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Dependencies:   mbed FreeRTOS

userTask.cpp@37:d51dacb4c30f, 2019-01-17 (annotated)

Committer:
MasashiNomura
Date:
Thu Jan 17 11:26:09 2019 +0000
Revision:
37:d51dacb4c30f
Parent:
36:2cc739c7e4cb
Child:
38:24ee50452755
20190117 Modify for 45inc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 21:78302ecdb661 1 //RTOS関連------------------
takeru0x1103 1:15ab74f0d0f1 2 #include "FreeRTOS.h"
takeru0x1103 1:15ab74f0d0f1 3 #include "task.h"
takeru0x1103 21:78302ecdb661 4 //#include "queue.h"
takeru0x1103 21:78302ecdb661 5 //------------------RTOS関連
takeru0x1103 21:78302ecdb661 6
takeru0x1103 17:f9610f3cfa1b 7 #include "globalFlags.h"
takeru0x1103 17:f9610f3cfa1b 8 #include "HbManager.h"
takeru0x1103 18:5aa48aec9cae 9 #include "hbCommand.h"
takeru0x1103 18:5aa48aec9cae 10 #include "uart.h"
MasashiNomura 24:c5945aaae777 11 #include "fpga.h"
takeru0x1103 1:15ab74f0d0f1 12
takeru0x1103 18:5aa48aec9cae 13 //タスクハンドル（停止とか再開に必要）
takeru0x1103 18:5aa48aec9cae 14 static xTaskHandle tskHandle[3]={NULL,};
takeru0x1103 1:15ab74f0d0f1 15
takeru0x1103 21:78302ecdb661 16 //------------------
takeru0x1103 18:5aa48aec9cae 17 //タスク停止
takeru0x1103 18:5aa48aec9cae 18 //------------------
takeru0x1103 18:5aa48aec9cae 19 static void taskStop(int iId){
takeru0x1103 18:5aa48aec9cae 20 sp.printf("Task[%d] Stop\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 21 vTaskSuspend(tskHandle[iId]);//タスクを止める
takeru0x1103 18:5aa48aec9cae 22 }
takeru0x1103 18:5aa48aec9cae 23
takeru0x1103 21:78302ecdb661 24 //------------------
takeru0x1103 18:5aa48aec9cae 25 //タスク再開
takeru0x1103 18:5aa48aec9cae 26 //------------------
takeru0x1103 18:5aa48aec9cae 27 static void taskStart(int iId){
takeru0x1103 18:5aa48aec9cae 28 sp.printf("Task[%d] Start!!\r\n" , iId);
takeru0x1103 18:5aa48aec9cae 29 vTaskResume(tskHandle[iId]);//タスク再開
takeru0x1103 18:5aa48aec9cae 30 }
takeru0x1103 18:5aa48aec9cae 31
takeru0x1103 18:5aa48aec9cae 32 //========================================================
takeru0x1103 21:78302ecdb661 33 //コマンド解析タスク
takeru0x1103 21:78302ecdb661 34 //========================================================
takeru0x1103 21:78302ecdb661 35 void taskCmdParser(void *pvParameters){
takeru0x1103 21:78302ecdb661 36 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 37 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 38
takeru0x1103 21:78302ecdb661 39 // vTaskDelay(300);//制御タスクを先に走らせたいので待たす
takeru0x1103 21:78302ecdb661 40
takeru0x1103 21:78302ecdb661 41 while(1){
takeru0x1103 21:78302ecdb661 42 led2=!led2;
takeru0x1103 21:78302ecdb661 43 //コマンド解釈
takeru0x1103 21:78302ecdb661 44 commandParse();
takeru0x1103 21:78302ecdb661 45
takeru0x1103 21:78302ecdb661 46 //
MasashiNomura 24:c5945aaae777 47 // if(gf_Armed){
MasashiNomura 24:c5945aaae777 48 // setState(WAKEUP);
MasashiNomura 24:c5945aaae777 49 // gf_Armed = false;
MasashiNomura 24:c5945aaae777 50 // // taskStop(0);//制御タスクを止める
MasashiNomura 24:c5945aaae777 51 // // taskStart(2);//デバッグタスク再開
MasashiNomura 24:c5945aaae777 52 // }
MasashiNomura 22:24c9c2dedca9 53 // else{
MasashiNomura 22:24c9c2dedca9 54 // taskStop(2);//デバッグタスクを止める
MasashiNomura 22:24c9c2dedca9 55 // taskStart(0);//制御タスク再開
MasashiNomura 22:24c9c2dedca9 56 // }//switch
takeru0x1103 21:78302ecdb661 57
