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Dependencies:   mbed FreeRTOS

globalFlags.cpp@26:732bc37fbefd, 2018-12-13 (annotated)

Committer:
MasashiNomura
Date:
Thu Dec 13 12:15:35 2018 +0000
Revision:
26:732bc37fbefd
Parent:
25:f3a6e7eec9c3
Child:
27:ff63c23bc689
2018/12/13 Add MotorOfs Function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 19:4b0fe9a5ec38 1
takeru0x1103 16:05b9e44889f1 2 #include "globalFlags.h"
MasashiNomura 22:24c9c2dedca9 3 //#define STATE_BUF_SIZ 8
takeru0x1103 16:05b9e44889f1 4
MasashiNomura 22:24c9c2dedca9 5 //モニタ用LED
takeru0x1103 16:05b9e44889f1 6 DigitalOut led1(LED1);
takeru0x1103 16:05b9e44889f1 7 DigitalOut led2(LED2);
takeru0x1103 16:05b9e44889f1 8 DigitalOut led3(LED3);
takeru0x1103 16:05b9e44889f1 9 DigitalOut led4(LED4);
takeru0x1103 8:1ca49cb18290 10
takeru0x1103 21:78302ecdb661 11 //GlobalFlags gf;
takeru0x1103 21:78302ecdb661 12
takeru0x1103 19:4b0fe9a5ec38 13 char g_CmdBuf[G_CMD_BUF_SIZ] ;// コマンド受け渡しバッファ
MasashiNomura 22:24c9c2dedca9 14 bool gf_CmdPrs;
takeru0x1103 19:4b0fe9a5ec38 15
MasashiNomura 22:24c9c2dedca9 16 bool gf_Armed ;//アーミングフラグ
MasashiNomura 23:79e20be4bc5b 17 bool gf_Dbg ;//デバッグタスク起動フラグ
MasashiNomura 23:79e20be4bc5b 18 bool gf_fs_stat ;//強制遷移フラグ
MasashiNomura 25:f3a6e7eec9c3 19 bool gf_StopMot ;//モーターの強制停止
MasashiNomura 25:f3a6e7eec9c3 20
takeru0x1103 19:4b0fe9a5ec38 21 typPrintFlag gf_Print ;//
takeru0x1103 19:4b0fe9a5ec38 22 typPrintFlag gf_Mon ;//
takeru0x1103 19:4b0fe9a5ec38 23 typCalFlag gf_Cal ;//
MasashiNomura 26:732bc37fbefd 24 typDbgPrintFlg gf_DbgPrint ;//デバッグ用
MasashiNomura 22:24c9c2dedca9 25 //typAccel gf_AxReq[2] ={0,} ;//アクセル更新
MasashiNomura 22:24c9c2dedca9 26 //typAccel gf_MtReq[4] ={0,} ;//モーター更新
MasashiNomura 22:24c9c2dedca9 27 typAccel gf_AxReq[2] ;//アクセル更新フラグ
MasashiNomura 22:24c9c2dedca9 28 typAccel gf_MtReq[4] ;//モーター更新フラグ
MasashiNomura 22:24c9c2dedca9 29
MasashiNomura 22:24c9c2dedca9 30 enmHbState gf_State = SLEEP;
takeru0x1103 19:4b0fe9a5ec38 31
MasashiNomura 24:c5945aaae777 32 bool gf_PidParaUpdate ;//PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 24:c5945aaae777 33 typPidPara g_PidPara ;//PID Pp,P,I,Dの係数の外部設定用
takeru0x1103 20:0394e15412c3 34
MasashiNomura 25:f3a6e7eec9c3 35 bool gf_MotParaUpdate[4] ;//モーターのパラメータ値更新フラグ
MasashiNomura 25:f3a6e7eec9c3 36 typMotPara g_MotPara[4];
MasashiNomura 25:f3a6e7eec9c3 37
MasashiNomura 22:24c9c2dedca9 38 void initFlags(){
MasashiNomura 22:24c9c2dedca9 39 memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
MasashiNomura 22:24c9c2dedca9 40 gf_CmdPrs = false;
MasashiNomura 22:24c9c2dedca9 41 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 42 gf_Dbg = false;
MasashiNomura 25:f3a6e7eec9c3 43 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 44
MasashiNomura 22:24c9c2dedca9 45 gf_Print.flg = 0;
MasashiNomura 22:24c9c2dedca9 46 gf_Mon.flg = 0;
