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Dependencies:   mbed FreeRTOS

userTask.cpp@41:45c982b1c5b6, 2019-01-21 (annotated)

Committer:
MasashiNomura
Date:
Mon Jan 21 11:57:35 2019 +0000
Revision:
41:45c982b1c5b6
Parent:
40:debe99e228d3
Child:
46:5074781a28dd
20190121 Modify for 45inc. HbMotor,HbManager,GF etc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 21:78302ecdb661 1 //RTOS関連------------------
takeru0x1103 1:15ab74f0d0f1 2 #include "FreeRTOS.h"
takeru0x1103 1:15ab74f0d0f1 3 #include "task.h"
takeru0x1103 21:78302ecdb661 4 //#include "queue.h"
takeru0x1103 21:78302ecdb661 5 //------------------RTOS関連
takeru0x1103 21:78302ecdb661 6
takeru0x1103 17:f9610f3cfa1b 7 #include "globalFlags.h"
takeru0x1103 17:f9610f3cfa1b 8 #include "HbManager.h"
takeru0x1103 18:5aa48aec9cae 9 #include "hbCommand.h"
takeru0x1103 18:5aa48aec9cae 10 #include "uart.h"
MasashiNomura 24:c5945aaae777 11 #include "fpga.h"
takeru0x1103 1:15ab74f0d0f1 12
takeru0x1103 18:5aa48aec9cae 13 //タスクハンドル（停止とか再開に必要）
takeru0x1103 18:5aa48aec9cae 14 static xTaskHandle tskHandle[3]={NULL,};
takeru0x1103 1:15ab74f0d0f1 15
takeru0x1103 21:78302ecdb661 16 //------------------
takeru0x1103 18:5aa48aec9cae 17 //タスク停止
takeru0x1103 18:5aa48aec9cae 18 //------------------
takeru0x1103 18:5aa48aec9cae 19 static void taskStop(int iId){
takeru0x1103 18:5aa48aec9cae 20 sp.printf("Task[%d] Stop\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 21 vTaskSuspend(tskHandle[iId]);//タスクを止める
takeru0x1103 18:5aa48aec9cae 22 }
takeru0x1103 18:5aa48aec9cae 23
takeru0x1103 21:78302ecdb661 24 //------------------
takeru0x1103 18:5aa48aec9cae 25 //タスク再開
takeru0x1103 18:5aa48aec9cae 26 //------------------
takeru0x1103 18:5aa48aec9cae 27 static void taskStart(int iId){
takeru0x1103 18:5aa48aec9cae 28 sp.printf("Task[%d] Start!!\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 29 vTaskResume(tskHandle[iId]);//タスク再開
takeru0x1103 18:5aa48aec9cae 30 }
takeru0x1103 18:5aa48aec9cae 31
takeru0x1103 18:5aa48aec9cae 32 //========================================================
takeru0x1103 21:78302ecdb661 33 //コマンド解析タスク
takeru0x1103 21:78302ecdb661 34 //========================================================
takeru0x1103 21:78302ecdb661 35 void taskCmdParser(void *pvParameters){
takeru0x1103 21:78302ecdb661 36 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 37 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 38
takeru0x1103 21:78302ecdb661 39 // vTaskDelay(300);//制御タスクを先に走らせたいので待たす
takeru0x1103 21:78302ecdb661 40
takeru0x1103 21:78302ecdb661 41 while(1){
takeru0x1103 21:78302ecdb661 42 led2=!led2;
takeru0x1103 21:78302ecdb661 43 //コマンド解釈
takeru0x1103 21:78302ecdb661 44 commandParse();
takeru0x1103 21:78302ecdb661 45
takeru0x1103 21:78302ecdb661 46 //
MasashiNomura 24:c5945aaae777 47 // if(gf_Armed){
MasashiNomura 24:c5945aaae777 48 // setState(WAKEUP);
MasashiNomura 24:c5945aaae777 49 // gf_Armed = false;
MasashiNomura 24:c5945aaae777 50 // // taskStop(0);//制御タスクを止める
MasashiNomura 24:c5945aaae777 51 // // taskStart(2);//デバッグタスク再開
MasashiNomura 24:c5945aaae777 52 // }
MasashiNomura 22:24c9c2dedca9 53 // else{
MasashiNomura 22:24c9c2dedca9 54 // taskStop(2);//デバッグタスクを止める
MasashiNomura 22:24c9c2dedca9 55 // taskStart(0);//制御タスク再開
MasashiNomura 22:24c9c2dedca9 56 // }//switch
takeru0x1103 21:78302ecdb661 57
takeru0x1103 21:78302ecdb661 58 //次の周期まで待つ
takeru0x1103 21:78302ecdb661 59 vTaskDelayUntil(&xLastWakeTime, 50 / portTICK_RATE_MS );
takeru0x1103 21:78302ecdb661 60 }
