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Dependencies:   mbed FreeRTOS

globalFlags.h@29:eb3d72dd94aa, 2018-12-17 (annotated)

Committer:
MasashiNomura
Date:
Mon Dec 17 13:25:00 2018 +0000
Revision:
29:eb3d72dd94aa
Parent:
28:fdb3b144e342
Child:
30:13ada1a24c59
2018/12/17 modify HbMotCtrl HbSubProp etc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 8:1ca49cb18290 1 #ifndef __GLOBALFLAGS_H__
takeru0x1103 8:1ca49cb18290 2 #define __GLOBALFLAGS_H__
takeru0x1103 8:1ca49cb18290 3
takeru0x1103 16:05b9e44889f1 4 #include "mbed.h"
takeru0x1103 17:f9610f3cfa1b 5 #include "typedef.h"
takeru0x1103 17:f9610f3cfa1b 6
takeru0x1103 19:4b0fe9a5ec38 7 #define G_CMD_BUF_SIZ 32
takeru0x1103 19:4b0fe9a5ec38 8 #define STATE_QUE_SIZ 8
takeru0x1103 19:4b0fe9a5ec38 9
MasashiNomura 22:24c9c2dedca9 10 #define STATE_BUF_SIZ 8
MasashiNomura 22:24c9c2dedca9 11
MasashiNomura 25:f3a6e7eec9c3 12 #define LIM_MOT_INP_MIN -2000
MasashiNomura 25:f3a6e7eec9c3 13 #define LIM_MOT_INP_MAX 2000
MasashiNomura 25:f3a6e7eec9c3 14
takeru0x1103 17:f9610f3cfa1b 15 typedef union{
takeru0x1103 17:f9610f3cfa1b 16 UINT16 flg;
takeru0x1103 17:f9610f3cfa1b 17 struct{
takeru0x1103 17:f9610f3cfa1b 18 bool e1 : 1;//前エンジン回転数
takeru0x1103 17:f9610f3cfa1b 19 bool e2 : 1;//後ろエンジン回転数
takeru0x1103 17:f9610f3cfa1b 20 bool m1 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 21 bool m2 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 22 bool m3 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 23 bool m4 : 1;//サブモーター回転数
takeru0x1103 17:f9610f3cfa1b 24 bool gy : 1;//ジャイロ
takeru0x1103 17:f9610f3cfa1b 25 bool yaw : 1;//ヨー角
takeru0x1103 18:5aa48aec9cae 26 bool fb : 1;//PID制御feedback結果
takeru0x1103 18:5aa48aec9cae 27 bool pp : 1;//P制御ゲイン（アウターループ）
takeru0x1103 18:5aa48aec9cae 28 bool p : 1;//P制御ゲイン
takeru0x1103 18:5aa48aec9cae 29 bool i : 1;//I制御ゲイン
takeru0x1103 18:5aa48aec9cae 30 bool d : 1;//D制御ゲイン
MasashiNomura 23:79e20be4bc5b 31 bool stat : 1;//ステート表示
takeru0x1103 17:f9610f3cfa1b 32 }bf;
takeru0x1103 17:f9610f3cfa1b 33 }typPrintFlag;
takeru0x1103 17:f9610f3cfa1b 34
takeru0x1103 17:f9610f3cfa1b 35 typedef union{
takeru0x1103 17:f9610f3cfa1b 36 UINT16 flg;
takeru0x1103 17:f9610f3cfa1b 37 struct{
takeru0x1103 17:f9610f3cfa1b 38 bool e1 : 1;//
takeru0x1103 17:f9610f3cfa1b 39 bool e2 : 1;//
takeru0x1103 17:f9610f3cfa1b 40 bool m1 : 1;//
takeru0x1103 17:f9610f3cfa1b 41 bool m2 : 1;//
takeru0x1103 17:f9610f3cfa1b 42 bool m3 : 1;//
takeru0x1103 17:f9610f3cfa1b 43 bool m4 : 1;//
takeru0x1103 17:f9610f3cfa1b 44 bool gy : 1;//
takeru0x1103 17:f9610f3cfa1b 45 bool yaw : 1;//
takeru0x1103 18:5aa48aec9cae 46 bool fb : 1;//PID制御feedback結果
takeru0x1103 18:5aa48aec9cae 47 bool pp : 1;//P制御ゲイン（アウターループ）
