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Dependencies:   mbed FreeRTOS

globalFlags.cpp@59:6b4dcd964d0f, 2019-03-08 (annotated)

Committer:
YutakaTakagi
Date:
Fri Mar 08 02:30:49 2019 +0000
Revision:
59:6b4dcd964d0f
Parent:
56:f363a6877c6a
Child:
63:aee44afe6363
if mode PID_0_ON, change target yaw angle from brake button

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 */
MasashiNomura 48:71aec693a7dc 7 #include "typedef.h"
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 53:b09c062cc31c 40 typAccel gf_AxAdjStepReq[2]; //!< エンジンアクセル調整用サーボ動作ステップ値更新フラグ
MasashiNomura 53:b09c062cc31c 41
MasashiNomura 45:3b51dd26b579 42 typAxlRpm gf_MtReq[4]; //!< モーター姿勢制御値更新
MasashiNomura 50:76413e8e073d 43 typAxlRpm gf_MtAttOfs[4]; //!< モーター姿勢制御オフセット値更新
MasashiNomura 45:3b51dd26b579 44 typAxlRpm gf_MtReqOfs[4]; //!< モーターオフセット値更新
MasashiNomura 45:3b51dd26b579 45 typAxlRpm gf_MtReqU[4]; //!< モーターユーザー値更新
MasashiNomura 56:f363a6877c6a 46 typAxlRpm gf_MtBrk; //!< モーターブレーキ時のRPM値更新
MasashiNomura 45:3b51dd26b579 47 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 48
YutakaTakagi 59:6b4dcd964d0f 49 typAxlRpm gf_AngBrk; //!< ブレーキ時の1秒間の目標角度変化値[deg]更新
YutakaTakagi 59:6b4dcd964d0f 50
MasashiNomura 45:3b51dd26b579 51 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 52
MasashiNomura 45:3b51dd26b579 53 enmHbState gf_State = SLEEP; //!< 現在のステートを格納する変数
MasashiNomura 45:3b51dd26b579 54 bool gf_StateEnt; //!< 状態遷移後、最初であることを示す
MasashiNomura 45:3b51dd26b579 55
MasashiNomura 45:3b51dd26b579 56 bool gf_PidParaUpdate; //!< PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 45:3b51dd26b579 57 typPidPara g_PidPara; //!< PID Pp,P,I,Dの係数の外部設定用
MasashiNomura 45:3b51dd26b579 58
MasashiNomura 25:f3a6e7eec9c3 59
MasashiNomura 22:24c9c2dedca9 60 void initFlags(){
MasashiNomura 22:24c9c2dedca9 61 memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
MasashiNomura 22:24c9c2dedca9 62 gf_CmdPrs = false;
MasashiNomura 22:24c9c2dedca9 63 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 64 gf_Dbg = false;
MasashiNomura 25:f3a6e7eec9c3 65 gf_StopMot = false;
MasashiNomura 43:156199c2f9b6 66
MasashiNomura 43:156199c2f9b6 67 gf_BlinkLED = false;
MasashiNomura 25:f3a6e7eec9c3 68
MasashiNomura 41:45c982b1c5b6 69 // gf_Print.flg = 0;
MasashiNomura 41:45c982b1c5b6 70 // gf_Mon.flg = 0;
MasashiNomura 41:45c982b1c5b6 71 gf_Print.d1.flg = 0;
MasashiNomura 41:45c982b1c5b6 72 gf_Print.d2.flg = 0;
MasashiNomura 39:1b76f7df8804 73
MasashiNomura 22:24c9c2dedca9 74 gf_Cal.flg = 0;
MasashiNomura 26:732bc37fbefd 75
MasashiNomura 41:45c982b1c5b6 76 //gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 77
MasashiNomura 43:156199c2f9b6 78 // engine
MasashiNomura 43:156199c2f9b6 79 for(int i = 0; i < 2; ++i){
MasashiNomura 43:156199c2f9b6 80 gf_AxReq[i].dt = 0;
MasashiNomura 43:156199c2f9b6 81 gf_AxReqH[i].dt = 0;
MasashiNomura 43:156199c2f9b6 82 gf_AxStepReq[i].bf.req = false;
MasashiNomura 50:76413e8e073d 83 gf_AxStepReq[i].bf.val = 30;
MasashiNomura 53:b09c062cc31c 84 gf_AxAdjStepReq[i].bf.req = false;
MasashiNomura 53:b09c062cc31c 85 gf_AxAdjStepReq[i].bf.val = 20;
MasashiNomura 43:156199c2f9b6 86 }
MasashiNomura 43:156199c2f9b6 87
MasashiNomura 27:ff63c23bc689 88 for(int i=0; i<4;++i){
MasashiNomura 32:7f4145cc3551 89 gf_MtReq[i].req = false;
MasashiNomura 32:7f4145cc3551 90 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 91 gf_MtReqOfs[i].req = false;
MasashiNomura 32:7f4145cc3551 92 gf_MtReqOfs[i].val = 0;
MasashiNomura 32:7f4145cc3551 93 gf_MtReqU[i].req = false;
MasashiNomura 32:7f4145cc3551 94 gf_MtReqU[i].val = 0;
