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Dependencies:   mbed FreeRTOS

globalFlags.cpp@35:3779201b4c73, 2018-12-25 (annotated)

Committer:
MasashiNomura
Date:
Tue Dec 25 08:20:17 2018 +0000
Revision:
35:3779201b4c73
Parent:
33:eb260dbfc22a
Child:
36:2cc739c7e4cb
12/25 Remove no use commentout, add cchecking motAxl etc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 19:4b0fe9a5ec38 1
takeru0x1103 16:05b9e44889f1 2 #include "globalFlags.h"
takeru0x1103 16:05b9e44889f1 3
MasashiNomura 22:24c9c2dedca9 4 //モニタ用LED
takeru0x1103 16:05b9e44889f1 5 DigitalOut led1(LED1);
takeru0x1103 16:05b9e44889f1 6 DigitalOut led2(LED2);
takeru0x1103 16:05b9e44889f1 7 DigitalOut led3(LED3);
takeru0x1103 16:05b9e44889f1 8 DigitalOut led4(LED4);
takeru0x1103 8:1ca49cb18290 9
MasashiNomura 33:eb260dbfc22a 10 //モーターアクセル用アナログ入力
MasashiNomura 33:eb260dbfc22a 11 AnalogIn AinAxl(p20);
takeru0x1103 21:78302ecdb661 12
takeru0x1103 19:4b0fe9a5ec38 13 char g_CmdBuf[G_CMD_BUF_SIZ] ;// コマンド受け渡しバッファ
MasashiNomura 22:24c9c2dedca9 14 bool gf_CmdPrs;
takeru0x1103 19:4b0fe9a5ec38 15
MasashiNomura 22:24c9c2dedca9 16 bool gf_Armed ;//アーミングフラグ
MasashiNomura 23:79e20be4bc5b 17 bool gf_Dbg ;//デバッグタスク起動フラグ
MasashiNomura 33:eb260dbfc22a 18 bool gf_fs_stat ;//強制遷移フラグ
MasashiNomura 25:f3a6e7eec9c3 19 bool gf_StopMot ;//モーターの強制停止
MasashiNomura 25:f3a6e7eec9c3 20
takeru0x1103 19:4b0fe9a5ec38 21 typPrintFlag gf_Print ;//
takeru0x1103 19:4b0fe9a5ec38 22 typPrintFlag gf_Mon ;//
takeru0x1103 19:4b0fe9a5ec38 23 typCalFlag gf_Cal ;//
MasashiNomura 26:732bc37fbefd 24 typDbgPrintFlg gf_DbgPrint ;//デバッグ用
MasashiNomura 22:24c9c2dedca9 25 typAccel gf_AxReq[2] ;//アクセル更新フラグ
MasashiNomura 32:7f4145cc3551 26 typAxlRpm gf_MtReq[4] ;//モーター姿勢制御更新フラグ
MasashiNomura 29:eb3d72dd94aa 27 typAxlRpm gf_MtReqOfs[4] ;//モーターオフセット更新フラグ
MasashiNomura 29:eb3d72dd94aa 28 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 32:7f4145cc3551 29 typAxlRpm gf_MtReqU[4] ;//モーターユーザー更新フラグ
MasashiNomura 32:7f4145cc3551 30
MasashiNomura 22:24c9c2dedca9 31 enmHbState gf_State = SLEEP;
takeru0x1103 19:4b0fe9a5ec38 32
MasashiNomura 24:c5945aaae777 33 bool gf_PidParaUpdate ;//PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 24:c5945aaae777 34 typPidPara g_PidPara ;//PID Pp,P,I,Dの係数の外部設定用
takeru0x1103 20:0394e15412c3 35
MasashiNomura 25:f3a6e7eec9c3 36 bool gf_MotParaUpdate[4] ;//モーターのパラメータ値更新フラグ
MasashiNomura 25:f3a6e7eec9c3 37 typMotPara g_MotPara[4];
MasashiNomura 25:f3a6e7eec9c3 38
MasashiNomura 22:24c9c2dedca9 39 void initFlags(){
MasashiNomura 22:24c9c2dedca9 40 memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
MasashiNomura 22:24c9c2dedca9 41 gf_CmdPrs = false;
MasashiNomura 22:24c9c2dedca9 42 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 43 gf_Dbg = false;
MasashiNomura 25:f3a6e7eec9c3 44 gf_StopMot = false;
MasashiNomura 25:f3a6e7eec9c3 45
MasashiNomura 22:24c9c2dedca9 46 gf_Print.flg = 0;
MasashiNomura 22:24c9c2dedca9 47 gf_Mon.flg = 0;
MasashiNomura 22:24c9c2dedca9 48 gf_Cal.flg = 0;
MasashiNomura 26:732bc37fbefd 49