takeru0x1103 18:5aa48aec9cae 48 bool p : 1;//P制御ゲイン
takeru0x1103 18:5aa48aec9cae 49 bool i : 1;//I制御ゲイン
takeru0x1103 18:5aa48aec9cae 50 bool d : 1;//D制御ゲイン
takeru0x1103 17:f9610f3cfa1b 51 }bf;
takeru0x1103 17:f9610f3cfa1b 52 }typCalFlag;
takeru0x1103 17:f9610f3cfa1b 53
takeru0x1103 19:4b0fe9a5ec38 54 //
takeru0x1103 17:f9610f3cfa1b 55 typedef union{
takeru0x1103 17:f9610f3cfa1b 56 UINT16 dt;
takeru0x1103 17:f9610f3cfa1b 57 struct{
takeru0x1103 18:5aa48aec9cae 58 UINT16 val : 12;//アクセル設定値
takeru0x1103 17:f9610f3cfa1b 59 bool req : 1;//アクセル更新要求
takeru0x1103 17:f9610f3cfa1b 60 }bf;
takeru0x1103 17:f9610f3cfa1b 61 }typAccel;
takeru0x1103 17:f9610f3cfa1b 62
MasashiNomura 26:732bc37fbefd 63 typedef union{
MasashiNomura 29:eb3d72dd94aa 64 UINT16 dt;
MasashiNomura 29:eb3d72dd94aa 65 struct{
MasashiNomura 29:eb3d72dd94aa 66 UINT16 val : 14;//アクセル設定値
MasashiNomura 29:eb3d72dd94aa 67 bool req : 1;//アクセル更新要求
MasashiNomura 29:eb3d72dd94aa 68 }bf;
MasashiNomura 29:eb3d72dd94aa 69 }typAxlRpm;
MasashiNomura 29:eb3d72dd94aa 70
MasashiNomura 29:eb3d72dd94aa 71 typedef union{
MasashiNomura 26:732bc37fbefd 72 UINT16 flg;
MasashiNomura 26:732bc37fbefd 73 struct{
MasashiNomura 26:732bc37fbefd 74 bool mo1 : 1;//Motor1 Offset val
MasashiNomura 26:732bc37fbefd 75 bool mo2 : 1;//Motor2 Offset val
MasashiNomura 26:732bc37fbefd 76 bool mo3 : 1;//Motor3 Offset val
MasashiNomura 26:732bc37fbefd 77 bool mo4 : 1;//Motor4 Offset val
MasashiNomura 26:732bc37fbefd 78 }bf;
MasashiNomura 26:732bc37fbefd 79 }typDbgPrintFlg;
MasashiNomura 25:f3a6e7eec9c3 80
MasashiNomura 29:eb3d72dd94aa 81 typedef union {
MasashiNomura 29:eb3d72dd94aa 82 UINT16 dt;
MasashiNomura 29:eb3d72dd94aa 83 struct{
MasashiNomura 29:eb3d72dd94aa 84 UINT16 num :6;
MasashiNomura 29:eb3d72dd94aa 85 UINT16 counter :6;
MasashiNomura 29:eb3d72dd94aa 86 //UINT16 pos :3;
MasashiNomura 29:eb3d72dd94aa 87 bool add_end :1;
MasashiNomura 29:eb3d72dd94aa 88 bool req :1;
MasashiNomura 29:eb3d72dd94aa 89 }bf;
MasashiNomura 29:eb3d72dd94aa 90 }typOnePushFlg;
MasashiNomura 24:c5945aaae777 91
MasashiNomura 29:eb3d72dd94aa 92 typedef struct{
MasashiNomura 29:eb3d72dd94aa 93 bool req;
MasashiNomura 29:eb3d72dd94aa 94 bool sFlg; // 動作開始フラグ これでsVal格納するしない判断
MasashiNomura 29:eb3d72dd94aa 95 bool add_end;
MasashiNomura 29:eb3d72dd94aa 96 INT16 addVal; // 一回で加算するRPM値
MasashiNomura 29:eb3d72dd94aa 97 INT16 counter; // カウント
MasashiNomura 29:eb3d72dd94aa 98 INT16 num; // 加算回数
MasashiNomura 29:eb3d72dd94aa 99 INT16 sVal; // Start value
MasashiNomura 29:eb3d72dd94aa 100 }typ1Push;
takeru0x1103 19:4b0fe9a5ec38 101 //ステート定義
takeru0x1103 19:4b0fe9a5ec38 102 enum enmHbState
MasashiNomura 22:24c9c2dedca9 103 {NONE = 0 //何もなし
takeru0x1103 21:78302ecdb661 104 ,SLEEP //スリープモード（最初ここ）
