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Dependencies:   mbed FreeRTOS

userTask.cpp@56:f363a6877c6a, 2019-03-06 (annotated)

Committer:
MasashiNomura
Date:
Wed Mar 06 02:18:47 2019 +0000
Revision:
56:f363a6877c6a
Parent:
53:b09c062cc31c
Child:
63:aee44afe6363
2019/03/05 change SW etc

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 37:d51dacb4c30f 72 bool bTmp;
MasashiNomura 56:f363a6877c6a 73
MasashiNomura 36:2cc739c7e4cb 74 INT16 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 75 INT16 cntSW2 = 0;
MasashiNomura 33:eb260dbfc22a 76 INT16 AxlRpm;
MasashiNomura 36:2cc739c7e4cb 77 INT16 TrtlVal;
MasashiNomura 38:24ee50452755 78 float AxlRow;
MasashiNomura 48:71aec693a7dc 79
MasashiNomura 48:71aec693a7dc 80
takeru0x1103 1:15ab74f0d0f1 81 while(1){
MasashiNomura 41:45c982b1c5b6 82 // DISPLAY LED
takeru0x1103 16:05b9e44889f1 83 led1=!led1;
MasashiNomura 41:45c982b1c5b6 84 setDO4LED(gf_State);
MasashiNomura 41:45c982b1c5b6 85
MasashiNomura 39:1b76f7df8804 86 hb.proofOfSurvival();
MasashiNomura 56:f363a6877c6a 87
MasashiNomura 24:c5945aaae777 88 // PID係数アップデートチェック
MasashiNomura 24:c5945aaae777 89 if(gf_PidParaUpdate){
MasashiNomura 24:c5945aaae777 90 hb.setAttPara(g_PidPara);
MasashiNomura 24:c5945aaae777 91 sp.printf("Pp : [%f]\r\n",g_PidPara.PP);
MasashiNomura 24:c5945aaae777 92 sp.printf("P : [%f]\r\n",g_PidPara.P);
MasashiNomura 24:c5945aaae777 93 sp.printf("I : [%f]\r\n",g_PidPara.I);
MasashiNomura 24:c5945aaae777 94 sp.printf("D : [%f]\r\n",g_PidPara.D);
MasashiNomura 24:c5945aaae777 95 sp.printf("IMAX: [%f]\r\n",g_PidPara.IMax);
MasashiNomura 24:c5945aaae777 96 sp.printf("IMIN: [%f]\r\n",g_PidPara.IMin);
MasashiNomura 31:56c554c560c1 97 sp.printf("V : [%f]\r\n",g_PidPara.V);
MasashiNomura 48:71aec693a7dc 98 sp.printf("Mode: [%d]\r\n",g_PidPara.mode);
MasashiNomura 24:c5945aaae777 99 gf_PidParaUpdate = false;
MasashiNomura 24:c5945aaae777 100 }
MasashiNomura 37:d51dacb4c30f 101 // 確実にモーター等を止めるため
MasashiNomura 25:f3a6e7eec9c3 102 if(gf_StopMot){
MasashiNomura 29:eb3d72dd94aa 103 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 104 gf_MtReq[i].req = true;
MasashiNomura 32:7f4145cc3551 105 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 106 gf_MtReqOfs[i].req = true;
MasashiNomura 32:7f4145cc3551 107 gf_MtReqOfs[i].val = 0;
MasashiNomura 29:eb3d72dd94aa 108 }
MasashiNomura 37:d51dacb4c30f 109 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 110 gf_AxReq[i].bf.req = true;
MasashiNomura 37:d51dacb4c30f 111 gf_AxReq[i].bf.val = 0;
MasashiNomura 37:d51dacb4c30f 112 }
MasashiNomura 37:d51dacb4c30f 113 gf_FromActiveStat = isActiveState();
MasashiNomura 37:d51dacb4c30f 114 setStateF(MOT_STOP);
MasashiNomura 25:f3a6e7eec9c3 115 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 116 }
MasashiNomura 23:79e20be4bc5b 117
MasashiNomura 29:eb3d72dd94aa 118
takeru0x1103 21:78302ecdb661 119 //▼①状態読み出し系
MasashiNomura 22:24c9c2dedca9 120 hb.getAttitude(); //現在角度読み出し
