大季 矢花 / Mbed 2 deprecated MainBoard2019_Master_9_16

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Dependencies:   mbed TrapezoidControl QEI

System/Process/Process.cpp@0:669ef71cba68, 2018-09-08 (annotated)

Committer:
t_yamamoto
Date:
Sat Sep 08 06:05:22 2018 +0000
Revision:
0:669ef71cba68
Child:
1:b1219d8ca117
???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
t_yamamoto 0:669ef71cba68 1 #include "mbed.h"
t_yamamoto 0:669ef71cba68 2 #include "Process.h"
t_yamamoto 0:669ef71cba68 3
t_yamamoto 0:669ef71cba68 4 #include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
t_yamamoto 0:669ef71cba68 5 #include "../../Communication/Controller/Controller.h"
t_yamamoto 0:669ef71cba68 6 #include "../../Input/ExternalInt/ExternalInt.h"
t_yamamoto 0:669ef71cba68 7 #include "../../Input/Switch/Switch.h"
t_yamamoto 0:669ef71cba68 8 #include "../../Input/Potentiometer/Potentiometer.h"
t_yamamoto 0:669ef71cba68 9 #include "../../LED/LED.h"
t_yamamoto 0:669ef71cba68 10 #include "../../Safty/Safty.h"
t_yamamoto 0:669ef71cba68 11 #include "../Using.h"
t_yamamoto 0:669ef71cba68 12
t_yamamoto 0:669ef71cba68 13 using namespace SWITCH;
t_yamamoto 0:669ef71cba68 14
t_yamamoto 0:669ef71cba68 15 static CONTROLLER::ControllerData *controller;
t_yamamoto 0:669ef71cba68 16 ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
t_yamamoto 0:669ef71cba68 17 ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
t_yamamoto 0:669ef71cba68 18
t_yamamoto 0:669ef71cba68 19 static bool lock;
t_yamamoto 0:669ef71cba68 20 static bool processChangeComp;
t_yamamoto 0:669ef71cba68 21 static int current;
t_yamamoto 0:669ef71cba68 22
t_yamamoto 0:669ef71cba68 23 static void AllActuatorReset();
t_yamamoto 0:669ef71cba68 24
t_yamamoto 0:669ef71cba68 25 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 26 static void (*Process[USE_PROCESS_NUM])(void);
t_yamamoto 0:669ef71cba68 27 #endif
t_yamamoto 0:669ef71cba68 28
t_yamamoto 0:669ef71cba68 29 #pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 30
t_yamamoto 0:669ef71cba68 31 /*Replace here with the definition code of your variables.*/
t_yamamoto 0:669ef71cba68 32
t_yamamoto 0:669ef71cba68 33 #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 34
t_yamamoto 0:669ef71cba68 35 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 36 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 37 static void Process0(void);
t_yamamoto 0:669ef71cba68 38 #endif
t_yamamoto 0:669ef71cba68 39 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 40 static void Process1(void);
t_yamamoto 0:669ef71cba68 41 #endif
t_yamamoto 0:669ef71cba68 42 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 43 static void Process2(void);
t_yamamoto 0:669ef71cba68 44 #endif
t_yamamoto 0:669ef71cba68 45 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 46 static void Process3(void);
t_yamamoto 0:669ef71cba68 47 #endif
t_yamamoto 0:669ef71cba68 48 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 49 static void Process4(void);
t_yamamoto 0:669ef71cba68 50 #endif
t_yamamoto 0:669ef71cba68 51 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 52 static void Process5(void);
t_yamamoto 0:669ef71cba68 53 #endif
t_yamamoto 0:669ef71cba68 54 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 55 static void Process6(void);
