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Dependencies:   mbed FreeRTOS

userTask.cpp@47:d3fa874f336e, 2019-02-20 (annotated)

Committer:
MasashiNomura
Date:
Wed Feb 20 12:54:25 2019 +0000
Revision:
47:d3fa874f336e
Parent:
46:5074781a28dd
Child:
48:71aec693a7dc
2019/02/20 Add State "UPPER_IDLE"

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 23:79e20be4bc5b 72 bool bDoCtrlAtt;
MasashiNomura 23:79e20be4bc5b 73 bool bDoCtrlMot;
MasashiNomura 31:56c554c560c1 74 bool bDoCtrlEng;
MasashiNomura 37:d51dacb4c30f 75 bool bTmp;
MasashiNomura 31:56c554c560c1 76 //INT16 tmpRpm, difRpm;
MasashiNomura 36:2cc739c7e4cb 77 INT16 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 78 INT16 cntSW2 = 0;
MasashiNomura 33:eb260dbfc22a 79 INT16 AxlRpm;
MasashiNomura 36:2cc739c7e4cb 80 INT16 TrtlVal;
MasashiNomura 38:24ee50452755 81 float AxlRow;
MasashiNomura 46:5074781a28dd 82 //float TrtlRow;
takeru0x1103 1:15ab74f0d0f1 83 while(1){
MasashiNomura 41:45c982b1c5b6 84 // DISPLAY LED
takeru0x1103 16:05b9e44889f1 85 led1=!led1;
MasashiNomura 41:45c982b1c5b6 86 setDO4LED(gf_State);
MasashiNomura 41:45c982b1c5b6 87
MasashiNomura 39:1b76f7df8804 88 hb.proofOfSurvival();
MasashiNomura 23:79e20be4bc5b 89 bDoCtrlAtt = false;
MasashiNomura 23:79e20be4bc5b 90 bDoCtrlMot = false;
MasashiNomura 31:56c554c560c1 91 bDoCtrlEng = false;
MasashiNomura 24:c5945aaae777 92 // PID係数アップデートチェック
MasashiNomura 24:c5945aaae777 93 if(gf_PidParaUpdate){
MasashiNomura 24:c5945aaae777 94 hb.setAttPara(g_PidPara);
MasashiNomura 24:c5945aaae777 95 sp.printf("Pp : [%f]\r\n",g_PidPara.PP);
MasashiNomura 24:c5945aaae777 96 sp.printf("P : [%f]\r\n",g_PidPara.P);
MasashiNomura 24:c5945aaae777 97 sp.printf("I : [%f]\r\n",g_PidPara.I);
MasashiNomura 24:c5945aaae777 98 sp.printf("D : [%f]\r\n",g_PidPara.D);
MasashiNomura 24:c5945aaae777 99 sp.printf("IMAX: [%f]\r\n",g_PidPara.IMax);
MasashiNomura 24:c5945aaae777 100 sp.printf("IMIN: [%f]\r\n",g_PidPara.IMin);
MasashiNomura 31:56c554c560c1 101 sp.printf("V : [%f]\r\n",g_PidPara.V);
MasashiNomura 24:c5945aaae777 102 gf_PidParaUpdate = false;
MasashiNomura 24:c5945aaae777 103 }
MasashiNomura 37:d51dacb4c30f 104 // 確実にモーター等を止めるため
MasashiNomura 25:f3a6e7eec9c3 105 if(gf_StopMot){
MasashiNomura 29:eb3d72dd94aa 106 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 107 gf_MtReq[i].req = true;
MasashiNomura 32:7f4145cc3551 108 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 109 gf_MtReqOfs[i].req = true;
MasashiNomura 32:7f4145cc3551 110 gf_MtReqOfs[i].val = 0;
MasashiNomura 29:eb3d72dd94aa 111 }
MasashiNomura 37:d51dacb4c30f 112 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 113 gf_AxReq[i].bf.req = true;
MasashiNomura 37:d51dacb4c30f 114 gf_AxReq[i].bf.val = 0;
MasashiNomura 37:d51dacb4c30f 115 }
MasashiNomura 37:d51dacb4c30f 116 gf_FromActiveStat = isActiveState();
MasashiNomura 37:d51dacb4c30f 117 setStateF(MOT_STOP);
MasashiNomura 25:f3a6e7eec9c3 118 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 119 }
MasashiNomura 23:79e20be4bc5b 120
MasashiNomura 29:eb3d72dd94aa 121
takeru0x1103 21:78302ecdb661 122 //▼①状態読み出し系
MasashiNomura 22:24c9c2dedca9 123 hb.getAttitude(); //現在角度読み出し
