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Dependencies:   mbed FreeRTOS

globalFlags.cpp@38:24ee50452755, 2019-01-18 (annotated)

Committer:
MasashiNomura
Date:
Fri Jan 18 11:52:00 2019 +0000
Revision:
38:24ee50452755
Parent:
37:d51dacb4c30f
Child:
39:1b76f7df8804
20190118 Modify for 45inc. check User SW (include analogIn)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 19:4b0fe9a5ec38 1
takeru0x1103 16:05b9e44889f1 2 #include "globalFlags.h"
takeru0x1103 16:05b9e44889f1 3
MasashiNomura 22:24c9c2dedca9 4 //モニタ用LED
takeru0x1103 16:05b9e44889f1 5 DigitalOut led1(LED1);
takeru0x1103 16:05b9e44889f1 6 DigitalOut led2(LED2);
takeru0x1103 16:05b9e44889f1 7 DigitalOut led3(LED3);
takeru0x1103 16:05b9e44889f1 8 DigitalOut led4(LED4);
takeru0x1103 8:1ca49cb18290 9
MasashiNomura 33:eb260dbfc22a 10 //モーターアクセル用アナログ入力
MasashiNomura 33:eb260dbfc22a 11 AnalogIn AinAxl(p20);
takeru0x1103 21:78302ecdb661 12
MasashiNomura 38:24ee50452755 13 // //エンジンスロットル用アナログ入力
MasashiNomura 38:24ee50452755 14 // AnalogIn AinThrottle(p19);
MasashiNomura 36:2cc739c7e4cb 15
takeru0x1103 19:4b0fe9a5ec38 16 char g_CmdBuf[G_CMD_BUF_SIZ] ;// コマンド受け渡しバッファ
MasashiNomura 22:24c9c2dedca9 17 bool gf_CmdPrs;
takeru0x1103 19:4b0fe9a5ec38 18
MasashiNomura 22:24c9c2dedca9 19 bool gf_Armed ;//アーミングフラグ
MasashiNomura 23:79e20be4bc5b 20 bool gf_Dbg ;//デバッグタスク起動フラグ
MasashiNomura 37:d51dacb4c30f 21 //bool gf_fs_stat ;//強制遷移フラグ
MasashiNomura 37:d51dacb4c30f 22 bool gf_StopMot ;//モーターの強制停止 サーボ全閉
MasashiNomura 37:d51dacb4c30f 23 bool gf_FromActiveStat ;//モーターの強制停止 サーボ全閉が動作時に発生したかどうか
MasashiNomura 25:f3a6e7eec9c3 24
takeru0x1103 19:4b0fe9a5ec38 25 typPrintFlag gf_Print ;//
takeru0x1103 19:4b0fe9a5ec38 26 typPrintFlag gf_Mon ;//
takeru0x1103 19:4b0fe9a5ec38 27 typCalFlag gf_Cal ;//
MasashiNomura 26:732bc37fbefd 28 typDbgPrintFlg gf_DbgPrint ;//デバッグ用
MasashiNomura 22:24c9c2dedca9 29 typAccel gf_AxReq[2] ;//アクセル更新フラグ
MasashiNomura 32:7f4145cc3551 30 typAxlRpm gf_MtReq[4] ;//モーター姿勢制御更新フラグ
MasashiNomura 29:eb3d72dd94aa 31 typAxlRpm gf_MtReqOfs[4] ;//モーターオフセット更新フラグ
MasashiNomura 29:eb3d72dd94aa 32 typAxlRpm gf_MtReqDct[8] ;//ダイレクト(FPGA関数直接呼び出し)モーター更新フラグ
MasashiNomura 32:7f4145cc3551 33 typAxlRpm gf_MtReqU[4] ;//モーターユーザー更新フラグ
MasashiNomura 32:7f4145cc3551 34
MasashiNomura 22:24c9c2dedca9 35 enmHbState gf_State = SLEEP;
MasashiNomura 36:2cc739c7e4cb 36 bool gf_StateEnt ;//状態遷移後、最初であることを示す
takeru0x1103 19:4b0fe9a5ec38 37
MasashiNomura 24:c5945aaae777 38 bool gf_PidParaUpdate ;//PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 24:c5945aaae777 39 typPidPara g_PidPara ;//PID Pp,P,I,Dの係数の外部設定用
takeru0x1103 20:0394e15412c3 40
MasashiNomura 36:2cc739c7e4cb 41 // bool gf_MotParaUpdate[4] ;//モーターのパラメータ値更新フラグ
MasashiNomura 36:2cc739c7e4cb 42 // typMotPara g_MotPara[4];
MasashiNomura 25:f3a6e7eec9c3 43
MasashiNomura 22:24c9c2dedca9 44 void initFlags(){
MasashiNomura 22:24c9c2dedca9 45 memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
MasashiNomura 22:24c9c2dedca9 46 gf_CmdPrs = false;
MasashiNomura 22:24c9c2dedca9 47 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 48 gf_Dbg = false;
MasashiNomura 25:f3a6e7eec9c3 49 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 50
MasashiNomura 22:24c9c2dedca9 51 gf_Print.flg = 0;
MasashiNomura 22:24c9c2dedca9 52 gf_Mon.flg = 0;
MasashiNomura 22:24c9c2dedca9 53 gf_Cal.flg = 0;
