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Dependencies:   mbed FreeRTOS

globalFlags.cpp@63:aee44afe6363, 2019-03-11 (annotated)

Committer:
MasashiNomura
Date:
Mon Mar 11 02:25:41 2019 +0000
Revision:
63:aee44afe6363
Parent:
59:6b4dcd964d0f
Child:
73:0720e5550476
2019/03/11 add default value for PID para and accel step etc.

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 63:aee44afe6363 47 typAxlRpm gf_MtDefaultOffset; //!< モーターのTAKE_OFFステート時に使用するデフォルトオフセット値更新
MasashiNomura 45:3b51dd26b579 48 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 49
YutakaTakagi 59:6b4dcd964d0f 50 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 51
MasashiNomura 45:3b51dd26b579 52 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 53
MasashiNomura 45:3b51dd26b579 54 enmHbState gf_State = SLEEP; //!< 現在のステートを格納する変数
MasashiNomura 45:3b51dd26b579 55 bool gf_StateEnt; //!< 状態遷移後、最初であることを示す
MasashiNomura 45:3b51dd26b579 56
MasashiNomura 45:3b51dd26b579 57 bool gf_PidParaUpdate; //!< PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 45:3b51dd26b579 58 typPidPara g_PidPara; //!< PID Pp,P,I,Dの係数の外部設定用
MasashiNomura 45:3b51dd26b579 59
MasashiNomura 25:f3a6e7eec9c3 60
MasashiNomura 22:24c9c2dedca9 61 void initFlags(){
MasashiNomura 22:24c9c2dedca9 62 memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
MasashiNomura 22:24c9c2dedca9 63 gf_CmdPrs = false;
MasashiNomura 22:24c9c2dedca9 64 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 65 gf_Dbg = false;
MasashiNomura 25:f3a6e7eec9c3 66 gf_StopMot = false;
MasashiNomura 43:156199c2f9b6 67
MasashiNomura 43:156199c2f9b6 68 gf_BlinkLED = false;
MasashiNomura 25:f3a6e7eec9c3 69
MasashiNomura 41:45c982b1c5b6 70 // gf_Print.flg = 0;
MasashiNomura 41:45c982b1c5b6 71 // gf_Mon.flg = 0;
MasashiNomura 41:45c982b1c5b6 72 gf_Print.d1.flg = 0;
MasashiNomura 41:45c982b1c5b6 73 gf_Print.d2.flg = 0;
MasashiNomura 39:1b76f7df8804 74
MasashiNomura 22:24c9c2dedca9 75 gf_Cal.flg = 0;
MasashiNomura 26:732bc37fbefd 76
MasashiNomura 41:45c982b1c5b6 77 //gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 78
MasashiNomura 43:156199c2f9b6 79 // engine
MasashiNomura 43:156199c2f9b6 80 for(int i = 0; i < 2; ++i){
MasashiNomura 43:156199c2f9b6 81 gf_AxReq[i].dt = 0;
MasashiNomura 43:156199c2f9b6 82 gf_AxReqH[i].dt = 0;
MasashiNomura 43:156199c2f9b6 83 gf_AxStepReq[i].bf.req = false;
MasashiNomura 50:76413e8e073d 84 gf_AxStepReq[i].bf.val = 30;
MasashiNomura 53:b09c062cc31c 85 gf_AxAdjStepReq[i].bf.req = false;
MasashiNomura 63:aee44afe6363 86 gf_AxAdjStepReq[i].bf.val = 50;
MasashiNomura 43:156199c2f9b6 87 }
MasashiNomura 43:156199c2f9b6 88
MasashiNomura 27:ff63c23bc689 89 for(int i=0; i<4;++i){
MasashiNomura 32:7f4145cc3551 90 gf_MtReq[i].req = false;
MasashiNomura 32:7f4145cc3551 91 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 92 gf_MtReqOfs[i].req = false;
MasashiNomura 32:7f4145cc3551 93 gf_MtReqOfs[i].val = 0;
MasashiNomura 32:7f4145cc3551 94 gf_MtReqU[i].req = false;
MasashiNomura 32:7f4145cc3551 95 gf_MtReqU[i].val = 0;
MasashiNomura 50:76413e8e073d 96 gf_MtAttOfs[i].req = false;
MasashiNomura 50:76413e8e073d 97 gf_MtAttOfs[i].val = 0;
MasashiNomura 27:ff63c23bc689 98 }
MasashiNomura 56:f363a6877c6a 99 gf_MtBrk.req = false;
MasashiNomura 56:f363a6877c6a 100 gf_MtBrk.val = DEF_BRK_RPM;
YutakaTakagi 59:6b4dcd964d0f 101 gf_AngBrk.req = false;
YutakaTakagi 59:6b4dcd964d0f 102 gf_AngBrk.val = DEF_BRK_ANG;
MasashiNomura 56:f363a6877c6a 103
MasashiNomura 63:aee44afe6363 104 gf_MtDefaultOffset.req = false;