MasashiNomura 39:1b76f7df8804 124 hb.getEngine(); //エンジン回転数読み出し
MasashiNomura 22:24c9c2dedca9 125 hb.getUserCommand(); //操作ボタン状態読み出し
MasashiNomura 29:eb3d72dd94aa 126
takeru0x1103 21:78302ecdb661 127 //▼②ステート遷移
MasashiNomura 22:24c9c2dedca9 128 switch(gf_State){
MasashiNomura 22:24c9c2dedca9 129 case SLEEP:
MasashiNomura 36:2cc739c7e4cb 130 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 131 sp.printf("SLEEP state\r\n");
MasashiNomura 36:2cc739c7e4cb 132 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 133 }
MasashiNomura 36:2cc739c7e4cb 134 // DEBUGタスクスタートフラグの監視
MasashiNomura 22:24c9c2dedca9 135 if(gf_Dbg){
MasashiNomura 24:c5945aaae777 136 gf_Dbg = false;
MasashiNomura 22:24c9c2dedca9 137 taskStart(2);
MasashiNomura 22:24c9c2dedca9 138 }
MasashiNomura 37:d51dacb4c30f 139 if(hb.chkSWUserOpeAny()){
MasashiNomura 37:d51dacb4c30f 140 typUserSw sw = hb.getUserSw();
MasashiNomura 41:45c982b1c5b6 141 //sp.printf("%d%d%d%d%d%d%d%d%d%d\r\n",sw.bf.brk_l,sw.bf.flt_off,sw.bf.r_eng_down,sw.bf.r_eng_up,sw.bf.rsv_1
MasashiNomura 41:45c982b1c5b6 142 // ,sw.bf.brk_r,sw.bf.flt_on,sw.bf.f_eng_down,sw.bf.f_eng_up, sw.bf.all_stop);
MasashiNomura 38:24ee50452755 143 } else {
MasashiNomura 38:24ee50452755 144 //TrtlRow = hb.getUserEngTrottleRaw();
MasashiNomura 41:45c982b1c5b6 145 if(gf_Print.d2.bf.ain){
MasashiNomura 40:debe99e228d3 146 AxlRow = hb.getUserMotAxlRaw();
MasashiNomura 41:45c982b1c5b6 147 sp.printf("MotAxl:%f ",AxlRow);
MasashiNomura 38:24ee50452755 148 }
MasashiNomura 37:d51dacb4c30f 149 }
MasashiNomura 36:2cc739c7e4cb 150 // 浮上（離陸）ボタン、着陸ボタンの同時長押し監視
MasashiNomura 36:2cc739c7e4cb 151 if(hb.chkSWUserOpeBoth(HbUserOpe::FLT_ON,HbUserOpe::FLT_OFF)){
MasashiNomura 36:2cc739c7e4cb 152 ++cntSW1;
MasashiNomura 36:2cc739c7e4cb 153 if(cntSW1 > 30){
MasashiNomura 36:2cc739c7e4cb 154 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 155 setStateF(CHK_EG_ENT);
MasashiNomura 36:2cc739c7e4cb 156 }
MasashiNomura 36:2cc739c7e4cb 157 }
MasashiNomura 36:2cc739c7e4cb 158 else {
MasashiNomura 36:2cc739c7e4cb 159 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 160 }
MasashiNomura 36:2cc739c7e4cb 161 if(hb.chkSWUserOpeBoth(HbUserOpe::BRK_L, HbUserOpe::BRK_R)){
MasashiNomura 36:2cc739c7e4cb 162 ++cntSW2;
MasashiNomura 36:2cc739c7e4cb 163 if(cntSW2 > 30){
MasashiNomura 36:2cc739c7e4cb 164 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 165 setStateF(WAKEUP);
MasashiNomura 36:2cc739c7e4cb 166 }
MasashiNomura 36:2cc739c7e4cb 167 }
MasashiNomura 36:2cc739c7e4cb 168 else {
MasashiNomura 36:2cc739c7e4cb 169 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 170 }
MasashiNomura 40:debe99e228d3 171 // Debug用
MasashiNomura 40:debe99e228d3 172 bDoCtrlMot = true;
MasashiNomura 22:24c9c2dedca9 173 break;
MasashiNomura 22:24c9c2dedca9 174 case WAKEUP:
MasashiNomura 36:2cc739c7e4cb 175 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 176 //スイッチが何も押されていないことの確認
MasashiNomura 36:2cc739c7e4cb 177 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 178 sp.printf("WAKEUP state\r\n");
MasashiNomura 36:2cc739c7e4cb 179 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 180 }
MasashiNomura 36:2cc739c7e4cb 181 }