MasashiNomura 39:1b76f7df8804 121 hb.getEngine(); //エンジン回転数読み出し
MasashiNomura 22:24c9c2dedca9 122 hb.getUserCommand(); //操作ボタン状態読み出し
MasashiNomura 29:eb3d72dd94aa 123
takeru0x1103 21:78302ecdb661 124 //▼②ステート遷移
MasashiNomura 22:24c9c2dedca9 125 switch(gf_State){
MasashiNomura 22:24c9c2dedca9 126 case SLEEP:
MasashiNomura 36:2cc739c7e4cb 127 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 128 sp.printf("SLEEP state\r\n");
MasashiNomura 36:2cc739c7e4cb 129 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 130 }
MasashiNomura 36:2cc739c7e4cb 131 // DEBUGタスクスタートフラグの監視
MasashiNomura 22:24c9c2dedca9 132 if(gf_Dbg){
MasashiNomura 24:c5945aaae777 133 gf_Dbg = false;
MasashiNomura 22:24c9c2dedca9 134 taskStart(2);
MasashiNomura 22:24c9c2dedca9 135 }
MasashiNomura 37:d51dacb4c30f 136 if(hb.chkSWUserOpeAny()){
MasashiNomura 37:d51dacb4c30f 137 typUserSw sw = hb.getUserSw();
MasashiNomura 38:24ee50452755 138 } else {
MasashiNomura 41:45c982b1c5b6 139 if(gf_Print.d2.bf.ain){
MasashiNomura 40:debe99e228d3 140 AxlRow = hb.getUserMotAxlRaw();
MasashiNomura 41:45c982b1c5b6 141 sp.printf("MotAxl:%f ",AxlRow);
MasashiNomura 38:24ee50452755 142 }
MasashiNomura 37:d51dacb4c30f 143 }
MasashiNomura 36:2cc739c7e4cb 144 // 浮上（離陸）ボタン、着陸ボタンの同時長押し監視
MasashiNomura 36:2cc739c7e4cb 145 if(hb.chkSWUserOpeBoth(HbUserOpe::FLT_ON,HbUserOpe::FLT_OFF)){
MasashiNomura 36:2cc739c7e4cb 146 ++cntSW1;
MasashiNomura 36:2cc739c7e4cb 147 if(cntSW1 > 30){
MasashiNomura 36:2cc739c7e4cb 148 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 149 setStateF(CHK_EG_ENT);
MasashiNomura 36:2cc739c7e4cb 150 }
MasashiNomura 36:2cc739c7e4cb 151 }
MasashiNomura 36:2cc739c7e4cb 152 else {
MasashiNomura 36:2cc739c7e4cb 153 cntSW1 = 0;
MasashiNomura 36:2cc739c7e4cb 154 }
MasashiNomura 36:2cc739c7e4cb 155 if(hb.chkSWUserOpeBoth(HbUserOpe::BRK_L, HbUserOpe::BRK_R)){
MasashiNomura 36:2cc739c7e4cb 156 ++cntSW2;
MasashiNomura 36:2cc739c7e4cb 157 if(cntSW2 > 30){
MasashiNomura 36:2cc739c7e4cb 158 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 159 setStateF(WAKEUP);
MasashiNomura 36:2cc739c7e4cb 160 }
MasashiNomura 36:2cc739c7e4cb 161 }
MasashiNomura 36:2cc739c7e4cb 162 else {
MasashiNomura 36:2cc739c7e4cb 163 cntSW2 = 0;
MasashiNomura 36:2cc739c7e4cb 164 }
MasashiNomura 22:24c9c2dedca9 165 break;
MasashiNomura 22:24c9c2dedca9 166 case WAKEUP:
MasashiNomura 36:2cc739c7e4cb 167 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 168 //スイッチが何も押されていないことの確認
MasashiNomura 36:2cc739c7e4cb 169 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 170 sp.printf("WAKEUP state\r\n");
MasashiNomura 36:2cc739c7e4cb 171 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 172 }
MasashiNomura 36:2cc739c7e4cb 173 }
MasashiNomura 36:2cc739c7e4cb 174 else
MasashiNomura 36:2cc739c7e4cb 175 {
MasashiNomura 36:2cc739c7e4cb 176 //各種モーター
MasashiNomura 36:2cc739c7e4cb 177 //機材のチェック
MasashiNomura 36:2cc739c7e4cb 178 hb.calAtt();//現在値でヨー角校正