takeru0x1103 21:78302ecdb661 61 }
takeru0x1103 21:78302ecdb661 62 //========================================================
takeru0x1103 17:f9610f3cfa1b 63 //ホバーバイク制御タスク
takeru0x1103 18:5aa48aec9cae 64 //========================================================
takeru0x1103 17:f9610f3cfa1b 65 void taskHbControl(void *pvParameters){
takeru0x1103 21:78302ecdb661 66 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 67 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 68
takeru0x1103 17:f9610f3cfa1b 69 HbManager hb;
takeru0x1103 8:1ca49cb18290 70
MasashiNomura 23:79e20be4bc5b 71 bool bDoCtrlAtt;
MasashiNomura 23:79e20be4bc5b 72 bool bDoCtrlMot;
MasashiNomura 31:56c554c560c1 73 bool bDoCtrlEng;
MasashiNomura 37:d51dacb4c30f 74 bool bTmp;
MasashiNomura 31:56c554c560c1 75 //INT16 tmpRpm, difRpm;
MasashiNomura 36:2cc739c7e4cb 76 INT16 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 77 INT16 cntSW2 = 0;
MasashiNomura 33:eb260dbfc22a 78 INT16 AxlRpm;
MasashiNomura 36:2cc739c7e4cb 79 INT16 TrtlVal;
MasashiNomura 38:24ee50452755 80 float AxlRow;
MasashiNomura 38:24ee50452755 81 float TrtlRow;
takeru0x1103 1:15ab74f0d0f1 82 while(1){
MasashiNomura 41:45c982b1c5b6 83 // DISPLAY LED
takeru0x1103 16:05b9e44889f1 84 led1=!led1;
MasashiNomura 41:45c982b1c5b6 85 setDO4LED(gf_State);
MasashiNomura 41:45c982b1c5b6 86
MasashiNomura 39:1b76f7df8804 87 hb.proofOfSurvival();
MasashiNomura 23:79e20be4bc5b 88 bDoCtrlAtt = false;
MasashiNomura 23:79e20be4bc5b 89 bDoCtrlMot = false;
MasashiNomura 31:56c554c560c1 90 bDoCtrlEng = false;
MasashiNomura 24:c5945aaae777 91 // PID係数アップデートチェック
MasashiNomura 24:c5945aaae777 92 if(gf_PidParaUpdate){
MasashiNomura 24:c5945aaae777 93 hb.setAttPara(g_PidPara);
MasashiNomura 24:c5945aaae777 94 sp.printf("Pp : [%f]\r\n",g_PidPara.PP);
MasashiNomura 24:c5945aaae777 95 sp.printf("P : [%f]\r\n",g_PidPara.P);
MasashiNomura 24:c5945aaae777 96 sp.printf("I : [%f]\r\n",g_PidPara.I);
MasashiNomura 24:c5945aaae777 97 sp.printf("D : [%f]\r\n",g_PidPara.D);
MasashiNomura 24:c5945aaae777 98 sp.printf("IMAX: [%f]\r\n",g_PidPara.IMax);
MasashiNomura 24:c5945aaae777 99 sp.printf("IMIN: [%f]\r\n",g_PidPara.IMin);
MasashiNomura 31:56c554c560c1 100 sp.printf("V : [%f]\r\n",g_PidPara.V);
MasashiNomura 24:c5945aaae777 101 gf_PidParaUpdate = false;
MasashiNomura 24:c5945aaae777 102 }
MasashiNomura 37:d51dacb4c30f 103 // 確実にモーター等を止めるため
MasashiNomura 25:f3a6e7eec9c3 104 if(gf_StopMot){
MasashiNomura 29:eb3d72dd94aa 105 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 106 gf_MtReq[i].req = true;
MasashiNomura 32:7f4145cc3551 107 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 108 gf_MtReqOfs[i].req = true;
MasashiNomura 32:7f4145cc3551 109 gf_MtReqOfs[i].val = 0;
MasashiNomura 29:eb3d72dd94aa 110 }
MasashiNomura 37:d51dacb4c30f 111 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 112 gf_AxReq[i].bf.req = true;
MasashiNomura 37:d51dacb4c30f 113 gf_AxReq[i].bf.val = 0;
MasashiNomura 37:d51dacb4c30f 114 }
MasashiNomura 37:d51dacb4c30f 115 gf_FromActiveStat = isActiveState();
MasashiNomura 37:d51dacb4c30f 116 setStateF(MOT_STOP);
MasashiNomura 25:f3a6e7eec9c3 117 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 118 }
MasashiNomura 23:79e20be4bc5b 119
MasashiNomura 29:eb3d72dd94aa 120
takeru0x1103 21:78302ecdb661 121 //▼①状態読み出し系
MasashiNomura 22:24c9c2dedca9 122 hb.getAttitude(); //現在角度読み出し
MasashiNomura 39:1b76f7df8804 123 hb.getEngine(); //エンジン回転数読み出し
MasashiNomura 22:24c9c2dedca9 124 hb.getUserCommand(); //操作ボタン状態読み出し
