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Dependencies:   mbed FreeRTOS

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

Committer:
MasashiNomura
Date:
Mon Mar 11 02:25:41 2019 +0000
Revision:
63:aee44afe6363
Parent:
56:f363a6877c6a
Child:
66:0b3b290137b6
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 46:5074781a28dd 1 /////////////////////////////////////
MasashiNomura 46:5074781a28dd 2 /// RTOS関連------------------
takeru0x1103 1:15ab74f0d0f1 3 #include "FreeRTOS.h"
takeru0x1103 1:15ab74f0d0f1 4 #include "task.h"
MasashiNomura 46:5074781a28dd 5 /// ------------------RTOS関連
MasashiNomura 46:5074781a28dd 6 /////////////////////////////////////
takeru0x1103 21:78302ecdb661 7
takeru0x1103 17:f9610f3cfa1b 8 #include "globalFlags.h"
takeru0x1103 17:f9610f3cfa1b 9 #include "HbManager.h"
takeru0x1103 18:5aa48aec9cae 10 #include "hbCommand.h"
takeru0x1103 18:5aa48aec9cae 11 #include "uart.h"
MasashiNomura 24:c5945aaae777 12 #include "fpga.h"
takeru0x1103 1:15ab74f0d0f1 13
takeru0x1103 18:5aa48aec9cae 14 //タスクハンドル（停止とか再開に必要）
takeru0x1103 18:5aa48aec9cae 15 static xTaskHandle tskHandle[3]={NULL,};
takeru0x1103 1:15ab74f0d0f1 16
takeru0x1103 21:78302ecdb661 17 //------------------
takeru0x1103 18:5aa48aec9cae 18 //タスク停止
takeru0x1103 18:5aa48aec9cae 19 //------------------
takeru0x1103 18:5aa48aec9cae 20 static void taskStop(int iId){
takeru0x1103 18:5aa48aec9cae 21 sp.printf("Task[%d] Stop\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 22 vTaskSuspend(tskHandle[iId]);//タスクを止める
takeru0x1103 18:5aa48aec9cae 23 }
takeru0x1103 18:5aa48aec9cae 24
takeru0x1103 21:78302ecdb661 25 //------------------
takeru0x1103 18:5aa48aec9cae 26 //タスク再開
takeru0x1103 18:5aa48aec9cae 27 //------------------
takeru0x1103 18:5aa48aec9cae 28 static void taskStart(int iId){
takeru0x1103 18:5aa48aec9cae 29 sp.printf("Task[%d] Start!!\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 30 vTaskResume(tskHandle[iId]);//タスク再開
takeru0x1103 18:5aa48aec9cae 31 }
takeru0x1103 18:5aa48aec9cae 32
takeru0x1103 18:5aa48aec9cae 33 //========================================================
takeru0x1103 21:78302ecdb661 34 //コマンド解析タスク
takeru0x1103 21:78302ecdb661 35 //========================================================
takeru0x1103 21:78302ecdb661 36 void taskCmdParser(void *pvParameters){
takeru0x1103 21:78302ecdb661 37 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 38 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 39
takeru0x1103 21:78302ecdb661 40 // vTaskDelay(300);//制御タスクを先に走らせたいので待たす
takeru0x1103 21:78302ecdb661 41
takeru0x1103 21:78302ecdb661 42 while(1){
takeru0x1103 21:78302ecdb661 43 led2=!led2;
takeru0x1103 21:78302ecdb661 44 //コマンド解釈
takeru0x1103 21:78302ecdb661 45 commandParse();
takeru0x1103 21:78302ecdb661 46
takeru0x1103 21:78302ecdb661 47 //
MasashiNomura 24:c5945aaae777 48 // if(gf_Armed){
MasashiNomura 24:c5945aaae777 49 // setState(WAKEUP);
MasashiNomura 24:c5945aaae777 50 // gf_Armed = false;
MasashiNomura 24:c5945aaae777 51 // // taskStop(0);//制御タスクを止める
MasashiNomura 24:c5945aaae777 52 // // taskStart(2);//デバッグタスク再開
MasashiNomura 24:c5945aaae777 53 // }
MasashiNomura 22:24c9c2dedca9 54 // else{
MasashiNomura 22:24c9c2dedca9 55 // taskStop(2);//デバッグタスクを止める
MasashiNomura 22:24c9c2dedca9 56 // taskStart(0);//制御タスク再開
MasashiNomura 22:24c9c2dedca9 57 // }//switch
takeru0x1103 21:78302ecdb661 58
takeru0x1103 21:78302ecdb661 59 //次の周期まで待つ