MasashiNomura 36:2cc739c7e4cb 179 //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 180 AxlRpm = hb.getUserMotAxl();
MasashiNomura 36:2cc739c7e4cb 181 if(AxlRpm > 0){
MasashiNomura 36:2cc739c7e4cb 182 // 将来的に警告音等
MasashiNomura 38:24ee50452755 183 sp.printf("Warning!! Motor Accel Opened!![%d]\r\n",AxlRpm);
MasashiNomura 36:2cc739c7e4cb 184 setStateF(SLEEP);
MasashiNomura 36:2cc739c7e4cb 185 } else {
MasashiNomura 36:2cc739c7e4cb 186 setState(STANDBY);
MasashiNomura 36:2cc739c7e4cb 187 }
MasashiNomura 35:3779201b4c73 188 }
MasashiNomura 22:24c9c2dedca9 189 break;
MasashiNomura 22:24c9c2dedca9 190 case STANDBY:
MasashiNomura 36:2cc739c7e4cb 191 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 192 // 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 193 // TODO
MasashiNomura 36:2cc739c7e4cb 194 sp.printf("STANDBY state\r\n");
MasashiNomura 36:2cc739c7e4cb 195 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 196 }
MasashiNomura 36:2cc739c7e4cb 197 else {
MasashiNomura 40:debe99e228d3 198
MasashiNomura 25:f3a6e7eec9c3 199 if(hb.chkInRangeIDLE()){
MasashiNomura 47:d3fa874f336e 200 //hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 201 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 202 }
MasashiNomura 25:f3a6e7eec9c3 203 else{
MasashiNomura 25:f3a6e7eec9c3 204 // デバッグのためここもスルー
MasashiNomura 47:d3fa874f336e 205 //hb.calAtt();//現在値でヨー角校正
MasashiNomura 25:f3a6e7eec9c3 206 setState(IDLE);
MasashiNomura 25:f3a6e7eec9c3 207 }
MasashiNomura 23:79e20be4bc5b 208 }
MasashiNomura 22:24c9c2dedca9 209 break;
MasashiNomura 22:24c9c2dedca9 210 case IDLE:
MasashiNomura 36:2cc739c7e4cb 211 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 212 sp.printf("IDLE state\r\n");
MasashiNomura 56:f363a6877c6a 213 hb.setAccelVal(FRONT,0);
MasashiNomura 56:f363a6877c6a 214 hb.setAccelVal(REAR, 0);
MasashiNomura 36:2cc739c7e4cb 215 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 216 }
MasashiNomura 23:79e20be4bc5b 217 //SWのチェック
MasashiNomura 31:56c554c560c1 218 hb.chkSW(IDLE);
MasashiNomura 56:f363a6877c6a 219 // AxlRpm = hb.getUserMotAxl();
MasashiNomura 56:f363a6877c6a 220 // hb.setMotVal(R_L,AxlRpm);
MasashiNomura 56:f363a6877c6a 221 // hb.setMotVal(R_R,AxlRpm);
MasashiNomura 46:5074781a28dd 222 // hb.setMotValOfs(R_L,AxlRpm);
MasashiNomura 46:5074781a28dd 223 // hb.setMotValOfs(R_R,AxlRpm);
MasashiNomura 22:24c9c2dedca9 224 break;
MasashiNomura 47:d3fa874f336e 225 case UPPER_IDLE:
MasashiNomura 47:d3fa874f336e 226 if(gf_StateEnt){
MasashiNomura 47:d3fa874f336e 227 sp.printf("UPPER IDLE state\r\n");
MasashiNomura 47:d3fa874f336e 228 hb.calAtt();//現在値でヨー角校正
MasashiNomura 47:d3fa874f336e 229 gf_StateEnt = false;
MasashiNomura 47:d3fa874f336e 230 }
MasashiNomura 47:d3fa874f336e 231 //SWのチェック
MasashiNomura 47:d3fa874f336e 232 hb.chkSW(UPPER_IDLE);
MasashiNomura 56:f363a6877c6a 233 // AxlRpm = hb.getUserMotAxl();
MasashiNomura 56:f363a6877c6a 234 // hb.setMotVal(R_L,AxlRpm);
MasashiNomura 56:f363a6877c6a 235 // hb.setMotVal(R_R,AxlRpm);
