Diff: globalFlags.cpp

Revision:

36:2cc739c7e4cb

Parent:

35:3779201b4c73

Child:

37:d51dacb4c30f

diff -r 3779201b4c73 -r 2cc739c7e4cb globalFlags.cpp
--- a/globalFlags.cpp	Tue Dec 25 08:20:17 2018 +0000
+++ b/globalFlags.cpp	Wed Jan 16 10:51:07 2019 +0000
@@ -10,6 +10,9 @@
 //モーターアクセル用アナログ入力
 AnalogIn AinAxl(p20);
 
+//エンジンスロットル用アナログ入力
+AnalogIn AinThrottle(p19);
+
 char            g_CmdBuf[G_CMD_BUF_SIZ] ;// コマンド受け渡しバッファ
 bool            gf_CmdPrs;
 
@@ -29,12 +32,13 @@
 typAxlRpm        gf_MtReqU[4]           ;//モーターユーザー更新フラグ
 
 enmHbState      gf_State = SLEEP;
+bool            gf_StateEnt             ;//状態遷移後、最初であることを示す
 
 bool            gf_PidParaUpdate       ;//PID Pp,P,I,Dの係数アップデートフラグ
 typPidPara      g_PidPara       ;//PID Pp,P,I,Dの係数の外部設定用
 
-bool            gf_MotParaUpdate[4]        ;//モーターのパラメータ値更新フラグ
-typMotPara      g_MotPara[4];
+// bool            gf_MotParaUpdate[4]        ;//モーターのパラメータ値更新フラグ
+// typMotPara      g_MotPara[4];
 
 void initFlags(){
     memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
@@ -64,17 +68,18 @@
         gf_MtReqDct[i].val = 0;
     }
     gf_State = SLEEP;
+    gf_StateEnt = false;
     g_PidPara.PP = 2;
     g_PidPara.P = 0;
     g_PidPara.I = 0;
     g_PidPara.D = 0;
     g_PidPara.IMax = 2000;
     g_PidPara.IMin = -2000;
-    for(int i = 0; i < 4; ++i){
-        gf_MotParaUpdate[i] = false;
-        g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
-        g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
-    }
+    // for(int i = 0; i < 4; ++i){
+    //     gf_MotParaUpdate[i] = false;
+    //     g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
+    //     g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
+    // }
 }
 
 void setState(enmHbState stat){
@@ -91,6 +96,7 @@
 
     sp.printf("state: %d\r\n",stat);
     gf_State = stat;
+    gf_StateEnt = true;
 }
 void setStateF(enmHbState stat){
     sp.printf("state: %d\r\n",stat);
@@ -103,6 +109,7 @@
         tmp = stat;
     }
     gf_State = tmp;
+    gf_StateEnt = true;
 }
 /*
 //===========================================