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Dependencies:   mbed FreeRTOS

globalFlags.h@18:5aa48aec9cae, 2018-12-01 (annotated)

Committer:
takeru0x1103
Date:
Sat Dec 01 14:03:08 2018 +0000
Revision:
18:5aa48aec9cae
Parent:
17:f9610f3cfa1b
Child:
19:4b0fe9a5ec38
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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 17:f9610f3cfa1b 7 typedef union{
takeru0x1103 17:f9610f3cfa1b 8 UINT16 flg;
takeru0x1103 17:f9610f3cfa1b 9 struct{
takeru0x1103 17:f9610f3cfa1b 10 bool e1 : 1;//前エンジン回転数
takeru0x1103 17:f9610f3cfa1b 11 bool e2 : 1;//後ろエンジン回転数
takeru0x1103 17:f9610f3cfa1b 12 bool m1 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 13 bool m2 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 14 bool m3 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 15 bool m4 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 16 bool gy : 1;//ジャイロ
takeru0x1103 17:f9610f3cfa1b 17 bool yaw : 1;//ヨー角
takeru0x1103 18:5aa48aec9cae 18 bool fb : 1;//PID制御feedback結果
takeru0x1103 18:5aa48aec9cae 19 bool pp : 1;//P制御ゲイン（アウターループ）
takeru0x1103 18:5aa48aec9cae 20 bool p : 1;//P制御ゲイン
takeru0x1103 18:5aa48aec9cae 21 bool i : 1;//I制御ゲイン
takeru0x1103 18:5aa48aec9cae 22 bool d : 1;//D制御ゲイン
takeru0x1103 17:f9610f3cfa1b 23 }bf;
takeru0x1103 17:f9610f3cfa1b 24 }typPrintFlag;
takeru0x1103 17:f9610f3cfa1b 25
takeru0x1103 17:f9610f3cfa1b 26 typedef union{
takeru0x1103 17:f9610f3cfa1b 27 UINT16 flg;
takeru0x1103 17:f9610f3cfa1b 28 struct{
takeru0x1103 17:f9610f3cfa1b 29 bool e1 : 1;//
takeru0x1103 17:f9610f3cfa1b 30 bool e2 : 1;//
takeru0x1103 17:f9610f3cfa1b 31 bool m1 : 1;//
takeru0x1103 17:f9610f3cfa1b 32 bool m2 : 1;//
takeru0x1103 17:f9610f3cfa1b 33 bool m3 : 1;//
takeru0x1103 17:f9610f3cfa1b 34 bool m4 : 1;//
takeru0x1103 17:f9610f3cfa1b 35 bool gy : 1;//
takeru0x1103 17:f9610f3cfa1b 36 bool yaw : 1;//
takeru0x1103 18:5aa48aec9cae 37 bool fb : 1;//PID制御feedback結果
takeru0x1103 18:5aa48aec9cae 38 bool pp : 1;//P制御ゲイン（アウターループ）
takeru0x1103 18:5aa48aec9cae 39 bool p : 1;//P制御ゲイン
takeru0x1103 18:5aa48aec9cae 40 bool i : 1;//I制御ゲイン
takeru0x1103 18:5aa48aec9cae 41 bool d : 1;//D制御ゲイン
takeru0x1103 17:f9610f3cfa1b 42 }bf;
takeru0x1103 17:f9610f3cfa1b 43 }typCalFlag;
takeru0x1103 17:f9610f3cfa1b 44
takeru0x1103 18:5aa48aec9cae 45
takeru0x1103 18:5aa48aec9cae 46 //チェックフラグ
takeru0x1103 18:5aa48aec9cae 47 typedef union{
takeru0x1103 18:5aa48aec9cae 48 UINT16 flg;
takeru0x1103 18:5aa48aec9cae 49 struct{
takeru0x1103 18:5aa48aec9cae 50 bool mot : 1;//
takeru0x1103 18:5aa48aec9cae 51 bool sw : 1;//
takeru0x1103 18:5aa48aec9cae 52 bool accel: 1;//
takeru0x1103 18:5aa48aec9cae 53 }bf;
takeru0x1103 18:5aa48aec9cae 54 }typChkFlag;
takeru0x1103 18:5aa48aec9cae 55
takeru0x1103 18:5aa48aec9cae 56
takeru0x1103 17:f9610f3cfa1b 57 typedef union{
takeru0x1103 17:f9610f3cfa1b 58 UINT16 dt;
takeru0x1103 17:f9610f3cfa1b 59 struct{
takeru0x1103 18:5aa48aec9cae 60 UINT16 val : 12;//アクセル設定値
takeru0x1103 17:f9610f3cfa1b 61 bool req : 1;//アクセル更新要求
takeru0x1103 17:f9610f3cfa1b 62 }bf;
takeru0x1103 17:f9610f3cfa1b 63 }typAccel;
takeru0x1103 17:f9610f3cfa1b 64
takeru0x1103 17:f9610f3cfa1b 65 /////////////////////////////////////////////////
takeru0x1103 8:1ca49cb18290 66
takeru0x1103 16:05b9e44889f1 67
takeru0x1103 17:f9610f3cfa1b 68 //モニタ用LED
takeru0x1103 16:05b9e44889f1 69 extern DigitalOut led1;
takeru0x1103 16:05b9e44889f1 70 extern DigitalOut led2;
takeru0x1103 16:05b9e44889f1 71 extern DigitalOut led3;
takeru0x1103 16:05b9e44889f1 72 extern DigitalOut led4;
takeru0x1103 8:1ca49cb18290 73
takeru0x1103 17:f9610f3cfa1b 74 extern typPrintFlag gf_Print;
takeru0x1103 18:5aa48aec9cae 75 extern typPrintFlag gf_Mon;
takeru0x1103 18:5aa48aec9cae 76 extern typCalFlag gf_Cal; //
takeru0x1103 18:5aa48aec9cae 77 extern typChkFlag gf_Chk; //チェックフラグ
takeru0x1103 17:f9610f3cfa1b 78 extern bool gf_CmdPrs; //コマンドパーサー実行要求フラグ
takeru0x1103 17:f9610f3cfa1b 79 extern typAccel gf_AxReq[2]; //アクセル更新
takeru0x1103 17:f9610f3cfa1b 80 extern typAccel gf_MtReq[4]; //モーター更新
takeru0x1103 18:5aa48aec9cae 81 extern bool gf_AttCntEna; //姿勢制御イネーブル
takeru0x1103 8:1ca49cb18290 82
takeru0x1103 18:5aa48aec9cae 83
takeru0x1103 18:5aa48aec9cae 84 #endif