大季 矢花 / Mbed 2 deprecated MainBoard2019_Master_9_17

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Dependencies:   mbed TrapezoidControl QEI

System/Process/Process.cpp@17:50dc4b449e69, 2019-07-06 (annotated)

Committer:
kishibekairohan
Date:
Sat Jul 06 07:58:17 2019 +0000
Revision:
17:50dc4b449e69
Parent:
16:3f2c2d89372b
Child:
18:c694bae76e51
a;

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
t_yamamoto 0:669ef71cba68 65 #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 66
t_yamamoto 0:669ef71cba68 67 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 68 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 69 static void Process0(void);
t_yamamoto 0:669ef71cba68 70 #endif
t_yamamoto 0:669ef71cba68 71 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 72 static void Process1(void);
t_yamamoto 0:669ef71cba68 73 #endif
t_yamamoto 0:669ef71cba68 74 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 75 static void Process2(void);
t_yamamoto 0:669ef71cba68 76 #endif
t_yamamoto 0:669ef71cba68 77 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 78 static void Process3(void);
t_yamamoto 0:669ef71cba68 79 #endif
t_yamamoto 0:669ef71cba68 80 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 81 static void Process4(void);
t_yamamoto 0:669ef71cba68 82 #endif
t_yamamoto 0:669ef71cba68 83 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 84 static void Process5(void);
t_yamamoto 0:669ef71cba68 85 #endif
t_yamamoto 0:669ef71cba68 86 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 87 static void Process6(void);
t_yamamoto 0:669ef71cba68 88 #endif
t_yamamoto 0:669ef71cba68 89 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 90 static void Process7(void);
t_yamamoto 0:669ef71cba68 91 #endif
t_yamamoto 0:669ef71cba68 92 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 93 static void Process8(void);
t_yamamoto 0:669ef71cba68 94 #endif
t_yamamoto 0:669ef71cba68 95 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 96 static void Process9(void);
t_yamamoto 0:669ef71cba68 97 #endif
t_yamamoto 0:669ef71cba68 98 #endif
t_yamamoto 0:669ef71cba68 99
t_yamamoto 0:669ef71cba68 100 void SystemProcessInitialize()
t_yamamoto 0:669ef71cba68 101 {
t_yamamoto 0:669ef71cba68 102 #pragma region USER-DEFINED_VARIABLE_INIT
kishibekairohan 16:3f2c2d89372b 103 /*Replace here with the initialization code of your variables.*/
t_yamamoto 0:669ef71cba68 104 #pragma endregion USER-DEFINED_VARIABLE_INIT
t_yamamoto 0:669ef71cba68 105
t_yamamoto 0:669ef71cba68 106 lock = true;
t_yamamoto 0:669ef71cba68 107 processChangeComp = true;
t_yamamoto 0:669ef71cba68 108 current = DEFAULT_PROCESS;
t_yamamoto 0:669ef71cba68 109
t_yamamoto 0:669ef71cba68 110 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 111 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 112 Process[0] = Process0;
t_yamamoto 0:669ef71cba68 113 #endif
t_yamamoto 0:669ef71cba68 114 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 115 Process[1] = Process1;
t_yamamoto 0:669ef71cba68 116 #endif
t_yamamoto 0:669ef71cba68 117 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 118 Process[2] = Process2;
t_yamamoto 0:669ef71cba68 119 #endif
t_yamamoto 0:669ef71cba68 120 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 121 Process[3] = Process3;
t_yamamoto 0:669ef71cba68 122 #endif
t_yamamoto 0:669ef71cba68 123 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 124 Process[4] = Process4;
t_yamamoto 0:669ef71cba68 125 #endif
t_yamamoto 0:669ef71cba68 126 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 127 Process[5] = Process5;
t_yamamoto 0:669ef71cba68 128 #endif
t_yamamoto 0:669ef71cba68 129 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 130 Process[6] = Process6;
t_yamamoto 0:669ef71cba68 131 #endif
t_yamamoto 0:669ef71cba68 132 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 133 Process[7] = Process7;
t_yamamoto 0:669ef71cba68 134 #endif
t_yamamoto 0:669ef71cba68 135 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 136 Process[8] = Process8;
t_yamamoto 0:669ef71cba68 137 #endif