MasashiNomura 36:2cc739c7e4cb 182 else
MasashiNomura 36:2cc739c7e4cb 183 {
MasashiNomura 36:2cc739c7e4cb 184 //各種モーター
MasashiNomura 36:2cc739c7e4cb 185 //機材のチェック
MasashiNomura 36:2cc739c7e4cb 186 hb.calAtt();//現在値でヨー角校正
MasashiNomura 36:2cc739c7e4cb 187 //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 188 AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 189 if(AxlRpm > 0){
MasashiNomura 36:2cc739c7e4cb 190 // 将来的に警告音等
MasashiNomura 38:24ee50452755 191 sp.printf("Warning!! Motor Accel Opened!![%d]\r\n",AxlRpm);
MasashiNomura 36:2cc739c7e4cb 192 setStateF(SLEEP);
MasashiNomura 36:2cc739c7e4cb 193 } else {
MasashiNomura 36:2cc739c7e4cb 194 setState(STANDBY);
MasashiNomura 36:2cc739c7e4cb 195 }
MasashiNomura 35:3779201b4c73 196 }
MasashiNomura 22:24c9c2dedca9 197 break;
MasashiNomura 22:24c9c2dedca9 198 case STANDBY:
MasashiNomura 36:2cc739c7e4cb 199 bDoCtrlMot = true;
MasashiNomura 36:2cc739c7e4cb 200 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 201 // 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 202 // TODO
MasashiNomura 36:2cc739c7e4cb 203 sp.printf("STANDBY state\r\n");
MasashiNomura 36:2cc739c7e4cb 204 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 205 }
MasashiNomura 36:2cc739c7e4cb 206 else {
MasashiNomura 40:debe99e228d3 207
MasashiNomura 25:f3a6e7eec9c3 208 if(hb.chkInRangeIDLE()){
MasashiNomura 47:d3fa874f336e 209 //hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 210 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 211 }
MasashiNomura 25:f3a6e7eec9c3 212 else{
MasashiNomura 25:f3a6e7eec9c3 213 // デバッグのためここもスルー
MasashiNomura 47:d3fa874f336e 214 //hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 215 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 216 }
MasashiNomura 23:79e20be4bc5b 217 }
MasashiNomura 22:24c9c2dedca9 218 break;
MasashiNomura 22:24c9c2dedca9 219 case IDLE:
MasashiNomura 36:2cc739c7e4cb 220 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 221 sp.printf("IDLE state\r\n");
MasashiNomura 36:2cc739c7e4cb 222 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 223 }
MasashiNomura 23:79e20be4bc5b 224 //SWのチェック
MasashiNomura 31:56c554c560c1 225 hb.chkSW(IDLE);
MasashiNomura 33:eb260dbfc22a 226 AxlRpm = hb.getUserMotAxl();
MasashiNomura 33:eb260dbfc22a 227 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 33:eb260dbfc22a 228 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 46:5074781a28dd 229 // hb.setMotValOfs(R_L,AxlRpm);
MasashiNomura 46:5074781a28dd 230 // hb.setMotValOfs(R_R,AxlRpm);
MasashiNomura 31:56c554c560c1 231 bDoCtrlEng = true;
MasashiNomura 25:f3a6e7eec9c3 232 bDoCtrlMot = true;
MasashiNomura 40:debe99e228d3 233 //bDoCtrlAtt = true;
MasashiNomura 22:24c9c2dedca9 234 break;
MasashiNomura 47:d3fa874f336e 235 case UPPER_IDLE:
MasashiNomura 47:d3fa874f336e 236 if(gf_StateEnt){
MasashiNomura 47:d3fa874f336e 237 sp.printf("UPPER IDLE state\r\n");
MasashiNomura 47:d3fa874f336e 238 hb.calAtt();//現在値でヨー角校正
MasashiNomura 47:d3fa874f336e 239 gf_StateEnt = false;
MasashiNomura 47:d3fa874f336e 240 }
MasashiNomura 47:d3fa874f336e 241 //SWのチェック
MasashiNomura 47:d3fa874f336e 242 hb.chkSW(UPPER_IDLE);
MasashiNomura 47:d3fa874f336e 243 AxlRpm = hb.getUserMotAxl();