takeru0x1103 21:78302ecdb661 60 vTaskDelayUntil(&xLastWakeTime, 50 / portTICK_RATE_MS );
takeru0x1103 21:78302ecdb661 61 }
takeru0x1103 21:78302ecdb661 62 }
takeru0x1103 21:78302ecdb661 63 //========================================================
takeru0x1103 17:f9610f3cfa1b 64 //ホバーバイク制御タスク
takeru0x1103 18:5aa48aec9cae 65 //========================================================
takeru0x1103 17:f9610f3cfa1b 66 void taskHbControl(void *pvParameters){
takeru0x1103 21:78302ecdb661 67 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 68 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 69
takeru0x1103 17:f9610f3cfa1b 70 HbManager hb;
takeru0x1103 8:1ca49cb18290 71
MasashiNomura 37:d51dacb4c30f 72 bool bTmp;
MasashiNomura 56:f363a6877c6a 73
MasashiNomura 36:2cc739c7e4cb 74 INT16 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 75 INT16 cntSW2 = 0;
MasashiNomura 33:eb260dbfc22a 76 INT16 AxlRpm;
MasashiNomura 36:2cc739c7e4cb 77 INT16 TrtlVal;
MasashiNomura 38:24ee50452755 78 float AxlRow;
MasashiNomura 48:71aec693a7dc 79
MasashiNomura 63:aee44afe6363 80 INT16 MotorOffsetValue = 1500;
MasashiNomura 48:71aec693a7dc 81
takeru0x1103 1:15ab74f0d0f1 82 while(1){
MasashiNomura 41:45c982b1c5b6 83 // DISPLAY LED
takeru0x1103 16:05b9e44889f1 84 led1=!led1;
MasashiNomura 41:45c982b1c5b6 85 setDO4LED(gf_State);
MasashiNomura 41:45c982b1c5b6 86
MasashiNomura 39:1b76f7df8804 87 hb.proofOfSurvival();
MasashiNomura 56:f363a6877c6a 88
MasashiNomura 24:c5945aaae777 89 // PID係数アップデートチェック
MasashiNomura 24:c5945aaae777 90 if(gf_PidParaUpdate){
MasashiNomura 24:c5945aaae777 91 hb.setAttPara(g_PidPara);
MasashiNomura 24:c5945aaae777 92 sp.printf("Pp : [%f]\r\n",g_PidPara.PP);
MasashiNomura 24:c5945aaae777 93 sp.printf("P : [%f]\r\n",g_PidPara.P);
MasashiNomura 24:c5945aaae777 94 sp.printf("I : [%f]\r\n",g_PidPara.I);
MasashiNomura 24:c5945aaae777 95 sp.printf("D : [%f]\r\n",g_PidPara.D);
MasashiNomura 24:c5945aaae777 96 sp.printf("IMAX: [%f]\r\n",g_PidPara.IMax);
MasashiNomura 24:c5945aaae777 97 sp.printf("IMIN: [%f]\r\n",g_PidPara.IMin);
MasashiNomura 31:56c554c560c1 98 sp.printf("V : [%f]\r\n",g_PidPara.V);
MasashiNomura 48:71aec693a7dc 99 sp.printf("Mode: [%d]\r\n",g_PidPara.mode);
MasashiNomura 24:c5945aaae777 100 gf_PidParaUpdate = false;
MasashiNomura 24:c5945aaae777 101 }
MasashiNomura 37:d51dacb4c30f 102 // 確実にモーター等を止めるため
MasashiNomura 25:f3a6e7eec9c3 103 if(gf_StopMot){
MasashiNomura 29:eb3d72dd94aa 104 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 105 gf_MtReq[i].req = true;
MasashiNomura 32:7f4145cc3551 106 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 107 gf_MtReqOfs[i].req = true;
MasashiNomura 32:7f4145cc3551 108 gf_MtReqOfs[i].val = 0;
MasashiNomura 29:eb3d72dd94aa 109 }
MasashiNomura 37:d51dacb4c30f 110 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 111 gf_AxReq[i].bf.req = true;
MasashiNomura 37:d51dacb4c30f 112 gf_AxReq[i].bf.val = 0;
MasashiNomura 37:d51dacb4c30f 113 }
MasashiNomura 37:d51dacb4c30f 114 gf_FromActiveStat = isActiveState();
MasashiNomura 37:d51dacb4c30f 115 setStateF(MOT_STOP);
MasashiNomura 25:f3a6e7eec9c3 116 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 117 }
MasashiNomura 23:79e20be4bc5b 118
MasashiNomura 29:eb3d72dd94aa 119
takeru0x1103 21:78302ecdb661 120 //▼①状態読み出し系
MasashiNomura 22:24c9c2dedca9 121 hb.getAttitude(); //現在角度読み出し
MasashiNomura 39:1b76f7df8804 122 hb.getEngine(); //エンジン回転数読み出し
MasashiNomura 22:24c9c2dedca9 123 hb.getUserCommand(); //操作ボタン状態読み出し
