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Dependencies:   mbed FreeRTOS

HbUserOpe.cpp@33:eb260dbfc22a, 2018-12-21 (annotated)

Committer:
MasashiNomura
Date:
Fri Dec 21 12:31:17 2018 +0000
Revision:
33:eb260dbfc22a
Parent:
31:56c554c560c1
Child:
34:234b87f3e6ce
12/21 Add analog read for accel Motor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MasashiNomura 22:24c9c2dedca9 1 #include "HbUserOpe.h"
MasashiNomura 22:24c9c2dedca9 2 #include "fpga.h"
MasashiNomura 22:24c9c2dedca9 3 //=========================================
MasashiNomura 22:24c9c2dedca9 4 //コンストラクタ
MasashiNomura 22:24c9c2dedca9 5 //=========================================
MasashiNomura 22:24c9c2dedca9 6 HbUserOpe::HbUserOpe(){
MasashiNomura 22:24c9c2dedca9 7 oldOpe.w = curOpe.w = 0;
MasashiNomura 22:24c9c2dedca9 8 }
MasashiNomura 22:24c9c2dedca9 9
MasashiNomura 22:24c9c2dedca9 10 //=========================================
MasashiNomura 22:24c9c2dedca9 11 //デストラクタ
MasashiNomura 22:24c9c2dedca9 12 //=========================================
MasashiNomura 22:24c9c2dedca9 13 HbUserOpe::~HbUserOpe(){
MasashiNomura 22:24c9c2dedca9 14 }
MasashiNomura 22:24c9c2dedca9 15
MasashiNomura 22:24c9c2dedca9 16 typUserSw HbUserOpe::GetUserOpe()
MasashiNomura 22:24c9c2dedca9 17 {
MasashiNomura 22:24c9c2dedca9 18 oldOpe = curOpe;
MasashiNomura 22:24c9c2dedca9 19 curOpe.w = fpgaGetUserSw();
MasashiNomura 22:24c9c2dedca9 20 return curOpe;
MasashiNomura 23:79e20be4bc5b 21 }
MasashiNomura 33:eb260dbfc22a 22 INT16 HbUserOpe::GetAinAccel()
MasashiNomura 33:eb260dbfc22a 23 {
MasashiNomura 33:eb260dbfc22a 24 // max rpm 8500 ユーザー使用分として7000をマックスとする
MasashiNomura 33:eb260dbfc22a 25 // 0 ~ 1.00 -> 0.05 ~ 0.95を使用する（遊び分として）
MasashiNomura 33:eb260dbfc22a 26 INT16 ret = 0;
MasashiNomura 33:eb260dbfc22a 27 float anaval = AinAxl.read();
MasashiNomura 33:eb260dbfc22a 28 if(0.01 > anaval){
MasashiNomura 33:eb260dbfc22a 29 ret = 0;
MasashiNomura 33:eb260dbfc22a 30 } else if(anaval >= 0.01 && anaval <= 0.97){
MasashiNomura 33:eb260dbfc22a 31 ret = 5500 * (anaval - 0.01) / 0.96 + 1500;
MasashiNomura 33:eb260dbfc22a 32 } else if(anaval > 0.97){
MasashiNomura 33:eb260dbfc22a 33 ret = 7000;
MasashiNomura 33:eb260dbfc22a 34 }else{
MasashiNomura 33:eb260dbfc22a 35 ret = 0;
MasashiNomura 33:eb260dbfc22a 36 }
MasashiNomura 33:eb260dbfc22a 37 if(gf_DbgPrint.bf.ana1 == true){
MasashiNomura 33:eb260dbfc22a 38 sp.printf("Axl Rpm=%d val=%f\r\n",ret,anaval);
MasashiNomura 33:eb260dbfc22a 39 gf_DbgPrint.bf.ana1 = false;
MasashiNomura 33:eb260dbfc22a 40 }
MasashiNomura 33:eb260dbfc22a 41 //sp.printf("Axl Rpm=%d val=%f\r\n",ret,anaval);
MasashiNomura 33:eb260dbfc22a 42 return ret;
MasashiNomura 33:eb260dbfc22a 43 }
MasashiNomura 30:13ada1a24c59 44 // bool HbUserOpe::ChkCtrlSW(SW_TYPE styp)
MasashiNomura 30:13ada1a24c59 45 // {
MasashiNomura 30:13ada1a24c59 46 // if(styp == ACCEL_R){return curOpe.bf.brk_l;}
MasashiNomura 30:13ada1a24c59 47 // else if(styp == ACCEL_L){return curOpe.bf.axl_l;}
MasashiNomura 30:13ada1a24c59 48 // else if(styp == STOP){return curOpe.bf.stop;}