MasashiNomura 47:d3fa874f336e 236 break;
MasashiNomura 22:24c9c2dedca9 237 case TAKE_OFF:
MasashiNomura 36:2cc739c7e4cb 238 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 239 sp.printf("TAKE_OFF state\r\n");
MasashiNomura 47:d3fa874f336e 240 hb.calAtt();//現在値でヨー角校正
MasashiNomura 36:2cc739c7e4cb 241 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 242 }
MasashiNomura 23:79e20be4bc5b 243 // エンジン回転数のチェック
MasashiNomura 23:79e20be4bc5b 244 // 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 245 // if(hb.chkSWUserOpe(HbUserOpe::STOP)){
MasashiNomura 23:79e20be4bc5b 246 // setState(GROUND);
MasashiNomura 23:79e20be4bc5b 247 // }
MasashiNomura 23:79e20be4bc5b 248 //else
MasashiNomura 34:234b87f3e6ce 249 hb.chkSW(TAKE_OFF);
MasashiNomura 56:f363a6877c6a 250 // AxlRpm = hb.getUserMotAxl();
MasashiNomura 56:f363a6877c6a 251 // hb.setMotVal(R_L,AxlRpm);
MasashiNomura 56:f363a6877c6a 252 // hb.setMotVal(R_R,AxlRpm);
MasashiNomura 46:5074781a28dd 253 // hb.setMotValOfs(R_L,AxlRpm);
MasashiNomura 46:5074781a28dd 254 // hb.setMotValOfs(R_R,AxlRpm);
MasashiNomura 22:24c9c2dedca9 255 break;
MasashiNomura 22:24c9c2dedca9 256 case GROUND:
MasashiNomura 36:2cc739c7e4cb 257 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 258 sp.printf("GROUND state\r\n");
MasashiNomura 56:f363a6877c6a 259 for(int i = 0; i < 4; ++i){
MasashiNomura 56:f363a6877c6a 260 gf_MtReq[i].req = true;
MasashiNomura 56:f363a6877c6a 261 gf_MtReq[i].val = 0;
MasashiNomura 56:f363a6877c6a 262 gf_MtReqOfs[i].req = true;
MasashiNomura 56:f363a6877c6a 263 gf_MtReqOfs[i].val = 0;
MasashiNomura 56:f363a6877c6a 264 gf_MtReqU[i].req = true;
MasashiNomura 56:f363a6877c6a 265 gf_MtReqU[i].val = 0;
MasashiNomura 56:f363a6877c6a 266 }
MasashiNomura 36:2cc739c7e4cb 267 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 268 }
MasashiNomura 23:79e20be4bc5b 269 // そのままスルー
MasashiNomura 36:2cc739c7e4cb 270 // 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 271 setState(IDLE);
MasashiNomura 22:24c9c2dedca9 272 break;
MasashiNomura 22:24c9c2dedca9 273 case HOVER:
MasashiNomura 36:2cc739c7e4cb 274 gf_StateEnt = false;
MasashiNomura 23:79e20be4bc5b 275 //
MasashiNomura 22:24c9c2dedca9 276 break;
MasashiNomura 22:24c9c2dedca9 277 case DRIVE:
MasashiNomura 36:2cc739c7e4cb 278 gf_StateEnt = false;
MasashiNomura 22:24c9c2dedca9 279 break;
MasashiNomura 22:24c9c2dedca9 280 case EMGGND:
MasashiNomura 36:2cc739c7e4cb 281 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 282 break;
MasashiNomura 36:2cc739c7e4cb 283 case CHK_EG_ENT:
MasashiNomura 36:2cc739c7e4cb 284 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 285 sp.printf("Check Engine enter\r\n");
MasashiNomura 36:2cc739c7e4cb 286 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 287 }
MasashiNomura 36:2cc739c7e4cb 288 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 289 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 290 if(TrtlVal > 10){