MasashiNomura 29:eb3d72dd94aa 125
takeru0x1103 21:78302ecdb661 126 //▼②ステート遷移
MasashiNomura 22:24c9c2dedca9 127 switch(gf_State){
MasashiNomura 22:24c9c2dedca9 128 case SLEEP:
MasashiNomura 36:2cc739c7e4cb 129 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 130 sp.printf("SLEEP state\r\n");
MasashiNomura 36:2cc739c7e4cb 131 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 132 }
MasashiNomura 36:2cc739c7e4cb 133 // DEBUGタスクスタートフラグの監視
MasashiNomura 22:24c9c2dedca9 134 if(gf_Dbg){
MasashiNomura 24:c5945aaae777 135 gf_Dbg = false;
MasashiNomura 22:24c9c2dedca9 136 taskStart(2);
MasashiNomura 22:24c9c2dedca9 137 }
MasashiNomura 37:d51dacb4c30f 138 if(hb.chkSWUserOpeAny()){
MasashiNomura 37:d51dacb4c30f 139 typUserSw sw = hb.getUserSw();
MasashiNomura 41:45c982b1c5b6 140 //sp.printf("%d%d%d%d%d%d%d%d%d%d\r\n",sw.bf.brk_l,sw.bf.flt_off,sw.bf.r_eng_down,sw.bf.r_eng_up,sw.bf.rsv_1
MasashiNomura 41:45c982b1c5b6 141 // ,sw.bf.brk_r,sw.bf.flt_on,sw.bf.f_eng_down,sw.bf.f_eng_up, sw.bf.all_stop);
MasashiNomura 38:24ee50452755 142 } else {
MasashiNomura 38:24ee50452755 143 //TrtlRow = hb.getUserEngTrottleRaw();
MasashiNomura 41:45c982b1c5b6 144 if(gf_Print.d2.bf.ain){
MasashiNomura 40:debe99e228d3 145 AxlRow = hb.getUserMotAxlRaw();
MasashiNomura 41:45c982b1c5b6 146 sp.printf("MotAxl:%f ",AxlRow);
MasashiNomura 38:24ee50452755 147 }
MasashiNomura 37:d51dacb4c30f 148 }
MasashiNomura 36:2cc739c7e4cb 149 // 浮上（離陸）ボタン、着陸ボタンの同時長押し監視
MasashiNomura 36:2cc739c7e4cb 150 if(hb.chkSWUserOpeBoth(HbUserOpe::FLT_ON,HbUserOpe::FLT_OFF)){
MasashiNomura 36:2cc739c7e4cb 151 ++cntSW1;
MasashiNomura 36:2cc739c7e4cb 152 if(cntSW1 > 30){
MasashiNomura 36:2cc739c7e4cb 153 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 154 setStateF(CHK_EG_ENT);
MasashiNomura 36:2cc739c7e4cb 155 }
MasashiNomura 36:2cc739c7e4cb 156 }
MasashiNomura 36:2cc739c7e4cb 157 else {
MasashiNomura 36:2cc739c7e4cb 158 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 159 }
MasashiNomura 36:2cc739c7e4cb 160 if(hb.chkSWUserOpeBoth(HbUserOpe::BRK_L, HbUserOpe::BRK_R)){
MasashiNomura 36:2cc739c7e4cb 161 ++cntSW2;
MasashiNomura 36:2cc739c7e4cb 162 if(cntSW2 > 30){
MasashiNomura 36:2cc739c7e4cb 163 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 164 setStateF(WAKEUP);
MasashiNomura 36:2cc739c7e4cb 165 }
MasashiNomura 36:2cc739c7e4cb 166 }
MasashiNomura 36:2cc739c7e4cb 167 else {
MasashiNomura 36:2cc739c7e4cb 168 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 169 }
MasashiNomura 40:debe99e228d3 170 // Debug用
MasashiNomura 40:debe99e228d3 171 bDoCtrlMot = true;
MasashiNomura 22:24c9c2dedca9 172 break;
MasashiNomura 22:24c9c2dedca9 173 case WAKEUP:
MasashiNomura 36:2cc739c7e4cb 174 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 175 //スイッチが何も押されていないことの確認
MasashiNomura 36:2cc739c7e4cb 176 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 177 sp.printf("WAKEUP state\r\n");
MasashiNomura 36:2cc739c7e4cb 178 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 179 }
MasashiNomura 36:2cc739c7e4cb 180 }
MasashiNomura 36:2cc739c7e4cb 181 else
MasashiNomura 36:2cc739c7e4cb 182 {
MasashiNomura 36:2cc739c7e4cb 183 //各種モーター
MasashiNomura 36:2cc739c7e4cb 184 //機材のチェック
MasashiNomura 36:2cc739c7e4cb 185 hb.calAtt();//現在値でヨー角校正
MasashiNomura 36:2cc739c7e4cb 186 //モーター用のアナログ入力が下げられているかの確認
MasashiNomura 36:2cc739c7e4cb 187 AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 188 if(AxlRpm > 0){
MasashiNomura 36:2cc739c7e4cb 189 // 将来的に警告音等