MasashiNomura 47:d3fa874f336e 244 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 47:d3fa874f336e 245 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 47:d3fa874f336e 246 bDoCtrlEng = true;
MasashiNomura 47:d3fa874f336e 247 bDoCtrlMot = true;
MasashiNomura 47:d3fa874f336e 248 break;
MasashiNomura 22:24c9c2dedca9 249 case TAKE_OFF:
MasashiNomura 36:2cc739c7e4cb 250 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 251 sp.printf("TAKE_OFF state\r\n");
MasashiNomura 47:d3fa874f336e 252 hb.calAtt();//現在値でヨー角校正
MasashiNomura 36:2cc739c7e4cb 253 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 254 }
MasashiNomura 23:79e20be4bc5b 255 // エンジン回転数のチェック
MasashiNomura 23:79e20be4bc5b 256 // 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 257 // if(hb.chkSWUserOpe(HbUserOpe::STOP)){
MasashiNomura 23:79e20be4bc5b 258 // setState(GROUND);
MasashiNomura 23:79e20be4bc5b 259 // }
MasashiNomura 23:79e20be4bc5b 260 //else
MasashiNomura 34:234b87f3e6ce 261 hb.chkSW(TAKE_OFF);
MasashiNomura 34:234b87f3e6ce 262 AxlRpm = hb.getUserMotAxl();
MasashiNomura 34:234b87f3e6ce 263 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 34:234b87f3e6ce 264 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 46:5074781a28dd 265 // hb.setMotValOfs(R_L,AxlRpm);
MasashiNomura 46:5074781a28dd 266 // hb.setMotValOfs(R_R,AxlRpm);
MasashiNomura 31:56c554c560c1 267 bDoCtrlEng = true;
MasashiNomura 23:79e20be4bc5b 268 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 269 bDoCtrlAtt = true;
MasashiNomura 22:24c9c2dedca9 270 break;
MasashiNomura 22:24c9c2dedca9 271 case GROUND:
MasashiNomura 36:2cc739c7e4cb 272 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 273 sp.printf("GROUND state\r\n");
MasashiNomura 36:2cc739c7e4cb 274 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 275 }
MasashiNomura 23:79e20be4bc5b 276 // そのままスルー
MasashiNomura 36:2cc739c7e4cb 277 // 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 278 setState(IDLE);
MasashiNomura 22:24c9c2dedca9 279 break;
MasashiNomura 22:24c9c2dedca9 280 case HOVER:
MasashiNomura 36:2cc739c7e4cb 281 gf_StateEnt = false;
MasashiNomura 23:79e20be4bc5b 282 //
MasashiNomura 22:24c9c2dedca9 283 break;
MasashiNomura 22:24c9c2dedca9 284 case DRIVE:
MasashiNomura 36:2cc739c7e4cb 285 gf_StateEnt = false;
MasashiNomura 22:24c9c2dedca9 286 break;
MasashiNomura 22:24c9c2dedca9 287 case EMGGND:
MasashiNomura 36:2cc739c7e4cb 288 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 289 break;
MasashiNomura 36:2cc739c7e4cb 290 case CHK_EG_ENT:
MasashiNomura 36:2cc739c7e4cb 291 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 292 sp.printf("Check Engine enter\r\n");
MasashiNomura 36:2cc739c7e4cb 293 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 294 }
MasashiNomura 36:2cc739c7e4cb 295 if(!hb.chkSWUserOpeAny()){
MasashiNomura 39:1b76f7df8804 296 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 297 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 38:24ee50452755 298 //if(AxlRpm > 0 || TrtlVal > 40){
MasashiNomura 39:1b76f7df8804 299 if(TrtlVal > 10){
MasashiNomura 38:24ee50452755 300 sp.printf("Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 301 break;