MasashiNomura 38:24ee50452755 291 sp.printf("Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 292 break;
MasashiNomura 36:2cc739c7e4cb 293 } else {
MasashiNomura 38:24ee50452755 294 hb.clearHvAxl();
MasashiNomura 36:2cc739c7e4cb 295 setState(CHK_EG_F);
MasashiNomura 36:2cc739c7e4cb 296 }
MasashiNomura 36:2cc739c7e4cb 297 }
MasashiNomura 36:2cc739c7e4cb 298 break;
MasashiNomura 36:2cc739c7e4cb 299 case CHK_EG_F:
MasashiNomura 36:2cc739c7e4cb 300 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 301 sp.printf("Check Engine Front\r\n");
MasashiNomura 36:2cc739c7e4cb 302 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 303 }
MasashiNomura 36:2cc739c7e4cb 304 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 305 hb.setAccelVal(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 306 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 38:24ee50452755 307 sp.printf("FRONT Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 308 hb.setHvAxl(FRONT, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 309 }
MasashiNomura 36:2cc739c7e4cb 310 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 311 if(hb.chkSetHvAxl(FRONT)){
MasashiNomura 41:45c982b1c5b6 312 gf_AxReq[0].bf.req = true;
MasashiNomura 41:45c982b1c5b6 313 gf_AxReq[0].bf.val = 0;
MasashiNomura 36:2cc739c7e4cb 314 setState(CHK_EG_MID);
MasashiNomura 36:2cc739c7e4cb 315 }
MasashiNomura 36:2cc739c7e4cb 316 }
MasashiNomura 36:2cc739c7e4cb 317 break;
MasashiNomura 36:2cc739c7e4cb 318 case CHK_EG_MID:
MasashiNomura 36:2cc739c7e4cb 319 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 320 sp.printf("Check Engine MIDDLE\r\n");
MasashiNomura 36:2cc739c7e4cb 321 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 322 }
MasashiNomura 36:2cc739c7e4cb 323 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 324 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 325 if(TrtlVal > 10){
MasashiNomura 36:2cc739c7e4cb 326 break;
MasashiNomura 36:2cc739c7e4cb 327 } else {
MasashiNomura 36:2cc739c7e4cb 328 setState(CHK_EG_R);
MasashiNomura 36:2cc739c7e4cb 329 }
MasashiNomura 36:2cc739c7e4cb 330 }
MasashiNomura 36:2cc739c7e4cb 331 break;
MasashiNomura 36:2cc739c7e4cb 332 case CHK_EG_R:
MasashiNomura 36:2cc739c7e4cb 333 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 334 sp.printf("Check Engine Rear\r\n");
MasashiNomura 36:2cc739c7e4cb 335 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 336 }
MasashiNomura 36:2cc739c7e4cb 337 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 36:2cc739c7e4cb 338 hb.setAccelVal(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 339 if(hb.chkSWUserOpe(HbUserOpe::F_ENG_UP)){
MasashiNomura 38:24ee50452755 340 sp.printf("REAR Throttle Val:%d\r\n",TrtlVal);
MasashiNomura 36:2cc739c7e4cb 341 hb.setHvAxl(REAR, TrtlVal);
MasashiNomura 36:2cc739c7e4cb 342 }
MasashiNomura 36:2cc739c7e4cb 343 if(hb.chkSWUserOpe(HbUserOpe::R_ENG_UP)){
MasashiNomura 36:2cc739c7e4cb 344 if(hb.chkSetHvAxl(REAR)){
