大季 矢花 / Mbed 2 deprecated MainBoard2019_Master_9_16

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Dependencies:   mbed TrapezoidControl QEI

System/Process/Process.cpp@19:96a462583af9, 2019-07-16 (annotated)

Committer:
M_souta
Date:
Tue Jul 16 06:48:51 2019 +0000
Revision:
19:96a462583af9
Parent:
18:c694bae76e51
Child:
21:1f1e9c585da8
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kishibekairohan 13:b6e02d6261d7 1
t_yamamoto 0:669ef71cba68 2 #include "mbed.h"
t_yamamoto 0:669ef71cba68 3 #include "Process.h"
7ka884 4:ba9df71868df 4 #include "QEI.h"
t_yamamoto 0:669ef71cba68 5
7ka884 4:ba9df71868df 6 #include "../../CommonLibraries/PID/PID.h"
t_yamamoto 0:669ef71cba68 7 #include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
t_yamamoto 0:669ef71cba68 8 #include "../../Communication/Controller/Controller.h"
t_yamamoto 0:669ef71cba68 9 #include "../../Input/ExternalInt/ExternalInt.h"
t_yamamoto 0:669ef71cba68 10 #include "../../Input/Switch/Switch.h"
t_yamamoto 0:669ef71cba68 11 #include "../../Input/Potentiometer/Potentiometer.h"
kishibekairohan 16:3f2c2d89372b 12 #include "../../Input/Encoder/Encoder.h"
t_yamamoto 0:669ef71cba68 13 #include "../../LED/LED.h"
t_yamamoto 0:669ef71cba68 14 #include "../../Safty/Safty.h"
t_yamamoto 0:669ef71cba68 15 #include "../Using.h"
t_yamamoto 0:669ef71cba68 16
t_yamamoto 0:669ef71cba68 17 using namespace SWITCH;
7ka884 4:ba9df71868df 18 using namespace PID_SPACE;
kishibekairohan 16:3f2c2d89372b 19 using namespace ENCODER;
t_yamamoto 0:669ef71cba68 20
t_yamamoto 0:669ef71cba68 21 static CONTROLLER::ControllerData *controller;
t_yamamoto 0:669ef71cba68 22 ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
t_yamamoto 0:669ef71cba68 23 ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
t_yamamoto 0:669ef71cba68 24
t_yamamoto 0:669ef71cba68 25 static bool lock;
t_yamamoto 0:669ef71cba68 26 static bool processChangeComp;
t_yamamoto 0:669ef71cba68 27 static int current;
t_yamamoto 0:669ef71cba68 28
t_yamamoto 0:669ef71cba68 29 static void AllActuatorReset();
t_yamamoto 0:669ef71cba68 30
t_yamamoto 0:669ef71cba68 31 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 32 static void (*Process[USE_PROCESS_NUM])(void);
t_yamamoto 0:669ef71cba68 33 #endif
t_yamamoto 0:669ef71cba68 34
t_yamamoto 0:669ef71cba68 35 #pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 36
t_yamamoto 0:669ef71cba68 37 /*Replace here with the definition code of your variables.*/
t_yamamoto 0:669ef71cba68 38
kishibekairohan 2:c015739085d3 39 Serial pc(USBTX, USBRX);
kishibekairohan 2:c015739085d3 40
kishibekairohan 16:3f2c2d89372b 41 //**************Encoder***************
kishibekairohan 16:3f2c2d89372b 42 const int PerRev = 256;
kishibekairohan 16:3f2c2d89372b 43 QEI ECD_0(ECD_A_0,ECD_B_0,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan 16:3f2c2d89372b 44 QEI ECD_1(ECD_A_1,ECD_B_1,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan 16:3f2c2d89372b 45 QEI ECD_2(ECD_A_2,ECD_B_2,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan 16:3f2c2d89372b 46 QEI ECD_3(ECD_A_3,ECD_B_3,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan 16:3f2c2d89372b 47 //**************Encoder***************
kishibekairohan 7:e88c5d47a3be 48
kishibekairohan 16:3f2c2d89372b 49 //**************Buzzer****************
kishibekairohan 11:028a150943b5 50 //DigitalOut buzzer(BUZZER_PIN);
kishibekairohan 9:f93fc79a49ea 51 void BuzzerTimer_func();
kishibekairohan 9:f93fc79a49ea 52 Ticker BuzzerTimer;
kishibekairohan 16:3f2c2d89372b 53 bool EMGflag = false;
kishibekairohan 16:3f2c2d89372b 54 PwmOut buzzer(BUZZER_PIN);
kishibekairohan 16:3f2c2d89372b 55 //**************Buzzer****************
kishibekairohan 11:028a150943b5 56
kishibekairohan 11:028a150943b5 57 //************TapeLed*****************
kishibekairohan 11:028a150943b5 58 void TapeLedEms_func();
kishibekairohan 11:028a150943b5 59 TapeLedData tapeLED;
kishibekairohan 11:028a150943b5 60 TapeLedData sendLedData;
