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cmd_rcb3.c@ 295

Last change on this file since 295 was 128, checked in by ertl-honda, 9 years ago
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File size: 19.2 KB

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1	/*
2	* Copyright (C) 2013-2014 by Embedded and Real-Time Systems Laboratory
3	* Graduate School of Information Science, Nagoya Univ., JAPAN
4	*
5	* $Id: cmd_rcb3_can.c 228 2014-09-12 13:21:15Z honda $
6	*/
7
8	/*
9
10	dl
11
12	ER}h
13	SBXBTÌ PS3Rg[/USBQ[pbhUARTÏ·t@[EFA
14	(http://runningele.web.fc2.com/) ÅT\|[gµÄ¢éRCB3ÉÎ
15	µÄ¢éD
16
17	UART\|[g2ÆCANoRÅR}hðó¯æéD¹p·éÆUART©çÌ
18	R}hÌæè±Úµª¶·é½ßÓ·é±ÆD
19
20	EN®
21	SÄÌLEDð0.5büúÅ3b_Å³¹éD
22
23	E{^Ç
24	¶EE {^
25	EXeAOÌj
26	[gð²®D
27	E{^ð·Æûüw¦íªONC£·ÆOFF
28	ã{^
29	EXeAOðj
30	[gÉ·é
31	º{^
32	E[^§äÌQCðúlÉ·é
33	L1/R1
34	Eûüw¦íðON/OFF·éD
35	L2/R2
36	E[^§äÌQCðÏX
37	~
38	Eu[L
39	¢
40	EnU[h
41
42	ECwbhCgØèÖ¦()
43
44	EMAØèÖ¦(D -> N -> B -> N)
45	*/
46	//#include "rc.h"
47	//#include "cmd_msg.h"
48	//#include "uart.h"
49	//#include "fcan.h"
50	#include "rcb3.h"
51	#include "comuart.h"
52
53	/*
54	* OûQÆ
55	*/
56	static void onMsgUart(void);
57	static void onMsgCAN(void);
58	static void onMsgPS3(void);
59	static void onTimer10m(void);
60	static void onTimer50m(void);
61	static void onTimer100m(void);
62
63	/*
64	* eíè`
65	*/
66
67	/*
68	* j
69	[gÌXeAOpxÌúl
70	*/
71	#define STEER_NEUTRAL_INIT 0
72
73
74	/*
75	* [^QCÌúl
76	*/
77	#define MOTOR_GAIN_INIT 2
78
79
80	/*
81	* OoÍpÌ\|[gÔÆCxgÔ
82	*/
83	#define RC_OUTPUT_PORT 2
84	#define RC_EVENT_OUTPUT_PORT (0x10 << RC_OUTPUT_PORT)
85
86
87	/*
88	* N®Ì{fB[nÌÚ±eXgpÝè
89	*/
90	#define INIT_BODY_BLINK_COUNT 3
91	#define INIT_BODY_BLINK_CYCLE 500
92
93
94	/*
95	* §äÖAÌÏ
96	*/
97	float g_steer_neutral = STEER_NEUTRAL_INIT;
98	float g_angle = 0;
99	float g_speed = 0;
100	int g_speed_gain = MOTOR_GAIN_INIT;
101	boolean g_blinker_l_blink = FALSE;
102	boolean g_blinker_r_blink = FALSE;
103	boolean g_isBrake = FALSE;
104
105
106	/*
107	* CANÖA
108	*/
109
110	/*
111	* {fB[nÖÌw¦R}hpCANbZ[WID
112	*/
113	#define BODY_CAN_MSG_ID 16
114
115	/*
116	* óMR}hpCANbZ[WID
117	*/
118	#define CONT_CMD_CAN_MSG_ID 3
119
120	/*
121	* MÌgCñÌãÀ
122	*/
123	#define CAN_RETRY_LIMIT 50
124
125	/*
126	* CANÊMðgp·é©ÌtO
127	*/
128	boolean g_use_can = TRUE;
129
130	/*
131	* CANÊMðÄJ·éñ
132	*/
133	#define CAN_REUSE_CNT_LIMIT 1000
134
135	/*
136	* CANÊMÄJpÏ
137	*/
138	int g_can_reuse_cnt = 0;
139
140	/*
141	* CANÖAÌú»
142	*/
143	void
144	can_init(void)
145	{
146	/* CAN\|[gú» */
147	FCan0InitPort(0);
148
149	/* CAMú» */
150	FcanInit(0);
151
152	/* [{bNXú» */