MasashiNomura 63:aee44afe6363 105 gf_MtDefaultOffset.val = DEF_MOT_OFFSET;
MasashiNomura 63:aee44afe6363 106
MasashiNomura 27:ff63c23bc689 107 for(int i = 0; i < 8; ++i){
MasashiNomura 32:7f4145cc3551 108 gf_MtReqDct[i].req = false;
MasashiNomura 32:7f4145cc3551 109 gf_MtReqDct[i].val = 0;
MasashiNomura 27:ff63c23bc689 110 }
MasashiNomura 42:cc8501b824ba 111
MasashiNomura 42:cc8501b824ba 112 gf_SwCmd.dt = 0;
MasashiNomura 42:cc8501b824ba 113
MasashiNomura 22:24c9c2dedca9 114 gf_State = SLEEP;
MasashiNomura 36:2cc739c7e4cb 115 gf_StateEnt = false;
MasashiNomura 27:ff63c23bc689 116 g_PidPara.PP = 2;
MasashiNomura 63:aee44afe6363 117 g_PidPara.P = 700000;
MasashiNomura 63:aee44afe6363 118 g_PidPara.I = 200000;
MasashiNomura 63:aee44afe6363 119 g_PidPara.D = 700000;
MasashiNomura 63:aee44afe6363 120 g_PidPara.IMax = 1000000;
MasashiNomura 63:aee44afe6363 121 g_PidPara.IMin = -1000000;
MasashiNomura 50:76413e8e073d 122 g_PidPara.mode = PID_0_OFF;
MasashiNomura 50:76413e8e073d 123
MasashiNomura 36:2cc739c7e4cb 124 // for(int i = 0; i < 4; ++i){
MasashiNomura 36:2cc739c7e4cb 125 // gf_MotParaUpdate[i] = false;
MasashiNomura 36:2cc739c7e4cb 126 // g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
MasashiNomura 36:2cc739c7e4cb 127 // g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
MasashiNomura 36:2cc739c7e4cb 128 // }
MasashiNomura 22:24c9c2dedca9 129 }
MasashiNomura 35:3779201b4c73 130
MasashiNomura 41:45c982b1c5b6 131 void setDOCol(eLedCol col)
MasashiNomura 41:45c982b1c5b6 132 {
MasashiNomura 41:45c982b1c5b6 133 switch(col){
MasashiNomura 41:45c982b1c5b6 134 case WHITE:
MasashiNomura 42:cc8501b824ba 135 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 136 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 137 DO_03 = 1;
MasashiNomura 41:45c982b1c5b6 138 break;
MasashiNomura 41:45c982b1c5b6 139 case RED:
MasashiNomura 42:cc8501b824ba 140 DO_01 = 1;
MasashiNomura 41:45c982b1c5b6 141 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 142 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 143 break;
MasashiNomura 41:45c982b1c5b6 144 case GREEN:
MasashiNomura 41:45c982b1c5b6 145 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 146 DO_02 = 1;
MasashiNomura 41:45c982b1c5b6 147 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 148 break;
MasashiNomura 41:45c982b1c5b6 149 case BLUE:
MasashiNomura 41:45c982b1c5b6 150 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 151 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 152 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 153 break;
MasashiNomura 42:cc8501b824ba 154 case YELLOW:
MasashiNomura 42:cc8501b824ba 155 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 156 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 157 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 158 break;
MasashiNomura 42:cc8501b824ba 159 case PURPLE:
MasashiNomura 42:cc8501b824ba 160 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 161 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 162 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 163 break;
MasashiNomura 42:cc8501b824ba 164 case LIGHT_BLUE:
MasashiNomura 42:cc8501b824ba 165 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 166 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 167 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 168 break;
MasashiNomura 42:cc8501b824ba 169 case BLK_WHITE:
MasashiNomura 42:cc8501b824ba 170 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 171 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 172 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 173 break;
MasashiNomura 42:cc8501b824ba 174 case BLK_RED:
MasashiNomura 42:cc8501b824ba 175 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 176 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 177 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 178 break;
MasashiNomura 42:cc8501b824ba 179 case BLK_GREEN:
MasashiNomura 42:cc8501b824ba 180 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 181 DO_02 = !DO_02;
MasashiNomura 42:cc8501b824ba 182 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 183 break;
MasashiNomura 42:cc8501b824ba 184 case BLK_BLUE:
MasashiNomura 42:cc8501b824ba 185 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 186 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 187 DO_03 = !DO_03;
MasashiNomura 42:cc8501b824ba 188 break;
MasashiNomura 42:cc8501b824ba 189 case BLK_YELLOW:
MasashiNomura 41:45c982b1c5b6 190 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 191 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 192 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 193 break;
MasashiNomura 42:cc8501b824ba 194 case BLK_PURPLE:
MasashiNomura 41:45c982b1c5b6 195 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 196 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 197 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 198 break;
MasashiNomura 42:cc8501b824ba 199 case BLK_LIGHT_BLUE:
MasashiNomura 41:45c982b1c5b6 200 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 201 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 202 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 203 break;
MasashiNomura 41:45c982b1c5b6 204 case OFF:
MasashiNomura 41:45c982b1c5b6 205 default:
MasashiNomura 41:45c982b1c5b6 206 DO_01 = 0;//R
MasashiNomura 41:45c982b1c5b6 207 DO_02 = 0;//G
MasashiNomura 41:45c982b1c5b6 208 DO_03 = 0;//B
MasashiNomura 41:45c982b1c5b6 209 break;
MasashiNomura 41:45c982b1c5b6 210 }
MasashiNomura 41:45c982b1c5b6 211 }
MasashiNomura 41:45c982b1c5b6 212
MasashiNomura 41:45c982b1c5b6 213 void setDO4LED(enmHbState stat)
MasashiNomura 41:45c982b1c5b6 214 {
MasashiNomura 41:45c982b1c5b6 215 if(stat == NONE)
MasashiNomura 41:45c982b1c5b6 216 {// 消灯
MasashiNomura 41:45c982b1c5b6 217 setDOCol(OFF);
MasashiNomura 41:45c982b1c5b6 218 }
MasashiNomura 41:45c982b1c5b6 219 else if(stat == SLEEP)
MasashiNomura 41:45c982b1c5b6 220 {//YELLOW
MasashiNomura 41:45c982b1c5b6 221 setDOCol(YELLOW);
MasashiNomura 41:45c982b1c5b6 222 }
MasashiNomura 41:45c982b1c5b6 223 else if(stat == WAKEUP || stat == STANDBY)
MasashiNomura 41:45c982b1c5b6 224 {//BLUE
MasashiNomura 41:45c982b1c5b6 225 setDOCol(BLUE);
MasashiNomura 41:45c982b1c5b6 226 }
MasashiNomura 41:45c982b1c5b6 227 else if(stat == IDLE)
MasashiNomura 41:45c982b1c5b6 228 {//GREEN
MasashiNomura 41:45c982b1c5b6 229 setDOCol(GREEN);
MasashiNomura 41:45c982b1c5b6 230 }
MasashiNomura 48:71aec693a7dc 231 else if(stat == UPPER_IDLE)
MasashiNomura 48:71aec693a7dc 232 {//WHITE
MasashiNomura 48:71aec693a7dc 233 setDOCol(WHITE);
MasashiNomura 48:71aec693a7dc 234 }
MasashiNomura 41:45c982b1c5b6 235 else if(stat == TAKE_OFF || stat == HOVER || stat == DRIVE || stat == GROUND || stat == EMGGND)
MasashiNomura 41:45c982b1c5b6 236 {//PURPLE
MasashiNomura 43:156199c2f9b6 237 if(gf_BlinkLED){
MasashiNomura 43:156199c2f9b6 238 setDOCol(BLK_PURPLE);
MasashiNomura 43:156199c2f9b6 239 gf_BlinkLED = false;