MasashiNomura 41:45c982b1c5b6 345 gf_AxReq[1].bf.req = true;
MasashiNomura 41:45c982b1c5b6 346 gf_AxReq[1].bf.val = 0;
MasashiNomura 36:2cc739c7e4cb 347 setState(CHK_EG_EXIT);
MasashiNomura 36:2cc739c7e4cb 348 }
MasashiNomura 36:2cc739c7e4cb 349 }
MasashiNomura 36:2cc739c7e4cb 350 break;
MasashiNomura 36:2cc739c7e4cb 351 case CHK_EG_EXIT:
MasashiNomura 36:2cc739c7e4cb 352 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 353 sp.printf("Check Engine Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 354 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 355 }
MasashiNomura 36:2cc739c7e4cb 356 if(!hb.chkSWUserOpeAny()){
MasashiNomura 36:2cc739c7e4cb 357 TrtlVal = hb.getUserEngTrottle();
MasashiNomura 39:1b76f7df8804 358 if(TrtlVal > 10){
MasashiNomura 36:2cc739c7e4cb 359 break;
MasashiNomura 36:2cc739c7e4cb 360 } else {
MasashiNomura 36:2cc739c7e4cb 361 setState(SLEEP);
MasashiNomura 36:2cc739c7e4cb 362 }
MasashiNomura 36:2cc739c7e4cb 363 }
MasashiNomura 22:24c9c2dedca9 364 break;
MasashiNomura 23:79e20be4bc5b 365 case CHK_ENT: //チェックエンター
MasashiNomura 36:2cc739c7e4cb 366 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 367 sp.printf("Check enter\r\n");
MasashiNomura 36:2cc739c7e4cb 368 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 369 }
MasashiNomura 38:24ee50452755 370 //setStateF(CHK_MOT);
MasashiNomura 23:79e20be4bc5b 371 break;
MasashiNomura 23:79e20be4bc5b 372 case CHK_MOT: //モーターチェック
MasashiNomura 36:2cc739c7e4cb 373 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 374 sp.printf("Check Motor\r\n");
MasashiNomura 36:2cc739c7e4cb 375 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 376 }
MasashiNomura 38:24ee50452755 377 //AxlRpm = hb.getUserMotAxl();
MasashiNomura 23:79e20be4bc5b 378 break;
MasashiNomura 23:79e20be4bc5b 379 case CHK_AXL: //アクセルサーボチェック
MasashiNomura 36:2cc739c7e4cb 380 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 381 sp.printf("Check Accel Servo\r\n");
MasashiNomura 36:2cc739c7e4cb 382 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 383 }
MasashiNomura 38:24ee50452755 384 //TrtlVal = hb.getUserEngTrottle();
MasashiNomura 23:79e20be4bc5b 385 break;
MasashiNomura 23:79e20be4bc5b 386 case CHK_ATT: //姿勢制御チェック
MasashiNomura 36:2cc739c7e4cb 387 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 388 sp.printf("Check Attitude\r\n");
MasashiNomura 36:2cc739c7e4cb 389 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 390 }
MasashiNomura 23:79e20be4bc5b 391 break;
MasashiNomura 23:79e20be4bc5b 392 case CHK_EXIT: //チェックステート脱出
MasashiNomura 36:2cc739c7e4cb 393 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 394 sp.printf("Check Exit\r\n");
MasashiNomura 36:2cc739c7e4cb 395 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 396 }
MasashiNomura 23:79e20be4bc5b 397 break;
MasashiNomura 25:f3a6e7eec9c3 398 case MOT_STOP:
MasashiNomura 36:2cc739c7e4cb 399 if(gf_StateEnt){
MasashiNomura 36:2cc739c7e4cb 400 sp.printf("Motor Stop\r\n");
