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Dependencies:   mbed FreeRTOS

HbManager.h@67:ad35921e3cdc, 2019-03-11 (annotated)

Committer:
YutakaTakagi
Date:
Mon Mar 11 06:36:33 2019 +0000
Revision:
67:ad35921e3cdc
Parent:
59:6b4dcd964d0f
Child:
68:1d5471344acf
add reset att value function. if set PID ON, reset att value

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 16:05b9e44889f1 1 #ifndef __HBMANAGER_H__
takeru0x1103 16:05b9e44889f1 2 #define __HBMANAGER_H__
takeru0x1103 0:ecd925601fc6 3 /////////////////////////////////////////////////////////////////////
takeru0x1103 17:f9610f3cfa1b 4 #include "typedef.h"
takeru0x1103 17:f9610f3cfa1b 5 #include "HbEngine.h"
takeru0x1103 18:5aa48aec9cae 6 #include "HbAttitude.h"
takeru0x1103 18:5aa48aec9cae 7 #include "HbMotor.h"
takeru0x1103 18:5aa48aec9cae 8 #include "Imu.h"
MasashiNomura 22:24c9c2dedca9 9 #include "HbUserOpe.h"
takeru0x1103 17:f9610f3cfa1b 10
takeru0x1103 0:ecd925601fc6 11
takeru0x1103 19:4b0fe9a5ec38 12
takeru0x1103 19:4b0fe9a5ec38 13
takeru0x1103 17:f9610f3cfa1b 14 /////////////////////////////////////////////////
takeru0x1103 17:f9610f3cfa1b 15 class HbManager{
takeru0x1103 17:f9610f3cfa1b 16 private:
MasashiNomura 53:b09c062cc31c 17 INT16 en_srv_step[2]; //!< エンジンスロットルを変化させる際のステップ値
MasashiNomura 53:b09c062cc31c 18 INT16 en_srv_adj_step[2]; //!< エンジンを浮上中にドライバーが調整する際のステップ値
MasashiNomura 50:76413e8e073d 19 INT16 motorOfsVal[4] ;//!< 姿勢制御用のオフセット
MasashiNomura 56:f363a6877c6a 20 INT16 mot_brk; //!< MotorブレーキのRPM値
takeru0x1103 18:5aa48aec9cae 21 UINT16 accelVal[2] ;//
YutakaTakagi 67:ad35921e3cdc 22 float ang_rate_brk; //!< ブレーキボタンON時の目標角度[deg]変化率
MasashiNomura 36:2cc739c7e4cb 23 float nowTrgtAng; //目標ヨー角
takeru0x1103 19:4b0fe9a5ec38 24 float nowAngle ;//現在ヨー角
takeru0x1103 19:4b0fe9a5ec38 25 float nowRate ;//現在加速度
MasashiNomura 22:24c9c2dedca9 26 typUserSw usrSW ;//ユーザー操作SW
takeru0x1103 19:4b0fe9a5ec38 27 //メンバクラス
takeru0x1103 18:5aa48aec9cae 28 HbEngine *eng[2] ;//エンジン制御クラス
takeru0x1103 18:5aa48aec9cae 29 HbAttitude *att ;//姿勢制御クラス
MasashiNomura 28:fdb3b144e342 30 //HbMotor *mot[4] ;//モーター制御クラス
MasashiNomura 28:fdb3b144e342 31 HbSubProp *subProp[4] ;//モーター制御クラス
takeru0x1103 18:5aa48aec9cae 32 Imu *imu ;//慣性計測装置
MasashiNomura 22:24c9c2dedca9 33
MasashiNomura 22:24c9c2dedca9 34 HbUserOpe *ope ;//ユーザー操作
MasashiNomura 22:24c9c2dedca9 35
MasashiNomura 24:c5945aaae777 36 //INT16 motVal; // モーターチェック用モーター値
MasashiNomura 24:c5945aaae777 37 //short motNum; // モーターチェック用モーター番号
MasashiNomura 24:c5945aaae777 38
takeru0x1103 17:f9610f3cfa1b 39 public:
takeru0x1103 17:f9610f3cfa1b 40 HbManager();
MasashiNomura 39:1b76f7df8804 41 // TestSPIRead Task生存証明用アクセスProof of survival
MasashiNomura 39:1b76f7df8804 42 UINT16 proofOfSurvival();
MasashiNomura 38:24ee50452755 43 // Attitude