MasashiNomura 26:732bc37fbefd 54
MasashiNomura 26:732bc37fbefd 55 gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 56
MasashiNomura 22:24c9c2dedca9 57 gf_AxReq[0].dt = 0;
MasashiNomura 22:24c9c2dedca9 58 gf_AxReq[1].dt = 0;
MasashiNomura 27:ff63c23bc689 59 for(int i=0; i<4;++i){
MasashiNomura 32:7f4145cc3551 60 gf_MtReq[i].req = false;
MasashiNomura 32:7f4145cc3551 61 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 62 gf_MtReqOfs[i].req = false;
MasashiNomura 32:7f4145cc3551 63 gf_MtReqOfs[i].val = 0;
MasashiNomura 32:7f4145cc3551 64 gf_MtReqU[i].req = false;
MasashiNomura 32:7f4145cc3551 65 gf_MtReqU[i].val = 0;
MasashiNomura 27:ff63c23bc689 66 }
MasashiNomura 27:ff63c23bc689 67 for(int i = 0; i < 8; ++i){
MasashiNomura 32:7f4145cc3551 68 gf_MtReqDct[i].req = false;
MasashiNomura 32:7f4145cc3551 69 gf_MtReqDct[i].val = 0;
MasashiNomura 27:ff63c23bc689 70 }
MasashiNomura 22:24c9c2dedca9 71 gf_State = SLEEP;
MasashiNomura 36:2cc739c7e4cb 72 gf_StateEnt = false;
MasashiNomura 27:ff63c23bc689 73 g_PidPara.PP = 2;
MasashiNomura 32:7f4145cc3551 74 g_PidPara.P = 0;
MasashiNomura 25:f3a6e7eec9c3 75 g_PidPara.I = 0;
MasashiNomura 24:c5945aaae777 76 g_PidPara.D = 0;
MasashiNomura 24:c5945aaae777 77 g_PidPara.IMax = 2000;
MasashiNomura 24:c5945aaae777 78 g_PidPara.IMin = -2000;
MasashiNomura 36:2cc739c7e4cb 79 // for(int i = 0; i < 4; ++i){
MasashiNomura 36:2cc739c7e4cb 80 // gf_MotParaUpdate[i] = false;
MasashiNomura 36:2cc739c7e4cb 81 // g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
MasashiNomura 36:2cc739c7e4cb 82 // g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
MasashiNomura 36:2cc739c7e4cb 83 // }
MasashiNomura 22:24c9c2dedca9 84 }
MasashiNomura 35:3779201b4c73 85
MasashiNomura 22:24c9c2dedca9 86 void setState(enmHbState stat){
MasashiNomura 22:24c9c2dedca9 87 // ありえない遷移を排除
MasashiNomura 22:24c9c2dedca9 88 if(gf_State == SLEEP){if(stat != WAKEUP) return;}
MasashiNomura 22:24c9c2dedca9 89 if(gf_State == WAKEUP){if(stat != STANDBY) return;}
MasashiNomura 22:24c9c2dedca9 90 if(gf_State == STANDBY){if(stat !=IDLE) return;}
MasashiNomura 23:79e20be4bc5b 91 if(gf_State == IDLE){if(stat != TAKE_OFF && stat != SLEEP) return;}
MasashiNomura 23:79e20be4bc5b 92 if(gf_State == TAKE_OFF){if(stat != HOVER && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 93 if(gf_State == GROUND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 94 if(gf_State == HOVER){if(stat != DRIVE && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 95 if(gf_State == DRIVE){if(stat != HOVER && stat != EMGGND) return;}
MasashiNomura 22:24c9c2dedca9 96 if(gf_State == EMGGND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 97
MasashiNomura 23:79e20be4bc5b 98 sp.printf("state: %d\r\n",stat);
MasashiNomura 22:24c9c2dedca9 99 gf_State = stat;
MasashiNomura 36:2cc739c7e4cb 100 gf_StateEnt = true;
MasashiNomura 22:24c9c2dedca9 101 }
MasashiNomura 23:79e20be4bc5b 102 void setStateF(enmHbState stat){
MasashiNomura 23:79e20be4bc5b 103 sp.printf("state: %d\r\n",stat);
MasashiNomura 23:79e20be4bc5b 104 enmHbState tmp;
MasashiNomura 25:f3a6e7eec9c3 105 if((UINT16)stat > MOT_STOP){
MasashiNomura 23:79e20be4bc5b 106 tmp = SLEEP;
MasashiNomura 23:79e20be4bc5b 107 }
MasashiNomura 23:79e20be4bc5b 108 else
MasashiNomura 23:79e20be4bc5b 109 {
MasashiNomura 23:79e20be4bc5b 110 tmp = stat;