MasashiNomura 36:2cc739c7e4cb 401 gf_StateEnt = false;
MasashiNomura 36:2cc739c7e4cb 402 }
MasashiNomura 37:d51dacb4c30f 403 bTmp = true;
MasashiNomura 37:d51dacb4c30f 404 for(int i = 0; i < 4; ++i){
MasashiNomura 37:d51dacb4c30f 405 if(gf_MtReq[i].req){
MasashiNomura 37:d51dacb4c30f 406 bTmp = false;
MasashiNomura 37:d51dacb4c30f 407 break;
MasashiNomura 37:d51dacb4c30f 408 }
MasashiNomura 37:d51dacb4c30f 409 if(gf_MtReqOfs[i].req){
MasashiNomura 37:d51dacb4c30f 410 bTmp = false;
MasashiNomura 37:d51dacb4c30f 411 break;
MasashiNomura 37:d51dacb4c30f 412 }
MasashiNomura 37:d51dacb4c30f 413 }
MasashiNomura 37:d51dacb4c30f 414 if(!bTmp)break;
MasashiNomura 37:d51dacb4c30f 415 for(int i = 0; i < 2; ++i){
MasashiNomura 37:d51dacb4c30f 416 if(gf_AxReq[i].bf.req){
MasashiNomura 37:d51dacb4c30f 417 bTmp = false;
MasashiNomura 37:d51dacb4c30f 418 break;
MasashiNomura 37:d51dacb4c30f 419 }
MasashiNomura 37:d51dacb4c30f 420 }
MasashiNomura 37:d51dacb4c30f 421 if(bTmp){
MasashiNomura 37:d51dacb4c30f 422 if(gf_FromActiveStat){
MasashiNomura 40:debe99e228d3 423 setStateF(IDLE);
MasashiNomura 37:d51dacb4c30f 424 }
MasashiNomura 37:d51dacb4c30f 425 else{
MasashiNomura 37:d51dacb4c30f 426 setStateF(SLEEP);
MasashiNomura 37:d51dacb4c30f 427 }
MasashiNomura 37:d51dacb4c30f 428 }
MasashiNomura 37:d51dacb4c30f 429
MasashiNomura 32:7f4145cc3551 430 // if(hb.stopMotor() == true){
MasashiNomura 32:7f4145cc3551 431 // hb.initMotVal();
MasashiNomura 32:7f4145cc3551 432 // setState(SLEEP);
MasashiNomura 32:7f4145cc3551 433 // sp.printf("MOTOR STOPPED!\r\n");
MasashiNomura 32:7f4145cc3551 434 // }
MasashiNomura 32:7f4145cc3551 435 // else{
MasashiNomura 32:7f4145cc3551 436 // sp.printf(".");
MasashiNomura 32:7f4145cc3551 437 // }
MasashiNomura 25:f3a6e7eec9c3 438 break;
MasashiNomura 22:24c9c2dedca9 439 }
takeru0x1103 21:78302ecdb661 440
takeru0x1103 21:78302ecdb661 441 //▼③各種設定
MasashiNomura 56:f363a6877c6a 442 hb.controlAttitude(); //姿勢制御
MasashiNomura 56:f363a6877c6a 443 hb.controlMotor();//モーター指令出し
MasashiNomura 56:f363a6877c6a 444 hb.controlEngine(gf_State);//エンジン指令出し
MasashiNomura 31:56c554c560c1 445
MasashiNomura 41:45c982b1c5b6 446 if(gf_Print.d1.bf.stat){
MasashiNomura 41:45c982b1c5b6 447 sp.printf("stat : [%X] ",gf_State);
MasashiNomura 23:79e20be4bc5b 448 }
takeru0x1103 18:5aa48aec9cae 449 //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 450 if(gf_Print.d1.flg!=0 || gf_Print.d2.flg!=0){
MasashiNomura 41:45c982b1c5b6 451 gf_Print.d1.flg=gf_Mon.d1.flg;
MasashiNomura 41:45c982b1c5b6 452 gf_Print.d2.flg=gf_Mon.d2.flg;
MasashiNomura 26:732bc37fbefd 453 sp.printf("\r\n");
MasashiNomura 26:732bc37fbefd 454 }
takeru0x1103 1:15ab74f0d0f1 455
takeru0x1103 1:15ab74f0d0f1 456 //次の周期まで待つ
takeru0x1103 1:15ab74f0d0f1 457 vTaskDelayUntil(&xLastWakeTime, 20 / portTICK_RATE_MS );
takeru0x1103 1:15ab74f0d0f1 458 }
takeru0x1103 1:15ab74f0d0f1 459 }
takeru0x1103 18:5aa48aec9cae 460 //========================================================
