teamALI / Mbed 2 deprecated HB2018

Dependencies:   mbed FreeRTOS

Committer:
MasashiNomura
Date:
Wed Feb 13 11:55:39 2019 +0000
Revision:
45:3b51dd26b579
Parent:
43:156199c2f9b6
Child:
48:71aec693a7dc
20190208 change and add comment. add setting val to fpga every-timing.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MasashiNomura 45:3b51dd26b579 1 /**
MasashiNomura 45:3b51dd26b579 2 * @file globalFlags.cpp
MasashiNomura 45:3b51dd26b579 3 * @brief コマンド解析<-->ホバーバイク制御タスク間及びホバーバイク制御タスク内で使用する共用フラグを使用する変数宣言と関数定義
MasashiNomura 45:3b51dd26b579 4 * @author Shirota, Nomura
MasashiNomura 45:3b51dd26b579 5 * @date 2018/10/01 ?
MasashiNomura 45:3b51dd26b579 6 */
takeru0x1103 19:4b0fe9a5ec38 7
takeru0x1103 16:05b9e44889f1 8 #include "globalFlags.h"
takeru0x1103 16:05b9e44889f1 9
MasashiNomura 45:3b51dd26b579 10 DigitalOut led1(LED1); //!< モニタ用LED1用変数
MasashiNomura 45:3b51dd26b579 11 DigitalOut led2(LED2); //!< モニタ用LED2用変数
MasashiNomura 45:3b51dd26b579 12 DigitalOut led3(LED3); //!< モニタ用LED3用変数
MasashiNomura 45:3b51dd26b579 13 DigitalOut led4(LED4); //!< モニタ用LED4用変数
takeru0x1103 8:1ca49cb18290 14
MasashiNomura 45:3b51dd26b579 15 DigitalOut DO_01(p21); //!< 状態表示用LED1(R)用変数
MasashiNomura 45:3b51dd26b579 16 DigitalOut DO_02(p22); //!< 状態表示用LED2(G)用変数
MasashiNomura 45:3b51dd26b579 17 DigitalOut DO_03(p23); //!< 状態表示用LED3(B)用変数
MasashiNomura 40:debe99e228d3 18
MasashiNomura 45:3b51dd26b579 19 AnalogIn AinAxl(p20); //!< モーターアクセル用アナログ入力
MasashiNomura 45:3b51dd26b579 20
takeru0x1103 21:78302ecdb661 21
MasashiNomura 45:3b51dd26b579 22 char g_CmdBuf[G_CMD_BUF_SIZ]; //!< コマンド受け渡しバッファ
MasashiNomura 45:3b51dd26b579 23 bool gf_CmdPrs; //!< コマンドパーサー実行要求フラグ
MasashiNomura 36:2cc739c7e4cb 24
MasashiNomura 45:3b51dd26b579 25 bool gf_Armed; //!< アーミングフラグ
MasashiNomura 45:3b51dd26b579 26 bool gf_Dbg; //!< デバッグタスク起動フラグ
takeru0x1103 19:4b0fe9a5ec38 27
MasashiNomura 45:3b51dd26b579 28 bool gf_StopMot; //!< モーターの強制停止 サーボ全閉
MasashiNomura 45:3b51dd26b579 29 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 30
MasashiNomura 43:156199c2f9b6 31 bool gf_BlinkLED;
MasashiNomura 43:156199c2f9b6 32
MasashiNomura 45:3b51dd26b579 33 typPrintFlg gf_Print; //!< デバッグプリントフラグ(1回表示)
MasashiNomura 45:3b51dd26b579 34 typPrintFlg gf_Mon; //!< デバッグモニタフラグ(繰り返し表示)
MasashiNomura 45:3b51dd26b579 35 typCalFlag gf_Cal; //!< キャリブレーションフラグ
MasashiNomura 32:7f4145cc3551 36
MasashiNomura 45:3b51dd26b579 37 typAccel gf_AxReq[2]; //!< エンジンアクセル値更新フラグ
MasashiNomura 45:3b51dd26b579 38 typAccel gf_AxReqH[2]; //!< 浮上時エンジンアクセル値更新フラグ
MasashiNomura 45:3b51dd26b579 39 typAccel gf_AxStepReq[2]; //!< エンジンアクセル用サーボ動作ステップ値更新フラグ
MasashiNomura 45:3b51dd26b579 40 typAxlRpm gf_MtReq[4]; //!< モーター姿勢制御値更新
MasashiNomura 45:3b51dd26b579 41 typAxlRpm gf_MtReqOfs[4]; //!< モーターオフセット値更新
MasashiNomura 45:3b51dd26b579 42 typAxlRpm gf_MtReqU[4]; //!< モーターユーザー値更新
MasashiNomura 45:3b51dd26b579 43 typAxlRpm gf_MtReqDct[8]; //!< ダイレクト(FPGA関数直接呼び出し)モーター値更新フラグ
takeru0x1103 19:4b0fe9a5ec38 44
MasashiNomura 45:3b51dd26b579 45 typSWCmd gf_SwCmd; //!< スイッチが押されたことを模擬するフラグ
MasashiNomura 45:3b51dd26b579 46