takeru0x1103 21:78302ecdb661 58 //次の周期まで待つ
takeru0x1103 21:78302ecdb661 59 vTaskDelayUntil(&xLastWakeTime, 50 / portTICK_RATE_MS );
takeru0x1103 21:78302ecdb661 60 }
takeru0x1103 21:78302ecdb661 61 }
takeru0x1103 21:78302ecdb661 62 //========================================================
takeru0x1103 17:f9610f3cfa1b 63 //ホバーバイク制御タスク
takeru0x1103 18:5aa48aec9cae 64 //========================================================
takeru0x1103 17:f9610f3cfa1b 65 void taskHbControl(void *pvParameters){
takeru0x1103 21:78302ecdb661 66 // int8_t *pcTaskName = (int8_t *) pvParameters;;
takeru0x1103 21:78302ecdb661 67 portTickType xLastWakeTime = xTaskGetTickCount();
takeru0x1103 21:78302ecdb661 68
takeru0x1103 17:f9610f3cfa1b 69 HbManager hb;
takeru0x1103 8:1ca49cb18290 70
MasashiNomura 23:79e20be4bc5b 71 bool bDoCtrlAtt;
MasashiNomura 23:79e20be4bc5b 72 bool bDoCtrlMot;
MasashiNomura 31:56c554c560c1 73 bool bDoCtrlEng;
MasashiNomura 37:d51dacb4c30f 74 bool bTmp;
MasashiNomura 31:56c554c560c1 75 //INT16 tmpRpm, difRpm;
MasashiNomura 36:2cc739c7e4cb 76 INT16 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 77 INT16 cntSW2 = 0;
MasashiNomura 33:eb260dbfc22a 78 INT16 AxlRpm;
MasashiNomura 36:2cc739c7e4cb 79 INT16 TrtlVal;
takeru0x1103 1:15ab74f0d0f1 80 while(1){
takeru0x1103 16:05b9e44889f1 81 led1=!led1;
MasashiNomura 23:79e20be4bc5b 82 bDoCtrlAtt = false;
MasashiNomura 23:79e20be4bc5b 83 bDoCtrlMot = false;
MasashiNomura 31:56c554c560c1 84 bDoCtrlEng = false;
MasashiNomura 24:c5945aaae777 85 // PID係数アップデートチェック
MasashiNomura 24:c5945aaae777 86 if(gf_PidParaUpdate){
MasashiNomura 24:c5945aaae777 87 hb.setAttPara(g_PidPara);
MasashiNomura 24:c5945aaae777 88 sp.printf("Pp : [%f]\r\n",g_PidPara.PP);
MasashiNomura 24:c5945aaae777 89 sp.printf("P : [%f]\r\n",g_PidPara.P);
MasashiNomura 24:c5945aaae777 90 sp.printf("I : [%f]\r\n",g_PidPara.I);
MasashiNomura 24:c5945aaae777 91 sp.printf("D : [%f]\r\n",g_PidPara.D);
MasashiNomura 24:c5945aaae777 92 sp.printf("IMAX: [%f]\r\n",g_PidPara.IMax);
MasashiNomura 24:c5945aaae777 93 sp.printf("IMIN: [%f]\r\n",g_PidPara.IMin);
MasashiNomura 31:56c554c560c1 94 sp.printf("V : [%f]\r\n",g_PidPara.V);
MasashiNomura 24:c5945aaae777 95 gf_PidParaUpdate = false;
MasashiNomura 24:c5945aaae777 96 }
MasashiNomura 37:d51dacb4c30f 97 // 確実にモーター等を止めるため
MasashiNomura 25:f3a6e7eec9c3 98 if(gf_StopMot){
MasashiNomura 29:eb3d72dd94aa 99 //setStateF(MOT_STOP);
MasashiNomura 29:eb3d72dd94aa 100 //hb.getCurMotVal();
MasashiNomura 29:eb3d72dd94aa 101 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 102 gf_MtReq[i].req = true;
MasashiNomura 32:7f4145cc3551 103 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 104 gf_MtReqOfs[i].req = true;
MasashiNomura 32:7f4145cc3551 105 gf_MtReqOfs[i].val = 0;
MasashiNomura 29:eb3d72dd94aa 106 }
MasashiNomura 37:d51dacb4c30f 107 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 108 gf_AxReq[i].bf.req = true;
MasashiNomura 37:d51dacb4c30f 109 gf_AxReq[i].bf.val = 0;
MasashiNomura 37:d51dacb4c30f 110 }
MasashiNomura 37:d51dacb4c30f 111 gf_FromActiveStat = isActiveState();
MasashiNomura 37:d51dacb4c30f 112 setStateF(MOT_STOP);
MasashiNomura 25:f3a6e7eec9c3 113 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 114 }
MasashiNomura 23:79e20be4bc5b 115
