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Dependencies:   mbed FreeRTOS

globalFlags.cpp@24:c5945aaae777, 2018-12-10 (annotated)

Committer:
MasashiNomura
Date:
Mon Dec 10 12:29:37 2018 +0000
Revision:
24:c5945aaae777
Parent:
23:79e20be4bc5b
Child:
25:f3a6e7eec9c3
2018/12/10  dbg etc

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
takeru0x1103 19:4b0fe9a5ec38 19 typPrintFlag gf_Print ;//
takeru0x1103 19:4b0fe9a5ec38 20 typPrintFlag gf_Mon ;//
takeru0x1103 19:4b0fe9a5ec38 21 typCalFlag gf_Cal ;//
MasashiNomura 22:24c9c2dedca9 22 //typAccel gf_AxReq[2] ={0,} ;//アクセル更新
MasashiNomura 22:24c9c2dedca9 23 //typAccel gf_MtReq[4] ={0,} ;//モーター更新
MasashiNomura 22:24c9c2dedca9 24 typAccel gf_AxReq[2] ;//アクセル更新フラグ
MasashiNomura 22:24c9c2dedca9 25 typAccel gf_MtReq[4] ;//モーター更新フラグ
MasashiNomura 22:24c9c2dedca9 26
MasashiNomura 22:24c9c2dedca9 27 enmHbState gf_State = SLEEP;
takeru0x1103 19:4b0fe9a5ec38 28
MasashiNomura 24:c5945aaae777 29 bool gf_PidParaUpdate ;//PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 24:c5945aaae777 30 typPidPara g_PidPara ;//PID Pp,P,I,Dの係数の外部設定用
takeru0x1103 20:0394e15412c3 31
MasashiNomura 22:24c9c2dedca9 32 void initFlags(){
MasashiNomura 22:24c9c2dedca9 33 memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
MasashiNomura 22:24c9c2dedca9 34 gf_CmdPrs = false;
MasashiNomura 22:24c9c2dedca9 35 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 36 gf_Dbg = false;
MasashiNomura 22:24c9c2dedca9 37 gf_Print.flg = 0;
MasashiNomura 22:24c9c2dedca9 38 gf_Mon.flg = 0;
MasashiNomura 22:24c9c2dedca9 39 gf_Cal.flg = 0;
MasashiNomura 22:24c9c2dedca9 40 gf_AxReq[0].dt = 0;
MasashiNomura 22:24c9c2dedca9 41 gf_AxReq[1].dt = 0;
MasashiNomura 22:24c9c2dedca9 42 gf_MtReq[0].dt = 0;
MasashiNomura 22:24c9c2dedca9 43 gf_MtReq[1].dt = 0;
MasashiNomura 22:24c9c2dedca9 44 gf_MtReq[2].dt = 0;
MasashiNomura 22:24c9c2dedca9 45 gf_MtReq[3].dt = 0;
MasashiNomura 22:24c9c2dedca9 46 gf_State = SLEEP;
MasashiNomura 24:c5945aaae777 47 g_PidPara.PP = 4;
MasashiNomura 24:c5945aaae777 48 g_PidPara.P = 4;
MasashiNomura 24:c5945aaae777 49 g_PidPara.I = 0.02;
MasashiNomura 24:c5945aaae777 50 g_PidPara.D = 0;
MasashiNomura 24:c5945aaae777 51 g_PidPara.IMax = 2000;
MasashiNomura 24:c5945aaae777 52 g_PidPara.IMin = -2000;
MasashiNomura 22:24c9c2dedca9 53 }
MasashiNomura 22:24c9c2dedca9 54
MasashiNomura 22:24c9c2dedca9 55 void setState(enmHbState stat){
MasashiNomura 22:24c9c2dedca9 56 // ありえない遷移を排除
MasashiNomura 22:24c9c2dedca9 57 if(gf_State == SLEEP){if(stat != WAKEUP) return;}
MasashiNomura 22:24c9c2dedca9 58 if(gf_State == WAKEUP){if(stat != STANDBY) return;}
MasashiNomura 22:24c9c2dedca9 59 if(gf_State == STANDBY){if(stat !=IDLE) return;}
MasashiNomura 23:79e20be4bc5b 60 if(gf_State == IDLE){if(stat != TAKE_OFF && stat != SLEEP) return;}
MasashiNomura 23:79e20be4bc5b 61 if(gf_State == TAKE_OFF){if(stat != HOVER && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 62 if(gf_State == GROUND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 63 if(gf_State == HOVER){if(stat != DRIVE && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 64 if(gf_State == DRIVE){if(stat != HOVER && stat != EMGGND) return;}
MasashiNomura 22:24c9c2dedca9 65 if(gf_State == EMGGND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 66