MasashiNomura 50:76413e8e073d 95 gf_MtAttOfs[i].req = false;
MasashiNomura 50:76413e8e073d 96 gf_MtAttOfs[i].val = 0;
MasashiNomura 27:ff63c23bc689 97 }
MasashiNomura 56:f363a6877c6a 98 gf_MtBrk.req = false;
MasashiNomura 56:f363a6877c6a 99 gf_MtBrk.val = DEF_BRK_RPM;
YutakaTakagi 59:6b4dcd964d0f 100 gf_AngBrk.req = false;
YutakaTakagi 59:6b4dcd964d0f 101 gf_AngBrk.val = DEF_BRK_ANG;
MasashiNomura 56:f363a6877c6a 102
MasashiNomura 27:ff63c23bc689 103 for(int i = 0; i < 8; ++i){
MasashiNomura 32:7f4145cc3551 104 gf_MtReqDct[i].req = false;
MasashiNomura 32:7f4145cc3551 105 gf_MtReqDct[i].val = 0;
MasashiNomura 27:ff63c23bc689 106 }
MasashiNomura 42:cc8501b824ba 107
MasashiNomura 42:cc8501b824ba 108 gf_SwCmd.dt = 0;
MasashiNomura 42:cc8501b824ba 109
MasashiNomura 22:24c9c2dedca9 110 gf_State = SLEEP;
MasashiNomura 36:2cc739c7e4cb 111 gf_StateEnt = false;
MasashiNomura 27:ff63c23bc689 112 g_PidPara.PP = 2;
MasashiNomura 32:7f4145cc3551 113 g_PidPara.P = 0;
MasashiNomura 25:f3a6e7eec9c3 114 g_PidPara.I = 0;
MasashiNomura 24:c5945aaae777 115 g_PidPara.D = 0;
MasashiNomura 24:c5945aaae777 116 g_PidPara.IMax = 2000;
MasashiNomura 24:c5945aaae777 117 g_PidPara.IMin = -2000;
MasashiNomura 50:76413e8e073d 118 g_PidPara.mode = PID_0_OFF;
MasashiNomura 50:76413e8e073d 119
MasashiNomura 36:2cc739c7e4cb 120 // for(int i = 0; i < 4; ++i){
MasashiNomura 36:2cc739c7e4cb 121 // gf_MotParaUpdate[i] = false;
MasashiNomura 36:2cc739c7e4cb 122 // g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
MasashiNomura 36:2cc739c7e4cb 123 // g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
MasashiNomura 36:2cc739c7e4cb 124 // }
MasashiNomura 22:24c9c2dedca9 125 }
MasashiNomura 35:3779201b4c73 126
MasashiNomura 41:45c982b1c5b6 127 void setDOCol(eLedCol col)
MasashiNomura 41:45c982b1c5b6 128 {
MasashiNomura 41:45c982b1c5b6 129 switch(col){
MasashiNomura 41:45c982b1c5b6 130 case WHITE:
MasashiNomura 42:cc8501b824ba 131 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 132 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 133 DO_03 = 1;
MasashiNomura 41:45c982b1c5b6 134 break;
MasashiNomura 41:45c982b1c5b6 135 case RED:
MasashiNomura 42:cc8501b824ba 136 DO_01 = 1;
MasashiNomura 41:45c982b1c5b6 137 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 138 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 139 break;
MasashiNomura 41:45c982b1c5b6 140 case GREEN:
MasashiNomura 41:45c982b1c5b6 141 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 142 DO_02 = 1;
MasashiNomura 41:45c982b1c5b6 143 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 144 break;
MasashiNomura 41:45c982b1c5b6 145 case BLUE:
MasashiNomura 41:45c982b1c5b6 146 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 147 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 148 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 149 break;
MasashiNomura 42:cc8501b824ba 150 case YELLOW:
MasashiNomura 42:cc8501b824ba 151 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 152 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 153 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 154 break;
MasashiNomura 42:cc8501b824ba 155 case PURPLE:
MasashiNomura 42:cc8501b824ba 156 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 157 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 158 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 159 break;
MasashiNomura 42:cc8501b824ba 160 case LIGHT_BLUE:
MasashiNomura 42:cc8501b824ba 161 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 162 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 163 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 164 break;
