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Dependencies:   mbed FreeRTOS

HbUserOpe.cpp@34:234b87f3e6ce, 2018-12-22 (annotated)

Committer:
MasashiNomura
Date:
Sat Dec 22 09:08:10 2018 +0000
Revision:
34:234b87f3e6ce
Parent:
33:eb260dbfc22a
Child:
36:2cc739c7e4cb
12/22 Modify SW etc

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 34:234b87f3e6ce 8 AinAxlVal = 0;
MasashiNomura 22:24c9c2dedca9 9 }
MasashiNomura 22:24c9c2dedca9 10
MasashiNomura 22:24c9c2dedca9 11 //=========================================
MasashiNomura 22:24c9c2dedca9 12 //デストラクタ
MasashiNomura 22:24c9c2dedca9 13 //=========================================
MasashiNomura 22:24c9c2dedca9 14 HbUserOpe::~HbUserOpe(){
MasashiNomura 22:24c9c2dedca9 15 }
MasashiNomura 22:24c9c2dedca9 16
MasashiNomura 22:24c9c2dedca9 17 typUserSw HbUserOpe::GetUserOpe()
MasashiNomura 22:24c9c2dedca9 18 {
MasashiNomura 22:24c9c2dedca9 19 oldOpe = curOpe;
MasashiNomura 22:24c9c2dedca9 20 curOpe.w = fpgaGetUserSw();
MasashiNomura 22:24c9c2dedca9 21 return curOpe;
MasashiNomura 23:79e20be4bc5b 22 }
MasashiNomura 33:eb260dbfc22a 23 INT16 HbUserOpe::GetAinAccel()
MasashiNomura 33:eb260dbfc22a 24 {
MasashiNomura 34:234b87f3e6ce 25 // max rpm 8500 ユーザー使用分として7000をマックスとする(仮)
MasashiNomura 34:234b87f3e6ce 26 // 0 ~ 1.00 -> 0.01 ~ 0.97を使用する（遊び分として）
MasashiNomura 33:eb260dbfc22a 27 INT16 ret = 0;
MasashiNomura 34:234b87f3e6ce 28 AinAxlVal = AinAxl.read();
MasashiNomura 34:234b87f3e6ce 29 if(MIN_EFF_ANA_VAL > AinAxlVal){
MasashiNomura 33:eb260dbfc22a 30 ret = 0;
MasashiNomura 34:234b87f3e6ce 31 } else if(AinAxlVal >= MIN_EFF_ANA_VAL && AinAxlVal <= MAX_EFF_ANA_VAL){
MasashiNomura 34:234b87f3e6ce 32 ret = (MAX_RPM_USERSET - MIN_RPM_TOTAL) * (AinAxlVal - MIN_EFF_ANA_VAL) / (MAX_EFF_ANA_VAL - MIN_EFF_ANA_VAL) + MIN_RPM_TOTAL;
MasashiNomura 34:234b87f3e6ce 33 } else if(AinAxlVal > MAX_EFF_ANA_VAL){
MasashiNomura 34:234b87f3e6ce 34 ret = MAX_RPM_USERSET;
MasashiNomura 33:eb260dbfc22a 35 }else{
MasashiNomura 33:eb260dbfc22a 36 ret = 0;
MasashiNomura 33:eb260dbfc22a 37 }
MasashiNomura 33:eb260dbfc22a 38 if(gf_DbgPrint.bf.ana1 == true){
MasashiNomura 34:234b87f3e6ce 39 sp.printf("Axl Rpm=%d val=%f\r\n",ret,AinAxlVal);
MasashiNomura 33:eb260dbfc22a 40 gf_DbgPrint.bf.ana1 = false;
MasashiNomura 33:eb260dbfc22a 41 }
MasashiNomura 33:eb260dbfc22a 42 //sp.printf("Axl Rpm=%d val=%f\r\n",ret,anaval);
MasashiNomura 33:eb260dbfc22a 43 return ret;
MasashiNomura 33:eb260dbfc22a 44 }
MasashiNomura 34:234b87f3e6ce 45
MasashiNomura 23:79e20be4bc5b 46 bool HbUserOpe::ChkCtrlSW(SW_TYPE styp)
MasashiNomura 23:79e20be4bc5b 47 {
MasashiNomura 30:13ada1a24c59 48 if(styp == BRK_L) {return curOpe.bf.brk_l;}