MasashiNomura 36:2cc739c7e4cb 302 } else {
MasashiNomura 38:24ee50452755 303 hb.clearHvAxl();
MasashiNomura 36:2cc739c7e4cb 304 setState(CHK_EG_F);
MasashiNomura 36:2cc739c7e4cb 305 }
MasashiNomura 36:2cc739c7e4cb 306 }
MasashiNomura 36:2cc739c7e4cb 307 break;
MasashiNomura 36:2cc739c7e4cb 308 case CHK_EG_F:
MasashiNomura 36:2cc739c7e4cb 309 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 310 sp.printf("Check Engine Front\r\n");
MasashiNomura 36:2cc739c7e4cb 311 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 312 }
MasashiNomura 36:2cc739c7e4cb 313 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 314 hb.setAccelVal(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 315 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 38:24ee50452755 316 sp.printf("FRONT Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 317 hb.setHvAxl(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 318 }
MasashiNomura 36:2cc739c7e4cb 319 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 320 if(hb.chkSetHvAxl(FRONT)){
MasashiNomura 41:45c982b1c5b6 321 gf_AxReq[0].bf.req = true;
MasashiNomura 41:45c982b1c5b6 322 //gf_AxReq[1].bf.req = true;
MasashiNomura 41:45c982b1c5b6 323 gf_AxReq[0].bf.val = 0;
MasashiNomura 41:45c982b1c5b6 324 //gf_AxReq[1].bf.val = 0;
MasashiNomura 36:2cc739c7e4cb 325 setState(CHK_EG_MID);
MasashiNomura 36:2cc739c7e4cb 326 }
MasashiNomura 36:2cc739c7e4cb 327 }
MasashiNomura 39:1b76f7df8804 328 bDoCtrlEng = true;
MasashiNomura 36:2cc739c7e4cb 329 break;
MasashiNomura 36:2cc739c7e4cb 330 case CHK_EG_MID:
MasashiNomura 36:2cc739c7e4cb 331 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 332 sp.printf("Check Engine MIDDLE\r\n");
MasashiNomura 36:2cc739c7e4cb 333 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 334 }
MasashiNomura 36:2cc739c7e4cb 335 if(!hb.chkSWUserOpeAny()){
MasashiNomura 39:1b76f7df8804 336 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 337 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 338 //if(AxlRpm > 0 || TrtlVal > 40){
MasashiNomura 39:1b76f7df8804 339 if(TrtlVal > 10){
MasashiNomura 36:2cc739c7e4cb 340 break;
MasashiNomura 36:2cc739c7e4cb 341 } else {
MasashiNomura 36:2cc739c7e4cb 342 setState(CHK_EG_R);
MasashiNomura 36:2cc739c7e4cb 343 }
MasashiNomura 36:2cc739c7e4cb 344 }
MasashiNomura 41:45c982b1c5b6 345 bDoCtrlEng = true;
MasashiNomura 36:2cc739c7e4cb 346 break;
MasashiNomura 36:2cc739c7e4cb 347 case CHK_EG_R:
MasashiNomura 36:2cc739c7e4cb 348 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 349 sp.printf("Check Engine Rear\r\n");
MasashiNomura 36:2cc739c7e4cb 350 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 351 }
MasashiNomura 36:2cc739c7e4cb 352 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 353 hb.setAccelVal(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 354 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 38:24ee50452755 355 sp.printf("REAR Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 356 hb.setHvAxl(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 357 }
MasashiNomura 36:2cc739c7e4cb 358 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 359 if(hb.chkSetHvAxl(REAR)){