MasashiNomura 29:eb3d72dd94aa 116
takeru0x1103 21:78302ecdb661 117 //▼①状態読み出し系
MasashiNomura 22:24c9c2dedca9 118 hb.getAttitude(); //現在角度読み出し
MasashiNomura 22:24c9c2dedca9 119 hb.controlEngine(); //エンジン回転数読み出し
MasashiNomura 22:24c9c2dedca9 120 hb.getUserCommand(); //操作ボタン状態読み出し
MasashiNomura 29:eb3d72dd94aa 121
takeru0x1103 21:78302ecdb661 122 //▼②ステート遷移
MasashiNomura 22:24c9c2dedca9 123 switch(gf_State){
MasashiNomura 22:24c9c2dedca9 124 case SLEEP:
MasashiNomura 36:2cc739c7e4cb 125 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 126 sp.printf("SLEEP state\r\n");
MasashiNomura 36:2cc739c7e4cb 127 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 128 }
MasashiNomura 36:2cc739c7e4cb 129 // DEBUGタスクスタートフラグの監視
MasashiNomura 22:24c9c2dedca9 130 if(gf_Dbg){
MasashiNomura 24:c5945aaae777 131 gf_Dbg = false;
MasashiNomura 22:24c9c2dedca9 132 taskStart(2);
MasashiNomura 22:24c9c2dedca9 133 }
MasashiNomura 37:d51dacb4c30f 134 if(hb.chkSWUserOpeAny()){
MasashiNomura 37:d51dacb4c30f 135 typUserSw sw = hb.getUserSw();
MasashiNomura 37:d51dacb4c30f 136 sp.printf("%d%d%d%d%d%d%d%d%d%d\r\n",sw.bf.brk_r,sw.bf.brk_l,sw.bf.flt_on,sw.bf.flt_off,
MasashiNomura 37:d51dacb4c30f 137 sw.bf.f_eng_up,sw.bf.f_eng_down,sw.bf.r_eng_up,sw.bf.r_eng_down,
MasashiNomura 37:d51dacb4c30f 138 sw.bf.rsv_1, sw.bf.all_stop);
MasashiNomura 37:d51dacb4c30f 139 }
MasashiNomura 36:2cc739c7e4cb 140 // 浮上（離陸）ボタン、着陸ボタンの同時長押し監視
MasashiNomura 36:2cc739c7e4cb 141 if(hb.chkSWUserOpeBoth(HbUserOpe::FLT_ON,HbUserOpe::FLT_OFF)){
MasashiNomura 36:2cc739c7e4cb 142 ++cntSW1;
MasashiNomura 36:2cc739c7e4cb 143 if(cntSW1 > 30){
MasashiNomura 36:2cc739c7e4cb 144 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 145 setStateF(CHK_EG_ENT);
MasashiNomura 36:2cc739c7e4cb 146 }
MasashiNomura 36:2cc739c7e4cb 147 }
MasashiNomura 36:2cc739c7e4cb 148 else {
MasashiNomura 36:2cc739c7e4cb 149 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 150 }
MasashiNomura 36:2cc739c7e4cb 151 if(hb.chkSWUserOpeBoth(HbUserOpe::BRK_L, HbUserOpe::BRK_R)){
MasashiNomura 36:2cc739c7e4cb 152 ++cntSW2;
MasashiNomura 36:2cc739c7e4cb 153 if(cntSW2 > 30){
MasashiNomura 36:2cc739c7e4cb 154 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 155 setStateF(WAKEUP);
MasashiNomura 36:2cc739c7e4cb 156 }
MasashiNomura 36:2cc739c7e4cb 157 }
MasashiNomura 36:2cc739c7e4cb 158 else {
MasashiNomura 36:2cc739c7e4cb 159 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 160 }
MasashiNomura 22:24c9c2dedca9 161 break;
MasashiNomura 22:24c9c2dedca9 162 case WAKEUP:
MasashiNomura 36:2cc739c7e4cb 163 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 164 //スイッチが何も押されていないことの確認
MasashiNomura 36:2cc739c7e4cb 165 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 166 sp.printf("WAKEUP state\r\n");
MasashiNomura 36:2cc739c7e4cb 167 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 168 }
MasashiNomura 36:2cc739c7e4cb 169 }
MasashiNomura 36:2cc739c7e4cb 170 else
MasashiNomura 36:2cc739c7e4cb 171 {
MasashiNomura 36:2cc739c7e4cb 172 //各種モーター
MasashiNomura 36:2cc739c7e4cb 173 //機材のチェック
MasashiNomura 36:2cc739c7e4cb 174 hb.calAtt();//現在値でヨー角校正
MasashiNomura 36:2cc739c7e4cb 175 //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 176 AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 177 if(AxlRpm > 0){