153	FcanSetMailBoxInfo(0, 0, DIR_SEND, IDE_STD, BODY_CAN_MSG_ID, 0, 0 );
154	FcanSetMailBoxInfo(0, 1, DIR_RECV, IDE_STD, CONT_CMD_CAN_MSG_ID, 0, 0 );
155
156	/* CANX^[g */
157	FcanEnable(0);
158	}
159
160	/*
161	* CANbZ[WÌM
162	*/
163	void
164	can_send(uint8 *tx_data, uint8 len)
165	{
166	int cnt = 0;
167	STATUS status;
168
169	/* CANÊMâ~óÔÌê */
170	if (!g_use_can) {
171	g_can_reuse_cnt++;
172	if (g_can_reuse_cnt == CAN_REUSE_CNT_LIMIT) {
173	g_use_can = TRUE;
174	g_can_reuse_cnt = 0;
175	} else {
176	return;
177	}
178	}
179
180	while(1){
181	status = FcanSetTxData(0, 0, &tx_data[0], len);
182	if(status != STATUS_OK ) {
183	if (cnt++ > CAN_RETRY_LIMIT) {
184	g_use_can = FALSE;
185	uart_PSendString(RC_OUTPUT_PORT, "CAN connect error! Execute without CAN. \r\n");
186	break;
187	}
188	}else{
189	break;
190	}
191	}
192	}
193
194	/*
195	* {fB[ECUÖÌóÔw¦\¢Ì
196	*/
197	typedef struct {
198	uint8_t headlight1;
199	uint8_t headlight2;
200	uint8_t headlight3;
201	uint8_t breaklamp;
202	uint8_t backlamp;
203	uint8_t buzzer;
204	uint8_t blinker_l;
205	uint8_t blinker_r;
206	uint8_t hazardlamp;
207	}BODY_CONT_INFO;
208
209	/*
210	* {fB[ÌACeÌON/OFF}N
211	*/
212	#define BODY_CONT_ON 1
213	#define BODY_CONT_OFF 0
214	#define BODY_CONT_BLINK 2
215
216	/*
217	* {fB[ECUÖÌóÔw¦pÏ
218	*/
219	BODY_CONT_INFO g_body_cont_info;
220
221	/*
222	* üúMÆ·é©
223	*/
224	boolean g_body_can_msg_cyclic = TRUE;
225
226	/*
227	{fB[§äCANbZ[Wdl
228
229	Müú : 50ms
230	bZ[WID : 16
231	bZ[W· : 11bit
232
233	offset bits bit assign
234	wbhCg1 : 0 : 1 : 1:ON 0:OFF
235	wbhCg2 : 1 : 1 : 1:ON 0:OFF
236	wbhCg3 : 2 : 1 : 1:ON 0:OFF
237	u[Lv : 3 : 1 : 1:ON 0:OFF
238	obNv : 4 : 1 : 1:ON 0:OFF
239	uU[ : 5 : 1 : 1:ON 0:OFF 2:BLINK
240	EBJ[L : 8 : 2 : 1:ON 0:OFF 2:BLINK
241	EBJ[R : 10 : 2 : 1:ON 0:OFF 2:BLINK
242	nU[hv : 12 : 1 : 1:ON 0:OFF 2:BLINK
243	*/
244
245	void
246	body_can_msg_send(void)
247	{
248	uint8 tx_data[8];
249	/* OñtÌóÔ */
250	static BODY_CONT_INFO g_pre_body_cont_info;
251
252	/* óÔw¦ÉÏ»ª³¯êÎMµÈ¢ */
253	if (!g_body_can_msg_cyclic){
254	if((g_body_cont_info.headlight1 == g_pre_body_cont_info.headlight1) &&
255	(g_body_cont_info.headlight2 == g_pre_body_cont_info.headlight2) &&
256	(g_body_cont_info.headlight3 == g_pre_body_cont_info.headlight3) &&
257	(g_body_cont_info.breaklamp == g_pre_body_cont_info.breaklamp) &&
258	(g_body_cont_info.backlamp == g_pre_body_cont_info.backlamp) &&
259	(g_body_cont_info.buzzer == g_pre_body_cont_info.buzzer) &&
260	(g_body_cont_info.blinker_l == g_pre_body_cont_info.blinker_l) &&
261	(g_body_cont_info.blinker_r == g_pre_body_cont_info.blinker_r) &&
