大季 矢花 / Mbed 2 deprecated MainBoard2019_Master_9_18

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Dependencies:   mbed TrapezoidControl QEI

System/Process/Process.cpp@18:c694bae76e51, 2019-07-08 (annotated)

Committer:
M_souta
Date:
Mon Jul 08 01:55:34 2019 +0000
Revision:
18:c694bae76e51
Parent:
17:50dc4b449e69
Child:
19:96a462583af9
rrrrrrrr

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 18:c694bae76e51 67
t_yamamoto 0:669ef71cba68 68 #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 69
t_yamamoto 0:669ef71cba68 70 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 71 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 72 static void Process0(void);
t_yamamoto 0:669ef71cba68 73 #endif
t_yamamoto 0:669ef71cba68 74 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 75 static void Process1(void);
t_yamamoto 0:669ef71cba68 76 #endif
t_yamamoto 0:669ef71cba68 77 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 78 static void Process2(void);
t_yamamoto 0:669ef71cba68 79 #endif
t_yamamoto 0:669ef71cba68 80 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 81 static void Process3(void);
t_yamamoto 0:669ef71cba68 82 #endif
t_yamamoto 0:669ef71cba68 83 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 84 static void Process4(void);
t_yamamoto 0:669ef71cba68 85 #endif
t_yamamoto 0:669ef71cba68 86 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 87 static void Process5(void);
t_yamamoto 0:669ef71cba68 88 #endif
t_yamamoto 0:669ef71cba68 89 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 90 static void Process6(void);
t_yamamoto 0:669ef71cba68 91 #endif
t_yamamoto 0:669ef71cba68 92 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 93 static void Process7(void);
t_yamamoto 0:669ef71cba68 94 #endif
t_yamamoto 0:669ef71cba68 95 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 96 static void Process8(void);
t_yamamoto 0:669ef71cba68 97 #endif
t_yamamoto 0:669ef71cba68 98 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 99 static void Process9(void);
t_yamamoto 0:669ef71cba68 100 #endif
t_yamamoto 0:669ef71cba68 101 #endif
t_yamamoto 0:669ef71cba68 102
t_yamamoto 0:669ef71cba68 103 void SystemProcessInitialize()
t_yamamoto 0:669ef71cba68 104 {
t_yamamoto 0:669ef71cba68 105 #pragma region USER-DEFINED_VARIABLE_INIT
kishibekairohan 16:3f2c2d89372b 106 /*Replace here with the initialization code of your variables.*/
t_yamamoto 0:669ef71cba68 107 #pragma endregion USER-DEFINED_VARIABLE_INIT
t_yamamoto 0:669ef71cba68 108
t_yamamoto 0:669ef71cba68 109 lock = true;
t_yamamoto 0:669ef71cba68 110 processChangeComp = true;
t_yamamoto 0:669ef71cba68 111 current = DEFAULT_PROCESS;
t_yamamoto 0:669ef71cba68 112
t_yamamoto 0:669ef71cba68 113 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 114 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 115 Process[0] = Process0;
t_yamamoto 0:669ef71cba68 116 #endif
t_yamamoto 0:669ef71cba68 117 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 118 Process[1] = Process1;
t_yamamoto 0:669ef71cba68 119 #endif
t_yamamoto 0:669ef71cba68 120 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 121 Process[2] = Process2;
t_yamamoto 0:669ef71cba68 122 #endif
t_yamamoto 0:669ef71cba68 123 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 124 Process[3] = Process3;
t_yamamoto 0:669ef71cba68 125 #endif
t_yamamoto 0:669ef71cba68 126 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 127 Process[4] = Process4;
t_yamamoto 0:669ef71cba68 128 #endif
t_yamamoto 0:669ef71cba68 129 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 130 Process[5] = Process5;
t_yamamoto 0:669ef71cba68 131 #endif
t_yamamoto 0:669ef71cba68 132 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 133 Process[6] = Process6;
t_yamamoto 0:669ef71cba68 134 #endif
t_yamamoto 0:669ef71cba68 135 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 136 Process[7] = Process7;
t_yamamoto 0:669ef71cba68 137 #endif
t_yamamoto 0:669ef71cba68 138 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 139 Process[8] = Process8;
t_yamamoto 0:669ef71cba68 140 #endif