MasashiNomura 36:2cc739c7e4cb 178 // 将来的に警告音等
MasashiNomura 36:2cc739c7e4cb 179 sp.printf("Warning!! Motor Accel Opened!!\r\n");
MasashiNomura 36:2cc739c7e4cb 180 setStateF(SLEEP);
MasashiNomura 36:2cc739c7e4cb 181 } else {
MasashiNomura 36:2cc739c7e4cb 182 setState(STANDBY);
MasashiNomura 36:2cc739c7e4cb 183 }
MasashiNomura 35:3779201b4c73 184 }
MasashiNomura 22:24c9c2dedca9 185 break;
MasashiNomura 22:24c9c2dedca9 186 case STANDBY:
MasashiNomura 36:2cc739c7e4cb 187 bDoCtrlMot = true;
MasashiNomura 36:2cc739c7e4cb 188 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 189 // 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 190 // TODO
MasashiNomura 36:2cc739c7e4cb 191 sp.printf("STANDBY state\r\n");
MasashiNomura 36:2cc739c7e4cb 192 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 193 }
MasashiNomura 36:2cc739c7e4cb 194 else {
MasashiNomura 36:2cc739c7e4cb 195
MasashiNomura 25:f3a6e7eec9c3 196 if(hb.chkInRangeIDLE()){
MasashiNomura 36:2cc739c7e4cb 197 hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 198 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 199 }
MasashiNomura 25:f3a6e7eec9c3 200 else{
MasashiNomura 25:f3a6e7eec9c3 201 // デバッグのためここもスルー
MasashiNomura 36:2cc739c7e4cb 202 hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 203 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 204 }
MasashiNomura 23:79e20be4bc5b 205 }
MasashiNomura 22:24c9c2dedca9 206 break;
MasashiNomura 22:24c9c2dedca9 207 case IDLE:
MasashiNomura 36:2cc739c7e4cb 208 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 209 sp.printf("IDLE state\r\n");
MasashiNomura 36:2cc739c7e4cb 210 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 211 }
MasashiNomura 23:79e20be4bc5b 212 //SWのチェック
MasashiNomura 31:56c554c560c1 213 hb.chkSW(IDLE);
MasashiNomura 33:eb260dbfc22a 214 AxlRpm = hb.getUserMotAxl();
MasashiNomura 33:eb260dbfc22a 215 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 33:eb260dbfc22a 216 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 31:56c554c560c1 217 bDoCtrlEng = true;
MasashiNomura 25:f3a6e7eec9c3 218 bDoCtrlMot = true;
MasashiNomura 32:7f4145cc3551 219 //bDoCtrlAtt = true;
MasashiNomura 22:24c9c2dedca9 220 break;
MasashiNomura 22:24c9c2dedca9 221 case TAKE_OFF:
MasashiNomura 36:2cc739c7e4cb 222 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 223 sp.printf("TAKE_OFF state\r\n");
MasashiNomura 36:2cc739c7e4cb 224 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 225 }
MasashiNomura 23:79e20be4bc5b 226 // エンジン回転数のチェック
MasashiNomura 23:79e20be4bc5b 227 // 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 23:79e20be4bc5b 228 // if(hb.chkSWUserOpe(HbUserOpe::STOP)){
MasashiNomura 23:79e20be4bc5b 229 // setState(GROUND);
MasashiNomura 23:79e20be4bc5b 230 // }
MasashiNomura 23:79e20be4bc5b 231 //else
MasashiNomura 34:234b87f3e6ce 232 hb.chkSW(TAKE_OFF);
MasashiNomura 34:234b87f3e6ce 233 AxlRpm = hb.getUserMotAxl();
MasashiNomura 34:234b87f3e6ce 234 hb.setMotVal(R_L,AxlRpm);
MasashiNomura 34:234b87f3e6ce 235 hb.setMotVal(R_R,AxlRpm);
MasashiNomura 31:56c554c560c1 236 bDoCtrlEng = true;
MasashiNomura 23:79e20be4bc5b 237 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 238 bDoCtrlAtt = true;
MasashiNomura 22:24c9c2dedca9 239 break;
MasashiNomura 22:24c9c2dedca9 240 case GROUND:
MasashiNomura 36:2cc739c7e4cb 241 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 242 sp.printf("GROUND state\r\n");
MasashiNomura 36:2cc739c7e4cb 243 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 244 }
MasashiNomura 23:79e20be4bc5b 245 // そのままスルー
MasashiNomura 36:2cc739c7e4cb 246 // 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 247 setState(IDLE);
MasashiNomura 22:24c9c2dedca9 248 break;
MasashiNomura 22:24c9c2dedca9 249 case HOVER:
MasashiNomura 36:2cc739c7e4cb 250 gf_StateEnt = false;
MasashiNomura 23:79e20be4bc5b 251 //
MasashiNomura 22:24c9c2dedca9 252 break;
MasashiNomura 22:24c9c2dedca9 253 case DRIVE:
MasashiNomura 36:2cc739c7e4cb 254 gf_StateEnt = false;
MasashiNomura 22:24c9c2dedca9 255 break;
MasashiNomura 22:24c9c2dedca9 256 case EMGGND:
MasashiNomura 36:2cc739c7e4cb 257 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 258 break;
MasashiNomura 36:2cc739c7e4cb 259 case CHK_EG_ENT:
MasashiNomura 36:2cc739c7e4cb 260 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 261 sp.printf("Check Engine enter\r\n");
MasashiNomura 36:2cc739c7e4cb 262 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 263 }
MasashiNomura 36:2cc739c7e4cb 264 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 265 AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 266 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 267 if(AxlRpm > 0 || TrtlVal > 40){
MasashiNomura 36:2cc739c7e4cb 268 break;
MasashiNomura 36:2cc739c7e4cb 269 } else {
MasashiNomura 36:2cc739c7e4cb 270 setState(CHK_EG_F);
MasashiNomura 36:2cc739c7e4cb 271 }
MasashiNomura 36:2cc739c7e4cb 272 }
MasashiNomura 36:2cc739c7e4cb 273 break;
MasashiNomura 36:2cc739c7e4cb 274 case CHK_EG_F:
MasashiNomura 36:2cc739c7e4cb 275 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 276 sp.printf("Check Engine Front\r\n");
MasashiNomura 36:2cc739c7e4cb 277 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 278 }
MasashiNomura 36:2cc739c7e4cb 279 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 280 hb.setAccelVal(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 281 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 282 hb.setHvAxl(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 283 }
MasashiNomura 36:2cc739c7e4cb 284 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 285 if(hb.chkSetHvAxl(FRONT)){
MasashiNomura 36:2cc739c7e4cb 286 setState(CHK_EG_MID);
MasashiNomura 36:2cc739c7e4cb 287 }
MasashiNomura 36:2cc739c7e4cb 288 }
MasashiNomura 36:2cc739c7e4cb 289 break;
MasashiNomura 36:2cc739c7e4cb 290 case CHK_EG_MID:
MasashiNomura 36:2cc739c7e4cb 291 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 292 sp.printf("Check Engine MIDDLE\r\n");
MasashiNomura 36:2cc739c7e4cb 293 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 294 }
MasashiNomura 36:2cc739c7e4cb 295 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 296 AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 297 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 298 if(AxlRpm > 0 || TrtlVal > 40){
MasashiNomura 36:2cc739c7e4cb 299 break;
MasashiNomura 36:2cc739c7e4cb 300 } else {
MasashiNomura 36:2cc739c7e4cb 301 setState(CHK_EG_R);
MasashiNomura 36:2cc739c7e4cb 302 }
MasashiNomura 36:2cc739c7e4cb 303 }
MasashiNomura 36:2cc739c7e4cb 304 break;