t_yamamoto 0:669ef71cba68 56 #endif
t_yamamoto 0:669ef71cba68 57 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 58 static void Process7(void);
t_yamamoto 0:669ef71cba68 59 #endif
t_yamamoto 0:669ef71cba68 60 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 61 static void Process8(void);
t_yamamoto 0:669ef71cba68 62 #endif
t_yamamoto 0:669ef71cba68 63 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 64 static void Process9(void);
t_yamamoto 0:669ef71cba68 65 #endif
t_yamamoto 0:669ef71cba68 66 #endif
t_yamamoto 0:669ef71cba68 67
t_yamamoto 0:669ef71cba68 68 void SystemProcessInitialize()
t_yamamoto 0:669ef71cba68 69 {
t_yamamoto 0:669ef71cba68 70 #pragma region USER-DEFINED_VARIABLE_INIT
t_yamamoto 0:669ef71cba68 71
t_yamamoto 0:669ef71cba68 72 /*Replace here with the initialization code of your variables.*/
t_yamamoto 0:669ef71cba68 73
t_yamamoto 0:669ef71cba68 74 #pragma endregion USER-DEFINED_VARIABLE_INIT
t_yamamoto 0:669ef71cba68 75
t_yamamoto 0:669ef71cba68 76 lock = true;
t_yamamoto 0:669ef71cba68 77 processChangeComp = true;
t_yamamoto 0:669ef71cba68 78 current = DEFAULT_PROCESS;
t_yamamoto 0:669ef71cba68 79
t_yamamoto 0:669ef71cba68 80 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 81 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 82 Process[0] = Process0;
t_yamamoto 0:669ef71cba68 83 #endif
t_yamamoto 0:669ef71cba68 84 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 85 Process[1] = Process1;
t_yamamoto 0:669ef71cba68 86 #endif
t_yamamoto 0:669ef71cba68 87 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 88 Process[2] = Process2;
t_yamamoto 0:669ef71cba68 89 #endif
t_yamamoto 0:669ef71cba68 90 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 91 Process[3] = Process3;
t_yamamoto 0:669ef71cba68 92 #endif
t_yamamoto 0:669ef71cba68 93 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 94 Process[4] = Process4;
t_yamamoto 0:669ef71cba68 95 #endif
t_yamamoto 0:669ef71cba68 96 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 97 Process[5] = Process5;
t_yamamoto 0:669ef71cba68 98 #endif
t_yamamoto 0:669ef71cba68 99 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 100 Process[6] = Process6;
t_yamamoto 0:669ef71cba68 101 #endif
t_yamamoto 0:669ef71cba68 102 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 103 Process[7] = Process7;
t_yamamoto 0:669ef71cba68 104 #endif
t_yamamoto 0:669ef71cba68 105 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 106 Process[8] = Process8;
t_yamamoto 0:669ef71cba68 107 #endif
t_yamamoto 0:669ef71cba68 108 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 109 Process[9] = Process9;
t_yamamoto 0:669ef71cba68 110 #endif
t_yamamoto 0:669ef71cba68 111 #endif
t_yamamoto 0:669ef71cba68 112 }
t_yamamoto 0:669ef71cba68 113
t_yamamoto 0:669ef71cba68 114 static void SystemProcessUpdate()
t_yamamoto 0:669ef71cba68 115 {
t_yamamoto 0:669ef71cba68 116 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 117 if(controller->Button.HOME) lock = false;
t_yamamoto 0:669ef71cba68 118
t_yamamoto 0:669ef71cba68 119 if(controller->Button.START && processChangeComp)
t_yamamoto 0:669ef71cba68 120 {
t_yamamoto 0:669ef71cba68 121 current++;
t_yamamoto 0:669ef71cba68 122 if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