MasashiNomura 41:45c982b1c5b6 360 //gf_AxReq[0].bf.req = true;
MasashiNomura 41:45c982b1c5b6 361 gf_AxReq[1].bf.req = true;
MasashiNomura 41:45c982b1c5b6 362 //gf_AxReq[0].bf.val = 0;
MasashiNomura 41:45c982b1c5b6 363 gf_AxReq[1].bf.val = 0;
MasashiNomura 36:2cc739c7e4cb 364 setState(CHK_EG_EXIT);
MasashiNomura 36:2cc739c7e4cb 365 }
MasashiNomura 36:2cc739c7e4cb 366 }
MasashiNomura 39:1b76f7df8804 367 bDoCtrlEng = true;
MasashiNomura 36:2cc739c7e4cb 368 break;
MasashiNomura 36:2cc739c7e4cb 369 case CHK_EG_EXIT:
MasashiNomura 36:2cc739c7e4cb 370 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 371 sp.printf("Check Engine Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 372 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 373 }
MasashiNomura 36:2cc739c7e4cb 374 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 375 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 376 if(TrtlVal > 10){
MasashiNomura 36:2cc739c7e4cb 377 break;
MasashiNomura 36:2cc739c7e4cb 378 } else {
MasashiNomura 36:2cc739c7e4cb 379 setState(SLEEP);
MasashiNomura 36:2cc739c7e4cb 380 }
MasashiNomura 36:2cc739c7e4cb 381 }
MasashiNomura 41:45c982b1c5b6 382 bDoCtrlEng = true;
MasashiNomura 22:24c9c2dedca9 383 break;
MasashiNomura 23:79e20be4bc5b 384 case CHK_ENT: //チェックエンター
MasashiNomura 36:2cc739c7e4cb 385 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 386 sp.printf("Check enter\r\n");
MasashiNomura 36:2cc739c7e4cb 387 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 388 }
MasashiNomura 38:24ee50452755 389 //setStateF(CHK_MOT);
MasashiNomura 23:79e20be4bc5b 390 break;
MasashiNomura 23:79e20be4bc5b 391 case CHK_MOT: //モーターチェック
MasashiNomura 36:2cc739c7e4cb 392 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 393 sp.printf("Check Motor\r\n");
MasashiNomura 36:2cc739c7e4cb 394 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 395 }
MasashiNomura 38:24ee50452755 396 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 23:79e20be4bc5b 397 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 398 break;
MasashiNomura 23:79e20be4bc5b 399 case CHK_AXL: //アクセルサーボチェック
MasashiNomura 36:2cc739c7e4cb 400 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 401 sp.printf("Check Accel Servo\r\n");
MasashiNomura 36:2cc739c7e4cb 402 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 403 }
MasashiNomura 38:24ee50452755 404 //TrtlVal = hb.getUserEngTrottle();
MasashiNomura 23:79e20be4bc5b 405 break;
MasashiNomura 23:79e20be4bc5b 406 case CHK_ATT: //姿勢制御チェック
MasashiNomura 36:2cc739c7e4cb 407 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 408 sp.printf("Check Attitude\r\n");
MasashiNomura 36:2cc739c7e4cb 409 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 410 }
MasashiNomura 23:79e20be4bc5b 411 bDoCtrlAtt = true;
MasashiNomura 23:79e20be4bc5b 412 break;
MasashiNomura 23:79e20be4bc5b 413 case CHK_EXIT: //チェックステート脱出
MasashiNomura 36:2cc739c7e4cb 414 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 415 sp.printf("Check Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 416 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 417 }
MasashiNomura 23:79e20be4bc5b 418 break;
