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Dependencies:   mbed FreeRTOS

globalFlags.h@35:3779201b4c73, 2018-12-25 (annotated)

Committer:
MasashiNomura
Date:
Tue Dec 25 08:20:17 2018 +0000
Revision:
35:3779201b4c73
Parent:
33:eb260dbfc22a
Child:
36:2cc739c7e4cb
12/25 Remove no use commentout, add cchecking motAxl etc

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
MasashiNomura 22:24c9c2dedca9 10 #define STATE_BUF_SIZ 8
MasashiNomura 22:24c9c2dedca9 11
MasashiNomura 25:f3a6e7eec9c3 12 #define LIM_MOT_INP_MIN -2000
MasashiNomura 25:f3a6e7eec9c3 13 #define LIM_MOT_INP_MAX 2000
MasashiNomura 25:f3a6e7eec9c3 14
MasashiNomura 35:3779201b4c73 15 #define MAX_VAL_12BIT 4095
MasashiNomura 35:3779201b4c73 16 #define BRK_RPM 6000
MasashiNomura 35:3779201b4c73 17
takeru0x1103 17:f9610f3cfa1b 18 typedef union{
takeru0x1103 17:f9610f3cfa1b 19 UINT16 flg;
takeru0x1103 17:f9610f3cfa1b 20 struct{
takeru0x1103 17:f9610f3cfa1b 21 bool e1 : 1;//前エンジン回転数
takeru0x1103 17:f9610f3cfa1b 22 bool e2 : 1;//後ろエンジン回転数
takeru0x1103 17:f9610f3cfa1b 23 bool m1 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 24 bool m2 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 25 bool m3 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 26 bool m4 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 27 bool gy : 1;//ジャイロ
takeru0x1103 17:f9610f3cfa1b 28 bool yaw : 1;//ヨー角
takeru0x1103 18:5aa48aec9cae 29 bool fb : 1;//PID制御feedback結果
takeru0x1103 18:5aa48aec9cae 30 bool pp : 1;//P制御ゲイン（アウターループ）
takeru0x1103 18:5aa48aec9cae 31 bool p : 1;//P制御ゲイン
takeru0x1103 18:5aa48aec9cae 32 bool i : 1;//I制御ゲイン
takeru0x1103 18:5aa48aec9cae 33 bool d : 1;//D制御ゲイン
MasashiNomura 32:7f4145cc3551 34 bool v : 1;//PID2(torgue)角速度feedback制御用ゲイン
MasashiNomura 23:79e20be4bc5b 35 bool stat : 1;//ステート表示
takeru0x1103 17:f9610f3cfa1b 36 }bf;
takeru0x1103 17:f9610f3cfa1b 37 }typPrintFlag;
takeru0x1103 17:f9610f3cfa1b 38
takeru0x1103 17:f9610f3cfa1b 39 typedef union{
takeru0x1103 17:f9610f3cfa1b 40 UINT16 flg;
takeru0x1103 17:f9610f3cfa1b 41 struct{
takeru0x1103 17:f9610f3cfa1b 42 bool e1 : 1;//
takeru0x1103 17:f9610f3cfa1b 43 bool e2 : 1;//
takeru0x1103 17:f9610f3cfa1b 44 bool m1 : 1;//
takeru0x1103 17:f9610f3cfa1b 45 bool m2 : 1;//
takeru0x1103 17:f9610f3cfa1b 46 bool m3 : 1;//
takeru0x1103 17:f9610f3cfa1b 47 bool m4 : 1;//
takeru0x1103 17:f9610f3cfa1b 48 bool gy : 1;//
takeru0x1103 17:f9610f3cfa1b 49 bool yaw : 1;//
takeru0x1103 18:5aa48aec9cae 50 bool fb : 1;//PID制御feedback結果
takeru0x1103 18:5aa48aec9cae 51 bool pp : 1;//P制御ゲイン（アウターループ）
