38 13
takeru0x1103 17:f9610f3cfa1b 14 /////////////////////////////////////////////////
takeru0x1103 17:f9610f3cfa1b 15 class HbManager{
takeru0x1103 17:f9610f3cfa1b 16 private:
MasashiNomura 43:156199c2f9b6 17 INT16 en_srv_step[2];
MasashiNomura 36:2cc739c7e4cb 18 //INT16 motorVal[4] ;//
takeru0x1103 18:5aa48aec9cae 19 UINT16 accelVal[2] ;//
MasashiNomura 36:2cc739c7e4cb 20 float nowTrgtAng; //目標ヨー角
takeru0x1103 19:4b0fe9a5ec38 21 float nowAngle ;//現在ヨー角
takeru0x1103 19:4b0fe9a5ec38 22 float nowRate ;//現在加速度
MasashiNomura 22:24c9c2dedca9 23 typUserSw usrSW ;//ユーザー操作SW
takeru0x1103 19:4b0fe9a5ec38 24 //メンバクラス
takeru0x1103 18:5aa48aec9cae 25 HbEngine *eng[2] ;//エンジン制御クラス
takeru0x1103 18:5aa48aec9cae 26 HbAttitude *att ;//姿勢制御クラス
MasashiNomura 28:fdb3b144e342 27 //HbMotor *mot[4] ;//モーター制御クラス
MasashiNomura 28:fdb3b144e342 28 HbSubProp *subProp[4] ;//モーター制御クラス
takeru0x1103 18:5aa48aec9cae 29 Imu *imu ;//慣性計測装置
MasashiNomura 22:24c9c2dedca9 30
MasashiNomura 22:24c9c2dedca9 31 HbUserOpe *ope ;//ユーザー操作
MasashiNomura 22:24c9c2dedca9 32
MasashiNomura 24:c5945aaae777 33 //INT16 motVal; // モーターチェック用モーター値
MasashiNomura 24:c5945aaae777 34 //short motNum; // モーターチェック用モーター番号
MasashiNomura 24:c5945aaae777 35
takeru0x1103 17:f9610f3cfa1b 36 public:
takeru0x1103 17:f9610f3cfa1b 37 HbManager();
MasashiNomura 39:1b76f7df8804 38 // TestSPIRead Task生存証明用アクセスProof of survival
MasashiNomura 39:1b76f7df8804 39 UINT16 proofOfSurvival();
MasashiNomura 38:24ee50452755 40 // Attitude
takeru0x1103 18:5aa48aec9cae 41 void getAttitude();
MasashiNomura 25:f3a6e7eec9c3 42 void calAtt();
takeru0x1103 18:5aa48aec9cae 43 void controlAttitude();
MasashiNomura 24:c5945aaae777 44 void controlAttitude(float cmdAngle);
MasashiNomura 24:c5945aaae777 45 void setAttPara(typPidPara para);
MasashiNomura 38:24ee50452755 46 // Motor
takeru0x1103 18:5aa48aec9cae 47 void controlMotor();
MasashiNomura 29:eb3d72dd94aa 48 void addMotVal(eMotPos pos, INT16 add);
MasashiNomura 29:eb3d72dd94aa 49 void subMotVal(eMotPos pos, INT16 add);
MasashiNomura 30:13ada1a24c59 50 INT16 getCurMotVal(eMotPos pos);
MasashiNomura 30:13ada1a24c59 51 void setMotVal(eMotPos pos, INT16 val);
MasashiNomura 40:debe99e228d3 52 void setFpgaMot(eMotPos pos,eMotType type, INT16 val);
MasashiNomura 36:2cc739c7e4cb 53 //void setMotFPGA(UCHAR num, INT16 val);
MasashiNomura 27:ff63c23bc689 54
MasashiNomura 38:24ee50452755 55 // Engine
MasashiNomura 39:1b76f7df8804 56 void getEngine();
takeru0x1103 17:f9610f3cfa1b 57 void controlEngine();
MasashiNomura 36:2cc739c7e4cb 58 void clearHvAxl();
MasashiNomura 36:2cc739c7e4cb 59 bool chkSetHvAxl(eEgPos pos);
MasashiNomura 36:2cc739c7e4cb 60 void setHvAxl(eEgPos pos, INT16 val);
MasashiNomura 38:24ee50452755 61 INT16 getHvAxl(eEgPos pos);
MasashiNomura 36:2cc739c7e4cb 62 void setAccelVal(eEgPos pos, INT16 val);
MasashiNomura 39:1b76f7df8804 63 INT16 getAccelVal(eEgPos pos);
MasashiNomura 36:2cc739c7e4cb 64
takeru0x1103 17:f9610f3cfa1b 65 void getUserCommand();
MasashiNomura 33:eb260dbfc22a 66 INT16 getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 67 INT16 getUserEngTrottle();
MasashiNomura 38:24ee50452755 68 float getUserMotAxlRaw();
MasashiNomura 38:24ee50452755 69 float getUserEngTrottleRaw();
MasashiNomura 33:eb260dbfc22a 70
MasashiNomura 23:79e20be4bc5b 71 bool chkOverIDLE();
MasashiNomura 23:79e20be4bc5b 72 bool chkInRangeIDLE();
MasashiNomura 31:56c554c560c1 73 void chkSW(enmHbState stat);
MasashiNomura 23:79e20be4bc5b 74 bool chkSWUserOpe(HbUserOpe::SW_TYPE stype);
MasashiNomura 30:13ada1a24c59 75 bool chkSWUserOpeRE(HbUserOpe::SW_TYPE stype);//立ち上がり検出
MasashiNomura 23:79e20be4bc5b 76 bool chkSWUserOpeAny();
MasashiNomura 36:2cc739c7e4cb 77 bool chkSWUserOpeBoth(HbUserOpe::SW_TYPE stype1, HbUserOpe::SW_TYPE stype2);
MasashiNomura 36:2cc739c7e4cb 78
MasashiNomura 23:79e20be4bc5b 79 typUserSw getUserSw();
takeru0x1103 17:f9610f3cfa1b 80 };
takeru0x1103 0:ecd925601fc6 81
takeru0x1103 0:ecd925601fc6 82 /////////////////////////////////////////////////////////////////////
takeru0x1103 16:05b9e44889f1 83 #endif