MasashiNomura 36:2cc739c7e4cb 305 case CHK_EG_R:
MasashiNomura 36:2cc739c7e4cb 306 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 307 sp.printf("Check Engine Rear\r\n");
MasashiNomura 36:2cc739c7e4cb 308 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 309 }
MasashiNomura 36:2cc739c7e4cb 310 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 311 hb.setAccelVal(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 312 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 313 hb.setHvAxl(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 314 }
MasashiNomura 36:2cc739c7e4cb 315 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 316 if(hb.chkSetHvAxl(REAR)){
MasashiNomura 36:2cc739c7e4cb 317 setState(CHK_EG_EXIT);
MasashiNomura 36:2cc739c7e4cb 318 }
MasashiNomura 36:2cc739c7e4cb 319 }
MasashiNomura 36:2cc739c7e4cb 320 break;
MasashiNomura 36:2cc739c7e4cb 321 case CHK_EG_EXIT:
MasashiNomura 36:2cc739c7e4cb 322 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 323 sp.printf("Check Engine Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 324 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 325 }
MasashiNomura 36:2cc739c7e4cb 326 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 327 AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 328 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 329 if(AxlRpm > 0 || TrtlVal > 40){
MasashiNomura 36:2cc739c7e4cb 330 break;
MasashiNomura 36:2cc739c7e4cb 331 } else {
MasashiNomura 36:2cc739c7e4cb 332 setState(SLEEP);
MasashiNomura 36:2cc739c7e4cb 333 }
MasashiNomura 36:2cc739c7e4cb 334 }
MasashiNomura 22:24c9c2dedca9 335 break;
MasashiNomura 23:79e20be4bc5b 336 case CHK_ENT: //チェックエンター
MasashiNomura 36:2cc739c7e4cb 337 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 338 sp.printf("Check enter\r\n");
MasashiNomura 36:2cc739c7e4cb 339 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 340 }
MasashiNomura 23:79e20be4bc5b 341 break;
MasashiNomura 23:79e20be4bc5b 342 case CHK_MOT: //モーターチェック
MasashiNomura 36:2cc739c7e4cb 343 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 344 sp.printf("Check Motor\r\n");
MasashiNomura 36:2cc739c7e4cb 345 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 346 }
MasashiNomura 23:79e20be4bc5b 347 bDoCtrlMot = true;
MasashiNomura 23:79e20be4bc5b 348 break;
MasashiNomura 23:79e20be4bc5b 349 case CHK_AXL: //アクセルサーボチェック
MasashiNomura 36:2cc739c7e4cb 350 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 351 sp.printf("Check Accel Servo\r\n");
MasashiNomura 36:2cc739c7e4cb 352 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 353 }
MasashiNomura 23:79e20be4bc5b 354 break;
MasashiNomura 23:79e20be4bc5b 355 case CHK_ATT: //姿勢制御チェック
MasashiNomura 36:2cc739c7e4cb 356 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 357 sp.printf("Check Attitude\r\n");
MasashiNomura 36:2cc739c7e4cb 358 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 359 }
MasashiNomura 23:79e20be4bc5b 360 bDoCtrlAtt = true;
MasashiNomura 23:79e20be4bc5b 361 break;
MasashiNomura 23:79e20be4bc5b 362 case CHK_EXIT: //チェックステート脱出
MasashiNomura 36:2cc739c7e4cb 363 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 364 sp.printf("Check Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 365 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 366 }