kishibekairohan 11:028a150943b5 61 TapeLED_Mode ledMode = Normal;
kishibekairohan 11:028a150943b5 62 Ticker tapeLedTimer;
kishibekairohan 11:028a150943b5 63 //************TapaLed*****************
kishibekairohan 16:3f2c2d89372b 64
M_souta 18:c694bae76e51 65 float tireProRPM[4];
M_souta 18:c694bae76e51 66 float tireTarRPM[4];
M_souta 19:96a462583af9 67 float tirePWM[4];
M_souta 18:c694bae76e51 68
t_yamamoto 0:669ef71cba68 69 #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 70
t_yamamoto 0:669ef71cba68 71 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 72 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 73 static void Process0(void);
t_yamamoto 0:669ef71cba68 74 #endif
t_yamamoto 0:669ef71cba68 75 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 76 static void Process1(void);
t_yamamoto 0:669ef71cba68 77 #endif
t_yamamoto 0:669ef71cba68 78 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 79 static void Process2(void);
t_yamamoto 0:669ef71cba68 80 #endif
t_yamamoto 0:669ef71cba68 81 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 82 static void Process3(void);
t_yamamoto 0:669ef71cba68 83 #endif
t_yamamoto 0:669ef71cba68 84 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 85 static void Process4(void);
t_yamamoto 0:669ef71cba68 86 #endif
t_yamamoto 0:669ef71cba68 87 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 88 static void Process5(void);
t_yamamoto 0:669ef71cba68 89 #endif
t_yamamoto 0:669ef71cba68 90 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 91 static void Process6(void);
t_yamamoto 0:669ef71cba68 92 #endif
t_yamamoto 0:669ef71cba68 93 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 94 static void Process7(void);
t_yamamoto 0:669ef71cba68 95 #endif
t_yamamoto 0:669ef71cba68 96 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 97 static void Process8(void);
t_yamamoto 0:669ef71cba68 98 #endif
t_yamamoto 0:669ef71cba68 99 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 100 static void Process9(void);
t_yamamoto 0:669ef71cba68 101 #endif
t_yamamoto 0:669ef71cba68 102 #endif
t_yamamoto 0:669ef71cba68 103
t_yamamoto 0:669ef71cba68 104 void SystemProcessInitialize()
t_yamamoto 0:669ef71cba68 105 {
t_yamamoto 0:669ef71cba68 106 #pragma region USER-DEFINED_VARIABLE_INIT
kishibekairohan 16:3f2c2d89372b 107 /*Replace here with the initialization code of your variables.*/
t_yamamoto 0:669ef71cba68 108 #pragma endregion USER-DEFINED_VARIABLE_INIT
t_yamamoto 0:669ef71cba68 109
t_yamamoto 0:669ef71cba68 110 lock = true;
t_yamamoto 0:669ef71cba68 111 processChangeComp = true;
t_yamamoto 0:669ef71cba68 112 current = DEFAULT_PROCESS;
t_yamamoto 0:669ef71cba68 113
t_yamamoto 0:669ef71cba68 114 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 115 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 116 Process[0] = Process0;
t_yamamoto 0:669ef71cba68 117 #endif
t_yamamoto 0:669ef71cba68 118 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 119 Process[1] = Process1;
t_yamamoto 0:669ef71cba68 120 #endif
t_yamamoto 0:669ef71cba68 121 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 122 Process[2] = Process2;
t_yamamoto 0:669ef71cba68 123 #endif
t_yamamoto 0:669ef71cba68 124 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 125 Process[3] = Process3;
t_yamamoto 0:669ef71cba68 126 #endif
t_yamamoto 0:669ef71cba68 127 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 128 Process[4] = Process4;
t_yamamoto 0:669ef71cba68 129 #endif
t_yamamoto 0:669ef71cba68 130 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 131 Process[5] = Process5;
t_yamamoto 0:669ef71cba68 132 #endif
t_yamamoto 0:669ef71cba68 133 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 134 Process[6] = Process6;
t_yamamoto 0:669ef71cba68 135 #endif
t_yamamoto 0:669ef71cba68 136 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 137 Process[7] = Process7;
t_yamamoto 0:669ef71cba68 138 #endif