MasashiNomura 42:cc8501b824ba 165 case BLK_WHITE:
MasashiNomura 42:cc8501b824ba 166 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 167 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 168 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 169 break;
MasashiNomura 42:cc8501b824ba 170 case BLK_RED:
MasashiNomura 42:cc8501b824ba 171 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 172 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 173 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 174 break;
MasashiNomura 42:cc8501b824ba 175 case BLK_GREEN:
MasashiNomura 42:cc8501b824ba 176 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 177 DO_02 = !DO_02;
MasashiNomura 42:cc8501b824ba 178 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 179 break;
MasashiNomura 42:cc8501b824ba 180 case BLK_BLUE:
MasashiNomura 42:cc8501b824ba 181 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 182 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 183 DO_03 = !DO_03;
MasashiNomura 42:cc8501b824ba 184 break;
MasashiNomura 42:cc8501b824ba 185 case BLK_YELLOW:
MasashiNomura 41:45c982b1c5b6 186 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 187 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 188 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 189 break;
MasashiNomura 42:cc8501b824ba 190 case BLK_PURPLE:
MasashiNomura 41:45c982b1c5b6 191 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 192 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 193 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 194 break;
MasashiNomura 42:cc8501b824ba 195 case BLK_LIGHT_BLUE:
MasashiNomura 41:45c982b1c5b6 196 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 197 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 198 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 199 break;
MasashiNomura 41:45c982b1c5b6 200 case OFF:
MasashiNomura 41:45c982b1c5b6 201 default:
MasashiNomura 41:45c982b1c5b6 202 DO_01 = 0;//R
MasashiNomura 41:45c982b1c5b6 203 DO_02 = 0;//G
MasashiNomura 41:45c982b1c5b6 204 DO_03 = 0;//B
MasashiNomura 41:45c982b1c5b6 205 break;
MasashiNomura 41:45c982b1c5b6 206 }
MasashiNomura 41:45c982b1c5b6 207 }
MasashiNomura 41:45c982b1c5b6 208
MasashiNomura 41:45c982b1c5b6 209 void setDO4LED(enmHbState stat)
MasashiNomura 41:45c982b1c5b6 210 {
MasashiNomura 41:45c982b1c5b6 211 if(stat == NONE)
MasashiNomura 41:45c982b1c5b6 212 {// 消灯
MasashiNomura 41:45c982b1c5b6 213 setDOCol(OFF);
MasashiNomura 41:45c982b1c5b6 214 }
MasashiNomura 41:45c982b1c5b6 215 else if(stat == SLEEP)
MasashiNomura 41:45c982b1c5b6 216 {//YELLOW
MasashiNomura 41:45c982b1c5b6 217 setDOCol(YELLOW);
MasashiNomura 41:45c982b1c5b6 218 }
MasashiNomura 41:45c982b1c5b6 219 else if(stat == WAKEUP || stat == STANDBY)
MasashiNomura 41:45c982b1c5b6 220 {//BLUE
MasashiNomura 41:45c982b1c5b6 221 setDOCol(BLUE);
MasashiNomura 41:45c982b1c5b6 222 }
MasashiNomura 41:45c982b1c5b6 223 else if(stat == IDLE)
MasashiNomura 41:45c982b1c5b6 224 {//GREEN
MasashiNomura 41:45c982b1c5b6 225 setDOCol(GREEN);
MasashiNomura 41:45c982b1c5b6 226 }
MasashiNomura 48:71aec693a7dc 227 else if(stat == UPPER_IDLE)
MasashiNomura 48:71aec693a7dc 228 {//WHITE
MasashiNomura 48:71aec693a7dc 229 setDOCol(WHITE);
MasashiNomura 48:71aec693a7dc 230 }
MasashiNomura 41:45c982b1c5b6 231 else if(stat == TAKE_OFF || stat == HOVER || stat == DRIVE || stat == GROUND || stat == EMGGND)
MasashiNomura 41:45c982b1c5b6 232 {//PURPLE
MasashiNomura 43:156199c2f9b6 233 if(gf_BlinkLED){