MasashiNomura 22:24c9c2dedca9 47 gf_Cal.flg = 0;
MasashiNomura 26:732bc37fbefd 48
MasashiNomura 26:732bc37fbefd 49 gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 50
MasashiNomura 22:24c9c2dedca9 51 gf_AxReq[0].dt = 0;
MasashiNomura 22:24c9c2dedca9 52 gf_AxReq[1].dt = 0;
MasashiNomura 22:24c9c2dedca9 53 gf_MtReq[0].dt = 0;
MasashiNomura 22:24c9c2dedca9 54 gf_MtReq[1].dt = 0;
MasashiNomura 22:24c9c2dedca9 55 gf_MtReq[2].dt = 0;
MasashiNomura 22:24c9c2dedca9 56 gf_MtReq[3].dt = 0;
MasashiNomura 22:24c9c2dedca9 57 gf_State = SLEEP;
MasashiNomura 24:c5945aaae777 58 g_PidPara.PP = 4;
MasashiNomura 24:c5945aaae777 59 g_PidPara.P = 4;
MasashiNomura 25:f3a6e7eec9c3 60 g_PidPara.I = 0;
MasashiNomura 24:c5945aaae777 61 g_PidPara.D = 0;
MasashiNomura 24:c5945aaae777 62 g_PidPara.IMax = 2000;
MasashiNomura 24:c5945aaae777 63 g_PidPara.IMin = -2000;
MasashiNomura 25:f3a6e7eec9c3 64 for(int i = 0; i < 4; ++i){
MasashiNomura 25:f3a6e7eec9c3 65 gf_MotParaUpdate[i] = false;
MasashiNomura 25:f3a6e7eec9c3 66 //g_MotPara[i].offset = 0;
MasashiNomura 25:f3a6e7eec9c3 67 g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
MasashiNomura 25:f3a6e7eec9c3 68 g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
MasashiNomura 25:f3a6e7eec9c3 69 }
MasashiNomura 22:24c9c2dedca9 70 }
MasashiNomura 22:24c9c2dedca9 71
MasashiNomura 22:24c9c2dedca9 72 void setState(enmHbState stat){
MasashiNomura 22:24c9c2dedca9 73 // ありえない遷移を排除
MasashiNomura 22:24c9c2dedca9 74 if(gf_State == SLEEP){if(stat != WAKEUP) return;}
MasashiNomura 22:24c9c2dedca9 75 if(gf_State == WAKEUP){if(stat != STANDBY) return;}
MasashiNomura 22:24c9c2dedca9 76 if(gf_State == STANDBY){if(stat !=IDLE) return;}
MasashiNomura 23:79e20be4bc5b 77 if(gf_State == IDLE){if(stat != TAKE_OFF && stat != SLEEP) return;}
MasashiNomura 23:79e20be4bc5b 78 if(gf_State == TAKE_OFF){if(stat != HOVER && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 79 if(gf_State == GROUND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 80 if(gf_State == HOVER){if(stat != DRIVE && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 81 if(gf_State == DRIVE){if(stat != HOVER && stat != EMGGND) return;}
MasashiNomura 22:24c9c2dedca9 82 if(gf_State == EMGGND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 83
MasashiNomura 23:79e20be4bc5b 84 sp.printf("state: %d\r\n",stat);
MasashiNomura 22:24c9c2dedca9 85 gf_State = stat;
MasashiNomura 22:24c9c2dedca9 86 }
MasashiNomura 23:79e20be4bc5b 87 void setStateF(enmHbState stat){
MasashiNomura 23:79e20be4bc5b 88 sp.printf("state: %d\r\n",stat);
MasashiNomura 23:79e20be4bc5b 89 enmHbState tmp;
MasashiNomura 25:f3a6e7eec9c3 90 if((UINT16)stat > MOT_STOP){
MasashiNomura 23:79e20be4bc5b 91 tmp = SLEEP;
MasashiNomura 23:79e20be4bc5b 92 }
MasashiNomura 23:79e20be4bc5b 93 else
MasashiNomura 23:79e20be4bc5b 94 {
