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Dependencies:   mbed FreeRTOS

HbManager.h@53:b09c062cc31c, 2019-03-04 (annotated)

Committer:
MasashiNomura
Date:
Mon Mar 04 04:03:23 2019 +0000
Revision:
53:b09c062cc31c
Parent:
50:76413e8e073d
Child:
56:f363a6877c6a
2019/03/04 add engine adjust step

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
takeru0x1103 18:5aa48aec9cae 20 UINT16 accelVal[2] ;//
MasashiNomura 36:2cc739c7e4cb 21 float nowTrgtAng; //目標ヨー角
takeru0x1103 19:4b0fe9a5ec38 22 float nowAngle ;//現在ヨー角
takeru0x1103 19:4b0fe9a5ec38 23 float nowRate ;//現在加速度
MasashiNomura 22:24c9c2dedca9 24 typUserSw usrSW ;//ユーザー操作SW
takeru0x1103 19:4b0fe9a5ec38 25 //メンバクラス
takeru0x1103 18:5aa48aec9cae 26 HbEngine *eng[2] ;//エンジン制御クラス
takeru0x1103 18:5aa48aec9cae 27 HbAttitude *att ;//姿勢制御クラス
MasashiNomura 28:fdb3b144e342 28 //HbMotor *mot[4] ;//モーター制御クラス
MasashiNomura 28:fdb3b144e342 29 HbSubProp *subProp[4] ;//モーター制御クラス
takeru0x1103 18:5aa48aec9cae 30 Imu *imu ;//慣性計測装置
MasashiNomura 22:24c9c2dedca9 31
MasashiNomura 22:24c9c2dedca9 32 HbUserOpe *ope ;//ユーザー操作
MasashiNomura 22:24c9c2dedca9 33
MasashiNomura 24:c5945aaae777 34 //INT16 motVal; // モーターチェック用モーター値
MasashiNomura 24:c5945aaae777 35 //short motNum; // モーターチェック用モーター番号
MasashiNomura 24:c5945aaae777 36
takeru0x1103 17:f9610f3cfa1b 37 public:
takeru0x1103 17:f9610f3cfa1b 38 HbManager();
MasashiNomura 39:1b76f7df8804 39 // TestSPIRead Task生存証明用アクセスProof of survival
MasashiNomura 39:1b76f7df8804 40 UINT16 proofOfSurvival();
MasashiNomura 38:24ee50452755 41 // Attitude
takeru0x1103 18:5aa48aec9cae 42 void getAttitude();
MasashiNomura 25:f3a6e7eec9c3 43 void calAtt();
takeru0x1103 18:5aa48aec9cae 44 void controlAttitude();
MasashiNomura 24:c5945aaae777 45 void controlAttitude(float cmdAngle);
MasashiNomura 24:c5945aaae777 46 void setAttPara(typPidPara para);
MasashiNomura 38:24ee50452755 47 // Motor
takeru0x1103 18:5aa48aec9cae 48 void controlMotor();
MasashiNomura 29:eb3d72dd94aa 49 void addMotVal(eMotPos pos, INT16 add);
MasashiNomura 29:eb3d72dd94aa 50 void subMotVal(eMotPos pos, INT16 add);
MasashiNomura 30:13ada1a24c59 51 INT16 getCurMotVal(eMotPos pos);
MasashiNomura 30:13ada1a24c59 52 void setMotVal(eMotPos pos, INT16 val);
MasashiNomura 46:5074781a28dd 53 void setMotValOfs(eMotPos pos, INT16 val);
MasashiNomura 40:debe99e228d3 54 void setFpgaMot(eMotPos pos,eMotType type, INT16 val);
MasashiNomura 36:2cc739c7e4cb 55 //void setMotFPGA(UCHAR num, INT16 val);
MasashiNomura 27:ff63c23bc689 56
MasashiNomura 38:24ee50452755 57 // Engine
MasashiNomura 39:1b76f7df8804 58 void getEngine();
takeru0x1103 17:f9610f3cfa1b 59 void controlEngine();
MasashiNomura 46:5074781a28dd 60 void controlEngine(enmHbState stat);
MasashiNomura 46:5074781a28dd 61
MasashiNomura 36:2cc739c7e4cb 62 void clearHvAxl();
MasashiNomura 36:2cc739c7e4cb 63 bool chkSetHvAxl(eEgPos pos);
MasashiNomura 36:2cc739c7e4cb 64 void setHvAxl(eEgPos pos, INT16 val);
MasashiNomura 38:24ee50452755 65 INT16 getHvAxl(eEgPos pos);
MasashiNomura 36:2cc739c7e4cb 66 void setAccelVal(eEgPos pos, INT16 val);
MasashiNomura 39:1b76f7df8804 67 INT16 getAccelVal(eEgPos pos);
MasashiNomura 36:2cc739c7e4cb 68
takeru0x1103 17:f9610f3cfa1b 69 void getUserCommand();
MasashiNomura 33:eb260dbfc22a 70 INT16 getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 71 INT16 getUserEngTrottle();
MasashiNomura 38:24ee50452755 72 float getUserMotAxlRaw();
MasashiNomura 38:24ee50452755 73 float getUserEngTrottleRaw();
MasashiNomura 33:eb260dbfc22a 74
MasashiNomura 23:79e20be4bc5b 75 bool chkOverIDLE();
MasashiNomura 23:79e20be4bc5b 76 bool chkInRangeIDLE();
MasashiNomura 31:56c554c560c1 77 void chkSW(enmHbState stat);
MasashiNomura 23:79e20be4bc5b 78 bool chkSWUserOpe(HbUserOpe::SW_TYPE stype);
MasashiNomura 30:13ada1a24c59 79 bool chkSWUserOpeRE(HbUserOpe::SW_TYPE stype);//立ち上がり検出
MasashiNomura 23:79e20be4bc5b 80 bool chkSWUserOpeAny();
MasashiNomura 36:2cc739c7e4cb 81 bool chkSWUserOpeBoth(HbUserOpe::SW_TYPE stype1, HbUserOpe::SW_TYPE stype2);
MasashiNomura 36:2cc739c7e4cb 82
MasashiNomura 23:79e20be4bc5b 83 typUserSw getUserSw();
takeru0x1103 17:f9610f3cfa1b 84 };
takeru0x1103 0:ecd925601fc6 85
takeru0x1103 0:ecd925601fc6 86 /////////////////////////////////////////////////////////////////////
takeru0x1103 16:05b9e44889f1 87 #endif