MasashiNomura 38:24ee50452755 190 sp.printf("Warning!! Motor Accel Opened!![%d]\r\n",AxlRpm);
MasashiNomura 36:2cc739c7e4cb 191 setStateF(SLEEP);
MasashiNomura 36:2cc739c7e4cb 192 } else {
MasashiNomura 36:2cc739c7e4cb 193 setState(STANDBY);
MasashiNomura 36:2cc739c7e4cb 194 }
MasashiNomura 35:3779201b4c73 195 }
MasashiNomura 22:24c9c2dedca9 196 break;
MasashiNomura 22:24c9c2dedca9 197 case STANDBY:
MasashiNomura 36:2cc739c7e4cb 198 bDoCtrlMot = true;
MasashiNomura 36:2cc739c7e4cb 199 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 200 // モーター回転数のチェック→モーターの回転数をオフセット値まで上げる
MasashiNomura 36:2cc739c7e4cb 201 // TODO
MasashiNomura 36:2cc739c7e4cb 202 sp.printf("STANDBY state\r\n");
MasashiNomura 36:2cc739c7e4cb 203 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 204 }
MasashiNomura 36:2cc739c7e4cb 205 else {
MasashiNomura 40:debe99e228d3 206
MasashiNomura 25:f3a6e7eec9c3 207 if(hb.chkInRangeIDLE()){
MasashiNomura 36:2cc739c7e4cb 208 hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 209 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 210 }
MasashiNomura 25:f3a6e7eec9c3 211 else{
MasashiNomura 25:f3a6e7eec9c3 212 // デバッグのためここもスルー
MasashiNomura 36:2cc739c7e4cb 213 hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 214 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 215 }
MasashiNomura 23:79e20be4bc5b 216 }
MasashiNomura 22:24c9c2dedca9 217 break;
MasashiNomura 22:24c9c2dedca9 218 case IDLE:
MasashiNomura 36:2cc739c7e4cb 219 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 220 sp.printf("IDLE state\r\n");
MasashiNomura 36:2cc739c7e4cb 221 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 222 }
MasashiNomura 23:79e20be4bc5b 223 //SWのチェック
MasashiNomura 31:56c554c560c1 224 hb.chkSW(IDLE);
MasashiNomura 33:eb260dbfc22a 225 AxlRpm = hb.getUserMotAxl();
MasashiNomura 33:eb260dbfc22a 226 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 33:eb260dbfc22a 227 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 31:56c554c560c1 228 bDoCtrlEng = true;
MasashiNomura 25:f3a6e7eec9c3 229 bDoCtrlMot = true;
MasashiNomura 40:debe99e228d3 230 //bDoCtrlAtt = true;
MasashiNomura 22:24c9c2dedca9 231 break;
MasashiNomura 22:24c9c2dedca9 232 case TAKE_OFF:
MasashiNomura 36:2cc739c7e4cb 233 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 234 sp.printf("TAKE_OFF state\r\n");
MasashiNomura 36:2cc739c7e4cb 235 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 236 }
MasashiNomura 23:79e20be4bc5b 237 // エンジン回転数のチェック
MasashiNomura 23:79e20be4bc5b 238 // 着陸ボタンが優先度が高いので先に判定、たが、まだ作ってないのでコメントアウト
MasashiNomura 40:debe99e228d3 239 // if(hb.chkSWUserOpe(HbUserOpe::STOP)){
MasashiNomura 23:79e20be4bc5b 240 // setState(GROUND);
MasashiNomura 23:79e20be4bc5b 241 // }
MasashiNomura 23:79e20be4bc5b 242 //else
MasashiNomura 34:234b87f3e6ce 243 hb.chkSW(TAKE_OFF);
MasashiNomura 34:234b87f3e6ce 244 AxlRpm = hb.getUserMotAxl();
MasashiNomura 34:234b87f3e6ce 245 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 34:234b87f3e6ce 246 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 31:56c554c560c1 247 bDoCtrlEng = true;
MasashiNomura 23:79e20be4bc5b 248 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 249 bDoCtrlAtt = true;
MasashiNomura 22:24c9c2dedca9 250 break;
MasashiNomura 22:24c9c2dedca9 251 case GROUND:
MasashiNomura 36:2cc739c7e4cb 252 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 253 sp.printf("GROUND state\r\n");
MasashiNomura 36:2cc739c7e4cb 254 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 255 }
MasashiNomura 23:79e20be4bc5b 256 // そのままスルー