MasashiNomura 26:732bc37fbefd 50 gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 51
MasashiNomura 22:24c9c2dedca9 52 gf_AxReq[0].dt = 0;
MasashiNomura 22:24c9c2dedca9 53 gf_AxReq[1].dt = 0;
MasashiNomura 27:ff63c23bc689 54 for(int i=0; i<4;++i){
MasashiNomura 32:7f4145cc3551 55 gf_MtReq[i].req = false;
MasashiNomura 32:7f4145cc3551 56 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 57 gf_MtReqOfs[i].req = false;
MasashiNomura 32:7f4145cc3551 58 gf_MtReqOfs[i].val = 0;
MasashiNomura 32:7f4145cc3551 59 gf_MtReqU[i].req = false;
MasashiNomura 32:7f4145cc3551 60 gf_MtReqU[i].val = 0;
MasashiNomura 27:ff63c23bc689 61 }
MasashiNomura 27:ff63c23bc689 62 for(int i = 0; i < 8; ++i){
MasashiNomura 32:7f4145cc3551 63 gf_MtReqDct[i].req = false;
MasashiNomura 32:7f4145cc3551 64 gf_MtReqDct[i].val = 0;
MasashiNomura 27:ff63c23bc689 65 }
MasashiNomura 22:24c9c2dedca9 66 gf_State = SLEEP;
MasashiNomura 27:ff63c23bc689 67 g_PidPara.PP = 2;
MasashiNomura 32:7f4145cc3551 68 g_PidPara.P = 0;
MasashiNomura 25:f3a6e7eec9c3 69 g_PidPara.I = 0;
MasashiNomura 24:c5945aaae777 70 g_PidPara.D = 0;
MasashiNomura 24:c5945aaae777 71 g_PidPara.IMax = 2000;
MasashiNomura 24:c5945aaae777 72 g_PidPara.IMin = -2000;
MasashiNomura 25:f3a6e7eec9c3 73 for(int i = 0; i < 4; ++i){
MasashiNomura 25:f3a6e7eec9c3 74 gf_MotParaUpdate[i] = false;
MasashiNomura 25:f3a6e7eec9c3 75 g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
MasashiNomura 25:f3a6e7eec9c3 76 g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
MasashiNomura 25:f3a6e7eec9c3 77 }
MasashiNomura 22:24c9c2dedca9 78 }
MasashiNomura 35:3779201b4c73 79
MasashiNomura 22:24c9c2dedca9 80 void setState(enmHbState stat){
MasashiNomura 22:24c9c2dedca9 81 // ありえない遷移を排除
MasashiNomura 22:24c9c2dedca9 82 if(gf_State == SLEEP){if(stat != WAKEUP) return;}
MasashiNomura 22:24c9c2dedca9 83 if(gf_State == WAKEUP){if(stat != STANDBY) return;}
MasashiNomura 22:24c9c2dedca9 84 if(gf_State == STANDBY){if(stat !=IDLE) return;}
MasashiNomura 23:79e20be4bc5b 85 if(gf_State == IDLE){if(stat != TAKE_OFF && stat != SLEEP) return;}
MasashiNomura 23:79e20be4bc5b 86 if(gf_State == TAKE_OFF){if(stat != HOVER && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 87 if(gf_State == GROUND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 88 if(gf_State == HOVER){if(stat != DRIVE && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 89 if(gf_State == DRIVE){if(stat != HOVER && stat != EMGGND) return;}
MasashiNomura 22:24c9c2dedca9 90 if(gf_State == EMGGND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 91
MasashiNomura 23:79e20be4bc5b 92 sp.printf("state: %d\r\n",stat);
MasashiNomura 22:24c9c2dedca9 93 gf_State = stat;
MasashiNomura 22:24c9c2dedca9 94 }
MasashiNomura 23:79e20be4bc5b 95 void setStateF(enmHbState stat){
MasashiNomura 23:79e20be4bc5b 96 sp.printf("state: %d\r\n",stat);
MasashiNomura 23:79e20be4bc5b 97 enmHbState tmp;
MasashiNomura 25:f3a6e7eec9c3 98 if((UINT16)stat > MOT_STOP){
MasashiNomura 23:79e20be4bc5b 99 tmp = SLEEP;