MasashiNomura 25:f3a6e7eec9c3 419 case MOT_STOP:
MasashiNomura 36:2cc739c7e4cb 420 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 421 sp.printf("Motor Stop\r\n");
MasashiNomura 36:2cc739c7e4cb 422 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 423 }
MasashiNomura 37:d51dacb4c30f 424 bDoCtrlAtt = false;
MasashiNomura 37:d51dacb4c30f 425 bDoCtrlMot = true;
MasashiNomura 37:d51dacb4c30f 426 bTmp = true;
MasashiNomura 37:d51dacb4c30f 427 for(int i = 0; i < 4; ++i){
MasashiNomura 37:d51dacb4c30f 428 if(gf_MtReq[i].req){
MasashiNomura 37:d51dacb4c30f 429 bTmp = false;
MasashiNomura 37:d51dacb4c30f 430 break;
MasashiNomura 37:d51dacb4c30f 431 }
MasashiNomura 37:d51dacb4c30f 432 if(gf_MtReqOfs[i].req){
MasashiNomura 37:d51dacb4c30f 433 bTmp = false;
MasashiNomura 37:d51dacb4c30f 434 break;
MasashiNomura 37:d51dacb4c30f 435 }
MasashiNomura 37:d51dacb4c30f 436 }
MasashiNomura 37:d51dacb4c30f 437 if(!bTmp)break;
MasashiNomura 37:d51dacb4c30f 438 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 439 if(gf_AxReq[i].bf.req){
MasashiNomura 37:d51dacb4c30f 440 bTmp = false;
MasashiNomura 37:d51dacb4c30f 441 break;
MasashiNomura 37:d51dacb4c30f 442 }
MasashiNomura 37:d51dacb4c30f 443 }
MasashiNomura 37:d51dacb4c30f 444 if(bTmp){
MasashiNomura 37:d51dacb4c30f 445 if(gf_FromActiveStat){
MasashiNomura 40:debe99e228d3 446 setStateF(IDLE);
MasashiNomura 37:d51dacb4c30f 447 }
MasashiNomura 37:d51dacb4c30f 448 else{
MasashiNomura 37:d51dacb4c30f 449 setStateF(SLEEP);
MasashiNomura 37:d51dacb4c30f 450 }
MasashiNomura 37:d51dacb4c30f 451 }
MasashiNomura 37:d51dacb4c30f 452
MasashiNomura 32:7f4145cc3551 453 // if(hb.stopMotor() == true){
MasashiNomura 32:7f4145cc3551 454 // hb.initMotVal();
MasashiNomura 32:7f4145cc3551 455 // setState(SLEEP);
MasashiNomura 32:7f4145cc3551 456 // sp.printf("MOTOR STOPPED!\r\n");
MasashiNomura 32:7f4145cc3551 457 // }
MasashiNomura 32:7f4145cc3551 458 // else{
MasashiNomura 32:7f4145cc3551 459 // //bDoCtrlMot = true;
MasashiNomura 32:7f4145cc3551 460 // sp.printf(".");
MasashiNomura 32:7f4145cc3551 461 // }
MasashiNomura 25:f3a6e7eec9c3 462 break;
MasashiNomura 22:24c9c2dedca9 463 }
takeru0x1103 21:78302ecdb661 464
takeru0x1103 21:78302ecdb661 465 //▼③各種設定
takeru0x1103 21:78302ecdb661 466 //hb.controlAttitude(); //姿勢制御
takeru0x1103 21:78302ecdb661 467 //hb.controlMotor();//モーター指令出し
MasashiNomura 23:79e20be4bc5b 468 if(bDoCtrlAtt)hb.controlAttitude(); //姿勢制御
MasashiNomura 23:79e20be4bc5b 469 if(bDoCtrlMot)hb.controlMotor();//モーター指令出し
MasashiNomura 46:5074781a28dd 470 if(bDoCtrlEng)hb.controlEngine(gf_State);//エンジン指令出し
MasashiNomura 31:56c554c560c1 471
MasashiNomura 41:45c982b1c5b6 472 if(gf_Print.d1.bf.stat){
MasashiNomura 41:45c982b1c5b6 473 sp.printf("stat : [%X] ",gf_State);
MasashiNomura 23:79e20be4bc5b 474 }
takeru0x1103 18:5aa48aec9cae 475 //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 476 if(gf_Print.d1.flg!=0 || gf_Print.d2.flg!=0){
MasashiNomura 41:45c982b1c5b6 477 gf_Print.d1.flg=gf_Mon.d1.flg;
MasashiNomura 41:45c982b1c5b6 478 gf_Print.d2.flg=gf_Mon.d2.flg;
MasashiNomura 26:732bc37fbefd 479 sp.printf("\r\n");
MasashiNomura 26:732bc37fbefd 480 }
takeru0x1103 1:15ab74f0d0f1 481