MasashiNomura 45:3b51dd26b579 47 enmHbState gf_State = SLEEP; //!< 現在のステートを格納する変数
takeru0x1103 20:0394e15412c3 48
MasashiNomura 45:3b51dd26b579 49 bool gf_StateEnt; //!< 状態遷移後、最初であることを示す
MasashiNomura 45:3b51dd26b579 50
MasashiNomura 45:3b51dd26b579 51 bool gf_PidParaUpdate; //!< PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 45:3b51dd26b579 52 typPidPara g_PidPara; //!< PID Pp,P,I,Dの係数の外部設定用
MasashiNomura 45:3b51dd26b579 53
MasashiNomura 25:f3a6e7eec9c3 54
MasashiNomura 22:24c9c2dedca9 55 void initFlags(){
MasashiNomura 22:24c9c2dedca9 56 memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
MasashiNomura 22:24c9c2dedca9 57 gf_CmdPrs = false;
MasashiNomura 22:24c9c2dedca9 58 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 59 gf_Dbg = false;
MasashiNomura 25:f3a6e7eec9c3 60 gf_StopMot = false;
MasashiNomura 43:156199c2f9b6 61
MasashiNomura 43:156199c2f9b6 62 gf_BlinkLED = false;
MasashiNomura 25:f3a6e7eec9c3 63
MasashiNomura 41:45c982b1c5b6 64 // gf_Print.flg = 0;
MasashiNomura 41:45c982b1c5b6 65 // gf_Mon.flg = 0;
MasashiNomura 41:45c982b1c5b6 66 gf_Print.d1.flg = 0;
MasashiNomura 41:45c982b1c5b6 67 gf_Print.d2.flg = 0;
MasashiNomura 39:1b76f7df8804 68
MasashiNomura 22:24c9c2dedca9 69 gf_Cal.flg = 0;
MasashiNomura 26:732bc37fbefd 70
MasashiNomura 41:45c982b1c5b6 71 //gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 72
MasashiNomura 43:156199c2f9b6 73 // engine
MasashiNomura 43:156199c2f9b6 74 for(int i = 0; i < 2; ++i){
MasashiNomura 43:156199c2f9b6 75 gf_AxReq[i].dt = 0;
MasashiNomura 43:156199c2f9b6 76 gf_AxReqH[i].dt = 0;
MasashiNomura 43:156199c2f9b6 77 gf_AxStepReq[i].bf.req = false;
MasashiNomura 43:156199c2f9b6 78 gf_AxStepReq[i].bf.val = 100;
MasashiNomura 43:156199c2f9b6 79 }
MasashiNomura 43:156199c2f9b6 80
MasashiNomura 27:ff63c23bc689 81 for(int i=0; i<4;++i){
MasashiNomura 32:7f4145cc3551 82 gf_MtReq[i].req = false;
MasashiNomura 32:7f4145cc3551 83 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 84 gf_MtReqOfs[i].req = false;
MasashiNomura 32:7f4145cc3551 85 gf_MtReqOfs[i].val = 0;
MasashiNomura 32:7f4145cc3551 86 gf_MtReqU[i].req = false;
MasashiNomura 32:7f4145cc3551 87 gf_MtReqU[i].val = 0;
MasashiNomura 27:ff63c23bc689 88 }
MasashiNomura 27:ff63c23bc689 89 for(int i = 0; i < 8; ++i){
MasashiNomura 32:7f4145cc3551 90 gf_MtReqDct[i].req = false;
MasashiNomura 32:7f4145cc3551 91 gf_MtReqDct[i].val = 0;
MasashiNomura 27:ff63c23bc689 92 }
MasashiNomura 42:cc8501b824ba 93
MasashiNomura 42:cc8501b824ba 94 gf_SwCmd.dt = 0;
MasashiNomura 42:cc8501b824ba 95
MasashiNomura 22:24c9c2dedca9 96 gf_State = SLEEP;
MasashiNomura 36:2cc739c7e4cb 97 gf_StateEnt = false;
MasashiNomura 27:ff63c23bc689 98 g_PidPara.PP = 2;
MasashiNomura 32:7f4145cc3551 99 g_PidPara.P = 0;
MasashiNomura 25:f3a6e7eec9c3 100 g_PidPara.I = 0;
MasashiNomura 24:c5945aaae777 101 g_PidPara.D = 0;
MasashiNomura 24:c5945aaae777 102 g_PidPara.IMax = 2000;
MasashiNomura 24:c5945aaae777 103 g_PidPara.IMin = -2000;
MasashiNomura 36:2cc739c7e4cb 104 // for(int i = 0; i < 4; ++i){