MasashiNomura 23:79e20be4bc5b 67 sp.printf("state: %d\r\n",stat);
MasashiNomura 22:24c9c2dedca9 68 gf_State = stat;
MasashiNomura 22:24c9c2dedca9 69 }
MasashiNomura 23:79e20be4bc5b 70 void setStateF(enmHbState stat){
MasashiNomura 23:79e20be4bc5b 71 sp.printf("state: %d\r\n",stat);
MasashiNomura 23:79e20be4bc5b 72 enmHbState tmp;
MasashiNomura 23:79e20be4bc5b 73 if((UINT16)stat > CHK_EXIT){
MasashiNomura 23:79e20be4bc5b 74 tmp = SLEEP;
MasashiNomura 23:79e20be4bc5b 75 }
MasashiNomura 23:79e20be4bc5b 76 else
MasashiNomura 23:79e20be4bc5b 77 {
MasashiNomura 23:79e20be4bc5b 78 tmp = stat;
MasashiNomura 23:79e20be4bc5b 79 }
MasashiNomura 23:79e20be4bc5b 80 gf_State = tmp;
MasashiNomura 23:79e20be4bc5b 81 }
takeru0x1103 21:78302ecdb661 82 /*
takeru0x1103 19:4b0fe9a5ec38 83 //===========================================
takeru0x1103 19:4b0fe9a5ec38 84 //コンストラクタ
takeru0x1103 19:4b0fe9a5ec38 85 //===========================================
takeru0x1103 19:4b0fe9a5ec38 86 GlobalFlags::GlobalFlags(){
takeru0x1103 19:4b0fe9a5ec38 87 //初期ステート
takeru0x1103 21:78302ecdb661 88 state = SLEEP;
takeru0x1103 19:4b0fe9a5ec38 89 //ステートキュー初期化
takeru0x1103 19:4b0fe9a5ec38 90 for(int i=0; i<STATE_QUE_SIZ; i++){
takeru0x1103 19:4b0fe9a5ec38 91 stateQueue[i] = NONE;
takeru0x1103 19:4b0fe9a5ec38 92 }
takeru0x1103 19:4b0fe9a5ec38 93 rp = wp = 0;//先頭を指す
takeru0x1103 19:4b0fe9a5ec38 94 full = false;//最初はエンプティ
takeru0x1103 19:4b0fe9a5ec38 95 empty = true;
takeru0x1103 19:4b0fe9a5ec38 96 }
takeru0x1103 19:4b0fe9a5ec38 97
takeru0x1103 21:78302ecdb661 98
takeru0x1103 19:4b0fe9a5ec38 99 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 100 //ステートのFIFOにプッシュする
takeru0x1103 19:4b0fe9a5ec38 101 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 102 bool GlobalFlags::push(enmHbState iState){
takeru0x1103 19:4b0fe9a5ec38 103 if(full){
takeru0x1103 19:4b0fe9a5ec38 104 return false;//FFULLフラグが立ってら入力を受け付けない
takeru0x1103 19:4b0fe9a5ec38 105 }else{
takeru0x1103 19:4b0fe9a5ec38 106 stateQueue[wp] = iState;//キューに突っ込んで
takeru0x1103 19:4b0fe9a5ec38 107 wp = (wp==STATE_QUE_SIZ) ? 0 : wp+1;//ライトポインタを進める
takeru0x1103 19:4b0fe9a5ec38 108 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 109 empty = false;
takeru0x1103 19:4b0fe9a5ec38 110 return true;
takeru0x1103 19:4b0fe9a5ec38 111 }
takeru0x1103 19:4b0fe9a5ec38 112 }
takeru0x1103 19:4b0fe9a5ec38 113
takeru0x1103 19:4b0fe9a5ec38 114 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 115 //ステートFIFOから次の予約ステートを引き抜く
takeru0x1103 19:4b0fe9a5ec38 116 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 117 bool GlobalFlags::pull(){
takeru0x1103 19:4b0fe9a5ec38 118 if(empty){
takeru0x1103 19:4b0fe9a5ec38 119 return false;//EMPTYだったら引き抜けない
takeru0x1103 19:4b0fe9a5ec38 120 }else{
takeru0x1103 19:4b0fe9a5ec38 121 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 122 stateQueue[rp] = NONE;//バッファを消す
takeru0x1103 19:4b0fe9a5ec38 123 rp = (rp==STATE_QUE_SIZ) ? 0 : rp+1;//リードポインタを進める
takeru0x1103 19:4b0fe9a5ec38 124 full = false; //フルではなくなる
takeru0x1103 19:4b0fe9a5ec38 125 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 126 return true;
takeru0x1103 19:4b0fe9a5ec38 127 }
takeru0x1103 19:4b0fe9a5ec38 128 }
takeru0x1103 21:78302ecdb661 129 */
takeru0x1103 19:4b0fe9a5ec38 130
takeru0x1103 19:4b0fe9a5ec38 131