takeru0x1103 18:5aa48aec9cae 52 bool p : 1;//P制御ゲイン
takeru0x1103 18:5aa48aec9cae 53 bool i : 1;//I制御ゲイン
takeru0x1103 18:5aa48aec9cae 54 bool d : 1;//D制御ゲイン
takeru0x1103 17:f9610f3cfa1b 55 }bf;
takeru0x1103 17:f9610f3cfa1b 56 }typCalFlag;
takeru0x1103 17:f9610f3cfa1b 57
takeru0x1103 19:4b0fe9a5ec38 58 //
takeru0x1103 17:f9610f3cfa1b 59 typedef union{
takeru0x1103 17:f9610f3cfa1b 60 UINT16 dt;
takeru0x1103 17:f9610f3cfa1b 61 struct{
takeru0x1103 18:5aa48aec9cae 62 UINT16 val : 12;//アクセル設定値
takeru0x1103 17:f9610f3cfa1b 63 bool req : 1;//アクセル更新要求
takeru0x1103 17:f9610f3cfa1b 64 }bf;
takeru0x1103 17:f9610f3cfa1b 65 }typAccel;
takeru0x1103 17:f9610f3cfa1b 66
MasashiNomura 32:7f4145cc3551 67 typedef struct{
MasashiNomura 32:7f4145cc3551 68 INT16 val;//アクセル設定値
MasashiNomura 32:7f4145cc3551 69 bool req;//アクセル更新要求
MasashiNomura 29:eb3d72dd94aa 70 }typAxlRpm;
MasashiNomura 29:eb3d72dd94aa 71
MasashiNomura 32:7f4145cc3551 72
MasashiNomura 29:eb3d72dd94aa 73 typedef union{
MasashiNomura 26:732bc37fbefd 74 UINT16 flg;
MasashiNomura 26:732bc37fbefd 75 struct{
MasashiNomura 26:732bc37fbefd 76 bool mo1 : 1;//Motor1 Offset val
MasashiNomura 26:732bc37fbefd 77 bool mo2 : 1;//Motor2 Offset val
MasashiNomura 26:732bc37fbefd 78 bool mo3 : 1;//Motor3 Offset val
MasashiNomura 26:732bc37fbefd 79 bool mo4 : 1;//Motor4 Offset val
MasashiNomura 33:eb260dbfc22a 80 bool ana1 : 1;//AnalogRead for Motor Accel
MasashiNomura 26:732bc37fbefd 81 }bf;
MasashiNomura 26:732bc37fbefd 82 }typDbgPrintFlg;
MasashiNomura 25:f3a6e7eec9c3 83
MasashiNomura 29:eb3d72dd94aa 84 typedef union {
MasashiNomura 29:eb3d72dd94aa 85 UINT16 dt;
MasashiNomura 29:eb3d72dd94aa 86 struct{
MasashiNomura 29:eb3d72dd94aa 87 UINT16 num :6;
MasashiNomura 29:eb3d72dd94aa 88 UINT16 counter :6;
MasashiNomura 29:eb3d72dd94aa 89 //UINT16 pos :3;
MasashiNomura 29:eb3d72dd94aa 90 bool add_end :1;
MasashiNomura 29:eb3d72dd94aa 91 bool req :1;
MasashiNomura 29:eb3d72dd94aa 92 }bf;
MasashiNomura 29:eb3d72dd94aa 93 }typOnePushFlg;
MasashiNomura 24:c5945aaae777 94
takeru0x1103 19:4b0fe9a5ec38 95 //ステート定義
takeru0x1103 19:4b0fe9a5ec38 96 enum enmHbState
MasashiNomura 22:24c9c2dedca9 97 {NONE = 0 //何もなし
takeru0x1103 21:78302ecdb661 98 ,SLEEP //スリープモード（最初ここ）
takeru0x1103 20:0394e15412c3 99 ,WAKEUP //起動処理
takeru0x1103 20:0394e15412c3 100 ,STANDBY //スタンバイ(エンジンかかるの待ち)
takeru0x1103 21:78302ecdb661 101 ,IDLE //アイドル(エンジンがかかったけどなにもしない)
MasashiNomura 35:3779201b4c73 102 ,TAKE_OFF //離陸(エンジン回転数上昇　規定値まで)
takeru0x1103 20:0394e15412c3 103 ,HOVER //ホバリング
takeru0x1103 21:78302ecdb661 104 ,DRIVE //運転