MasashiNomura 43:156199c2f9b6 234 setDOCol(BLK_PURPLE);
MasashiNomura 43:156199c2f9b6 235 gf_BlinkLED = false;
MasashiNomura 43:156199c2f9b6 236 }
MasashiNomura 43:156199c2f9b6 237 else{
MasashiNomura 43:156199c2f9b6 238 setDOCol(PURPLE);
MasashiNomura 43:156199c2f9b6 239 }
MasashiNomura 41:45c982b1c5b6 240 }
MasashiNomura 42:cc8501b824ba 241 else if(stat == CHK_EG_ENT || stat == CHK_EG_MID || stat == CHK_EG_EXIT)
MasashiNomura 41:45c982b1c5b6 242 {//LIGHT BLUE
MasashiNomura 41:45c982b1c5b6 243 setDOCol(LIGHT_BLUE);
MasashiNomura 41:45c982b1c5b6 244 }
MasashiNomura 42:cc8501b824ba 245 else if(stat == CHK_EG_F || stat == CHK_EG_R )
MasashiNomura 42:cc8501b824ba 246 {//BLK_LIGHT BLUE
MasashiNomura 42:cc8501b824ba 247 setDOCol(BLK_LIGHT_BLUE);
MasashiNomura 42:cc8501b824ba 248 }
MasashiNomura 41:45c982b1c5b6 249 else if(stat == CHK_ENT || stat == CHK_MOT || stat == CHK_AXL || stat == CHK_ATT || stat == CHK_EXIT)
MasashiNomura 41:45c982b1c5b6 250 {//WHITE
MasashiNomura 41:45c982b1c5b6 251 setDOCol(WHITE);
MasashiNomura 41:45c982b1c5b6 252 }
MasashiNomura 41:45c982b1c5b6 253 else/* if(stat == MOT_STOP)*/
MasashiNomura 41:45c982b1c5b6 254 {
MasashiNomura 41:45c982b1c5b6 255 setDOCol(RED);
MasashiNomura 41:45c982b1c5b6 256 }
MasashiNomura 41:45c982b1c5b6 257 }
MasashiNomura 41:45c982b1c5b6 258
MasashiNomura 22:24c9c2dedca9 259 void setState(enmHbState stat){
MasashiNomura 22:24c9c2dedca9 260 // ありえない遷移を排除
MasashiNomura 22:24c9c2dedca9 261 if(gf_State == SLEEP){if(stat != WAKEUP) return;}
MasashiNomura 22:24c9c2dedca9 262 if(gf_State == WAKEUP){if(stat != STANDBY) return;}
MasashiNomura 22:24c9c2dedca9 263 if(gf_State == STANDBY){if(stat !=IDLE) return;}
MasashiNomura 23:79e20be4bc5b 264 if(gf_State == IDLE){if(stat != TAKE_OFF && stat != SLEEP) return;}
MasashiNomura 23:79e20be4bc5b 265 if(gf_State == TAKE_OFF){if(stat != HOVER && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 266 if(gf_State == GROUND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 267 if(gf_State == HOVER){if(stat != DRIVE && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 268 if(gf_State == DRIVE){if(stat != HOVER && stat != EMGGND) return;}
MasashiNomura 22:24c9c2dedca9 269 if(gf_State == EMGGND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 270
MasashiNomura 23:79e20be4bc5b 271 sp.printf("state: %d\r\n",stat);
MasashiNomura 22:24c9c2dedca9 272 gf_State = stat;
MasashiNomura 36:2cc739c7e4cb 273 gf_StateEnt = true;
MasashiNomura 22:24c9c2dedca9 274 }
MasashiNomura 23:79e20be4bc5b 275 void setStateF(enmHbState stat){
MasashiNomura 23:79e20be4bc5b 276 sp.printf("state: %d\r\n",stat);
MasashiNomura 23:79e20be4bc5b 277 enmHbState tmp;
MasashiNomura 25:f3a6e7eec9c3 278 if((UINT16)stat > MOT_STOP){
MasashiNomura 23:79e20be4bc5b 279 tmp = SLEEP;
MasashiNomura 23:79e20be4bc5b 280 }
MasashiNomura 23:79e20be4bc5b 281 else
MasashiNomura 23:79e20be4bc5b 282 {
MasashiNomura 23:79e20be4bc5b 283 tmp = stat;
MasashiNomura 23:79e20be4bc5b 284 }
MasashiNomura 23:79e20be4bc5b 285 gf_State = tmp;
MasashiNomura 36:2cc739c7e4cb 286 gf_StateEnt = true;
MasashiNomura 23:79e20be4bc5b 287 }
MasashiNomura 37:d51dacb4c30f 288
MasashiNomura 37:d51dacb4c30f 289 bool isActiveState(){
MasashiNomura 37:d51dacb4c30f 290 if(gf_State >= IDLE && gf_State <= EMGGND){
MasashiNomura 37:d51dacb4c30f 291 return true;
MasashiNomura 37:d51dacb4c30f 292 }
MasashiNomura 37:d51dacb4c30f 293 else {
MasashiNomura 37:d51dacb4c30f 294 return false;
MasashiNomura 37:d51dacb4c30f 295 }
MasashiNomura 37:d51dacb4c30f 296 }
MasashiNomura 37:d51dacb4c30f 297
MasashiNomura 33:eb260dbfc22a 298