262	(g_body_cont_info.hazardlamp == g_pre_body_cont_info.hazardlamp)) {
263	return;
264	}
265	}
266
267	/* MbZ[Wð¶¬ */
268	tx_data[0] = ((g_body_cont_info.headlight1 << 7) & 0x80) \|
269	((g_body_cont_info.headlight2 << 6) & 0x40) \|
270	((g_body_cont_info.headlight3 << 5) & 0x20) \|
271	((g_body_cont_info.breaklamp << 4) & 0x10) \|
272	((g_body_cont_info.backlamp << 3) & 0x08) \|
273	((g_body_cont_info.buzzer << 1) & 0x06);
274
275	tx_data[1] = ((g_body_cont_info.blinker_l << 6) & 0xc0) \|
276	((g_body_cont_info.blinker_r << 4) & 0x30) \|
277	((g_body_cont_info.hazardlamp << 3) & 0x08);
278
279	can_send(tx_data, 2);
280
281	g_pre_body_cont_info = g_body_cont_info;
282	}
283
284
285	/*
286	* N®Ì{fB[ÌÚ±mF
287	*
288	* SLED_ÅÆuU[ðÂç·D
289	*/
290	void
291	body_check(void)
292	{
293	int loop, tcnt;
294	uint8_t status = BODY_CONT_ON;
295
296	for(loop = 0; loop < INIT_BODY_BLINK_COUNT*2; loop++) {
297	g_body_cont_info.headlight1 = status;
298	g_body_cont_info.headlight2 = status;
299	g_body_cont_info.headlight3 = status;
300	g_body_cont_info.breaklamp = status;
301	g_body_cont_info.backlamp = status;
302	g_body_cont_info.buzzer = status;
303	g_body_cont_info.blinker_l = status;
304	g_body_cont_info.blinker_r = status;
305
306	body_can_msg_send();
307
308	tcnt = 0;
309	while(1) {
310	rc_WaitEvent(RC_EVENT_TIMER);
311	rc_ClearEvent(RC_EVENT_TIMER);
312	tcnt++;
313	if (tcnt == INIT_BODY_BLINK_CYCLE) {
314	break;
315	}
316	}
317
318	status = (status == BODY_CONT_ON)? BODY_CONT_OFF : BODY_CONT_ON;
319	}
320	}
321
322
323	/*
324	* CÖ
325	*/
326	void
327	cmd_rcb3_Main(void)
328	{
329	int tcnt = 0;
330	uint32_t event;
331
332	uart_Init(RC_OUTPUT_PORT, 115200);
333
334	uart_PSendString(RC_OUTPUT_PORT, "Initialize hardware start. \r\n");
335
336	can_init();
337
338	body_check();
339
340	SetServoControlMode(TRUE);
341	SetServoEnable(SERVO_ON);
342	SetSteerAngle(STEER_NEUTRAL_INIT);
343	SetControlParam(1.0f, 1.0f, 0);
344	SetMotorEnable(MOTOR_ON);
345
346	rcb3_Init();
347
348	uart_PSendString(RC_OUTPUT_PORT, "Initialize hardware done. \r\n");
349
350	while (1) {
351	event = rc_WaitEvent(RC_EVENT_CMD_PORT\|RC_EVENT_TIMER);
352
353	if (event & RC_EVENT_OUTPUT_PORT) {
354	rc_ClearEvent(RC_EVENT_OUTPUT_PORT);
355	onMsgUart();
356	}
357
358	if (event & RC_EVENT_TIMER) {
359	rc_ClearEvent(RC_EVENT_TIMER);
360	onMsgCAN();
361	tcnt++;
362	if (tcnt % 10 == 0) {
363	onTimer10m();
364	}
365	if (tcnt % 50 == 0) {
366	onTimer50m();
367	}
368	if (tcnt == 100) {
369	tcnt = 0;
370	onTimer100m();
371	}
372	}
373	}
374	}
375
376	/*
377	* I¹
378	*/
379	void
380	cmd_rcb3_Exit(void)
381	{
382	/* ì®[^ðâ~ */