t_yamamoto 0:669ef71cba68 141 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 142 Process[9] = Process9;
t_yamamoto 0:669ef71cba68 143 #endif
t_yamamoto 0:669ef71cba68 144 #endif
t_yamamoto 0:669ef71cba68 145 }
t_yamamoto 0:669ef71cba68 146
t_yamamoto 0:669ef71cba68 147 static void SystemProcessUpdate()
t_yamamoto 0:669ef71cba68 148 {
t_yamamoto 0:669ef71cba68 149 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 150 if(controller->Button.HOME) lock = false;
t_yamamoto 0:669ef71cba68 151
t_yamamoto 0:669ef71cba68 152 if(controller->Button.START && processChangeComp)
t_yamamoto 0:669ef71cba68 153 {
t_yamamoto 0:669ef71cba68 154 current++;
t_yamamoto 0:669ef71cba68 155 if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
t_yamamoto 0:669ef71cba68 156 processChangeComp = false;
t_yamamoto 0:669ef71cba68 157 }
t_yamamoto 0:669ef71cba68 158 else if(controller->Button.SELECT && processChangeComp)
t_yamamoto 0:669ef71cba68 159 {
t_yamamoto 0:669ef71cba68 160 current--;
t_yamamoto 0:669ef71cba68 161 if (current < 0) current = 0;
t_yamamoto 0:669ef71cba68 162 processChangeComp = false;
t_yamamoto 0:669ef71cba68 163 }
t_yamamoto 0:669ef71cba68 164 else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
t_yamamoto 0:669ef71cba68 165 #endif
t_yamamoto 0:669ef71cba68 166
t_yamamoto 0:669ef71cba68 167 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 168 ACTUATORHUB::MOTOR::Motor::Update(motor);
t_yamamoto 0:669ef71cba68 169 #endif
t_yamamoto 0:669ef71cba68 170
t_yamamoto 0:669ef71cba68 171 #ifdef USE_SOLENOID
t_yamamoto 0:669ef71cba68 172 ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
t_yamamoto 0:669ef71cba68 173 #endif
t_yamamoto 0:669ef71cba68 174
t_yamamoto 0:669ef71cba68 175 #ifdef USE_RS485
t_yamamoto 0:669ef71cba68 176 ACTUATORHUB::ActuatorHub::Update();
t_yamamoto 0:669ef71cba68 177 #endif
t_yamamoto 0:669ef71cba68 178
t_yamamoto 0:669ef71cba68 179 }
t_yamamoto 0:669ef71cba68 180
kishibekairohan 2:c015739085d3 181
kishibekairohan 2:c015739085d3 182
t_yamamoto 0:669ef71cba68 183 void SystemProcess()
t_yamamoto 0:669ef71cba68 184 {
t_yamamoto 0:669ef71cba68 185 SystemProcessInitialize();
t_yamamoto 0:669ef71cba68 186
t_yamamoto 0:669ef71cba68 187 while(1)
kishibekairohan 15:dfcec98f5aa9 188 {
kishibekairohan 16:3f2c2d89372b 189 //LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan 16:3f2c2d89372b 190 //LED_DEBUG1 = !LED_DEBUG1;
kishibekairohan 16:3f2c2d89372b 191 //printf("%d\r\n",ECD_0.getPulses());
kishibekairohan 17:50dc4b449e69 192 buzzer.period(1.0/800);
kishibekairohan 15:dfcec98f5aa9 193
t_yamamoto 0:669ef71cba68 194 #ifdef USE_MU
t_yamamoto 0:669ef71cba68 195 controller = CONTROLLER::Controller::GetData();
t_yamamoto 0:669ef71cba68 196 #endif
t_yamamoto 0:669ef71cba68 197
t_yamamoto 0:669ef71cba68 198 #ifdef USE_ERRORCHECK
t_yamamoto 0:669ef71cba68 199 if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost)
t_yamamoto 0:669ef71cba68 200 {
t_yamamoto 0:669ef71cba68 201 CONTROLLER::Controller::DataReset();
t_yamamoto 0:669ef71cba68 202 AllActuatorReset();
t_yamamoto 0:669ef71cba68 203 lock = true;
kishibekairohan 17:50dc4b449e69 204 //buzzer = 1;
kishibekairohan 17:50dc4b449e69 205 //BuzzerTimer.attach(BuzzerTimer_func, 0.5);
kishibekairohan 17:50dc4b449e69 206 //buzzer = 1;
kishibekairohan 17:50dc4b449e69 207 //BuzzerTimer.attach(&BuzzerTimer_func, 1.2);
kishibekairohan 17:50dc4b449e69 208 //BuzzerTimer.attach(BuzzerTimer_func, 1);
t_yamamoto 0:669ef71cba68 209 }
t_yamamoto 0:669ef71cba68 210 else
t_yamamoto 0:669ef71cba68 211 #endif
t_yamamoto 0:669ef71cba68 212 {
t_yamamoto 0:669ef71cba68 213
t_yamamoto 0:669ef71cba68 214 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 215 if(!lock)
t_yamamoto 0:669ef71cba68 216 {
t_yamamoto 0:669ef71cba68 217 Process[current]();
t_yamamoto 0:669ef71cba68 218 }
t_yamamoto 0:669ef71cba68 219 else
t_yamamoto 0:669ef71cba68 220 #endif
t_yamamoto 0:669ef71cba68 221 {
t_yamamoto 0:669ef71cba68 222 //ロック時の処理
t_yamamoto 0:669ef71cba68 223 }
t_yamamoto 0:669ef71cba68 224 }
t_yamamoto 0:669ef71cba68 225
kishibekairohan 16:3f2c2d89372b 226 //Emergency!