MasashiNomura 36:2cc739c7e4cb 105 // gf_MotParaUpdate[i] = false;
MasashiNomura 36:2cc739c7e4cb 106 // g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
MasashiNomura 36:2cc739c7e4cb 107 // g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
MasashiNomura 36:2cc739c7e4cb 108 // }
MasashiNomura 22:24c9c2dedca9 109 }
MasashiNomura 35:3779201b4c73 110
MasashiNomura 41:45c982b1c5b6 111 void setDOCol(eLedCol col)
MasashiNomura 41:45c982b1c5b6 112 {
MasashiNomura 41:45c982b1c5b6 113 switch(col){
MasashiNomura 41:45c982b1c5b6 114 case WHITE:
MasashiNomura 42:cc8501b824ba 115 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 116 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 117 DO_03 = 1;
MasashiNomura 41:45c982b1c5b6 118 break;
MasashiNomura 41:45c982b1c5b6 119 case RED:
MasashiNomura 42:cc8501b824ba 120 DO_01 = 1;
MasashiNomura 41:45c982b1c5b6 121 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 122 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 123 break;
MasashiNomura 41:45c982b1c5b6 124 case GREEN:
MasashiNomura 41:45c982b1c5b6 125 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 126 DO_02 = 1;
MasashiNomura 41:45c982b1c5b6 127 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 128 break;
MasashiNomura 41:45c982b1c5b6 129 case BLUE:
MasashiNomura 41:45c982b1c5b6 130 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 131 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 132 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 133 break;
MasashiNomura 42:cc8501b824ba 134 case YELLOW:
MasashiNomura 42:cc8501b824ba 135 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 136 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 137 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 138 break;
MasashiNomura 42:cc8501b824ba 139 case PURPLE:
MasashiNomura 42:cc8501b824ba 140 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 141 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 142 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 143 break;
MasashiNomura 42:cc8501b824ba 144 case LIGHT_BLUE:
MasashiNomura 42:cc8501b824ba 145 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 146 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 147 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 148 break;
MasashiNomura 42:cc8501b824ba 149 case BLK_WHITE:
MasashiNomura 42:cc8501b824ba 150 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 151 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 152 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 153 break;
MasashiNomura 42:cc8501b824ba 154 case BLK_RED:
MasashiNomura 42:cc8501b824ba 155 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 156 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 157 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 158 break;
MasashiNomura 42:cc8501b824ba 159 case BLK_GREEN:
MasashiNomura 42:cc8501b824ba 160 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 161 DO_02 = !DO_02;
MasashiNomura 42:cc8501b824ba 162 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 163 break;