takeru0x1103 21:78302ecdb661 461 //タスク２：デバッグ用タスク
takeru0x1103 18:5aa48aec9cae 462 //========================================================
takeru0x1103 18:5aa48aec9cae 463 void taskDebug(void *pvParameters){
takeru0x1103 21:78302ecdb661 464
takeru0x1103 21:78302ecdb661 465 taskStop(2);//自ら止めてレジュームされるまで待つ
MasashiNomura 24:c5945aaae777 466 UCHAR Num;
MasashiNomura 24:c5945aaae777 467 INT16 iVal;
MasashiNomura 25:f3a6e7eec9c3 468 //bool rvFlg;
MasashiNomura 24:c5945aaae777 469
takeru0x1103 21:78302ecdb661 470 //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 471 while(1){
MasashiNomura 24:c5945aaae777 472 for(Num = 0; Num < 8; ++Num){
MasashiNomura 24:c5945aaae777 473 for(iVal = 50; iVal < 300; ++iVal){
MasashiNomura 24:c5945aaae777 474 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 475 wait(0.002);
MasashiNomura 24:c5945aaae777 476 }
MasashiNomura 24:c5945aaae777 477 for(iVal = 300; iVal >= 50; --iVal){
MasashiNomura 24:c5945aaae777 478 fpgaMotor(Num, iVal);
MasashiNomura 25:f3a6e7eec9c3 479 wait(0.002);
MasashiNomura 24:c5945aaae777 480 }
MasashiNomura 24:c5945aaae777 481 }
MasashiNomura 23:79e20be4bc5b 482 //自タスク停止させて次の周期まで待つ
MasashiNomura 22:24c9c2dedca9 483 gf_Dbg = false;
MasashiNomura 23:79e20be4bc5b 484 sp.printf("Do DebugTask!");
takeru0x1103 18:5aa48aec9cae 485 taskStop(2);
takeru0x1103 18:5aa48aec9cae 486 }
takeru0x1103 18:5aa48aec9cae 487 }
takeru0x1103 17:f9610f3cfa1b 488
takeru0x1103 1:15ab74f0d0f1 489 //-------------------------------------------------------------
takeru0x1103 17:f9610f3cfa1b 490 //初期化：タスク登録
takeru0x1103 1:15ab74f0d0f1 491 //-------------------------------------------------------------
takeru0x1103 1:15ab74f0d0f1 492 void taskInit(){
takeru0x1103 21:78302ecdb661 493 portBASE_TYPE TaskRtn;//タスククリエイトの結果を受け取る型
takeru0x1103 18:5aa48aec9cae 494
takeru0x1103 21:78302ecdb661 495 //タスク０：コマンド解析タスク
MasashiNomura 26:732bc37fbefd 496 TaskRtn= xTaskCreate(taskCmdParser, (signed portCHAR *)"TaskCmd", 512, NULL, 1, &tskHandle[0]);
takeru0x1103 21:78302ecdb661 497 if(TaskRtn==pdTRUE){sp.printf("Task0 Set : Command parser\r\n");}
takeru0x1103 21:78302ecdb661 498
takeru0x1103 21:78302ecdb661 499 //タスク１：制御タスク
MasashiNomura 28:fdb3b144e342 500 TaskRtn= xTaskCreate(taskHbControl, (signed portCHAR *)"TaskHbCont", 1024, NULL, 2, &tskHandle[1]);
takeru0x1103 21:78302ecdb661 501 if(TaskRtn==pdTRUE){sp.printf("Task1 Set : Hoverbike Control\r\n");}
takeru0x1103 21:78302ecdb661 502
takeru0x1103 21:78302ecdb661 503 //タスク２：デバッグタスク
MasashiNomura 23:79e20be4bc5b 504 TaskRtn= xTaskCreate(taskDebug, (signed portCHAR *)"TaskDebug", 192, NULL, 0, &tskHandle[2]);
takeru0x1103 21:78302ecdb661 505 if(TaskRtn==pdTRUE){sp.printf("Task2 Set : Debug\r\n");}
takeru0x1103 8:1ca49cb18290 506
takeru0x1103 21:78302ecdb661 507 //RTOSカーネル起動（タスクが走り出す）
takeru0x1103 1:15ab74f0d0f1 508 vTaskStartScheduler();
takeru0x1103 1:15ab74f0d0f1 509 }
takeru0x1103 1:15ab74f0d0f1 510
takeru0x1103 1:15ab74f0d0f1 511