MasashiNomura 23:79e20be4bc5b 100 }
MasashiNomura 23:79e20be4bc5b 101 else
MasashiNomura 23:79e20be4bc5b 102 {
MasashiNomura 23:79e20be4bc5b 103 tmp = stat;
MasashiNomura 23:79e20be4bc5b 104 }
MasashiNomura 23:79e20be4bc5b 105 gf_State = tmp;
MasashiNomura 23:79e20be4bc5b 106 }
takeru0x1103 21:78302ecdb661 107 /*
takeru0x1103 19:4b0fe9a5ec38 108 //===========================================
takeru0x1103 19:4b0fe9a5ec38 109 //コンストラクタ
takeru0x1103 19:4b0fe9a5ec38 110 //===========================================
takeru0x1103 19:4b0fe9a5ec38 111 GlobalFlags::GlobalFlags(){
takeru0x1103 19:4b0fe9a5ec38 112 //初期ステート
takeru0x1103 21:78302ecdb661 113 state = SLEEP;
takeru0x1103 19:4b0fe9a5ec38 114 //ステートキュー初期化
takeru0x1103 19:4b0fe9a5ec38 115 for(int i=0; i<STATE_QUE_SIZ; i++){
takeru0x1103 19:4b0fe9a5ec38 116 stateQueue[i] = NONE;
MasashiNomura 33:eb260dbfc22a 117 }
takeru0x1103 19:4b0fe9a5ec38 118 rp = wp = 0;//先頭を指す
takeru0x1103 19:4b0fe9a5ec38 119 full = false;//最初はエンプティ
takeru0x1103 19:4b0fe9a5ec38 120 empty = true;
takeru0x1103 19:4b0fe9a5ec38 121 }
takeru0x1103 19:4b0fe9a5ec38 122
takeru0x1103 21:78302ecdb661 123
takeru0x1103 19:4b0fe9a5ec38 124 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 125 //ステートのFIFOにプッシュする
takeru0x1103 19:4b0fe9a5ec38 126 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 127 bool GlobalFlags::push(enmHbState iState){
takeru0x1103 19:4b0fe9a5ec38 128 if(full){
takeru0x1103 19:4b0fe9a5ec38 129 return false;//FFULLフラグが立ってら入力を受け付けない
takeru0x1103 19:4b0fe9a5ec38 130 }else{
takeru0x1103 19:4b0fe9a5ec38 131 stateQueue[wp] = iState;//キューに突っ込んで
takeru0x1103 19:4b0fe9a5ec38 132 wp = (wp==STATE_QUE_SIZ) ? 0 : wp+1;//ライトポインタを進める
takeru0x1103 19:4b0fe9a5ec38 133 full = (wp == rp)? true : false; //次ライト予定の場所がリードポインタに追いついたらFULLを立てる
takeru0x1103 19:4b0fe9a5ec38 134 empty = false;
takeru0x1103 19:4b0fe9a5ec38 135 return true;
takeru0x1103 19:4b0fe9a5ec38 136 }
takeru0x1103 19:4b0fe9a5ec38 137 }
takeru0x1103 19:4b0fe9a5ec38 138
takeru0x1103 19:4b0fe9a5ec38 139 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 140 //ステートFIFOから次の予約ステートを引き抜く
takeru0x1103 19:4b0fe9a5ec38 141 //-----------------------------------
takeru0x1103 19:4b0fe9a5ec38 142 bool GlobalFlags::pull(){
takeru0x1103 19:4b0fe9a5ec38 143 if(empty){
takeru0x1103 19:4b0fe9a5ec38 144 return false;//EMPTYだったら引き抜けない
takeru0x1103 19:4b0fe9a5ec38 145 }else{
takeru0x1103 19:4b0fe9a5ec38 146 state = stateQueue[rp];//リードポインタの指すデータをステートに移す
takeru0x1103 19:4b0fe9a5ec38 147 stateQueue[rp] = NONE;//バッファを消す
takeru0x1103 19:4b0fe9a5ec38 148 rp = (rp==STATE_QUE_SIZ) ? 0 : rp+1;//リードポインタを進める
takeru0x1103 19:4b0fe9a5ec38 149 full = false; //フルではなくなる
takeru0x1103 19:4b0fe9a5ec38 150 empty = (stateQueue[rp] == NONE) ? true : false;//次にリードする場所がNONEだったらEMPTYを立てる
takeru0x1103 19:4b0fe9a5ec38 151 return true;
takeru0x1103 19:4b0fe9a5ec38 152 }
takeru0x1103 19:4b0fe9a5ec38 153 }
takeru0x1103 21:78302ecdb661 154 */
takeru0x1103 19:4b0fe9a5ec38 155
MasashiNomura 33:eb260dbfc22a 156