MasashiNomura 23:79e20be4bc5b 367 break;
MasashiNomura 25:f3a6e7eec9c3 368 case MOT_STOP:
MasashiNomura 36:2cc739c7e4cb 369 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 370 sp.printf("Motor Stop\r\n");
MasashiNomura 36:2cc739c7e4cb 371 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 372 }
MasashiNomura 37:d51dacb4c30f 373 bDoCtrlAtt = false;
MasashiNomura 37:d51dacb4c30f 374 bDoCtrlMot = true;
MasashiNomura 37:d51dacb4c30f 375 bTmp = true;
MasashiNomura 37:d51dacb4c30f 376 for(int i = 0; i < 4; ++i){
MasashiNomura 37:d51dacb4c30f 377 if(gf_MtReq[i].req){
MasashiNomura 37:d51dacb4c30f 378 bTmp = false;
MasashiNomura 37:d51dacb4c30f 379 break;
MasashiNomura 37:d51dacb4c30f 380 }
MasashiNomura 37:d51dacb4c30f 381 if(gf_MtReqOfs[i].req){
MasashiNomura 37:d51dacb4c30f 382 bTmp = false;
MasashiNomura 37:d51dacb4c30f 383 break;
MasashiNomura 37:d51dacb4c30f 384 }
MasashiNomura 37:d51dacb4c30f 385 }
MasashiNomura 37:d51dacb4c30f 386 if(!bTmp)break;
MasashiNomura 37:d51dacb4c30f 387 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 388 if(gf_AxReq[i].bf.req){
MasashiNomura 37:d51dacb4c30f 389 bTmp = false;
MasashiNomura 37:d51dacb4c30f 390 break;
MasashiNomura 37:d51dacb4c30f 391 }
MasashiNomura 37:d51dacb4c30f 392 }
MasashiNomura 37:d51dacb4c30f 393 if(bTmp){
MasashiNomura 37:d51dacb4c30f 394 if(gf_FromActiveStat){
MasashiNomura 37:d51dacb4c30f 395 setStateF(IDLE);
MasashiNomura 37:d51dacb4c30f 396 }
MasashiNomura 37:d51dacb4c30f 397 else{
MasashiNomura 37:d51dacb4c30f 398 setStateF(SLEEP);
MasashiNomura 37:d51dacb4c30f 399 }
MasashiNomura 37:d51dacb4c30f 400 }
MasashiNomura 37:d51dacb4c30f 401
MasashiNomura 32:7f4145cc3551 402 // if(hb.stopMotor() == true){
MasashiNomura 32:7f4145cc3551 403 // hb.initMotVal();
MasashiNomura 32:7f4145cc3551 404 // setState(SLEEP);
MasashiNomura 32:7f4145cc3551 405 // sp.printf("MOTOR STOPPED!\r\n");
MasashiNomura 32:7f4145cc3551 406 // }
MasashiNomura 32:7f4145cc3551 407 // else{
MasashiNomura 32:7f4145cc3551 408 // //bDoCtrlMot = true;
MasashiNomura 32:7f4145cc3551 409 // sp.printf(".");
MasashiNomura 32:7f4145cc3551 410 // }
MasashiNomura 25:f3a6e7eec9c3 411 break;
MasashiNomura 22:24c9c2dedca9 412 }
takeru0x1103 21:78302ecdb661 413
takeru0x1103 21:78302ecdb661 414 //▼③各種設定
takeru0x1103 21:78302ecdb661 415 //hb.controlAttitude(); //姿勢制御
takeru0x1103 21:78302ecdb661 416 //hb.controlMotor();//モーター指令出し
MasashiNomura 23:79e20be4bc5b 417 if(bDoCtrlAtt)hb.controlAttitude(); //姿勢制御
MasashiNomura 23:79e20be4bc5b 418 if(bDoCtrlMot)hb.controlMotor();//モーター指令出し
MasashiNomura 31:56c554c560c1 419 //if(bDoCtrlEng)hb.controlEngine();//エンジン指令出し
MasashiNomura 31:56c554c560c1 420
MasashiNomura 23:79e20be4bc5b 421 if(gf_Print.bf.stat){
MasashiNomura 23:79e20be4bc5b 422 sp.printf("stat : [%X]\r\n",gf_State);
MasashiNomura 23:79e20be4bc5b 423 }
takeru0x1103 18:5aa48aec9cae 424 //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）
takeru0x1103 18:5aa48aec9cae 425 if(gf_Print.flg!=0){
takeru0x1103 18:5aa48aec9cae 426 gf_Print.flg=gf_Mon.flg;
takeru0x1103 18:5aa48aec9cae 427 sp.printf("\r\n");
takeru0x1103 18:5aa48aec9cae 428 }
MasashiNomura 26:732bc37fbefd 429 if(gf_DbgPrint.flg != 0){
MasashiNomura 26:732bc37fbefd 430 gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 431 sp.printf("\r\n");