MasashiNomura 23:79e20be4bc5b 95 tmp = stat;
MasashiNomura 23:79e20be4bc5b 96 }
MasashiNomura 23:79e20be4bc5b 97 gf_State = tmp;
MasashiNomura 23:79e20be4bc5b 98 }
takeru0x1103 21:78302ecdb661 99 /*
takeru0x1103 19:4b0fe9a5ec38 100 //===========================================
takeru0x1103 19:4b0fe9a5ec38 101 //コンストラクタ
takeru0x1103 19:4b0fe9a5ec38 102 //===========================================
takeru0x1103 19:4b0fe9a5ec38 103 GlobalFlags::GlobalFlags(){
takeru0x1103 19:4b0fe9a5ec38 104 //初期ステート
takeru0x1103 21:78302ecdb661 105 state = SLEEP;
takeru0x1103 19:4b0fe9a5ec38 106 //ステートキュー初期化
takeru0x1103 19:4b0fe9a5ec38 107 for(int i=0; i<STATE_QUE_SIZ; i++){
takeru0x1103 19:4b0fe9a5ec38 108 stateQueue[i] = NONE;
takeru0x1103 19:4b0fe9a5ec38 109 }
takeru0x1103 19:4b0fe9a5ec38 110 rp = wp = 0;//先頭を指す
takeru0x1103 19:4b0fe9a5ec38 111 full = false;//最初はエンプティ
takeru0x1103 19:4b0fe9a5ec38 112 empty = true;
takeru0x1103 19:4b0fe9a5ec38 113 }
takeru0x1103 19:4b0fe9a5ec38 114
takeru0x1103 21:78302ecdb661 115
takeru0x1103 19:4b0fe9a5ec38 116 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 117 //ステートのFIFOにプッシュする
takeru0x1103 19:4b0fe9a5ec38 118 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 119 bool GlobalFlags::push(enmHbState iState){
takeru0x1103 19:4b0fe9a5ec38 120 if(full){
takeru0x1103 19:4b0fe9a5ec38 121 return false;//FFULLフラグが立ってら入力を受け付けない
takeru0x1103 19:4b0fe9a5ec38 122 }else{
takeru0x1103 19:4b0fe9a5ec38 123 stateQueue[wp] = iState;//キューに突っ込んで
takeru0x1103 19:4b0fe9a5ec38 124 wp = (wp==STATE_QUE_SIZ) ? 0 : wp+1;//ライトポインタを進める
takeru0x1103 19:4b0fe9a5ec38 125 full = (wp == rp)? true : false; //次ライト予定の場所がリードポインタに追いついたらFULLを立てる
takeru0x1103 19:4b0fe9a5ec38 126 empty = false;
takeru0x1103 19:4b0fe9a5ec38 127 return true;
takeru0x1103 19:4b0fe9a5ec38 128 }
takeru0x1103 19:4b0fe9a5ec38 129 }
takeru0x1103 19:4b0fe9a5ec38 130
takeru0x1103 19:4b0fe9a5ec38 131 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 132 //ステートFIFOから次の予約ステートを引き抜く
takeru0x1103 19:4b0fe9a5ec38 133 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 134 bool GlobalFlags::pull(){
takeru0x1103 19:4b0fe9a5ec38 135 if(empty){
takeru0x1103 19:4b0fe9a5ec38 136 return false;//EMPTYだったら引き抜けない
takeru0x1103 19:4b0fe9a5ec38 137 }else{
takeru0x1103 19:4b0fe9a5ec38 138 state = stateQueue[rp];//リードポインタの指すデータをステートに移す
takeru0x1103 19:4b0fe9a5ec38 139 stateQueue[rp] = NONE;//バッファを消す
takeru0x1103 19:4b0fe9a5ec38 140 rp = (rp==STATE_QUE_SIZ) ? 0 : rp+1;//リードポインタを進める
takeru0x1103 19:4b0fe9a5ec38 141 full = false; //フルではなくなる
takeru0x1103 19:4b0fe9a5ec38 142 empty = (stateQueue[rp] == NONE) ? true : false;//次にリードする場所がNONEだったらEMPTYを立てる
takeru0x1103 19:4b0fe9a5ec38 143 return true;
takeru0x1103 19:4b0fe9a5ec38 144 }
takeru0x1103 19:4b0fe9a5ec38 145 }
takeru0x1103 21:78302ecdb661 146 */
takeru0x1103 19:4b0fe9a5ec38 147
takeru0x1103 19:4b0fe9a5ec38 148