MasashiNomura 36:2cc739c7e4cb 257 // TODO エンジン回転数が一定以下になることを確認する
MasashiNomura 23:79e20be4bc5b 258 setState(IDLE);
MasashiNomura 22:24c9c2dedca9 259 break;
MasashiNomura 22:24c9c2dedca9 260 case HOVER:
MasashiNomura 36:2cc739c7e4cb 261 gf_StateEnt = false;
MasashiNomura 23:79e20be4bc5b 262 //
MasashiNomura 22:24c9c2dedca9 263 break;
MasashiNomura 22:24c9c2dedca9 264 case DRIVE:
MasashiNomura 36:2cc739c7e4cb 265 gf_StateEnt = false;
MasashiNomura 22:24c9c2dedca9 266 break;
MasashiNomura 22:24c9c2dedca9 267 case EMGGND:
MasashiNomura 36:2cc739c7e4cb 268 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 269 break;
MasashiNomura 36:2cc739c7e4cb 270 case CHK_EG_ENT:
MasashiNomura 36:2cc739c7e4cb 271 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 272 sp.printf("Check Engine enter\r\n");
MasashiNomura 36:2cc739c7e4cb 273 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 274 }
MasashiNomura 36:2cc739c7e4cb 275 if(!hb.chkSWUserOpeAny()){
MasashiNomura 39:1b76f7df8804 276 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 277 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 38:24ee50452755 278 //if(AxlRpm > 0 || TrtlVal > 40){
MasashiNomura 39:1b76f7df8804 279 if(TrtlVal > 10){
MasashiNomura 38:24ee50452755 280 sp.printf("Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 281 break;
MasashiNomura 36:2cc739c7e4cb 282 } else {
MasashiNomura 38:24ee50452755 283 hb.clearHvAxl();
MasashiNomura 36:2cc739c7e4cb 284 setState(CHK_EG_F);
MasashiNomura 36:2cc739c7e4cb 285 }
MasashiNomura 36:2cc739c7e4cb 286 }
MasashiNomura 36:2cc739c7e4cb 287 break;
MasashiNomura 36:2cc739c7e4cb 288 case CHK_EG_F:
MasashiNomura 36:2cc739c7e4cb 289 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 290 sp.printf("Check Engine Front\r\n");
MasashiNomura 36:2cc739c7e4cb 291 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 292 }
MasashiNomura 36:2cc739c7e4cb 293 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 294 hb.setAccelVal(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 295 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 38:24ee50452755 296 sp.printf("FRONT Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 297 hb.setHvAxl(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 298 }
MasashiNomura 36:2cc739c7e4cb 299 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 300 if(hb.chkSetHvAxl(FRONT)){
MasashiNomura 41:45c982b1c5b6 301 gf_AxReq[0].bf.req = true;
MasashiNomura 41:45c982b1c5b6 302 //gf_AxReq[1].bf.req = true;
MasashiNomura 41:45c982b1c5b6 303 gf_AxReq[0].bf.val = 0;
MasashiNomura 41:45c982b1c5b6 304 //gf_AxReq[1].bf.val = 0;
MasashiNomura 36:2cc739c7e4cb 305 setState(CHK_EG_MID);
MasashiNomura 36:2cc739c7e4cb 306 }
MasashiNomura 36:2cc739c7e4cb 307 }
MasashiNomura 39:1b76f7df8804 308 bDoCtrlEng = true;
MasashiNomura 36:2cc739c7e4cb 309 break;
MasashiNomura 36:2cc739c7e4cb 310 case CHK_EG_MID:
MasashiNomura 36:2cc739c7e4cb 311 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 312 sp.printf("Check Engine MIDDLE\r\n");
MasashiNomura 36:2cc739c7e4cb 313 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 314 }
MasashiNomura 36:2cc739c7e4cb 315 if(!hb.chkSWUserOpeAny()){
MasashiNomura 39:1b76f7df8804 316 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 317 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 318 //if(AxlRpm > 0 || TrtlVal > 40){
MasashiNomura 39:1b76f7df8804 319 if(TrtlVal > 10){
MasashiNomura 36:2cc739c7e4cb 320 break;
MasashiNomura 36:2cc739c7e4cb 321 } else {