t_yamamoto 0:669ef71cba68 138 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 139 Process[9] = Process9;
t_yamamoto 0:669ef71cba68 140 #endif
t_yamamoto 0:669ef71cba68 141 #endif
t_yamamoto 0:669ef71cba68 142 }
t_yamamoto 0:669ef71cba68 143
t_yamamoto 0:669ef71cba68 144 static void SystemProcessUpdate()
t_yamamoto 0:669ef71cba68 145 {
t_yamamoto 0:669ef71cba68 146 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 147 if(controller->Button.HOME) lock = false;
t_yamamoto 0:669ef71cba68 148
t_yamamoto 0:669ef71cba68 149 if(controller->Button.START && processChangeComp)
t_yamamoto 0:669ef71cba68 150 {
t_yamamoto 0:669ef71cba68 151 current++;
t_yamamoto 0:669ef71cba68 152 if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
t_yamamoto 0:669ef71cba68 153 processChangeComp = false;
t_yamamoto 0:669ef71cba68 154 }
t_yamamoto 0:669ef71cba68 155 else if(controller->Button.SELECT && processChangeComp)
t_yamamoto 0:669ef71cba68 156 {
t_yamamoto 0:669ef71cba68 157 current--;
t_yamamoto 0:669ef71cba68 158 if (current < 0) current = 0;
t_yamamoto 0:669ef71cba68 159 processChangeComp = false;
t_yamamoto 0:669ef71cba68 160 }
t_yamamoto 0:669ef71cba68 161 else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
t_yamamoto 0:669ef71cba68 162 #endif
t_yamamoto 0:669ef71cba68 163
t_yamamoto 0:669ef71cba68 164 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 165 ACTUATORHUB::MOTOR::Motor::Update(motor);
t_yamamoto 0:669ef71cba68 166 #endif
t_yamamoto 0:669ef71cba68 167
t_yamamoto 0:669ef71cba68 168 #ifdef USE_SOLENOID
t_yamamoto 0:669ef71cba68 169 ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
t_yamamoto 0:669ef71cba68 170 #endif
t_yamamoto 0:669ef71cba68 171
t_yamamoto 0:669ef71cba68 172 #ifdef USE_RS485
t_yamamoto 0:669ef71cba68 173 ACTUATORHUB::ActuatorHub::Update();
t_yamamoto 0:669ef71cba68 174 #endif
t_yamamoto 0:669ef71cba68 175
t_yamamoto 0:669ef71cba68 176 }
t_yamamoto 0:669ef71cba68 177
kishibekairohan 2:c015739085d3 178
kishibekairohan 2:c015739085d3 179
t_yamamoto 0:669ef71cba68 180 void SystemProcess()
t_yamamoto 0:669ef71cba68 181 {
t_yamamoto 0:669ef71cba68 182 SystemProcessInitialize();
t_yamamoto 0:669ef71cba68 183
t_yamamoto 0:669ef71cba68 184 while(1)
kishibekairohan 15:dfcec98f5aa9 185 {
kishibekairohan 16:3f2c2d89372b 186 //LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan 16:3f2c2d89372b 187 //LED_DEBUG1 = !LED_DEBUG1;
kishibekairohan 16:3f2c2d89372b 188 //printf("%d\r\n",ECD_0.getPulses());
kishibekairohan 17:50dc4b449e69 189 buzzer.period(1.0/800);
kishibekairohan 15:dfcec98f5aa9 190
t_yamamoto 0:669ef71cba68 191 #ifdef USE_MU
t_yamamoto 0:669ef71cba68 192 controller = CONTROLLER::Controller::GetData();
t_yamamoto 0:669ef71cba68 193 #endif
t_yamamoto 0:669ef71cba68 194
t_yamamoto 0:669ef71cba68 195 #ifdef USE_ERRORCHECK
t_yamamoto 0:669ef71cba68 196 if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost)
t_yamamoto 0:669ef71cba68 197 {
t_yamamoto 0:669ef71cba68 198 CONTROLLER::Controller::DataReset();
t_yamamoto 0:669ef71cba68 199 AllActuatorReset();
t_yamamoto 0:669ef71cba68 200 lock = true;
kishibekairohan 17:50dc4b449e69 201 //buzzer = 1;
kishibekairohan 17:50dc4b449e69 202 //BuzzerTimer.attach(BuzzerTimer_func, 0.5);
kishibekairohan 17:50dc4b449e69 203 //buzzer = 1;
kishibekairohan 17:50dc4b449e69 204 //BuzzerTimer.attach(&BuzzerTimer_func, 1.2);
kishibekairohan 17:50dc4b449e69 205 //BuzzerTimer.attach(BuzzerTimer_func, 1);
t_yamamoto 0:669ef71cba68 206 }
t_yamamoto 0:669ef71cba68 207 else
t_yamamoto 0:669ef71cba68 208 #endif
t_yamamoto 0:669ef71cba68 209 {
t_yamamoto 0:669ef71cba68 210
t_yamamoto 0:669ef71cba68 211 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 212 if(!lock)
t_yamamoto 0:669ef71cba68 213 {
t_yamamoto 0:669ef71cba68 214 Process[current]();
t_yamamoto 0:669ef71cba68 215 }
t_yamamoto 0:669ef71cba68 216 else
t_yamamoto 0:669ef71cba68 217 #endif
t_yamamoto 0:669ef71cba68 218 {
t_yamamoto 0:669ef71cba68 219 //ロック時の処理
t_yamamoto 0:669ef71cba68 220 }
t_yamamoto 0:669ef71cba68 221 }
t_yamamoto 0:669ef71cba68 222
kishibekairohan 16:3f2c2d89372b 223 //Emergency!