MasashiNomura 42:cc8501b824ba 164 case BLK_BLUE:
MasashiNomura 42:cc8501b824ba 165 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 166 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 167 DO_03 = !DO_03;
MasashiNomura 42:cc8501b824ba 168 break;
MasashiNomura 42:cc8501b824ba 169 case BLK_YELLOW:
MasashiNomura 41:45c982b1c5b6 170 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 171 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 172 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 173 break;
MasashiNomura 42:cc8501b824ba 174 case BLK_PURPLE:
MasashiNomura 41:45c982b1c5b6 175 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 176 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 177 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 178 break;
MasashiNomura 42:cc8501b824ba 179 case BLK_LIGHT_BLUE:
MasashiNomura 41:45c982b1c5b6 180 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 181 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 182 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 183 break;
MasashiNomura 41:45c982b1c5b6 184 case OFF:
MasashiNomura 41:45c982b1c5b6 185 default:
MasashiNomura 41:45c982b1c5b6 186 DO_01 = 0;//R
MasashiNomura 41:45c982b1c5b6 187 DO_02 = 0;//G
MasashiNomura 41:45c982b1c5b6 188 DO_03 = 0;//B
MasashiNomura 41:45c982b1c5b6 189 break;
MasashiNomura 41:45c982b1c5b6 190 }
MasashiNomura 41:45c982b1c5b6 191 }
MasashiNomura 41:45c982b1c5b6 192
MasashiNomura 41:45c982b1c5b6 193 void setDO4LED(enmHbState stat)
MasashiNomura 41:45c982b1c5b6 194 {
MasashiNomura 41:45c982b1c5b6 195 if(stat == NONE)
MasashiNomura 41:45c982b1c5b6 196 {// 消灯
MasashiNomura 41:45c982b1c5b6 197 setDOCol(OFF);
MasashiNomura 41:45c982b1c5b6 198 }
MasashiNomura 41:45c982b1c5b6 199 else if(stat == SLEEP)
MasashiNomura 41:45c982b1c5b6 200 {//YELLOW
MasashiNomura 41:45c982b1c5b6 201 setDOCol(YELLOW);
MasashiNomura 41:45c982b1c5b6 202 }
MasashiNomura 41:45c982b1c5b6 203 else if(stat == WAKEUP || stat == STANDBY)
MasashiNomura 41:45c982b1c5b6 204 {//BLUE
MasashiNomura 41:45c982b1c5b6 205 setDOCol(BLUE);
MasashiNomura 41:45c982b1c5b6 206 }
MasashiNomura 41:45c982b1c5b6 207 else if(stat == IDLE)
MasashiNomura 41:45c982b1c5b6 208 {//GREEN
MasashiNomura 41:45c982b1c5b6 209 setDOCol(GREEN);
MasashiNomura 41:45c982b1c5b6 210 }
MasashiNomura 41:45c982b1c5b6 211 else if(stat == TAKE_OFF || stat == HOVER || stat == DRIVE || stat == GROUND || stat == EMGGND)
MasashiNomura 41:45c982b1c5b6 212 {//PURPLE
MasashiNomura 43:156199c2f9b6 213 if(gf_BlinkLED){
MasashiNomura 43:156199c2f9b6 214 setDOCol(BLK_PURPLE);
MasashiNomura 43:156199c2f9b6 215 gf_BlinkLED = false;
MasashiNomura 43:156199c2f9b6 216 }
MasashiNomura 43:156199c2f9b6 217 else{
MasashiNomura 43:156199c2f9b6 218 setDOCol(PURPLE);
MasashiNomura 43:156199c2f9b6 219 }
MasashiNomura 41:45c982b1c5b6 220 }
MasashiNomura 42:cc8501b824ba 221 else if(stat == CHK_EG_ENT || stat == CHK_EG_MID || stat == CHK_EG_EXIT)
MasashiNomura 41:45c982b1c5b6 222 {//LIGHT BLUE
MasashiNomura 41:45c982b1c5b6 223 setDOCol(LIGHT_BLUE);