MasashiNomura 36:2cc739c7e4cb 322 setState(CHK_EG_R);
MasashiNomura 36:2cc739c7e4cb 323 }
MasashiNomura 36:2cc739c7e4cb 324 }
MasashiNomura 41:45c982b1c5b6 325 bDoCtrlEng = true;
MasashiNomura 36:2cc739c7e4cb 326 break;
MasashiNomura 36:2cc739c7e4cb 327 case CHK_EG_R:
MasashiNomura 36:2cc739c7e4cb 328 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 329 sp.printf("Check Engine Rear\r\n");
MasashiNomura 36:2cc739c7e4cb 330 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 331 }
MasashiNomura 36:2cc739c7e4cb 332 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 333 hb.setAccelVal(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 334 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 38:24ee50452755 335 sp.printf("REAR Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 336 hb.setHvAxl(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 337 }
MasashiNomura 36:2cc739c7e4cb 338 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 339 if(hb.chkSetHvAxl(REAR)){
MasashiNomura 41:45c982b1c5b6 340 //gf_AxReq[0].bf.req = true;
MasashiNomura 41:45c982b1c5b6 341 gf_AxReq[1].bf.req = true;
MasashiNomura 41:45c982b1c5b6 342 //gf_AxReq[0].bf.val = 0;
MasashiNomura 41:45c982b1c5b6 343 gf_AxReq[1].bf.val = 0;
MasashiNomura 36:2cc739c7e4cb 344 setState(CHK_EG_EXIT);
MasashiNomura 36:2cc739c7e4cb 345 }
MasashiNomura 36:2cc739c7e4cb 346 }
MasashiNomura 39:1b76f7df8804 347 bDoCtrlEng = true;
MasashiNomura 36:2cc739c7e4cb 348 break;
MasashiNomura 36:2cc739c7e4cb 349 case CHK_EG_EXIT:
MasashiNomura 36:2cc739c7e4cb 350 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 351 sp.printf("Check Engine Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 352 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 353 }
MasashiNomura 36:2cc739c7e4cb 354 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 355 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 356 if(TrtlVal > 10){
MasashiNomura 36:2cc739c7e4cb 357 break;
MasashiNomura 36:2cc739c7e4cb 358 } else {
MasashiNomura 36:2cc739c7e4cb 359 setState(SLEEP);
MasashiNomura 36:2cc739c7e4cb 360 }
MasashiNomura 36:2cc739c7e4cb 361 }
MasashiNomura 41:45c982b1c5b6 362 bDoCtrlEng = true;
MasashiNomura 22:24c9c2dedca9 363 break;
MasashiNomura 23:79e20be4bc5b 364 case CHK_ENT: //チェックエンター
MasashiNomura 36:2cc739c7e4cb 365 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 366 sp.printf("Check enter\r\n");
MasashiNomura 36:2cc739c7e4cb 367 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 368 }
MasashiNomura 38:24ee50452755 369 //setStateF(CHK_MOT);
MasashiNomura 23:79e20be4bc5b 370 break;
MasashiNomura 23:79e20be4bc5b 371 case CHK_MOT: //モーターチェック
MasashiNomura 36:2cc739c7e4cb 372 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 373 sp.printf("Check Motor\r\n");
MasashiNomura 36:2cc739c7e4cb 374 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 375 }
MasashiNomura 38:24ee50452755 376 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 23:79e20be4bc5b 377 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 378 break;
MasashiNomura 23:79e20be4bc5b 379 case CHK_AXL: //アクセルサーボチェック
MasashiNomura 36:2cc739c7e4cb 380 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 381 sp.printf("Check Accel Servo\r\n");
MasashiNomura 36:2cc739c7e4cb 382 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 383 }
MasashiNomura 38:24ee50452755 384 //TrtlVal = hb.getUserEngTrottle();
MasashiNomura 23:79e20be4bc5b 385 break;
MasashiNomura 23:79e20be4bc5b 386 case CHK_ATT: //姿勢制御チェック