MasashiNomura 43:156199c2f9b6 240 }
MasashiNomura 43:156199c2f9b6 241 else{
MasashiNomura 43:156199c2f9b6 242 setDOCol(PURPLE);
MasashiNomura 43:156199c2f9b6 243 }
MasashiNomura 41:45c982b1c5b6 244 }
MasashiNomura 42:cc8501b824ba 245 else if(stat == CHK_EG_ENT || stat == CHK_EG_MID || stat == CHK_EG_EXIT)
MasashiNomura 41:45c982b1c5b6 246 {//LIGHT BLUE
MasashiNomura 41:45c982b1c5b6 247 setDOCol(LIGHT_BLUE);
MasashiNomura 41:45c982b1c5b6 248 }
MasashiNomura 42:cc8501b824ba 249 else if(stat == CHK_EG_F || stat == CHK_EG_R )
MasashiNomura 42:cc8501b824ba 250 {//BLK_LIGHT BLUE
MasashiNomura 42:cc8501b824ba 251 setDOCol(BLK_LIGHT_BLUE);
MasashiNomura 42:cc8501b824ba 252 }
MasashiNomura 41:45c982b1c5b6 253 else if(stat == CHK_ENT || stat == CHK_MOT || stat == CHK_AXL || stat == CHK_ATT || stat == CHK_EXIT)
MasashiNomura 41:45c982b1c5b6 254 {//WHITE
MasashiNomura 41:45c982b1c5b6 255 setDOCol(WHITE);
MasashiNomura 41:45c982b1c5b6 256 }
MasashiNomura 41:45c982b1c5b6 257 else/* if(stat == MOT_STOP)*/
MasashiNomura 41:45c982b1c5b6 258 {
MasashiNomura 41:45c982b1c5b6 259 setDOCol(RED);
MasashiNomura 41:45c982b1c5b6 260 }
MasashiNomura 41:45c982b1c5b6 261 }
MasashiNomura 41:45c982b1c5b6 262
MasashiNomura 22:24c9c2dedca9 263 void setState(enmHbState stat){
MasashiNomura 22:24c9c2dedca9 264 // ありえない遷移を排除
MasashiNomura 22:24c9c2dedca9 265 if(gf_State == SLEEP){if(stat != WAKEUP) return;}
MasashiNomura 22:24c9c2dedca9 266 if(gf_State == WAKEUP){if(stat != STANDBY) return;}
MasashiNomura 22:24c9c2dedca9 267 if(gf_State == STANDBY){if(stat !=IDLE) return;}
MasashiNomura 23:79e20be4bc5b 268 if(gf_State == IDLE){if(stat != TAKE_OFF && stat != SLEEP) return;}
MasashiNomura 23:79e20be4bc5b 269 if(gf_State == TAKE_OFF){if(stat != HOVER && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 270 if(gf_State == GROUND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 271 if(gf_State == HOVER){if(stat != DRIVE && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 272 if(gf_State == DRIVE){if(stat != HOVER && stat != EMGGND) return;}
MasashiNomura 22:24c9c2dedca9 273 if(gf_State == EMGGND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 274
MasashiNomura 23:79e20be4bc5b 275 sp.printf("state: %d\r\n",stat);
MasashiNomura 22:24c9c2dedca9 276 gf_State = stat;
MasashiNomura 36:2cc739c7e4cb 277 gf_StateEnt = true;
MasashiNomura 22:24c9c2dedca9 278 }
MasashiNomura 23:79e20be4bc5b 279 void setStateF(enmHbState stat){
MasashiNomura 23:79e20be4bc5b 280 sp.printf("state: %d\r\n",stat);
MasashiNomura 23:79e20be4bc5b 281 enmHbState tmp;
MasashiNomura 25:f3a6e7eec9c3 282 if((UINT16)stat > MOT_STOP){
MasashiNomura 23:79e20be4bc5b 283 tmp = SLEEP;
MasashiNomura 23:79e20be4bc5b 284 }
MasashiNomura 23:79e20be4bc5b 285 else
MasashiNomura 23:79e20be4bc5b 286 {
MasashiNomura 23:79e20be4bc5b 287 tmp = stat;
MasashiNomura 23:79e20be4bc5b 288 }
MasashiNomura 23:79e20be4bc5b 289 gf_State = tmp;
MasashiNomura 36:2cc739c7e4cb 290 gf_StateEnt = true;
MasashiNomura 23:79e20be4bc5b 291 }
MasashiNomura 37:d51dacb4c30f 292
MasashiNomura 37:d51dacb4c30f 293 bool isActiveState(){
MasashiNomura 37:d51dacb4c30f 294 if(gf_State >= IDLE && gf_State <= EMGGND){
MasashiNomura 37:d51dacb4c30f 295 return true;
MasashiNomura 37:d51dacb4c30f 296 }
MasashiNomura 37:d51dacb4c30f 297 else {
MasashiNomura 37:d51dacb4c30f 298 return false;
MasashiNomura 37:d51dacb4c30f 299 }
MasashiNomura 37:d51dacb4c30f 300 }
MasashiNomura 37:d51dacb4c30f 301
MasashiNomura 33:eb260dbfc22a 302