kishibekairohan 17:50dc4b449e69 224 if(!EMG_0 && !EMG_1 && !EMGflag){
kishibekairohan 17:50dc4b449e69 225 buzzer = 0;
kishibekairohan 17:50dc4b449e69 226 BuzzerTimer.attach(BuzzerTimer_func, 1);
kishibekairohan 17:50dc4b449e69 227 EMGflag = true;
kishibekairohan 17:50dc4b449e69 228 LED_DEBUG0 = 1;
kishibekairohan 9:f93fc79a49ea 229 }
kishibekairohan 17:50dc4b449e69 230 if(EMG_0 && EMG_1 && EMGflag){
kishibekairohan 17:50dc4b449e69 231 buzzer = 1;
kishibekairohan 9:f93fc79a49ea 232 BuzzerTimer.detach();
kishibekairohan 17:50dc4b449e69 233 EMGflag = false;
kishibekairohan 9:f93fc79a49ea 234 }
t_yamamoto 0:669ef71cba68 235 SystemProcessUpdate();
t_yamamoto 0:669ef71cba68 236 }
t_yamamoto 0:669ef71cba68 237 }
t_yamamoto 0:669ef71cba68 238
kishibekairohan 2:c015739085d3 239
kishibekairohan 2:c015739085d3 240
kishibekairohan 2:c015739085d3 241
t_yamamoto 0:669ef71cba68 242 #pragma region PROCESS
t_yamamoto 0:669ef71cba68 243 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 244 #if USE_PROCESS_NUM>0
kishibekairohan 12:c09b3e08a316 245 static void Process0()
kishibekairohan 10:1295d39fec3a 246 {
kishibekairohan 16:3f2c2d89372b 247
t_yamamoto 0:669ef71cba68 248 }
t_yamamoto 0:669ef71cba68 249 #endif
t_yamamoto 0:669ef71cba68 250
t_yamamoto 0:669ef71cba68 251 #if USE_PROCESS_NUM>1
kishibekairohan 16:3f2c2d89372b 252 static void Process1()
t_yamamoto 0:669ef71cba68 253 {
7ka884 4:ba9df71868df 254
t_yamamoto 0:669ef71cba68 255 }
t_yamamoto 0:669ef71cba68 256 #endif
t_yamamoto 0:669ef71cba68 257
t_yamamoto 0:669ef71cba68 258 #if USE_PROCESS_NUM>2
kishibekairohan 16:3f2c2d89372b 259 static void Process2()
kishibekairohan 13:b6e02d6261d7 260 {
kishibekairohan 13:b6e02d6261d7 261
kishibekairohan 13:b6e02d6261d7 262 }
kishibekairohan 13:b6e02d6261d7 263 #endif
kishibekairohan 13:b6e02d6261d7 264
kishibekairohan 13:b6e02d6261d7 265 #if USE_PROCESS_NUM>3
kishibekairohan 16:3f2c2d89372b 266 static void Process3()
kishibekairohan 13:b6e02d6261d7 267 {
kishibekairohan 15:dfcec98f5aa9 268
kishibekairohan 13:b6e02d6261d7 269 }
kishibekairohan 13:b6e02d6261d7 270 #endif
kishibekairohan 13:b6e02d6261d7 271
kishibekairohan 13:b6e02d6261d7 272 #if USE_PROCESS_NUM>4
kishibekairohan 13:b6e02d6261d7 273 static void Process4()
kishibekairohan 12:c09b3e08a316 274 {
kishibekairohan 15:dfcec98f5aa9 275
kishibekairohan 13:b6e02d6261d7 276 }
kishibekairohan 13:b6e02d6261d7 277 #endif
kishibekairohan 13:b6e02d6261d7 278
kishibekairohan 13:b6e02d6261d7 279 #if USE_PROCESS_NUM>5
kishibekairohan 16:3f2c2d89372b 280 static void Process5()
kishibekairohan 16:3f2c2d89372b 281 {
kishibekairohan 13:b6e02d6261d7 282
kishibekairohan 13:b6e02d6261d7 283 }
kishibekairohan 13:b6e02d6261d7 284 #endif
kishibekairohan 13:b6e02d6261d7 285