MasashiNomura 36:2cc739c7e4cb 387 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 388 sp.printf("Check Attitude\r\n");
MasashiNomura 36:2cc739c7e4cb 389 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 390 }
MasashiNomura 23:79e20be4bc5b 391 bDoCtrlAtt = true;
MasashiNomura 23:79e20be4bc5b 392 break;
MasashiNomura 23:79e20be4bc5b 393 case CHK_EXIT: //チェックステート脱出
MasashiNomura 36:2cc739c7e4cb 394 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 395 sp.printf("Check Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 396 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 397 }
MasashiNomura 23:79e20be4bc5b 398 break;
MasashiNomura 25:f3a6e7eec9c3 399 case MOT_STOP:
MasashiNomura 36:2cc739c7e4cb 400 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 401 sp.printf("Motor Stop\r\n");
MasashiNomura 36:2cc739c7e4cb 402 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 403 }
MasashiNomura 37:d51dacb4c30f 404 bDoCtrlAtt = false;
MasashiNomura 37:d51dacb4c30f 405 bDoCtrlMot = true;
MasashiNomura 37:d51dacb4c30f 406 bTmp = true;
MasashiNomura 37:d51dacb4c30f 407 for(int i = 0; i < 4; ++i){
MasashiNomura 37:d51dacb4c30f 408 if(gf_MtReq[i].req){
MasashiNomura 37:d51dacb4c30f 409 bTmp = false;
MasashiNomura 37:d51dacb4c30f 410 break;
MasashiNomura 37:d51dacb4c30f 411 }
MasashiNomura 37:d51dacb4c30f 412 if(gf_MtReqOfs[i].req){
MasashiNomura 37:d51dacb4c30f 413 bTmp = false;
MasashiNomura 37:d51dacb4c30f 414 break;
MasashiNomura 37:d51dacb4c30f 415 }
MasashiNomura 37:d51dacb4c30f 416 }
MasashiNomura 37:d51dacb4c30f 417 if(!bTmp)break;
MasashiNomura 37:d51dacb4c30f 418 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 419 if(gf_AxReq[i].bf.req){
MasashiNomura 37:d51dacb4c30f 420 bTmp = false;
MasashiNomura 37:d51dacb4c30f 421 break;
MasashiNomura 37:d51dacb4c30f 422 }
MasashiNomura 37:d51dacb4c30f 423 }
MasashiNomura 37:d51dacb4c30f 424 if(bTmp){
MasashiNomura 37:d51dacb4c30f 425 if(gf_FromActiveStat){
MasashiNomura 40:debe99e228d3 426 setStateF(IDLE);
MasashiNomura 37:d51dacb4c30f 427 }
MasashiNomura 37:d51dacb4c30f 428 else{
MasashiNomura 37:d51dacb4c30f 429 setStateF(SLEEP);
MasashiNomura 37:d51dacb4c30f 430 }
MasashiNomura 37:d51dacb4c30f 431 }
MasashiNomura 37:d51dacb4c30f 432
MasashiNomura 32:7f4145cc3551 433 // if(hb.stopMotor() == true){
MasashiNomura 32:7f4145cc3551 434 // hb.initMotVal();
MasashiNomura 32:7f4145cc3551 435 // setState(SLEEP);
MasashiNomura 32:7f4145cc3551 436 // sp.printf("MOTOR STOPPED!\r\n");
MasashiNomura 32:7f4145cc3551 437 // }
MasashiNomura 32:7f4145cc3551 438 // else{
MasashiNomura 32:7f4145cc3551 439 // //bDoCtrlMot = true;
MasashiNomura 32:7f4145cc3551 440 // sp.printf(".");
MasashiNomura 32:7f4145cc3551 441 // }
MasashiNomura 25:f3a6e7eec9c3 442 break;
MasashiNomura 22:24c9c2dedca9 443 }
takeru0x1103 21:78302ecdb661 444
takeru0x1103 21:78302ecdb661 445 //▼③各種設定
takeru0x1103 21:78302ecdb661 446 //hb.controlAttitude(); //姿勢制御
takeru0x1103 21:78302ecdb661 447 //hb.controlMotor();//モーター指令出し
MasashiNomura 23:79e20be4bc5b 448 if(bDoCtrlAtt)hb.controlAttitude(); //姿勢制御
MasashiNomura 23:79e20be4bc5b 449 if(bDoCtrlMot)hb.controlMotor();//モーター指令出し
MasashiNomura 39:1b76f7df8804 450 if(bDoCtrlEng)hb.controlEngine();//エンジン指令出し
MasashiNomura 31:56c554c560c1 451
MasashiNomura 41:45c982b1c5b6 452 if(gf_Print.d1.bf.stat){
MasashiNomura 41:45c982b1c5b6 453 sp.printf("stat : [%X] ",gf_State);
MasashiNomura 23:79e20be4bc5b 454 }
takeru0x1103 18:5aa48aec9cae 455 //表示フラグを落とす（けどモニタフラグが立ってる箇所は残る）