takeru0x1103 20:0394e15412c3 105 ,WAKEUP //起動処理
takeru0x1103 20:0394e15412c3 106 ,STANDBY //スタンバイ(エンジンかかるの待ち)
takeru0x1103 21:78302ecdb661 107 ,IDLE //アイドル(エンジンがかかったけどなにもしない)
takeru0x1103 20:0394e15412c3 108 ,TAKE_OFF //離陸
takeru0x1103 20:0394e15412c3 109 ,HOVER //ホバリング
takeru0x1103 21:78302ecdb661 110 ,DRIVE //運転
takeru0x1103 21:78302ecdb661 111 ,GROUND //着陸(エンジン同時下げ)
takeru0x1103 21:78302ecdb661 112 ,EMGGND //緊急着陸（後ろエンジンを先に下げる）
takeru0x1103 20:0394e15412c3 113 ,CHK_ENT //チェックエンター
takeru0x1103 20:0394e15412c3 114 ,CHK_MOT //モーターチェック
takeru0x1103 20:0394e15412c3 115 ,CHK_AXL //アクセルサーボチェック
takeru0x1103 20:0394e15412c3 116 ,CHK_ATT //姿勢制御チェック
takeru0x1103 20:0394e15412c3 117 ,CHK_EXIT //チェックステート脱出
MasashiNomura 25:f3a6e7eec9c3 118 ,MOT_STOP //モーター停止用
takeru0x1103 19:4b0fe9a5ec38 119 };
takeru0x1103 19:4b0fe9a5ec38 120
MasashiNomura 28:fdb3b144e342 121 enum eMotPos{
MasashiNomura 28:fdb3b144e342 122 F_L = 0, // 前　左
MasashiNomura 28:fdb3b144e342 123 F_R, // 前　右
MasashiNomura 28:fdb3b144e342 124 R_L, // 後　左
MasashiNomura 28:fdb3b144e342 125 R_R, // 後　右
MasashiNomura 28:fdb3b144e342 126 };
MasashiNomura 28:fdb3b144e342 127 enum eMotType{
MasashiNomura 28:fdb3b144e342 128 IN = 0,
MasashiNomura 28:fdb3b144e342 129 OUT,
MasashiNomura 28:fdb3b144e342 130 };
MasashiNomura 28:fdb3b144e342 131
takeru0x1103 17:f9610f3cfa1b 132 /////////////////////////////////////////////////
takeru0x1103 21:78302ecdb661 133
MasashiNomura 29:eb3d72dd94aa 134 void init1PushStruct(typ1Push& item);
MasashiNomura 29:eb3d72dd94aa 135
MasashiNomura 22:24c9c2dedca9 136 void initFlags();
MasashiNomura 22:24c9c2dedca9 137
MasashiNomura 22:24c9c2dedca9 138 void setState(enmHbState stat);
MasashiNomura 23:79e20be4bc5b 139 void setStateF(enmHbState stat);
MasashiNomura 22:24c9c2dedca9 140
MasashiNomura 22:24c9c2dedca9 141
takeru0x1103 21:78302ecdb661 142 /*
takeru0x1103 19:4b0fe9a5ec38 143 class GlobalFlags{
takeru0x1103 19:4b0fe9a5ec38 144 private:
takeru0x1103 19:4b0fe9a5ec38 145 enmHbState stateQueue[STATE_QUE_SIZ];//ステート予約用のキューバッファ
takeru0x1103 19:4b0fe9a5ec38 146 int wp; //ライトポインタ
takeru0x1103 19:4b0fe9a5ec38 147 int rp; //リードポインタ
takeru0x1103 19:4b0fe9a5ec38 148 bool full; //フルフラグ
takeru0x1103 19:4b0fe9a5ec38 149 bool empty; //エンプティフラグ
takeru0x1103 19:4b0fe9a5ec38 150 public:
takeru0x1103 21:78302ecdb661 151 //プロパティ
takeru0x1103 20:0394e15412c3 152 enmHbState state;//現在のステート
takeru0x1103 21:78302ecdb661 153 //メソッド
takeru0x1103 20:0394e15412c3 154 GlobalFlags();//コンストラクタ
takeru0x1103 19:4b0fe9a5ec38 155 bool push(enmHbState iState);
takeru0x1103 19:4b0fe9a5ec38 156 bool pull();
takeru0x1103 19:4b0fe9a5ec38 157 };
takeru0x1103 16:05b9e44889f1 158
takeru0x1103 21:78302ecdb661 159 */
takeru0x1103 21:78302ecdb661 160
takeru0x1103 21:78302ecdb661 161