MasashiNomura 29:eb3d72dd94aa 124
takeru0x1103 21:78302ecdb661 125 //▼②ステート遷移
MasashiNomura 22:24c9c2dedca9 126 switch(gf_State){
MasashiNomura 22:24c9c2dedca9 127 case SLEEP:
MasashiNomura 36:2cc739c7e4cb 128 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 129 sp.printf("SLEEP state\r\n");
MasashiNomura 36:2cc739c7e4cb 130 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 131 }
MasashiNomura 36:2cc739c7e4cb 132 // DEBUGタスクスタートフラグの監視
MasashiNomura 22:24c9c2dedca9 133 if(gf_Dbg){
MasashiNomura 24:c5945aaae777 134 gf_Dbg = false;
MasashiNomura 22:24c9c2dedca9 135 taskStart(2);
MasashiNomura 22:24c9c2dedca9 136 }
MasashiNomura 37:d51dacb4c30f 137 if(hb.chkSWUserOpeAny()){
MasashiNomura 37:d51dacb4c30f 138 typUserSw sw = hb.getUserSw();
MasashiNomura 38:24ee50452755 139 } else {
MasashiNomura 41:45c982b1c5b6 140 if(gf_Print.d2.bf.ain){
MasashiNomura 40:debe99e228d3 141 AxlRow = hb.getUserMotAxlRaw();
MasashiNomura 41:45c982b1c5b6 142 sp.printf("MotAxl:%f ",AxlRow);
MasashiNomura 38:24ee50452755 143 }
MasashiNomura 37:d51dacb4c30f 144 }
MasashiNomura 36:2cc739c7e4cb 145 // 浮上（離陸）ボタン、着陸ボタンの同時長押し監視
MasashiNomura 36:2cc739c7e4cb 146 if(hb.chkSWUserOpeBoth(HbUserOpe::FLT_ON,HbUserOpe::FLT_OFF)){
MasashiNomura 36:2cc739c7e4cb 147 ++cntSW1;
MasashiNomura 36:2cc739c7e4cb 148 if(cntSW1 > 30){
MasashiNomura 36:2cc739c7e4cb 149 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 150 setStateF(CHK_EG_ENT);
MasashiNomura 36:2cc739c7e4cb 151 }
MasashiNomura 36:2cc739c7e4cb 152 }
MasashiNomura 36:2cc739c7e4cb 153 else {
MasashiNomura 36:2cc739c7e4cb 154 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 155 }
MasashiNomura 36:2cc739c7e4cb 156 if(hb.chkSWUserOpeBoth(HbUserOpe::BRK_L, HbUserOpe::BRK_R)){
MasashiNomura 36:2cc739c7e4cb 157 ++cntSW2;
MasashiNomura 36:2cc739c7e4cb 158 if(cntSW2 > 30){
MasashiNomura 36:2cc739c7e4cb 159 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 160 setStateF(WAKEUP);
MasashiNomura 36:2cc739c7e4cb 161 }
MasashiNomura 36:2cc739c7e4cb 162 }
MasashiNomura 36:2cc739c7e4cb 163 else {
MasashiNomura 36:2cc739c7e4cb 164 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 165 }
MasashiNomura 22:24c9c2dedca9 166 break;
MasashiNomura 22:24c9c2dedca9 167 case WAKEUP:
MasashiNomura 36:2cc739c7e4cb 168 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 169 //スイッチが何も押されていないことの確認
MasashiNomura 36:2cc739c7e4cb 170 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 171 sp.printf("WAKEUP state\r\n");
MasashiNomura 36:2cc739c7e4cb 172 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 173 }
MasashiNomura 36:2cc739c7e4cb 174 }
MasashiNomura 36:2cc739c7e4cb 175 else
MasashiNomura 36:2cc739c7e4cb 176 {
MasashiNomura 36:2cc739c7e4cb 177 //各種モーター
MasashiNomura 36:2cc739c7e4cb 178 //機材のチェック
MasashiNomura 36:2cc739c7e4cb 179 hb.calAtt();//現在値でヨー角校正
MasashiNomura 36:2cc739c7e4cb 180 //モーター用のアナログ入力が下げられているかの確認
MasashiNomura 36:2cc739c7e4cb 181 AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 182 if(AxlRpm > 0){
MasashiNomura 36:2cc739c7e4cb 183 // 将来的に警告音等
MasashiNomura 38:24ee50452755 184 sp.printf("Warning!! Motor Accel Opened!![%d]\r\n",AxlRpm);
MasashiNomura 36:2cc739c7e4cb 185 setStateF(SLEEP);
MasashiNomura 36:2cc739c7e4cb 186 } else {
MasashiNomura 36:2cc739c7e4cb 187 setState(STANDBY);
MasashiNomura 36:2cc739c7e4cb 188 }
MasashiNomura 35:3779201b4c73 189 }
MasashiNomura 22:24c9c2dedca9 190 break;
MasashiNomura 22:24c9c2dedca9 191 case STANDBY:
MasashiNomura 36:2cc739c7e4cb 192 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 193 // モーター回転数のチェック→モーターの回転数をオフセット値まで上げる
MasashiNomura 36:2cc739c7e4cb 194 // TODO
MasashiNomura 36:2cc739c7e4cb 195 sp.printf("STANDBY state\r\n");
MasashiNomura 36:2cc739c7e4cb 196 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 197 }
MasashiNomura 36:2cc739c7e4cb 198 else {
MasashiNomura 40:debe99e228d3 199
MasashiNomura 25:f3a6e7eec9c3 200 if(hb.chkInRangeIDLE()){
MasashiNomura 47:d3fa874f336e 201 //hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 202 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 203 }
MasashiNomura 25:f3a6e7eec9c3 204 else{
MasashiNomura 25:f3a6e7eec9c3 205 // デバッグのためここもスルー
MasashiNomura 47:d3fa874f336e 206 //hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 207 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 208 }
MasashiNomura 23:79e20be4bc5b 209 }
MasashiNomura 22:24c9c2dedca9 210 break;
MasashiNomura 22:24c9c2dedca9 211 case IDLE:
MasashiNomura 36:2cc739c7e4cb 212 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 213 sp.printf("IDLE state\r\n");
MasashiNomura 56:f363a6877c6a 214 hb.setAccelVal(FRONT,0);
MasashiNomura 56:f363a6877c6a 215 hb.setAccelVal(REAR, 0);
MasashiNomura 36:2cc739c7e4cb 216 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 217 }
MasashiNomura 23:79e20be4bc5b 218 //SWのチェック
MasashiNomura 31:56c554c560c1 219 hb.chkSW(IDLE);
MasashiNomura 56:f363a6877c6a 220 // AxlRpm = hb.getUserMotAxl();
MasashiNomura 56:f363a6877c6a 221 // hb.setMotVal(R_L,AxlRpm);
MasashiNomura 56:f363a6877c6a 222 // hb.setMotVal(R_R,AxlRpm);
MasashiNomura 46:5074781a28dd 223 // hb.setMotValOfs(R_L,AxlRpm);
MasashiNomura 46:5074781a28dd 224 // hb.setMotValOfs(R_R,AxlRpm);
MasashiNomura 22:24c9c2dedca9 225 break;
MasashiNomura 47:d3fa874f336e 226 case UPPER_IDLE:
MasashiNomura 47:d3fa874f336e 227 if(gf_StateEnt){
MasashiNomura 47:d3fa874f336e 228 sp.printf("UPPER IDLE state\r\n");
MasashiNomura 47:d3fa874f336e 229 hb.calAtt();//現在値でヨー角校正
MasashiNomura 63:aee44afe6363 230 //
MasashiNomura 47:d3fa874f336e 231 gf_StateEnt = false;
MasashiNomura 47:d3fa874f336e 232 }
MasashiNomura 47:d3fa874f336e 233 //SWのチェック
MasashiNomura 47:d3fa874f336e 234 hb.chkSW(UPPER_IDLE);
MasashiNomura 56:f363a6877c6a 235 // AxlRpm = hb.getUserMotAxl();
MasashiNomura 56:f363a6877c6a 236 // hb.setMotVal(R_L,AxlRpm);
MasashiNomura 56:f363a6877c6a 237 // hb.setMotVal(R_R,AxlRpm);
MasashiNomura 47:d3fa874f336e 238 break;
MasashiNomura 22:24c9c2dedca9 239 case TAKE_OFF:
MasashiNomura 36:2cc739c7e4cb 240 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 241 sp.printf("TAKE_OFF state\r\n");
MasashiNomura 63:aee44afe6363 242 hb.setMotTakeOffOffset();
MasashiNomura 47:d3fa874f336e 243 hb.calAtt();//現在値でヨー角校正
MasashiNomura 36:2cc739c7e4cb 244 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 245 }
MasashiNomura 23:79e20be4bc5b 246 // エンジン回転数のチェック
MasashiNomura 23:79e20be4bc5b 247 // 着陸ボタンが優先度が高いので先に判定、たが、まだ作ってないのでコメントアウト
MasashiNomura 40:debe99e228d3 248 // if(hb.chkSWUserOpe(HbUserOpe::STOP)){
MasashiNomura 23:79e20be4bc5b 249 // setState(GROUND);
MasashiNomura 23:79e20be4bc5b 250 // }
MasashiNomura 23:79e20be4bc5b 251 //else
MasashiNomura 34:234b87f3e6ce 252 hb.chkSW(TAKE_OFF);
MasashiNomura 56:f363a6877c6a 253 // AxlRpm = hb.getUserMotAxl();
MasashiNomura 56:f363a6877c6a 254 // hb.setMotVal(R_L,AxlRpm);
MasashiNomura 56:f363a6877c6a 255 // hb.setMotVal(R_R,AxlRpm);