MasashiNomura 30:13ada1a24c59 49 else if(styp == BRK_R) {return curOpe.bf.brk_r;}
MasashiNomura 34:234b87f3e6ce 50 else if(styp == FLT_ON) {return curOpe.bf.flt_on;}
MasashiNomura 34:234b87f3e6ce 51 else if(styp == FLT_OFF) {return curOpe.bf.flt_off;}
MasashiNomura 34:234b87f3e6ce 52 else if(styp == FL_BRK) {return curOpe.bf.full_brk;}
MasashiNomura 30:13ada1a24c59 53 else if(styp == MOT_STOP){return curOpe.bf.mot_stop;}
MasashiNomura 34:234b87f3e6ce 54 else if(styp == R_1) {return curOpe.bf.rsv_1;}
MasashiNomura 34:234b87f3e6ce 55 else if(styp == R_2) {return curOpe.bf.rsv_2;}
MasashiNomura 34:234b87f3e6ce 56 else if(styp == R_3) {return curOpe.bf.rsv_3;}
MasashiNomura 30:13ada1a24c59 57 else if(styp == ALL_STOP){return curOpe.bf.all_stop;}
MasashiNomura 31:56c554c560c1 58 else {return false;}
MasashiNomura 26:732bc37fbefd 59 }
MasashiNomura 23:79e20be4bc5b 60 bool HbUserOpe::ChkCtrlSwAny()
MasashiNomura 23:79e20be4bc5b 61 {
MasashiNomura 23:79e20be4bc5b 62 UINT16 mask = 0x1;
MasashiNomura 34:234b87f3e6ce 63 for(int i = 0; i < 10; ++i){
MasashiNomura 23:79e20be4bc5b 64 if(curOpe.w & mask){
MasashiNomura 23:79e20be4bc5b 65 return true;
MasashiNomura 23:79e20be4bc5b 66 }
MasashiNomura 23:79e20be4bc5b 67 mask = mask << 1;
MasashiNomura 23:79e20be4bc5b 68 }
MasashiNomura 23:79e20be4bc5b 69 return false;
MasashiNomura 23:79e20be4bc5b 70 }
MasashiNomura 30:13ada1a24c59 71 bool HbUserOpe::ChkCtrlSwRiseEdge(SW_TYPE styp)
MasashiNomura 26:732bc37fbefd 72 {
MasashiNomura 34:234b87f3e6ce 73 if(styp == BRK_L) {return curOpe.bf.brk_l && !oldOpe.bf.brk_l;}
MasashiNomura 34:234b87f3e6ce 74 else if(styp == BRK_R) {return curOpe.bf.brk_r && !oldOpe.bf.brk_r;}
MasashiNomura 34:234b87f3e6ce 75 else if(styp == FLT_ON) {return curOpe.bf.flt_on && !oldOpe.bf.flt_on;}
MasashiNomura 34:234b87f3e6ce 76 else if(styp == FLT_OFF) {return curOpe.bf.flt_off && !oldOpe.bf.flt_off;}
MasashiNomura 34:234b87f3e6ce 77 else if(styp == FL_BRK) {return curOpe.bf.full_brk && !oldOpe.bf.full_brk;}
MasashiNomura 34:234b87f3e6ce 78 else if(styp == MOT_STOP) {return curOpe.bf.mot_stop && !oldOpe.bf.mot_stop;}
MasashiNomura 34:234b87f3e6ce 79 else if(styp == R_1) {return curOpe.bf.rsv_1 && !oldOpe.bf.rsv_1;}
MasashiNomura 34:234b87f3e6ce 80 else if(styp == R_2) {return curOpe.bf.rsv_2 && !oldOpe.bf.rsv_2;}
MasashiNomura 34:234b87f3e6ce 81 else if(styp == R_3) {return curOpe.bf.rsv_3 && !oldOpe.bf.rsv_3;}
MasashiNomura 34:234b87f3e6ce 82 else if(styp == ALL_STOP) {return curOpe.bf.all_stop && !oldOpe.bf.all_stop;}
MasashiNomura 31:56c554c560c1 83 else{return false;}
MasashiNomura 26:732bc37fbefd 84 }