takeru0x1103 17:f9610f3cfa1b 162 //モニタ用LED
takeru0x1103 16:05b9e44889f1 163 extern DigitalOut led1;
takeru0x1103 16:05b9e44889f1 164 extern DigitalOut led2;
takeru0x1103 16:05b9e44889f1 165 extern DigitalOut led3;
takeru0x1103 16:05b9e44889f1 166 extern DigitalOut led4;
takeru0x1103 8:1ca49cb18290 167
MasashiNomura 22:24c9c2dedca9 168 //////////////////////////////////////////////////
MasashiNomura 22:24c9c2dedca9 169 // フラグ
takeru0x1103 21:78302ecdb661 170 //extern GlobalFlags gf;
takeru0x1103 19:4b0fe9a5ec38 171
takeru0x1103 19:4b0fe9a5ec38 172 extern char g_CmdBuf[G_CMD_BUF_SIZ] ;// コマンド受け渡しバッファ
MasashiNomura 22:24c9c2dedca9 173 extern bool gf_CmdPrs; //コマンドパーサー実行要求フラグ
takeru0x1103 19:4b0fe9a5ec38 174
takeru0x1103 21:78302ecdb661 175 extern bool gf_Armed; //アーミングフラグ
MasashiNomura 22:24c9c2dedca9 176 extern bool gf_Dbg; //デバッグフラグ
MasashiNomura 25:f3a6e7eec9c3 177 extern bool gf_StopMot; //モーターの強制停止
MasashiNomura 25:f3a6e7eec9c3 178
MasashiNomura 22:24c9c2dedca9 179 extern typPrintFlag gf_Print; //デバッグプリントフラグ（１回表示）
MasashiNomura 22:24c9c2dedca9 180 extern typPrintFlag gf_Mon; //デバッグモニタフラグ（繰り返し表示）
MasashiNomura 22:24c9c2dedca9 181 extern typCalFlag gf_Cal; //キャリブレーションフラグ
MasashiNomura 26:732bc37fbefd 182
MasashiNomura 26:732bc37fbefd 183 extern typDbgPrintFlg gf_DbgPrint ;//デバッグ用
MasashiNomura 26:732bc37fbefd 184
MasashiNomura 22:24c9c2dedca9 185 extern typAccel gf_AxReq[2]; //アクセル更新
MasashiNomura 29:eb3d72dd94aa 186 //extern typAccel gf_MtReq[4]; //モーター更新
MasashiNomura 29:eb3d72dd94aa 187 //extern typAccel gf_MtReqOfs[4]; //モーターオフセット更新
MasashiNomura 29:eb3d72dd94aa 188 //extern typAccel gf_MtReqDct[8] ;//ダイレクト(FPGA関数直接呼び出し)モーター更新フラグ
MasashiNomura 29:eb3d72dd94aa 189 extern typAxlRpm gf_MtReq[4]; //モーター更新
MasashiNomura 29:eb3d72dd94aa 190 extern typAxlRpm gf_MtReqOfs[4]; //モーターオフセット更新
MasashiNomura 29:eb3d72dd94aa 191 extern typAxlRpm gf_MtReqDct[8] ;//ダイレクト(FPGA関数直接呼び出し)モーター更新フラグ
MasashiNomura 29:eb3d72dd94aa 192 //extern typOnePushFlg gf_MtReqOP[4] ;//モーターの回転制御動作用　一時的出力アップダウン
MasashiNomura 29:eb3d72dd94aa 193 extern typ1Push gf_MtReqOP[4] ;//モーターの回転制御動作用　一時的出力アップダウン
MasashiNomura 22:24c9c2dedca9 194
MasashiNomura 22:24c9c2dedca9 195 extern enmHbState gf_State; //現在のステート
takeru0x1103 19:4b0fe9a5ec38 196
MasashiNomura 24:c5945aaae777 197 extern bool gf_PidParaUpdate ;//PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 24:c5945aaae777 198 extern typPidPara g_PidPara; //PID Pp,P,I,Dの係数の外部設定用
takeru0x1103 19:4b0fe9a5ec38 199
MasashiNomura 25:f3a6e7eec9c3 200 extern bool gf_MotParaUpdate[4] ;//モーターのパラメータ値更新フラグ
MasashiNomura 25:f3a6e7eec9c3 201 extern typMotPara g_MotPara[4]; //モーターのパラメータ値
MasashiNomura 25:f3a6e7eec9c3 202
takeru0x1103 18:5aa48aec9cae 203 #endif