MasashiNomura 46:5074781a28dd 256 // hb.setMotValOfs(R_L,AxlRpm);
MasashiNomura 46:5074781a28dd 257 // hb.setMotValOfs(R_R,AxlRpm);
MasashiNomura 22:24c9c2dedca9 258 break;
MasashiNomura 22:24c9c2dedca9 259 case GROUND:
MasashiNomura 36:2cc739c7e4cb 260 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 261 sp.printf("GROUND state\r\n");
MasashiNomura 56:f363a6877c6a 262 for(int i = 0; i < 4; ++i){
MasashiNomura 56:f363a6877c6a 263 gf_MtReq[i].req = true;
MasashiNomura 56:f363a6877c6a 264 gf_MtReq[i].val = 0;
MasashiNomura 56:f363a6877c6a 265 gf_MtReqOfs[i].req = true;
MasashiNomura 56:f363a6877c6a 266 gf_MtReqOfs[i].val = 0;
MasashiNomura 56:f363a6877c6a 267 gf_MtReqU[i].req = true;
MasashiNomura 56:f363a6877c6a 268 gf_MtReqU[i].val = 0;
MasashiNomura 56:f363a6877c6a 269 }
MasashiNomura 36:2cc739c7e4cb 270 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 271 }
MasashiNomura 23:79e20be4bc5b 272 // そのままスルー
MasashiNomura 36:2cc739c7e4cb 273 // TODO エンジン回転数が一定以下になることを確認する
MasashiNomura 23:79e20be4bc5b 274 setState(IDLE);
MasashiNomura 22:24c9c2dedca9 275 break;
MasashiNomura 22:24c9c2dedca9 276 case HOVER:
MasashiNomura 36:2cc739c7e4cb 277 gf_StateEnt = false;
MasashiNomura 23:79e20be4bc5b 278 //
MasashiNomura 22:24c9c2dedca9 279 break;
MasashiNomura 22:24c9c2dedca9 280 case DRIVE:
MasashiNomura 36:2cc739c7e4cb 281 gf_StateEnt = false;
MasashiNomura 22:24c9c2dedca9 282 break;
MasashiNomura 22:24c9c2dedca9 283 case EMGGND:
MasashiNomura 36:2cc739c7e4cb 284 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 285 break;
MasashiNomura 36:2cc739c7e4cb 286 case CHK_EG_ENT:
MasashiNomura 36:2cc739c7e4cb 287 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 288 sp.printf("Check Engine enter\r\n");
MasashiNomura 36:2cc739c7e4cb 289 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 290 }
MasashiNomura 36:2cc739c7e4cb 291 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 292 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 293 if(TrtlVal > 10){
MasashiNomura 38:24ee50452755 294 sp.printf("Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 295 break;
MasashiNomura 36:2cc739c7e4cb 296 } else {
MasashiNomura 38:24ee50452755 297 hb.clearHvAxl();
MasashiNomura 36:2cc739c7e4cb 298 setState(CHK_EG_F);
MasashiNomura 36:2cc739c7e4cb 299 }
MasashiNomura 36:2cc739c7e4cb 300 }
MasashiNomura 36:2cc739c7e4cb 301 break;
MasashiNomura 36:2cc739c7e4cb 302 case CHK_EG_F:
MasashiNomura 36:2cc739c7e4cb 303 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 304 sp.printf("Check Engine Front\r\n");
MasashiNomura 36:2cc739c7e4cb 305 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 306 }
MasashiNomura 36:2cc739c7e4cb 307 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 308 hb.setAccelVal(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 309 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 38:24ee50452755 310 sp.printf("FRONT Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 311 hb.setHvAxl(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 312 }
MasashiNomura 36:2cc739c7e4cb 313 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 314 if(hb.chkSetHvAxl(FRONT)){
MasashiNomura 41:45c982b1c5b6 315 gf_AxReq[0].bf.req = true;
MasashiNomura 41:45c982b1c5b6 316 gf_AxReq[0].bf.val = 0;
MasashiNomura 36:2cc739c7e4cb 317 setState(CHK_EG_MID);
MasashiNomura 36:2cc739c7e4cb 318 }
MasashiNomura 36:2cc739c7e4cb 319 }
MasashiNomura 36:2cc739c7e4cb 320 break;