t_yamamoto 0:669ef71cba68 139 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 140 Process[8] = Process8;
t_yamamoto 0:669ef71cba68 141 #endif
t_yamamoto 0:669ef71cba68 142 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 143 Process[9] = Process9;
t_yamamoto 0:669ef71cba68 144 #endif
t_yamamoto 0:669ef71cba68 145 #endif
t_yamamoto 0:669ef71cba68 146 }
t_yamamoto 0:669ef71cba68 147
t_yamamoto 0:669ef71cba68 148 static void SystemProcessUpdate()
t_yamamoto 0:669ef71cba68 149 {
t_yamamoto 0:669ef71cba68 150 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 151 if(controller->Button.HOME) lock = false;
t_yamamoto 0:669ef71cba68 152
t_yamamoto 0:669ef71cba68 153 if(controller->Button.START && processChangeComp)
t_yamamoto 0:669ef71cba68 154 {
t_yamamoto 0:669ef71cba68 155 current++;
t_yamamoto 0:669ef71cba68 156 if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
t_yamamoto 0:669ef71cba68 157 processChangeComp = false;
t_yamamoto 0:669ef71cba68 158 }
t_yamamoto 0:669ef71cba68 159 else if(controller->Button.SELECT && processChangeComp)
t_yamamoto 0:669ef71cba68 160 {
t_yamamoto 0:669ef71cba68 161 current--;
t_yamamoto 0:669ef71cba68 162 if (current < 0) current = 0;
t_yamamoto 0:669ef71cba68 163 processChangeComp = false;
t_yamamoto 0:669ef71cba68 164 }
t_yamamoto 0:669ef71cba68 165 else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
t_yamamoto 0:669ef71cba68 166 #endif
t_yamamoto 0:669ef71cba68 167
t_yamamoto 0:669ef71cba68 168 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 169 ACTUATORHUB::MOTOR::Motor::Update(motor);
t_yamamoto 0:669ef71cba68 170 #endif
t_yamamoto 0:669ef71cba68 171
t_yamamoto 0:669ef71cba68 172 #ifdef USE_SOLENOID
t_yamamoto 0:669ef71cba68 173 ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
t_yamamoto 0:669ef71cba68 174 #endif
t_yamamoto 0:669ef71cba68 175
t_yamamoto 0:669ef71cba68 176 #ifdef USE_RS485
t_yamamoto 0:669ef71cba68 177 ACTUATORHUB::ActuatorHub::Update();
t_yamamoto 0:669ef71cba68 178 #endif
t_yamamoto 0:669ef71cba68 179
t_yamamoto 0:669ef71cba68 180 }
t_yamamoto 0:669ef71cba68 181
kishibekairohan 2:c015739085d3 182
kishibekairohan 2:c015739085d3 183
t_yamamoto 0:669ef71cba68 184 void SystemProcess()
t_yamamoto 0:669ef71cba68 185 {
t_yamamoto 0:669ef71cba68 186 SystemProcessInitialize();
t_yamamoto 0:669ef71cba68 187
t_yamamoto 0:669ef71cba68 188 while(1)
kishibekairohan 15:dfcec98f5aa9 189 {
M_souta 19:96a462583af9 190 if(LimitSw::IsPressed(10)) {
M_souta 19:96a462583af9 191 LED_DEBUG0 = LED_ON;
M_souta 19:96a462583af9 192 } else {
M_souta 19:96a462583af9 193 LED_DEBUG0 = LED_OFF;
M_souta 19:96a462583af9 194 }
kishibekairohan 16:3f2c2d89372b 195 //printf("%d\r\n",ECD_0.getPulses());
kishibekairohan 17:50dc4b449e69 196 buzzer.period(1.0/800);
kishibekairohan 15:dfcec98f5aa9 197
t_yamamoto 0:669ef71cba68 198 #ifdef USE_MU
t_yamamoto 0:669ef71cba68 199 controller = CONTROLLER::Controller::GetData();
t_yamamoto 0:669ef71cba68 200 #endif
t_yamamoto 0:669ef71cba68 201
t_yamamoto 0:669ef71cba68 202 #ifdef USE_ERRORCHECK
t_yamamoto 0:669ef71cba68 203 if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost)
t_yamamoto 0:669ef71cba68 204 {
t_yamamoto 0:669ef71cba68 205 CONTROLLER::Controller::DataReset();
t_yamamoto 0:669ef71cba68 206 AllActuatorReset();
t_yamamoto 0:669ef71cba68 207 lock = true;
t_yamamoto 0:669ef71cba68 208 }
t_yamamoto 0:669ef71cba68 209 else
t_yamamoto 0:669ef71cba68 210 #endif
t_yamamoto 0:669ef71cba68 211 {
t_yamamoto 0:669ef71cba68 212
t_yamamoto 0:669ef71cba68 213 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 214 if(!lock)
t_yamamoto 0:669ef71cba68 215 {
t_yamamoto 0:669ef71cba68 216 Process[current]();
t_yamamoto 0:669ef71cba68 217 }
t_yamamoto 0:669ef71cba68 218 else
t_yamamoto 0:669ef71cba68 219 #endif
t_yamamoto 0:669ef71cba68 220 {
t_yamamoto 0:669ef71cba68 221 //ロック時の処理
t_yamamoto 0:669ef71cba68 222 }
t_yamamoto 0:669ef71cba68 223 }
t_yamamoto 0:669ef71cba68 224
kishibekairohan 16:3f2c2d89372b 225 //Emergency!