kishibekairohan 17:50dc4b449e69 227 if(!EMG_0 && !EMG_1 && !EMGflag){
kishibekairohan 17:50dc4b449e69 228 buzzer = 0;
kishibekairohan 17:50dc4b449e69 229 BuzzerTimer.attach(BuzzerTimer_func, 1);
kishibekairohan 17:50dc4b449e69 230 EMGflag = true;
kishibekairohan 17:50dc4b449e69 231 LED_DEBUG0 = 1;
kishibekairohan 9:f93fc79a49ea 232 }
kishibekairohan 17:50dc4b449e69 233 if(EMG_0 && EMG_1 && EMGflag){
kishibekairohan 17:50dc4b449e69 234 buzzer = 1;
kishibekairohan 9:f93fc79a49ea 235 BuzzerTimer.detach();
kishibekairohan 17:50dc4b449e69 236 EMGflag = false;
kishibekairohan 9:f93fc79a49ea 237 }
t_yamamoto 0:669ef71cba68 238 SystemProcessUpdate();
t_yamamoto 0:669ef71cba68 239 }
t_yamamoto 0:669ef71cba68 240 }
t_yamamoto 0:669ef71cba68 241
kishibekairohan 2:c015739085d3 242
kishibekairohan 2:c015739085d3 243
kishibekairohan 2:c015739085d3 244
t_yamamoto 0:669ef71cba68 245 #pragma region PROCESS
t_yamamoto 0:669ef71cba68 246 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 247 #if USE_PROCESS_NUM>0
kishibekairohan 12:c09b3e08a316 248 static void Process0()
kishibekairohan 10:1295d39fec3a 249 {
kishibekairohan 16:3f2c2d89372b 250
t_yamamoto 0:669ef71cba68 251 }
t_yamamoto 0:669ef71cba68 252 #endif
t_yamamoto 0:669ef71cba68 253
t_yamamoto 0:669ef71cba68 254 #if USE_PROCESS_NUM>1
kishibekairohan 16:3f2c2d89372b 255 static void Process1()
t_yamamoto 0:669ef71cba68 256 {
7ka884 4:ba9df71868df 257
t_yamamoto 0:669ef71cba68 258 }
t_yamamoto 0:669ef71cba68 259 #endif
t_yamamoto 0:669ef71cba68 260
t_yamamoto 0:669ef71cba68 261 #if USE_PROCESS_NUM>2
kishibekairohan 16:3f2c2d89372b 262 static void Process2()
kishibekairohan 13:b6e02d6261d7 263 {
kishibekairohan 13:b6e02d6261d7 264
kishibekairohan 13:b6e02d6261d7 265 }
kishibekairohan 13:b6e02d6261d7 266 #endif
kishibekairohan 13:b6e02d6261d7 267
kishibekairohan 13:b6e02d6261d7 268 #if USE_PROCESS_NUM>3
kishibekairohan 16:3f2c2d89372b 269 static void Process3()
kishibekairohan 13:b6e02d6261d7 270 {
kishibekairohan 15:dfcec98f5aa9 271
kishibekairohan 13:b6e02d6261d7 272 }
kishibekairohan 13:b6e02d6261d7 273 #endif
kishibekairohan 13:b6e02d6261d7 274
kishibekairohan 13:b6e02d6261d7 275 #if USE_PROCESS_NUM>4
kishibekairohan 13:b6e02d6261d7 276 static void Process4()
kishibekairohan 12:c09b3e08a316 277 {
kishibekairohan 15:dfcec98f5aa9 278
kishibekairohan 13:b6e02d6261d7 279 }
kishibekairohan 13:b6e02d6261d7 280 #endif
kishibekairohan 13:b6e02d6261d7 281
kishibekairohan 13:b6e02d6261d7 282 #if USE_PROCESS_NUM>5
kishibekairohan 16:3f2c2d89372b 283 static void Process5()
kishibekairohan 16:3f2c2d89372b 284 {
kishibekairohan 13:b6e02d6261d7 285
kishibekairohan 13:b6e02d6261d7 286 }
kishibekairohan 13:b6e02d6261d7 287 #endif
kishibekairohan 13:b6e02d6261d7 288