MasashiNomura 36:2cc739c7e4cb 321 case CHK_EG_MID:
MasashiNomura 36:2cc739c7e4cb 322 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 323 sp.printf("Check Engine MIDDLE\r\n");
MasashiNomura 36:2cc739c7e4cb 324 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 325 }
MasashiNomura 36:2cc739c7e4cb 326 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 327 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 328 if(TrtlVal > 10){
MasashiNomura 36:2cc739c7e4cb 329 break;
MasashiNomura 36:2cc739c7e4cb 330 } else {
MasashiNomura 36:2cc739c7e4cb 331 setState(CHK_EG_R);
MasashiNomura 36:2cc739c7e4cb 332 }
MasashiNomura 36:2cc739c7e4cb 333 }
MasashiNomura 36:2cc739c7e4cb 334 break;
MasashiNomura 36:2cc739c7e4cb 335 case CHK_EG_R:
MasashiNomura 36:2cc739c7e4cb 336 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 337 sp.printf("Check Engine Rear\r\n");
MasashiNomura 36:2cc739c7e4cb 338 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 339 }
MasashiNomura 36:2cc739c7e4cb 340 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 341 hb.setAccelVal(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 342 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 38:24ee50452755 343 sp.printf("REAR Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 344 hb.setHvAxl(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 345 }
MasashiNomura 36:2cc739c7e4cb 346 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 347 if(hb.chkSetHvAxl(REAR)){
MasashiNomura 41:45c982b1c5b6 348 gf_AxReq[1].bf.req = true;
MasashiNomura 41:45c982b1c5b6 349 gf_AxReq[1].bf.val = 0;
MasashiNomura 36:2cc739c7e4cb 350 setState(CHK_EG_EXIT);
MasashiNomura 36:2cc739c7e4cb 351 }
MasashiNomura 36:2cc739c7e4cb 352 }
MasashiNomura 36:2cc739c7e4cb 353 break;
MasashiNomura 36:2cc739c7e4cb 354 case CHK_EG_EXIT:
MasashiNomura 36:2cc739c7e4cb 355 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 356 sp.printf("Check Engine Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 357 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 358 }
MasashiNomura 36:2cc739c7e4cb 359 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 360 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 361 if(TrtlVal > 10){
MasashiNomura 36:2cc739c7e4cb 362 break;
MasashiNomura 36:2cc739c7e4cb 363 } else {
MasashiNomura 36:2cc739c7e4cb 364 setState(SLEEP);
MasashiNomura 36:2cc739c7e4cb 365 }
MasashiNomura 36:2cc739c7e4cb 366 }
MasashiNomura 22:24c9c2dedca9 367 break;
MasashiNomura 23:79e20be4bc5b 368 case CHK_ENT: //チェックエンター
MasashiNomura 36:2cc739c7e4cb 369 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 370 sp.printf("Check enter\r\n");
MasashiNomura 36:2cc739c7e4cb 371 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 372 }
MasashiNomura 38:24ee50452755 373 //setStateF(CHK_MOT);
MasashiNomura 23:79e20be4bc5b 374 break;
MasashiNomura 23:79e20be4bc5b 375 case CHK_MOT: //モーターチェック
MasashiNomura 36:2cc739c7e4cb 376 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 377 sp.printf("Check Motor\r\n");
MasashiNomura 36:2cc739c7e4cb 378 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 379 }
MasashiNomura 38:24ee50452755 380 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 23:79e20be4bc5b 381 break;
MasashiNomura 23:79e20be4bc5b 382 case CHK_AXL: //アクセルサーボチェック
MasashiNomura 36:2cc739c7e4cb 383 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 384 sp.printf("Check Accel Servo\r\n");