kishibekairohan 13:b6e02d6261d7 286 #if USE_PROCESS_NUM>6
kishibekairohan 13:b6e02d6261d7 287 static void Process6()
kishibekairohan 13:b6e02d6261d7 288 {
kishibekairohan 13:b6e02d6261d7 289
kishibekairohan 13:b6e02d6261d7 290 }
kishibekairohan 13:b6e02d6261d7 291 #endif
kishibekairohan 13:b6e02d6261d7 292
kishibekairohan 13:b6e02d6261d7 293 #if USE_PROCESS_NUM>7
kishibekairohan 13:b6e02d6261d7 294 static void Process7()
kishibekairohan 13:b6e02d6261d7 295 {
kishibekairohan 12:c09b3e08a316 296
kishibekairohan 12:c09b3e08a316 297 }
kishibekairohan 12:c09b3e08a316 298 #endif
kishibekairohan 12:c09b3e08a316 299
kishibekairohan 16:3f2c2d89372b 300 #if USE_PROCESS_NUM>8
kishibekairohan 13:b6e02d6261d7 301 static void Process8()
kishibekairohan 12:c09b3e08a316 302 {
kishibekairohan 12:c09b3e08a316 303
kishibekairohan 12:c09b3e08a316 304 }
kishibekairohan 12:c09b3e08a316 305 #endif
kishibekairohan 12:c09b3e08a316 306
kishibekairohan 13:b6e02d6261d7 307 #if USE_PROCESS_NUM>9
kishibekairohan 13:b6e02d6261d7 308 static void Process9()
kishibekairohan 12:c09b3e08a316 309 {
kishibekairohan 2:c015739085d3 310
t_yamamoto 0:669ef71cba68 311 }
t_yamamoto 0:669ef71cba68 312 #endif
t_yamamoto 0:669ef71cba68 313 #endif
t_yamamoto 0:669ef71cba68 314 #pragma endregion PROCESS
t_yamamoto 0:669ef71cba68 315
t_yamamoto 0:669ef71cba68 316 static void AllActuatorReset()
t_yamamoto 0:669ef71cba68 317 {
t_yamamoto 0:669ef71cba68 318
t_yamamoto 0:669ef71cba68 319 #ifdef USE_SOLENOID
t_yamamoto 0:669ef71cba68 320 solenoid.all = ALL_SOLENOID_OFF;
t_yamamoto 0:669ef71cba68 321 #endif
t_yamamoto 0:669ef71cba68 322
t_yamamoto 0:669ef71cba68 323 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 324 for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++)
t_yamamoto 0:669ef71cba68 325 {
t_yamamoto 0:669ef71cba68 326 motor[i].dir = FREE;
t_yamamoto 0:669ef71cba68 327 motor[i].pwm = 0;
t_yamamoto 0:669ef71cba68 328 }
t_yamamoto 0:669ef71cba68 329 #endif
t_yamamoto 0:669ef71cba68 330 }
t_yamamoto 0:669ef71cba68 331
kishibekairohan 16:3f2c2d89372b 332 void BuzzerTimer_func(){
kishibekairohan 16:3f2c2d89372b 333 buzzer = !buzzer;
kishibekairohan 17:50dc4b449e69 334 //LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan 11:028a150943b5 335 }
kishibekairohan 11:028a150943b5 336
kishibekairohan 11:028a150943b5 337 void TapeLedEms_func() {
kishibekairohan 16:3f2c2d89372b 338 sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
kishibekairohan 9:f93fc79a49ea 339 }
kishibekairohan 16:3f2c2d89372b 340
kishibekairohan 16:3f2c2d89372b 341 #pragma region USER-DEFINED-FUNCTIONS
kishibekairohan 16:3f2c2d89372b 342
kishibekairohan 16:3f2c2d89372b 343
t_yamamoto 0:669ef71cba68 344 #pragma endregion