kishibekairohan 13:b6e02d6261d7 289 #if USE_PROCESS_NUM>6
kishibekairohan 13:b6e02d6261d7 290 static void Process6()
kishibekairohan 13:b6e02d6261d7 291 {
kishibekairohan 13:b6e02d6261d7 292
kishibekairohan 13:b6e02d6261d7 293 }
kishibekairohan 13:b6e02d6261d7 294 #endif
kishibekairohan 13:b6e02d6261d7 295
kishibekairohan 13:b6e02d6261d7 296 #if USE_PROCESS_NUM>7
kishibekairohan 13:b6e02d6261d7 297 static void Process7()
kishibekairohan 13:b6e02d6261d7 298 {
kishibekairohan 12:c09b3e08a316 299
kishibekairohan 12:c09b3e08a316 300 }
kishibekairohan 12:c09b3e08a316 301 #endif
kishibekairohan 12:c09b3e08a316 302
kishibekairohan 16:3f2c2d89372b 303 #if USE_PROCESS_NUM>8
kishibekairohan 13:b6e02d6261d7 304 static void Process8()
kishibekairohan 12:c09b3e08a316 305 {
kishibekairohan 12:c09b3e08a316 306
kishibekairohan 12:c09b3e08a316 307 }
kishibekairohan 12:c09b3e08a316 308 #endif
kishibekairohan 12:c09b3e08a316 309
kishibekairohan 13:b6e02d6261d7 310 #if USE_PROCESS_NUM>9
kishibekairohan 13:b6e02d6261d7 311 static void Process9()
kishibekairohan 12:c09b3e08a316 312 {
kishibekairohan 2:c015739085d3 313
t_yamamoto 0:669ef71cba68 314 }
t_yamamoto 0:669ef71cba68 315 #endif
t_yamamoto 0:669ef71cba68 316 #endif
t_yamamoto 0:669ef71cba68 317 #pragma endregion PROCESS
t_yamamoto 0:669ef71cba68 318
t_yamamoto 0:669ef71cba68 319 static void AllActuatorReset()
t_yamamoto 0:669ef71cba68 320 {
t_yamamoto 0:669ef71cba68 321
t_yamamoto 0:669ef71cba68 322 #ifdef USE_SOLENOID
t_yamamoto 0:669ef71cba68 323 solenoid.all = ALL_SOLENOID_OFF;
t_yamamoto 0:669ef71cba68 324 #endif
t_yamamoto 0:669ef71cba68 325
t_yamamoto 0:669ef71cba68 326 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 327 for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++)
t_yamamoto 0:669ef71cba68 328 {
t_yamamoto 0:669ef71cba68 329 motor[i].dir = FREE;
t_yamamoto 0:669ef71cba68 330 motor[i].pwm = 0;
t_yamamoto 0:669ef71cba68 331 }
t_yamamoto 0:669ef71cba68 332 #endif
t_yamamoto 0:669ef71cba68 333 }
t_yamamoto 0:669ef71cba68 334
kishibekairohan 16:3f2c2d89372b 335 void BuzzerTimer_func(){
kishibekairohan 16:3f2c2d89372b 336 buzzer = !buzzer;
kishibekairohan 17:50dc4b449e69 337 //LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan 11:028a150943b5 338 }
kishibekairohan 11:028a150943b5 339
kishibekairohan 11:028a150943b5 340 void TapeLedEms_func() {
kishibekairohan 16:3f2c2d89372b 341 sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
kishibekairohan 9:f93fc79a49ea 342 }
kishibekairohan 16:3f2c2d89372b 343
kishibekairohan 16:3f2c2d89372b 344 #pragma region USER-DEFINED-FUNCTIONS
kishibekairohan 16:3f2c2d89372b 345
kishibekairohan 16:3f2c2d89372b 346
t_yamamoto 0:669ef71cba68 347 #pragma endregion