MasashiNomura 36:2cc739c7e4cb 385 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 386 }
MasashiNomura 38:24ee50452755 387 //TrtlVal = hb.getUserEngTrottle();
MasashiNomura 23:79e20be4bc5b 388 break;
MasashiNomura 23:79e20be4bc5b 389 case CHK_ATT: //姿勢制御チェック
MasashiNomura 36:2cc739c7e4cb 390 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 391 sp.printf("Check Attitude\r\n");
MasashiNomura 36:2cc739c7e4cb 392 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 393 }
MasashiNomura 23:79e20be4bc5b 394 break;
MasashiNomura 23:79e20be4bc5b 395 case CHK_EXIT: //チェックステート脱出
MasashiNomura 36:2cc739c7e4cb 396 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 397 sp.printf("Check Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 398 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 399 }
MasashiNomura 23:79e20be4bc5b 400 break;
MasashiNomura 25:f3a6e7eec9c3 401 case MOT_STOP:
MasashiNomura 36:2cc739c7e4cb 402 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 403 sp.printf("Motor Stop\r\n");
MasashiNomura 36:2cc739c7e4cb 404 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 405 }
MasashiNomura 37:d51dacb4c30f 406 bTmp = true;
MasashiNomura 37:d51dacb4c30f 407 for(int i = 0; i < 4; ++i){
MasashiNomura 37:d51dacb4c30f 408 if(gf_MtReq[i].req){
MasashiNomura 37:d51dacb4c30f 409 bTmp = false;
MasashiNomura 37:d51dacb4c30f 410 break;
MasashiNomura 37:d51dacb4c30f 411 }
MasashiNomura 37:d51dacb4c30f 412 if(gf_MtReqOfs[i].req){
MasashiNomura 37:d51dacb4c30f 413 bTmp = false;
MasashiNomura 37:d51dacb4c30f 414 break;
MasashiNomura 37:d51dacb4c30f 415 }
MasashiNomura 37:d51dacb4c30f 416 }
MasashiNomura 37:d51dacb4c30f 417 if(!bTmp)break;
MasashiNomura 37:d51dacb4c30f 418 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 419 if(gf_AxReq[i].bf.req){
MasashiNomura 37:d51dacb4c30f 420 bTmp = false;
MasashiNomura 37:d51dacb4c30f 421 break;
MasashiNomura 37:d51dacb4c30f 422 }
MasashiNomura 37:d51dacb4c30f 423 }
MasashiNomura 37:d51dacb4c30f 424 if(bTmp){
MasashiNomura 37:d51dacb4c30f 425 if(gf_FromActiveStat){
MasashiNomura 40:debe99e228d3 426 setStateF(IDLE);
MasashiNomura 37:d51dacb4c30f 427 }
MasashiNomura 37:d51dacb4c30f 428 else{
MasashiNomura 37:d51dacb4c30f 429 setStateF(SLEEP);
MasashiNomura 37:d51dacb4c30f 430 }
MasashiNomura 37:d51dacb4c30f 431 }
MasashiNomura 37:d51dacb4c30f 432
MasashiNomura 32:7f4145cc3551 433 // if(hb.stopMotor() == true){
MasashiNomura 32:7f4145cc3551 434 // hb.initMotVal();
MasashiNomura 32:7f4145cc3551 435 // setState(SLEEP);
MasashiNomura 32:7f4145cc3551 436 // sp.printf("MOTOR STOPPED!\r\n");
MasashiNomura 32:7f4145cc3551 437 // }
MasashiNomura 32:7f4145cc3551 438 // else{
MasashiNomura 32:7f4145cc3551 439 // sp.printf(".");
MasashiNomura 32:7f4145cc3551 440 // }
MasashiNomura 25:f3a6e7eec9c3 441 break;
MasashiNomura 22:24c9c2dedca9 442 }
takeru0x1103 21:78302ecdb661 443
takeru0x1103 21:78302ecdb661 444 //▼③各種設定
MasashiNomura 56:f363a6877c6a 445 hb.controlAttitude(); //姿勢制御
MasashiNomura 56:f363a6877c6a 446 hb.controlMotor();//モーター指令出し
MasashiNomura 56:f363a6877c6a 447 hb.controlEngine(gf_State);//エンジン指令出し
MasashiNomura 31:56c554c560c1 448
MasashiNomura 41:45c982b1c5b6 449 if(gf_Print.d1.bf.stat){
MasashiNomura 41:45c982b1c5b6 450 sp.printf("stat : [%X] ",gf_State);
MasashiNomura 23:79e20be4bc5b 451 }
takeru0x1103 18:5aa48aec9cae 452 //表示フラグを落とす（けどモニタフラグが立ってる箇所は残る）
MasashiNomura 41:45c982b1c5b6 453 if(gf_Print.d1.flg!=0 || gf_Print.d2.flg!=0){