kishibekairohan 17:50dc4b449e69 226 if(!EMG_0 && !EMG_1 && !EMGflag){
kishibekairohan 17:50dc4b449e69 227 buzzer = 0;
kishibekairohan 17:50dc4b449e69 228 BuzzerTimer.attach(BuzzerTimer_func, 1);
kishibekairohan 17:50dc4b449e69 229 EMGflag = true;
kishibekairohan 17:50dc4b449e69 230 LED_DEBUG0 = 1;
kishibekairohan 9:f93fc79a49ea 231 }
kishibekairohan 17:50dc4b449e69 232 if(EMG_0 && EMG_1 && EMGflag){
kishibekairohan 17:50dc4b449e69 233 buzzer = 1;
kishibekairohan 9:f93fc79a49ea 234 BuzzerTimer.detach();
kishibekairohan 17:50dc4b449e69 235 EMGflag = false;
kishibekairohan 9:f93fc79a49ea 236 }
t_yamamoto 0:669ef71cba68 237 SystemProcessUpdate();
t_yamamoto 0:669ef71cba68 238 }
t_yamamoto 0:669ef71cba68 239 }
t_yamamoto 0:669ef71cba68 240
kishibekairohan 2:c015739085d3 241
kishibekairohan 2:c015739085d3 242
kishibekairohan 2:c015739085d3 243
t_yamamoto 0:669ef71cba68 244 #pragma region PROCESS
t_yamamoto 0:669ef71cba68 245 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 246 #if USE_PROCESS_NUM>0
kishibekairohan 12:c09b3e08a316 247 static void Process0()
kishibekairohan 10:1295d39fec3a 248 {
kishibekairohan 16:3f2c2d89372b 249
t_yamamoto 0:669ef71cba68 250 }
t_yamamoto 0:669ef71cba68 251 #endif
t_yamamoto 0:669ef71cba68 252
t_yamamoto 0:669ef71cba68 253 #if USE_PROCESS_NUM>1
kishibekairohan 16:3f2c2d89372b 254 static void Process1()
t_yamamoto 0:669ef71cba68 255 {
7ka884 4:ba9df71868df 256
t_yamamoto 0:669ef71cba68 257 }
t_yamamoto 0:669ef71cba68 258 #endif
t_yamamoto 0:669ef71cba68 259
t_yamamoto 0:669ef71cba68 260 #if USE_PROCESS_NUM>2
kishibekairohan 16:3f2c2d89372b 261 static void Process2()
kishibekairohan 13:b6e02d6261d7 262 {
kishibekairohan 13:b6e02d6261d7 263
kishibekairohan 13:b6e02d6261d7 264 }
kishibekairohan 13:b6e02d6261d7 265 #endif
kishibekairohan 13:b6e02d6261d7 266
kishibekairohan 13:b6e02d6261d7 267 #if USE_PROCESS_NUM>3
kishibekairohan 16:3f2c2d89372b 268 static void Process3()
kishibekairohan 13:b6e02d6261d7 269 {
kishibekairohan 15:dfcec98f5aa9 270
kishibekairohan 13:b6e02d6261d7 271 }
kishibekairohan 13:b6e02d6261d7 272 #endif
kishibekairohan 13:b6e02d6261d7 273
kishibekairohan 13:b6e02d6261d7 274 #if USE_PROCESS_NUM>4
kishibekairohan 13:b6e02d6261d7 275 static void Process4()
kishibekairohan 12:c09b3e08a316 276 {
kishibekairohan 15:dfcec98f5aa9 277
kishibekairohan 13:b6e02d6261d7 278 }
kishibekairohan 13:b6e02d6261d7 279 #endif
kishibekairohan 13:b6e02d6261d7 280
kishibekairohan 13:b6e02d6261d7 281 #if USE_PROCESS_NUM>5
kishibekairohan 16:3f2c2d89372b 282 static void Process5()
kishibekairohan 16:3f2c2d89372b 283 {
kishibekairohan 13:b6e02d6261d7 284
kishibekairohan 13:b6e02d6261d7 285 }
kishibekairohan 13:b6e02d6261d7 286 #endif
kishibekairohan 13:b6e02d6261d7 287