takeru0x1103 21:78302ecdb661 105 ,GROUND //着陸(エンジン同時下げ)
takeru0x1103 21:78302ecdb661 106 ,EMGGND //緊急着陸（後ろエンジンを先に下げる）
takeru0x1103 20:0394e15412c3 107 ,CHK_ENT //チェックエンター
takeru0x1103 20:0394e15412c3 108 ,CHK_MOT //モーターチェック
takeru0x1103 20:0394e15412c3 109 ,CHK_AXL //アクセルサーボチェック
takeru0x1103 20:0394e15412c3 110 ,CHK_ATT //姿勢制御チェック
takeru0x1103 20:0394e15412c3 111 ,CHK_EXIT //チェックステート脱出
MasashiNomura 25:f3a6e7eec9c3 112 ,MOT_STOP //モーター停止用
takeru0x1103 19:4b0fe9a5ec38 113 };
takeru0x1103 19:4b0fe9a5ec38 114
MasashiNomura 28:fdb3b144e342 115 enum eMotPos{
MasashiNomura 28:fdb3b144e342 116 F_L = 0, // 前　左
MasashiNomura 28:fdb3b144e342 117 F_R, // 前　右
MasashiNomura 28:fdb3b144e342 118 R_L, // 後　左
MasashiNomura 28:fdb3b144e342 119 R_R, // 後　右
MasashiNomura 28:fdb3b144e342 120 };
MasashiNomura 28:fdb3b144e342 121 enum eMotType{
MasashiNomura 28:fdb3b144e342 122 IN = 0,
MasashiNomura 28:fdb3b144e342 123 OUT,
MasashiNomura 28:fdb3b144e342 124 };
MasashiNomura 32:7f4145cc3551 125 enum eMotInType{
MasashiNomura 32:7f4145cc3551 126 OFS = 0,
MasashiNomura 32:7f4145cc3551 127 ATT,
MasashiNomura 32:7f4145cc3551 128 USER,
MasashiNomura 32:7f4145cc3551 129 };
takeru0x1103 17:f9610f3cfa1b 130 /////////////////////////////////////////////////
takeru0x1103 21:78302ecdb661 131
MasashiNomura 35:3779201b4c73 132 //void init1PushStruct(typ1Push& item);
MasashiNomura 29:eb3d72dd94aa 133
MasashiNomura 22:24c9c2dedca9 134 void initFlags();
MasashiNomura 22:24c9c2dedca9 135
MasashiNomura 22:24c9c2dedca9 136 void setState(enmHbState stat);
MasashiNomura 23:79e20be4bc5b 137 void setStateF(enmHbState stat);
MasashiNomura 22:24c9c2dedca9 138
MasashiNomura 22:24c9c2dedca9 139
takeru0x1103 21:78302ecdb661 140 /*
takeru0x1103 19:4b0fe9a5ec38 141 class GlobalFlags{
takeru0x1103 19:4b0fe9a5ec38 142 private:
takeru0x1103 19:4b0fe9a5ec38 143 enmHbState stateQueue[STATE_QUE_SIZ];//ステート予約用のキューバッファ
takeru0x1103 19:4b0fe9a5ec38 144 int wp; //ライトポインタ
takeru0x1103 19:4b0fe9a5ec38 145 int rp; //リードポインタ
takeru0x1103 19:4b0fe9a5ec38 146 bool full; //フルフラグ
takeru0x1103 19:4b0fe9a5ec38 147 bool empty; //エンプティフラグ
takeru0x1103 19:4b0fe9a5ec38 148 public:
takeru0x1103 21:78302ecdb661 149 //プロパティ
takeru0x1103 20:0394e15412c3 150 enmHbState state;//現在のステート
takeru0x1103 21:78302ecdb661 151 //メソッド
takeru0x1103 20:0394e15412c3 152 GlobalFlags();//コンストラクタ
takeru0x1103 19:4b0fe9a5ec38 153 bool push(enmHbState iState);
takeru0x1103 19:4b0fe9a5ec38 154 bool pull();
takeru0x1103 19:4b0fe9a5ec38 155 };
takeru0x1103 16:05b9e44889f1 156
takeru0x1103 21:78302ecdb661 157 */