383	mot_SetOutput(0);
384	}
385
386	/*
387	* UART©çÌbZ[WÌóM
388	*/
389	void
390	onMsgUart(void)
391	{
392	uint8_t c;
393	while (uart_Get(RC_OUTPUT_PORT, &c, 1)) {
394	/*
395	* LøÈd¶ðó¯æÁ½êÍCd¶É¶½ðÀ{
396	*/
397	if (rcb3_AddReceivedByte(c)) {
398	onMsgPS3();
399	}
400	}
401	}
402
403	/*
404	* CAN©çÌbZ[WóM
405	*/
406	void onMsgCAN(void)
407	{
408	uint8 rx_data[8];
409	uint8 rx_size;
410	int loop;
411	BOOL result;
412	char str[30];
413
414	FcanGetRxData(0, 1, &rx_data[0], &rx_size);
415	if (rx_size == 0) {
416	return;
417	}
418
419	// sprintf(str, "Can data 0x%x, 0x%x, 0x%x\r\n", rx_data[0], rx_data[1], rx_data[2]);
420	// uart_PSendString(RC_OUTPUT_PORT, str);
421
422	for (loop = 0; loop < rx_size; loop++){
423	result = rcb3_AddReceivedByte(rx_data[loop]);
424	}
425
426	if (result) {
427	onMsgPS3();
428	}
429	else {
430	sprintf(str, "Received Can data Error!\r\n");
431	uart_PSendString(RC_OUTPUT_PORT, str);
432	}
433	}
434
435	/*
436	* 10müúÅÄÑo³êéD
437	*/
438	void onTimer10m(void)
439	{
440
441	}
442
443	/*
444	* 50müúÅÄÑo³êéD
445	*/
446	void onTimer50m(void)
447	{
448	/* {fB[nÖÌw¦ðM */
449	body_can_msg_send();
450	}
451
452	/*
453	* 100müúÅÄÑo³êéD
454	*/
455	void onTimer100m(void)
456	{
457
458	}
459
460
461	/*
462	* RoboCar§äCu
463	*/
464
465
466	/*
467	* XeAOj
468	[gðúlÉ
469	*/
470	void
471	InitSteerNetural(void)
472	{
473	char str[30];
474	g_steer_neutral = STEER_NEUTRAL_INIT;
475	SetSteerAngle(g_steer_neutral);
476	sprintf(str, "Set steer neutral = %2.1f \r\n", g_steer_neutral);
477	uart_PSendString(RC_OUTPUT_PORT, str);
478	}
479
480	/*
481	* XeAOj
482	[gð¶¤É
483	*/
484	void
485	AdjustSteerNeturalL(void)
486	{
487	char str[30];
488	if(g_steer_neutral < 30) {
489	g_steer_neutral++;
490	SetSteerAngle(g_steer_neutral);
491	sprintf(str, "Adjust steer neutral = %2.1f \r\n", g_steer_neutral);
492	uart_PSendString(RC_OUTPUT_PORT, str);
493	}
494	}
495
496	/*
497	* XeAOj
498	[gðE¤É
499	*/
500	void
501	AdjustSteerNeturalR(void)
502	{
503	char str[30];
504	if(g_steer_neutral > -30) {
505	g_steer_neutral--;
506	SetSteerAngle(g_steer_neutral);
507	sprintf(str, "Adjust steer neutral = %2.1f \r\n", g_steer_neutral);
508	uart_PSendString(RC_OUTPUT_PORT, str);
509	}
510	}
511
512
513	/*
514	* Xs[hQCðã°é
515	*/
516	void
517	AdjustSpeedGainU(void)
518	{
519	char str[30];
520	if(g_speed_gain < 10) {
521	g_speed_gain++;
522	SetDriveSpeed(g_speed/g_speed_gain);
523	sprintf(str, "Adjust speed gain = %d \r\n", g_speed_gain);
524	uart_PSendString(RC_OUTPUT_PORT, str);
525	}
526	}
527
528	/*
529	* Xs[hQCðº°é
530	*/
531	void
532	AdjustSpeedGainD(void)
533	{
534	char str[30];