t_yamamoto 0:669ef71cba68 123 processChangeComp = false;
t_yamamoto 0:669ef71cba68 124 }
t_yamamoto 0:669ef71cba68 125 else if(controller->Button.SELECT && processChangeComp)
t_yamamoto 0:669ef71cba68 126 {
t_yamamoto 0:669ef71cba68 127 current--;
t_yamamoto 0:669ef71cba68 128 if (current < 0) current = 0;
t_yamamoto 0:669ef71cba68 129 processChangeComp = false;
t_yamamoto 0:669ef71cba68 130 }
t_yamamoto 0:669ef71cba68 131 else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
t_yamamoto 0:669ef71cba68 132 #endif
t_yamamoto 0:669ef71cba68 133
t_yamamoto 0:669ef71cba68 134 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 135 ACTUATORHUB::MOTOR::Motor::Update(motor);
t_yamamoto 0:669ef71cba68 136 #endif
t_yamamoto 0:669ef71cba68 137
t_yamamoto 0:669ef71cba68 138 #ifdef USE_SOLENOID
t_yamamoto 0:669ef71cba68 139 ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
t_yamamoto 0:669ef71cba68 140 #endif
t_yamamoto 0:669ef71cba68 141
t_yamamoto 0:669ef71cba68 142 #ifdef USE_RS485
t_yamamoto 0:669ef71cba68 143 ACTUATORHUB::ActuatorHub::Update();
t_yamamoto 0:669ef71cba68 144 #endif
t_yamamoto 0:669ef71cba68 145
t_yamamoto 0:669ef71cba68 146 }
t_yamamoto 0:669ef71cba68 147
t_yamamoto 0:669ef71cba68 148 void SystemProcess()
t_yamamoto 0:669ef71cba68 149 {
t_yamamoto 0:669ef71cba68 150 SystemProcessInitialize();
t_yamamoto 0:669ef71cba68 151
t_yamamoto 0:669ef71cba68 152 while(1)
t_yamamoto 0:669ef71cba68 153 {
t_yamamoto 0:669ef71cba68 154 #ifdef USE_MU
t_yamamoto 0:669ef71cba68 155 controller = CONTROLLER::Controller::GetData();
t_yamamoto 0:669ef71cba68 156 #endif
t_yamamoto 0:669ef71cba68 157
t_yamamoto 0:669ef71cba68 158 #ifdef USE_ERRORCHECK
t_yamamoto 0:669ef71cba68 159 if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost)
t_yamamoto 0:669ef71cba68 160 {
t_yamamoto 0:669ef71cba68 161 CONTROLLER::Controller::DataReset();
t_yamamoto 0:669ef71cba68 162 AllActuatorReset();
t_yamamoto 0:669ef71cba68 163 lock = true;
t_yamamoto 0:669ef71cba68 164 }
t_yamamoto 0:669ef71cba68 165 else
t_yamamoto 0:669ef71cba68 166 #endif
t_yamamoto 0:669ef71cba68 167 {
t_yamamoto 0:669ef71cba68 168
t_yamamoto 0:669ef71cba68 169 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 170 if(!lock)
t_yamamoto 0:669ef71cba68 171 {
t_yamamoto 0:669ef71cba68 172 Process[current]();
t_yamamoto 0:669ef71cba68 173 }
t_yamamoto 0:669ef71cba68 174 else
t_yamamoto 0:669ef71cba68 175 #endif
t_yamamoto 0:669ef71cba68 176 {
t_yamamoto 0:669ef71cba68 177 //ロック時の処理
t_yamamoto 0:669ef71cba68 178 }
t_yamamoto 0:669ef71cba68 179 }
t_yamamoto 0:669ef71cba68 180
t_yamamoto 0:669ef71cba68 181 SystemProcessUpdate();
t_yamamoto 0:669ef71cba68 182 }
t_yamamoto 0:669ef71cba68 183 }
t_yamamoto 0:669ef71cba68 184
t_yamamoto 0:669ef71cba68 185 #pragma region PROCESS
t_yamamoto 0:669ef71cba68 186 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 187 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 188 static void Process0()
t_yamamoto 0:669ef71cba68 189 {
t_yamamoto 0:669ef71cba68 190
t_yamamoto 0:669ef71cba68 191 }
t_yamamoto 0:669ef71cba68 192 #endif
t_yamamoto 0:669ef71cba68 193
t_yamamoto 0:669ef71cba68 194 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 195 static void Process1()
t_yamamoto 0:669ef71cba68 196 {