takeru0x1103 21:78302ecdb661 158
takeru0x1103 21:78302ecdb661 159
takeru0x1103 17:f9610f3cfa1b 160 //モニタ用LED
takeru0x1103 16:05b9e44889f1 161 extern DigitalOut led1;
takeru0x1103 16:05b9e44889f1 162 extern DigitalOut led2;
takeru0x1103 16:05b9e44889f1 163 extern DigitalOut led3;
takeru0x1103 16:05b9e44889f1 164 extern DigitalOut led4;
takeru0x1103 8:1ca49cb18290 165
MasashiNomura 33:eb260dbfc22a 166 //モーターアクセル用アナログ入力
MasashiNomura 33:eb260dbfc22a 167 extern AnalogIn AinAxl;
MasashiNomura 33:eb260dbfc22a 168
MasashiNomura 22:24c9c2dedca9 169 //////////////////////////////////////////////////
MasashiNomura 22:24c9c2dedca9 170 // フラグ
takeru0x1103 21:78302ecdb661 171 //extern GlobalFlags gf;
takeru0x1103 19:4b0fe9a5ec38 172
takeru0x1103 19:4b0fe9a5ec38 173 extern char g_CmdBuf[G_CMD_BUF_SIZ] ;// コマンド受け渡しバッファ
MasashiNomura 22:24c9c2dedca9 174 extern bool gf_CmdPrs; //コマンドパーサー実行要求フラグ
takeru0x1103 19:4b0fe9a5ec38 175
takeru0x1103 21:78302ecdb661 176 extern bool gf_Armed; //アーミングフラグ
MasashiNomura 22:24c9c2dedca9 177 extern bool gf_Dbg; //デバッグフラグ
MasashiNomura 25:f3a6e7eec9c3 178 extern bool gf_StopMot; //モーターの強制停止
MasashiNomura 25:f3a6e7eec9c3 179
MasashiNomura 22:24c9c2dedca9 180 extern typPrintFlag gf_Print; //デバッグプリントフラグ（１回表示）
MasashiNomura 22:24c9c2dedca9 181 extern typPrintFlag gf_Mon; //デバッグモニタフラグ（繰り返し表示）
MasashiNomura 22:24c9c2dedca9 182 extern typCalFlag gf_Cal; //キャリブレーションフラグ
MasashiNomura 26:732bc37fbefd 183
MasashiNomura 26:732bc37fbefd 184 extern typDbgPrintFlg gf_DbgPrint ;//デバッグ用
MasashiNomura 26:732bc37fbefd 185
MasashiNomura 22:24c9c2dedca9 186 extern typAccel gf_AxReq[2]; //アクセル更新
MasashiNomura 32:7f4145cc3551 187 extern typAxlRpm gf_MtReq[4]; //モーター姿勢制御更新
MasashiNomura 29:eb3d72dd94aa 188 extern typAxlRpm gf_MtReqOfs[4]; //モーターオフセット更新
MasashiNomura 32:7f4145cc3551 189 extern typAxlRpm gf_MtReqU[4]; //モーターユーザー更新
MasashiNomura 29:eb3d72dd94aa 190 extern 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 22:24c9c2dedca9 191
MasashiNomura 22:24c9c2dedca9 192 extern enmHbState gf_State; //現在のステート
takeru0x1103 19:4b0fe9a5ec38 193
MasashiNomura 24:c5945aaae777 194 extern bool gf_PidParaUpdate ;//PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 24:c5945aaae777 195 extern typPidPara g_PidPara; //PID Pp,P,I,Dの係数の外部設定用
takeru0x1103 19:4b0fe9a5ec38 196
MasashiNomura 25:f3a6e7eec9c3 197 extern bool gf_MotParaUpdate[4] ;//モーターのパラメータ値更新フラグ
MasashiNomura 25:f3a6e7eec9c3 198 extern typMotPara g_MotPara[4]; //モーターのパラメータ値
MasashiNomura 25:f3a6e7eec9c3 199
takeru0x1103 18:5aa48aec9cae 200 #endif