MasashiNomura 26:732bc37fbefd 432 }
takeru0x1103 1:15ab74f0d0f1 433
takeru0x1103 1:15ab74f0d0f1 434 //次の周期まで待つ
takeru0x1103 1:15ab74f0d0f1 435 vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
takeru0x1103 1:15ab74f0d0f1 436 }
takeru0x1103 1:15ab74f0d0f1 437 }
takeru0x1103 18:5aa48aec9cae 438 //========================================================
takeru0x1103 21:78302ecdb661 439 //タスク２：デバッグ用タスク
takeru0x1103 18:5aa48aec9cae 440 //========================================================
takeru0x1103 18:5aa48aec9cae 441 void taskDebug(void *pvParameters){
takeru0x1103 21:78302ecdb661 442
takeru0x1103 21:78302ecdb661 443 taskStop(2);//自ら止めてレジュームされるまで待つ
MasashiNomura 24:c5945aaae777 444 UCHAR Num;
MasashiNomura 24:c5945aaae777 445 INT16 iVal;
MasashiNomura 25:f3a6e7eec9c3 446 //bool rvFlg;
MasashiNomura 24:c5945aaae777 447
takeru0x1103 21:78302ecdb661 448 //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 449 while(1){
MasashiNomura 24:c5945aaae777 450 for(Num = 0; Num < 8; ++Num){
MasashiNomura 24:c5945aaae777 451 for(iVal = 50; iVal < 300; ++iVal){
MasashiNomura 24:c5945aaae777 452 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 453 wait(0.002);
MasashiNomura 24:c5945aaae777 454 }
MasashiNomura 24:c5945aaae777 455 for(iVal = 300; iVal >= 50; --iVal){
MasashiNomura 24:c5945aaae777 456 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 457 wait(0.002);
MasashiNomura 24:c5945aaae777 458 }
MasashiNomura 24:c5945aaae777 459 }
MasashiNomura 23:79e20be4bc5b 460 //自タスク停止させて次の周期まで待つ
MasashiNomura 22:24c9c2dedca9 461 gf_Dbg = false;
MasashiNomura 23:79e20be4bc5b 462 sp.printf("Do DebugTask!");
takeru0x1103 18:5aa48aec9cae 463 taskStop(2);
takeru0x1103 18:5aa48aec9cae 464 }
takeru0x1103 18:5aa48aec9cae 465 }
takeru0x1103 17:f9610f3cfa1b 466
takeru0x1103 1:15ab74f0d0f1 467 //-------------------------------------------------------------
takeru0x1103 17:f9610f3cfa1b 468 //初期化：タスク登録
takeru0x1103 1:15ab74f0d0f1 469 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 470 void taskInit(){
takeru0x1103 21:78302ecdb661 471 portBASE_TYPE TaskRtn;//タスククリエイトの結果を受け取る型
takeru0x1103 18:5aa48aec9cae 472
takeru0x1103 21:78302ecdb661 473 //タスク０：コマンド解析タスク
MasashiNomura 26:732bc37fbefd 474 TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 512, NULL, 1, &tskHandle[0]);
takeru0x1103 21:78302ecdb661 475 if(TaskRtn==pdTRUE){sp.printf("Task0 Set : Command parser\r\n");}
takeru0x1103 21:78302ecdb661 476
takeru0x1103 21:78302ecdb661 477 //タスク１：制御タスク
MasashiNomura 28:fdb3b144e342 478 TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 1024, NULL, 2, &tskHandle[1]);
takeru0x1103 21:78302ecdb661 479 if(TaskRtn==pdTRUE){sp.printf("Task1 Set : Hoverbike Control\r\n");}
takeru0x1103 21:78302ecdb661 480
takeru0x1103 21:78302ecdb661 481 //タスク２：デバッグタスク
MasashiNomura 23:79e20be4bc5b 482 TaskRtn= xTaskCreate(taskDebug, (signed portCHAR *)"TaskDebug", 192, NULL, 0, &tskHandle[2]);
takeru0x1103 21:78302ecdb661 483 if(TaskRtn==pdTRUE){sp.printf("Task2 Set : Debug\r\n");}
takeru0x1103 8:1ca49cb18290 484
takeru0x1103 21:78302ecdb661 485 //RTOSカーネル起動（タスクが走り出す）
takeru0x1103 1:15ab74f0d0f1 486 vTaskStartScheduler();
takeru0x1103 1:15ab74f0d0f1 487 }
takeru0x1103 1:15ab74f0d0f1 488
takeru0x1103 1:15ab74f0d0f1 489