MasashiNomura 41:45c982b1c5b6 224 }
MasashiNomura 42:cc8501b824ba 225 else if(stat == CHK_EG_F || stat == CHK_EG_R )
MasashiNomura 42:cc8501b824ba 226 {//BLK_LIGHT BLUE
MasashiNomura 42:cc8501b824ba 227 setDOCol(BLK_LIGHT_BLUE);
MasashiNomura 42:cc8501b824ba 228 }
MasashiNomura 41:45c982b1c5b6 229 else if(stat == CHK_ENT || stat == CHK_MOT || stat == CHK_AXL || stat == CHK_ATT || stat == CHK_EXIT)
MasashiNomura 41:45c982b1c5b6 230 {//WHITE
MasashiNomura 41:45c982b1c5b6 231 setDOCol(WHITE);
MasashiNomura 41:45c982b1c5b6 232 }
MasashiNomura 41:45c982b1c5b6 233 else/* if(stat == MOT_STOP)*/
MasashiNomura 41:45c982b1c5b6 234 {
MasashiNomura 41:45c982b1c5b6 235 setDOCol(RED);
MasashiNomura 41:45c982b1c5b6 236 }
MasashiNomura 41:45c982b1c5b6 237 }
MasashiNomura 41:45c982b1c5b6 238
MasashiNomura 22:24c9c2dedca9 239 void setState(enmHbState stat){
MasashiNomura 22:24c9c2dedca9 240 // ありえない遷移を排除
MasashiNomura 22:24c9c2dedca9 241 if(gf_State == SLEEP){if(stat != WAKEUP) return;}
MasashiNomura 22:24c9c2dedca9 242 if(gf_State == WAKEUP){if(stat != STANDBY) return;}
MasashiNomura 22:24c9c2dedca9 243 if(gf_State == STANDBY){if(stat !=IDLE) return;}
MasashiNomura 23:79e20be4bc5b 244 if(gf_State == IDLE){if(stat != TAKE_OFF && stat != SLEEP) return;}
MasashiNomura 23:79e20be4bc5b 245 if(gf_State == TAKE_OFF){if(stat != HOVER && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 246 if(gf_State == GROUND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 247 if(gf_State == HOVER){if(stat != DRIVE && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 248 if(gf_State == DRIVE){if(stat != HOVER && stat != EMGGND) return;}
MasashiNomura 22:24c9c2dedca9 249 if(gf_State == EMGGND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 250
MasashiNomura 23:79e20be4bc5b 251 sp.printf("state: %d\r\n",stat);
MasashiNomura 22:24c9c2dedca9 252 gf_State = stat;
MasashiNomura 36:2cc739c7e4cb 253 gf_StateEnt = true;
MasashiNomura 22:24c9c2dedca9 254 }
MasashiNomura 23:79e20be4bc5b 255 void setStateF(enmHbState stat){
MasashiNomura 23:79e20be4bc5b 256 sp.printf("state: %d\r\n",stat);
MasashiNomura 23:79e20be4bc5b 257 enmHbState tmp;
MasashiNomura 25:f3a6e7eec9c3 258 if((UINT16)stat > MOT_STOP){
MasashiNomura 23:79e20be4bc5b 259 tmp = SLEEP;
MasashiNomura 23:79e20be4bc5b 260 }
MasashiNomura 23:79e20be4bc5b 261 else
MasashiNomura 23:79e20be4bc5b 262 {
MasashiNomura 23:79e20be4bc5b 263 tmp = stat;
MasashiNomura 23:79e20be4bc5b 264 }
MasashiNomura 23:79e20be4bc5b 265 gf_State = tmp;
MasashiNomura 36:2cc739c7e4cb 266 gf_StateEnt = true;
MasashiNomura 23:79e20be4bc5b 267 }
MasashiNomura 37:d51dacb4c30f 268
MasashiNomura 37:d51dacb4c30f 269 bool isActiveState(){
MasashiNomura 37:d51dacb4c30f 270 if(gf_State >= IDLE && gf_State <= EMGGND){
MasashiNomura 37:d51dacb4c30f 271 return true;
MasashiNomura 37:d51dacb4c30f 272 }
MasashiNomura 37:d51dacb4c30f 273 else {
MasashiNomura 37:d51dacb4c30f 274 return false;
MasashiNomura 37:d51dacb4c30f 275 }
MasashiNomura 37:d51dacb4c30f 276 }
MasashiNomura 37:d51dacb4c30f 277
MasashiNomura 33:eb260dbfc22a 278