MasashiNomura 41:45c982b1c5b6 454 gf_Print.d1.flg=gf_Mon.d1.flg;
MasashiNomura 41:45c982b1c5b6 455 gf_Print.d2.flg=gf_Mon.d2.flg;
MasashiNomura 26:732bc37fbefd 456 sp.printf("\r\n");
MasashiNomura 26:732bc37fbefd 457 }
takeru0x1103 1:15ab74f0d0f1 458
takeru0x1103 1:15ab74f0d0f1 459 //次の周期まで待つ
takeru0x1103 1:15ab74f0d0f1 460 vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
takeru0x1103 1:15ab74f0d0f1 461 }
takeru0x1103 1:15ab74f0d0f1 462 }
takeru0x1103 18:5aa48aec9cae 463 //========================================================
takeru0x1103 21:78302ecdb661 464 //タスク２：デバッグ用タスク
takeru0x1103 18:5aa48aec9cae 465 //========================================================
takeru0x1103 18:5aa48aec9cae 466 void taskDebug(void *pvParameters){
takeru0x1103 21:78302ecdb661 467
takeru0x1103 21:78302ecdb661 468 taskStop(2);//自ら止めてレジュームされるまで待つ
MasashiNomura 24:c5945aaae777 469 UCHAR Num;
MasashiNomura 24:c5945aaae777 470 INT16 iVal;
MasashiNomura 25:f3a6e7eec9c3 471 //bool rvFlg;
MasashiNomura 24:c5945aaae777 472
takeru0x1103 21:78302ecdb661 473 //この関数をリターンしてしまうと他のタスクも止まるのでwhileで回すこと！
takeru0x1103 18:5aa48aec9cae 474 while(1){
MasashiNomura 24:c5945aaae777 475 for(Num = 0; Num < 8; ++Num){
MasashiNomura 24:c5945aaae777 476 for(iVal = 50; iVal < 300; ++iVal){
MasashiNomura 24:c5945aaae777 477 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 478 wait(0.002);
MasashiNomura 24:c5945aaae777 479 }
MasashiNomura 24:c5945aaae777 480 for(iVal = 300; iVal >= 50; --iVal){
MasashiNomura 24:c5945aaae777 481 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 482 wait(0.002);
MasashiNomura 24:c5945aaae777 483 }
MasashiNomura 24:c5945aaae777 484 }
MasashiNomura 23:79e20be4bc5b 485 //自タスク停止させて次の周期まで待つ
MasashiNomura 22:24c9c2dedca9 486 gf_Dbg = false;
MasashiNomura 23:79e20be4bc5b 487 sp.printf("Do DebugTask!");
takeru0x1103 18:5aa48aec9cae 488 taskStop(2);
takeru0x1103 18:5aa48aec9cae 489 }
takeru0x1103 18:5aa48aec9cae 490 }
takeru0x1103 17:f9610f3cfa1b 491
takeru0x1103 1:15ab74f0d0f1 492 //-------------------------------------------------------------
takeru0x1103 17:f9610f3cfa1b 493 //初期化：タスク登録
takeru0x1103 1:15ab74f0d0f1 494 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 495 void taskInit(){
takeru0x1103 21:78302ecdb661 496 portBASE_TYPE TaskRtn;//タスククリエイトの結果を受け取る型
takeru0x1103 18:5aa48aec9cae 497
takeru0x1103 21:78302ecdb661 498 //タスク０：コマンド解析タスク
MasashiNomura 26:732bc37fbefd 499 TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 512, NULL, 1, &tskHandle[0]);
takeru0x1103 21:78302ecdb661 500 if(TaskRtn==pdTRUE){sp.printf("Task0 Set : Command parser\r\n");}
takeru0x1103 21:78302ecdb661 501
takeru0x1103 21:78302ecdb661 502 //タスク１：制御タスク
MasashiNomura 28:fdb3b144e342 503 TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 1024, NULL, 2, &tskHandle[1]);
takeru0x1103 21:78302ecdb661 504 if(TaskRtn==pdTRUE){sp.printf("Task1 Set : Hoverbike Control\r\n");}
takeru0x1103 21:78302ecdb661 505
takeru0x1103 21:78302ecdb661 506 //タスク２：デバッグタスク
MasashiNomura 23:79e20be4bc5b 507 TaskRtn= xTaskCreate(taskDebug, (signed portCHAR *)"TaskDebug", 192, NULL, 0, &tskHandle[2]);
takeru0x1103 21:78302ecdb661 508 if(TaskRtn==pdTRUE){sp.printf("Task2 Set : Debug\r\n");}
takeru0x1103 8:1ca49cb18290 509
takeru0x1103 21:78302ecdb661 510 //RTOSカーネル起動（タスクが走り出す）
takeru0x1103 1:15ab74f0d0f1 511 vTaskStartScheduler();
takeru0x1103 1:15ab74f0d0f1 512 }
takeru0x1103 1:15ab74f0d0f1 513
takeru0x1103 1:15ab74f0d0f1 514