takeru0x1103 1:15ab74f0d0f1 482 //次の周期まで待つ
takeru0x1103 1:15ab74f0d0f1 483 vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
takeru0x1103 1:15ab74f0d0f1 484 }
takeru0x1103 1:15ab74f0d0f1 485 }
takeru0x1103 18:5aa48aec9cae 486 //========================================================
takeru0x1103 21:78302ecdb661 487 //タスク２：デバッグ用タスク
takeru0x1103 18:5aa48aec9cae 488 //========================================================
takeru0x1103 18:5aa48aec9cae 489 void taskDebug(void *pvParameters){
takeru0x1103 21:78302ecdb661 490
takeru0x1103 21:78302ecdb661 491 taskStop(2);//自ら止めてレジュームされるまで待つ
MasashiNomura 24:c5945aaae777 492 UCHAR Num;
MasashiNomura 24:c5945aaae777 493 INT16 iVal;
MasashiNomura 25:f3a6e7eec9c3 494 //bool rvFlg;
MasashiNomura 24:c5945aaae777 495
takeru0x1103 21:78302ecdb661 496 //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 497 while(1){
MasashiNomura 24:c5945aaae777 498 for(Num = 0; Num < 8; ++Num){
MasashiNomura 24:c5945aaae777 499 for(iVal = 50; iVal < 300; ++iVal){
MasashiNomura 24:c5945aaae777 500 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 501 wait(0.002);
MasashiNomura 24:c5945aaae777 502 }
MasashiNomura 24:c5945aaae777 503 for(iVal = 300; iVal >= 50; --iVal){
MasashiNomura 24:c5945aaae777 504 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 505 wait(0.002);
MasashiNomura 24:c5945aaae777 506 }
MasashiNomura 24:c5945aaae777 507 }
MasashiNomura 23:79e20be4bc5b 508 //自タスク停止させて次の周期まで待つ
MasashiNomura 22:24c9c2dedca9 509 gf_Dbg = false;
MasashiNomura 23:79e20be4bc5b 510 sp.printf("Do DebugTask!");
takeru0x1103 18:5aa48aec9cae 511 taskStop(2);
takeru0x1103 18:5aa48aec9cae 512 }
takeru0x1103 18:5aa48aec9cae 513 }
takeru0x1103 17:f9610f3cfa1b 514
takeru0x1103 1:15ab74f0d0f1 515 //-------------------------------------------------------------
takeru0x1103 17:f9610f3cfa1b 516 //初期化：タスク登録
takeru0x1103 1:15ab74f0d0f1 517 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 518 void taskInit(){
takeru0x1103 21:78302ecdb661 519 portBASE_TYPE TaskRtn;//タスククリエイトの結果を受け取る型
takeru0x1103 18:5aa48aec9cae 520
takeru0x1103 21:78302ecdb661 521 //タスク０：コマンド解析タスク
MasashiNomura 26:732bc37fbefd 522 TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 512, NULL, 1, &tskHandle[0]);
takeru0x1103 21:78302ecdb661 523 if(TaskRtn==pdTRUE){sp.printf("Task0 Set : Command parser\r\n");}
takeru0x1103 21:78302ecdb661 524
takeru0x1103 21:78302ecdb661 525 //タスク１：制御タスク
MasashiNomura 28:fdb3b144e342 526 TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 1024, NULL, 2, &tskHandle[1]);
takeru0x1103 21:78302ecdb661 527 if(TaskRtn==pdTRUE){sp.printf("Task1 Set : Hoverbike Control\r\n");}
takeru0x1103 21:78302ecdb661 528
takeru0x1103 21:78302ecdb661 529 //タスク２：デバッグタスク
MasashiNomura 23:79e20be4bc5b 530 TaskRtn= xTaskCreate(taskDebug, (signed portCHAR *)"TaskDebug", 192, NULL, 0, &tskHandle[2]);
takeru0x1103 21:78302ecdb661 531 if(TaskRtn==pdTRUE){sp.printf("Task2 Set : Debug\r\n");}
takeru0x1103 8:1ca49cb18290 532
takeru0x1103 21:78302ecdb661 533 //RTOSカーネル起動（タスクが走り出す）
takeru0x1103 1:15ab74f0d0f1 534 vTaskStartScheduler();
takeru0x1103 1:15ab74f0d0f1 535 }
takeru0x1103 1:15ab74f0d0f1 536
takeru0x1103 1:15ab74f0d0f1 537