MasashiNomura 23:79e20be4bc5b 111 }
MasashiNomura 23:79e20be4bc5b 112 gf_State = tmp;
MasashiNomura 36:2cc739c7e4cb 113 gf_StateEnt = true;
MasashiNomura 23:79e20be4bc5b 114 }
MasashiNomura 37:d51dacb4c30f 115
MasashiNomura 37:d51dacb4c30f 116 bool isActiveState(){
MasashiNomura 37:d51dacb4c30f 117 if(gf_State >= IDLE && gf_State <= EMGGND){
MasashiNomura 37:d51dacb4c30f 118 return true;
MasashiNomura 37:d51dacb4c30f 119 }
MasashiNomura 37:d51dacb4c30f 120 else {
MasashiNomura 37:d51dacb4c30f 121 return false;
MasashiNomura 37:d51dacb4c30f 122 }
MasashiNomura 37:d51dacb4c30f 123 }
MasashiNomura 37:d51dacb4c30f 124
takeru0x1103 21:78302ecdb661 125 /*
takeru0x1103 19:4b0fe9a5ec38 126 //===========================================
takeru0x1103 19:4b0fe9a5ec38 127 //コンストラクタ
takeru0x1103 19:4b0fe9a5ec38 128 //===========================================
takeru0x1103 19:4b0fe9a5ec38 129 GlobalFlags::GlobalFlags(){
takeru0x1103 19:4b0fe9a5ec38 130 //初期ステート
takeru0x1103 21:78302ecdb661 131 state = SLEEP;
takeru0x1103 19:4b0fe9a5ec38 132 //ステートキュー初期化
takeru0x1103 19:4b0fe9a5ec38 133 for(int i=0; i<STATE_QUE_SIZ; i++){
takeru0x1103 19:4b0fe9a5ec38 134 stateQueue[i] = NONE;
MasashiNomura 33:eb260dbfc22a 135 }
takeru0x1103 19:4b0fe9a5ec38 136 rp = wp = 0;//先頭を指す
takeru0x1103 19:4b0fe9a5ec38 137 full = false;//最初はエンプティ
takeru0x1103 19:4b0fe9a5ec38 138 empty = true;
takeru0x1103 19:4b0fe9a5ec38 139 }
takeru0x1103 19:4b0fe9a5ec38 140
takeru0x1103 21:78302ecdb661 141
takeru0x1103 19:4b0fe9a5ec38 142 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 143 //ステートのFIFOにプッシュする
takeru0x1103 19:4b0fe9a5ec38 144 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 145 bool GlobalFlags::push(enmHbState iState){
takeru0x1103 19:4b0fe9a5ec38 146 if(full){
takeru0x1103 19:4b0fe9a5ec38 147 return false;//FFULLフラグが立ってら入力を受け付けない
takeru0x1103 19:4b0fe9a5ec38 148 }else{
takeru0x1103 19:4b0fe9a5ec38 149 stateQueue[wp] = iState;//キューに突っ込んで
takeru0x1103 19:4b0fe9a5ec38 150 wp = (wp==STATE_QUE_SIZ) ? 0 : wp+1;//ライトポインタを進める
takeru0x1103 19:4b0fe9a5ec38 151 full = (wp == rp)? true : false; //次ライト予定の場所がリードポインタに追いついたらFULLを立てる
takeru0x1103 19:4b0fe9a5ec38 152 empty = false;
takeru0x1103 19:4b0fe9a5ec38 153 return true;
takeru0x1103 19:4b0fe9a5ec38 154 }
takeru0x1103 19:4b0fe9a5ec38 155 }
takeru0x1103 19:4b0fe9a5ec38 156
takeru0x1103 19:4b0fe9a5ec38 157 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 158 //ステートFIFOから次の予約ステートを引き抜く
takeru0x1103 19:4b0fe9a5ec38 159 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 160 bool GlobalFlags::pull(){
takeru0x1103 19:4b0fe9a5ec38 161 if(empty){
takeru0x1103 19:4b0fe9a5ec38 162 return false;//EMPTYだったら引き抜けない
takeru0x1103 19:4b0fe9a5ec38 163 }else{
takeru0x1103 19:4b0fe9a5ec38 164 state = stateQueue[rp];//リードポインタの指すデータをステートに移す
takeru0x1103 19:4b0fe9a5ec38 165 stateQueue[rp] = NONE;//バッファを消す
takeru0x1103 19:4b0fe9a5ec38 166 rp = (rp==STATE_QUE_SIZ) ? 0 : rp+1;//リードポインタを進める
takeru0x1103 19:4b0fe9a5ec38 167 full = false; //フルではなくなる
takeru0x1103 19:4b0fe9a5ec38 168 empty = (stateQueue[rp] == NONE) ? true : false;//次にリードする場所がNONEだったらEMPTYを立てる
takeru0x1103 19:4b0fe9a5ec38 169 return true;
takeru0x1103 19:4b0fe9a5ec38 170 }
takeru0x1103 19:4b0fe9a5ec38 171 }
takeru0x1103 21:78302ecdb661 172 */
takeru0x1103 19:4b0fe9a5ec38 173
MasashiNomura 33:eb260dbfc22a 174