takeru0x1103 18:5aa48aec9cae 44 void getAttitude();
MasashiNomura 25:f3a6e7eec9c3 45 void calAtt();
takeru0x1103 18:5aa48aec9cae 46 void controlAttitude();
MasashiNomura 24:c5945aaae777 47 void controlAttitude(float cmdAngle);
MasashiNomura 24:c5945aaae777 48 void setAttPara(typPidPara para);
MasashiNomura 38:24ee50452755 49 // Motor
takeru0x1103 18:5aa48aec9cae 50 void controlMotor();
MasashiNomura 29:eb3d72dd94aa 51 void addMotVal(eMotPos pos, INT16 add);
MasashiNomura 29:eb3d72dd94aa 52 void subMotVal(eMotPos pos, INT16 add);
MasashiNomura 30:13ada1a24c59 53 INT16 getCurMotVal(eMotPos pos);
MasashiNomura 30:13ada1a24c59 54 void setMotVal(eMotPos pos, INT16 val);
MasashiNomura 46:5074781a28dd 55 void setMotValOfs(eMotPos pos, INT16 val);
MasashiNomura 56:f363a6877c6a 56 void setMotValAtt(eMotPos pos, INT16 val);
MasashiNomura 40:debe99e228d3 57 void setFpgaMot(eMotPos pos,eMotType type, INT16 val);
MasashiNomura 36:2cc739c7e4cb 58 //void setMotFPGA(UCHAR num, INT16 val);
MasashiNomura 27:ff63c23bc689 59
MasashiNomura 38:24ee50452755 60 // Engine
MasashiNomura 39:1b76f7df8804 61 void getEngine();
takeru0x1103 17:f9610f3cfa1b 62 void controlEngine();
MasashiNomura 46:5074781a28dd 63 void controlEngine(enmHbState stat);
MasashiNomura 46:5074781a28dd 64
MasashiNomura 36:2cc739c7e4cb 65 void clearHvAxl();
MasashiNomura 36:2cc739c7e4cb 66 bool chkSetHvAxl(eEgPos pos);
MasashiNomura 36:2cc739c7e4cb 67 void setHvAxl(eEgPos pos, INT16 val);
MasashiNomura 38:24ee50452755 68 INT16 getHvAxl(eEgPos pos);
MasashiNomura 36:2cc739c7e4cb 69 void setAccelVal(eEgPos pos, INT16 val);
MasashiNomura 39:1b76f7df8804 70 INT16 getAccelVal(eEgPos pos);
MasashiNomura 36:2cc739c7e4cb 71
takeru0x1103 17:f9610f3cfa1b 72 void getUserCommand();
MasashiNomura 33:eb260dbfc22a 73 INT16 getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 74 INT16 getUserEngTrottle();
MasashiNomura 38:24ee50452755 75 float getUserMotAxlRaw();
MasashiNomura 38:24ee50452755 76 float getUserEngTrottleRaw();
MasashiNomura 33:eb260dbfc22a 77
MasashiNomura 23:79e20be4bc5b 78 bool chkOverIDLE();
MasashiNomura 23:79e20be4bc5b 79 bool chkInRangeIDLE();
MasashiNomura 31:56c554c560c1 80 void chkSW(enmHbState stat);
MasashiNomura 23:79e20be4bc5b 81 bool chkSWUserOpe(HbUserOpe::SW_TYPE stype);
MasashiNomura 30:13ada1a24c59 82 bool chkSWUserOpeRE(HbUserOpe::SW_TYPE stype);//立ち上がり検出
MasashiNomura 23:79e20be4bc5b 83 bool chkSWUserOpeAny();
MasashiNomura 36:2cc739c7e4cb 84 bool chkSWUserOpeBoth(HbUserOpe::SW_TYPE stype1, HbUserOpe::SW_TYPE stype2);
MasashiNomura 36:2cc739c7e4cb 85
MasashiNomura 23:79e20be4bc5b 86 typUserSw getUserSw();
takeru0x1103 17:f9610f3cfa1b 87 };
takeru0x1103 0:ecd925601fc6 88
takeru0x1103 0:ecd925601fc6 89 /////////////////////////////////////////////////////////////////////
takeru0x1103 16:05b9e44889f1 90 #endif