MasashiNomura 30:13ada1a24c59 49 // else if(styp == YAW_CTRL){return curOpe.bf.y_ctrl;}
MasashiNomura 30:13ada1a24c59 50 // else/*if(styp == ENG_STOP)*/{return curOpe.bf.eng_stop;}
MasashiNomura 30:13ada1a24c59 51 // // UINT16 mask = 0x1 << styp;
MasashiNomura 30:13ada1a24c59 52 // // return curOpe.w & mask;
MasashiNomura 30:13ada1a24c59 53 // }
MasashiNomura 23:79e20be4bc5b 54 bool HbUserOpe::ChkCtrlSW(SW_TYPE styp)
MasashiNomura 23:79e20be4bc5b 55 {
MasashiNomura 30:13ada1a24c59 56 if(styp == BRK_L) {return curOpe.bf.brk_l;}
MasashiNomura 30:13ada1a24c59 57 else if(styp == BRK_R) {return curOpe.bf.brk_r;}
MasashiNomura 30:13ada1a24c59 58 else if(styp == R_1) {return curOpe.bf.resv_1;}
MasashiNomura 30:13ada1a24c59 59 else if(styp == R_2) {return curOpe.bf.resv_2;}
MasashiNomura 30:13ada1a24c59 60 else if(styp == MOT_STOP){return curOpe.bf.mot_stop;}
MasashiNomura 30:13ada1a24c59 61 else if(styp == R_3) {return curOpe.bf.resv_3;}
MasashiNomura 30:13ada1a24c59 62 else if(styp == R_4) {return curOpe.bf.resv_4;}
MasashiNomura 30:13ada1a24c59 63 else if(styp == R_5) {return curOpe.bf.resv_5;}
MasashiNomura 30:13ada1a24c59 64 else if(styp == R_6) {return curOpe.bf.resv_6;}
MasashiNomura 30:13ada1a24c59 65 else if(styp == ALL_STOP){return curOpe.bf.all_stop;}
MasashiNomura 31:56c554c560c1 66 else {return false;}
MasashiNomura 26:732bc37fbefd 67 }
MasashiNomura 23:79e20be4bc5b 68 bool HbUserOpe::ChkCtrlSwAny()
MasashiNomura 23:79e20be4bc5b 69 {
MasashiNomura 23:79e20be4bc5b 70 UINT16 mask = 0x1;
MasashiNomura 23:79e20be4bc5b 71 for(int i = 0; i < 5; ++i){
MasashiNomura 23:79e20be4bc5b 72 if(curOpe.w & mask){
MasashiNomura 23:79e20be4bc5b 73 return true;
MasashiNomura 23:79e20be4bc5b 74 }
MasashiNomura 23:79e20be4bc5b 75 mask = mask << 1;
MasashiNomura 23:79e20be4bc5b 76 }
MasashiNomura 23:79e20be4bc5b 77 return false;
MasashiNomura 23:79e20be4bc5b 78 }
MasashiNomura 30:13ada1a24c59 79 bool HbUserOpe::ChkCtrlSwRiseEdge(SW_TYPE styp)
MasashiNomura 26:732bc37fbefd 80 {
MasashiNomura 30:13ada1a24c59 81 if(styp == BRK_L) {return curOpe.bf.brk_l && !oldOpe.bf.brk_l;}
MasashiNomura 30:13ada1a24c59 82 else if(styp == BRK_R) {return curOpe.bf.brk_r && !oldOpe.bf.brk_r;}
MasashiNomura 30:13ada1a24c59 83 else if(styp == R_1) {return curOpe.bf.resv_1 && !oldOpe.bf.resv_1;}
MasashiNomura 30:13ada1a24c59 84 else if(styp == R_2) {return curOpe.bf.resv_2 && !oldOpe.bf.resv_2;}
MasashiNomura 30:13ada1a24c59 85 else if(styp == MOT_STOP){return curOpe.bf.mot_stop && !oldOpe.bf.mot_stop;}
MasashiNomura 30:13ada1a24c59 86 else if(styp == R_3) {return curOpe.bf.resv_3 && !oldOpe.bf.resv_3;}
MasashiNomura 30:13ada1a24c59 87 else if(styp == R_4) {return curOpe.bf.resv_4 && !oldOpe.bf.resv_4;}
MasashiNomura 30:13ada1a24c59 88 else if(styp == R_5) {return curOpe.bf.resv_5 && !oldOpe.bf.resv_5;}
MasashiNomura 30:13ada1a24c59 89 else if(styp == R_6) {return curOpe.bf.resv_6 && !oldOpe.bf.resv_6;}
MasashiNomura 30:13ada1a24c59 90 else if(styp == ALL_STOP){return curOpe.bf.all_stop && !oldOpe.bf.all_stop;}
MasashiNomura 31:56c554c560c1 91 else{return false;}
MasashiNomura 26:732bc37fbefd 92 }