kishibekairohan 13:b6e02d6261d7 288 #if USE_PROCESS_NUM>6
kishibekairohan 13:b6e02d6261d7 289 static void Process6()
kishibekairohan 13:b6e02d6261d7 290 {
kishibekairohan 13:b6e02d6261d7 291
kishibekairohan 13:b6e02d6261d7 292 }
kishibekairohan 13:b6e02d6261d7 293 #endif
kishibekairohan 13:b6e02d6261d7 294
kishibekairohan 13:b6e02d6261d7 295 #if USE_PROCESS_NUM>7
kishibekairohan 13:b6e02d6261d7 296 static void Process7()
kishibekairohan 13:b6e02d6261d7 297 {
kishibekairohan 12:c09b3e08a316 298
kishibekairohan 12:c09b3e08a316 299 }
kishibekairohan 12:c09b3e08a316 300 #endif
kishibekairohan 12:c09b3e08a316 301
kishibekairohan 16:3f2c2d89372b 302 #if USE_PROCESS_NUM>8
kishibekairohan 13:b6e02d6261d7 303 static void Process8()
kishibekairohan 12:c09b3e08a316 304 {
kishibekairohan 12:c09b3e08a316 305
kishibekairohan 12:c09b3e08a316 306 }
kishibekairohan 12:c09b3e08a316 307 #endif
kishibekairohan 12:c09b3e08a316 308
kishibekairohan 13:b6e02d6261d7 309 #if USE_PROCESS_NUM>9
kishibekairohan 13:b6e02d6261d7 310 static void Process9()
kishibekairohan 12:c09b3e08a316 311 {
kishibekairohan 2:c015739085d3 312
t_yamamoto 0:669ef71cba68 313 }
t_yamamoto 0:669ef71cba68 314 #endif
t_yamamoto 0:669ef71cba68 315 #endif
t_yamamoto 0:669ef71cba68 316 #pragma endregion PROCESS
t_yamamoto 0:669ef71cba68 317
t_yamamoto 0:669ef71cba68 318 static void AllActuatorReset()
t_yamamoto 0:669ef71cba68 319 {
t_yamamoto 0:669ef71cba68 320
t_yamamoto 0:669ef71cba68 321 #ifdef USE_SOLENOID
t_yamamoto 0:669ef71cba68 322 solenoid.all = ALL_SOLENOID_OFF;
t_yamamoto 0:669ef71cba68 323 #endif
t_yamamoto 0:669ef71cba68 324
t_yamamoto 0:669ef71cba68 325 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 326 for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++)
t_yamamoto 0:669ef71cba68 327 {
t_yamamoto 0:669ef71cba68 328 motor[i].dir = FREE;
t_yamamoto 0:669ef71cba68 329 motor[i].pwm = 0;
t_yamamoto 0:669ef71cba68 330 }
t_yamamoto 0:669ef71cba68 331 #endif
t_yamamoto 0:669ef71cba68 332 }
t_yamamoto 0:669ef71cba68 333
kishibekairohan 16:3f2c2d89372b 334 void BuzzerTimer_func(){
kishibekairohan 16:3f2c2d89372b 335 buzzer = !buzzer;
kishibekairohan 17:50dc4b449e69 336 //LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan 11:028a150943b5 337 }
kishibekairohan 11:028a150943b5 338
kishibekairohan 11:028a150943b5 339 void TapeLedEms_func() {
kishibekairohan 16:3f2c2d89372b 340 sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
kishibekairohan 9:f93fc79a49ea 341 }
kishibekairohan 16:3f2c2d89372b 342
kishibekairohan 16:3f2c2d89372b 343 #pragma region USER-DEFINED-FUNCTIONS
kishibekairohan 16:3f2c2d89372b 344
kishibekairohan 16:3f2c2d89372b 345
t_yamamoto 0:669ef71cba68 346 #pragma endregion