t_yamamoto 0:669ef71cba68 197
t_yamamoto 0:669ef71cba68 198 }
t_yamamoto 0:669ef71cba68 199 #endif
t_yamamoto 0:669ef71cba68 200
t_yamamoto 0:669ef71cba68 201 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 202 static void Process2()
t_yamamoto 0:669ef71cba68 203 {
t_yamamoto 0:669ef71cba68 204
t_yamamoto 0:669ef71cba68 205 }
t_yamamoto 0:669ef71cba68 206 #endif
t_yamamoto 0:669ef71cba68 207
t_yamamoto 0:669ef71cba68 208 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 209 static void Process3()
t_yamamoto 0:669ef71cba68 210 {
t_yamamoto 0:669ef71cba68 211
t_yamamoto 0:669ef71cba68 212 }
t_yamamoto 0:669ef71cba68 213 #endif
t_yamamoto 0:669ef71cba68 214
t_yamamoto 0:669ef71cba68 215 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 216 static void Process4()
t_yamamoto 0:669ef71cba68 217 {
t_yamamoto 0:669ef71cba68 218
t_yamamoto 0:669ef71cba68 219 }
t_yamamoto 0:669ef71cba68 220 #endif
t_yamamoto 0:669ef71cba68 221
t_yamamoto 0:669ef71cba68 222 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 223 static void Process5()
t_yamamoto 0:669ef71cba68 224 {
t_yamamoto 0:669ef71cba68 225
t_yamamoto 0:669ef71cba68 226 }
t_yamamoto 0:669ef71cba68 227 #endif
t_yamamoto 0:669ef71cba68 228
t_yamamoto 0:669ef71cba68 229 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 230 static void Process6()
t_yamamoto 0:669ef71cba68 231 {
t_yamamoto 0:669ef71cba68 232
t_yamamoto 0:669ef71cba68 233 }
t_yamamoto 0:669ef71cba68 234 #endif
t_yamamoto 0:669ef71cba68 235
t_yamamoto 0:669ef71cba68 236 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 237 static void Process7()
t_yamamoto 0:669ef71cba68 238 {
t_yamamoto 0:669ef71cba68 239
t_yamamoto 0:669ef71cba68 240 }
t_yamamoto 0:669ef71cba68 241 #endif
t_yamamoto 0:669ef71cba68 242
t_yamamoto 0:669ef71cba68 243 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 244 static void Process8()
t_yamamoto 0:669ef71cba68 245 {
t_yamamoto 0:669ef71cba68 246
t_yamamoto 0:669ef71cba68 247 }
t_yamamoto 0:669ef71cba68 248 #endif
t_yamamoto 0:669ef71cba68 249
t_yamamoto 0:669ef71cba68 250 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 251 static void Process9()
t_yamamoto 0:669ef71cba68 252 {
t_yamamoto 0:669ef71cba68 253
t_yamamoto 0:669ef71cba68 254 }
t_yamamoto 0:669ef71cba68 255 #endif
t_yamamoto 0:669ef71cba68 256 #endif
t_yamamoto 0:669ef71cba68 257 #pragma endregion PROCESS
t_yamamoto 0:669ef71cba68 258
t_yamamoto 0:669ef71cba68 259 static void AllActuatorReset()
t_yamamoto 0:669ef71cba68 260 {
t_yamamoto 0:669ef71cba68 261
t_yamamoto 0:669ef71cba68 262 #ifdef USE_SOLENOID
t_yamamoto 0:669ef71cba68 263 solenoid.all = ALL_SOLENOID_OFF;
t_yamamoto 0:669ef71cba68 264 #endif
t_yamamoto 0:669ef71cba68 265
t_yamamoto 0:669ef71cba68 266 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 267 for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++)
t_yamamoto 0:669ef71cba68 268 {
t_yamamoto 0:669ef71cba68 269 motor[i].dir = FREE;
t_yamamoto 0:669ef71cba68 270 motor[i].pwm = 0;
t_yamamoto 0:669ef71cba68 271 }
t_yamamoto 0:669ef71cba68 272 #endif
t_yamamoto 0:669ef71cba68 273 }
t_yamamoto 0:669ef71cba68 274
t_yamamoto 0:669ef71cba68 275 #pragma region USER-DEFINED-FUNCTIONS
t_yamamoto 0:669ef71cba68 276
t_yamamoto 0:669ef71cba68 277 #pragma endregion