MasashiNomura 41:45c982b1c5b6 456 if(gf_Print.d1.flg!=0 || gf_Print.d2.flg!=0){
MasashiNomura 41:45c982b1c5b6 457 gf_Print.d1.flg=gf_Mon.d1.flg;
MasashiNomura 41:45c982b1c5b6 458 gf_Print.d2.flg=gf_Mon.d2.flg;
MasashiNomura 26:732bc37fbefd 459 sp.printf("\r\n");
MasashiNomura 26:732bc37fbefd 460 }
takeru0x1103 1:15ab74f0d0f1 461
takeru0x1103 1:15ab74f0d0f1 462 //次の周期まで待つ
takeru0x1103 1:15ab74f0d0f1 463 vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
takeru0x1103 1:15ab74f0d0f1 464 }
takeru0x1103 1:15ab74f0d0f1 465 }
takeru0x1103 18:5aa48aec9cae 466 //========================================================
takeru0x1103 21:78302ecdb661 467 //タスク２：デバッグ用タスク
takeru0x1103 18:5aa48aec9cae 468 //========================================================
takeru0x1103 18:5aa48aec9cae 469 void taskDebug(void *pvParameters){
takeru0x1103 21:78302ecdb661 470
takeru0x1103 21:78302ecdb661 471 taskStop(2);//自ら止めてレジュームされるまで待つ
MasashiNomura 24:c5945aaae777 472 UCHAR Num;
MasashiNomura 24:c5945aaae777 473 INT16 iVal;
MasashiNomura 25:f3a6e7eec9c3 474 //bool rvFlg;
MasashiNomura 24:c5945aaae777 475
takeru0x1103 21:78302ecdb661 476 //この関数をリターンしてしまうと他のタスクも止まるのでwhileで回すこと！
takeru0x1103 18:5aa48aec9cae 477 while(1){
MasashiNomura 24:c5945aaae777 478 for(Num = 0; Num < 8; ++Num){
MasashiNomura 24:c5945aaae777 479 for(iVal = 50; iVal < 300; ++iVal){
MasashiNomura 24:c5945aaae777 480 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 481 wait(0.002);
MasashiNomura 24:c5945aaae777 482 }
MasashiNomura 24:c5945aaae777 483 for(iVal = 300; iVal >= 50; --iVal){
MasashiNomura 24:c5945aaae777 484 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 485 wait(0.002);
MasashiNomura 24:c5945aaae777 486 }
MasashiNomura 24:c5945aaae777 487 }
MasashiNomura 23:79e20be4bc5b 488 //自タスク停止させて次の周期まで待つ
MasashiNomura 22:24c9c2dedca9 489 gf_Dbg = false;
MasashiNomura 23:79e20be4bc5b 490 sp.printf("Do DebugTask!");
takeru0x1103 18:5aa48aec9cae 491 taskStop(2);
takeru0x1103 18:5aa48aec9cae 492 }
takeru0x1103 18:5aa48aec9cae 493 }
takeru0x1103 17:f9610f3cfa1b 494
takeru0x1103 1:15ab74f0d0f1 495 //-------------------------------------------------------------
takeru0x1103 17:f9610f3cfa1b 496 //初期化：タスク登録
takeru0x1103 1:15ab74f0d0f1 497 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 498 void taskInit(){
takeru0x1103 21:78302ecdb661 499 portBASE_TYPE TaskRtn;//タスククリエイトの結果を受け取る型
takeru0x1103 18:5aa48aec9cae 500
takeru0x1103 21:78302ecdb661 501 //タスク０：コマンド解析タスク
MasashiNomura 26:732bc37fbefd 502 TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 512, NULL, 1, &tskHandle[0]);
takeru0x1103 21:78302ecdb661 503 if(TaskRtn==pdTRUE){sp.printf("Task0 Set : Command parser\r\n");}
takeru0x1103 21:78302ecdb661 504
takeru0x1103 21:78302ecdb661 505 //タスク１：制御タスク
MasashiNomura 28:fdb3b144e342 506 TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 1024, NULL, 2, &tskHandle[1]);
takeru0x1103 21:78302ecdb661 507 if(TaskRtn==pdTRUE){sp.printf("Task1 Set : Hoverbike Control\r\n");}
takeru0x1103 21:78302ecdb661 508
takeru0x1103 21:78302ecdb661 509 //タスク２：デバッグタスク
MasashiNomura 23:79e20be4bc5b 510 TaskRtn= xTaskCreate(taskDebug, (signed portCHAR *)"TaskDebug", 192, NULL, 0, &tskHandle[2]);
takeru0x1103 21:78302ecdb661 511 if(TaskRtn==pdTRUE){sp.printf("Task2 Set : Debug\r\n");}
takeru0x1103 8:1ca49cb18290 512
takeru0x1103 21:78302ecdb661 513 //RTOSカーネル起動（タスクが走り出す）
takeru0x1103 1:15ab74f0d0f1 514 vTaskStartScheduler();
takeru0x1103 1:15ab74f0d0f1 515 }
takeru0x1103 1:15ab74f0d0f1 516
takeru0x1103 1:15ab74f0d0f1 517