535	if(g_speed_gain > 1) {
536	g_speed_gain--;
537	SetDriveSpeed(g_speed/g_speed_gain);
538	sprintf(str, "Adjust speed gain = %d \r\n", g_speed_gain);
539	uart_PSendString(RC_OUTPUT_PORT, str);
540	}
541	}
542
543
544	/*
545	* PS3Rg[ÌAiO{^Ì
546	*/
547	#define PS3ANALOG_MAX 63
548	#define PS3ANALOG_MIN -63
549
550	/*
551	* ¶AiORg[Ì¶E®ì
552	* XeAOðì
553	*/
554	void
555	onPS3AnalogL_LR(void)
556	{
557	char str[30];
558	float angle;
559	float cur_analog = p_g_cur_ps3analog[NO_PS3ANALOG_L_LR];
560
561	if ((cur_analog <= PS3ANALOG_MAX) && (cur_analog >= PS3ANALOG_MIN)) {
562	angle = -(cur_analog/2);
563	angle += g_steer_neutral;
564	if (angle != g_angle) {
565	g_angle = angle;
566	SetSteerAngle(g_angle);
567	sprintf(str, "Steer angle = %2.1f\r\n", g_angle);
568	uart_PSendString(RC_OUTPUT_PORT, str);
569	}
570	}
571	}
572
573	/*
574	* ¶AiORg[Ìãº®ì
575	*/
576	void
577	onPS3AnalogL_UD(void)
578	{
579
580	}
581
582	/*
583	* EAiORg[Ì¶E®ì
584	*/
585	void
586	onPS3AnalogR_LR(void)
587	{
588
589	}
590
591	/*
592	* ¶AiORg[Ìãº®ì
593	*/
594	void
595	onPS3AnalogR_UD(void)
596	{
597	float speed = 0;
598	char str[30];
599	float cur_analog = p_g_cur_ps3analog[NO_PS3ANALOG_R_UD];
600
601	/* u[L{^ª³êÄ¢êÎobNvÆuU[ðÁ· */
602	if (g_isBrake == TRUE) {
603	g_body_cont_info.backlamp = BODY_CONT_OFF;
604	g_body_cont_info.buzzer = BODY_CONT_OFF;
605	return;
606	}
607
608	/* Rg[Ìißl©çXs[hðßé */
609	speed = -((cur_analog / 2) * 0.1);
610
611	/* ißlÉÏ»ª Á½ê */
612	if (g_speed != speed) {
613	float abs_g_speed;
614	float abs_speed;
615
616	/*
617	* ^u[L
618	*/
619	/* OñißlÆVµ¢ißlÌâÎðßé */
620	abs_g_speed = (g_speed < 0)? -g_speed : g_speed;
621	abs_speed = (speed < 0)? -speed : speed;
622
623	if(abs_g_speed > abs_speed){
624	/* Oñißlæè¸Á½êÍu[LvðON */
625	g_body_cont_info.breaklamp = BODY_CONT_ON;
626	}
627	else {
628	/* OñißlæèÁµ½êÍu[LvðOFF */
629	g_body_cont_info.breaklamp = BODY_CONT_OFF;
630	}
631
632	/*
633	* ANZ
634	*/
635	g_speed = speed;
636	SetDriveSpeed(g_speed/g_speed_gain);
637	if (speed < 0){
638	g_body_cont_info.backlamp = BODY_CONT_ON;
639	g_body_cont_info.buzzer = BODY_CONT_BLINK;
640	}
641	else {
642	g_body_cont_info.backlamp = BODY_CONT_OFF;
643	g_body_cont_info.buzzer = BODY_CONT_OFF;
644	}
645
646	sprintf(str, "Drive speed = %1.1f\r\n", speed/g_speed_gain);
647	uart_PSendString(RC_OUTPUT_PORT, str);
648	}
649	}
650
651	/*
652	* PS3Rg[ÌfW^{^Ì
653	*/
654
655	#define TOGGLE_ON_OFF(item) item = (item == BODY_CONT_ON)? BODY_CONT_OFF : BODY_CONT_ON;
656
657	/*
658	* ~ : u[L
659	*/
660	void
661	onPS3ButtonCrossEdgeOn(void) {
662	g_isBrake = TRUE;
663	SetDriveSpeed(0);
664	g_body_cont_info.breaklamp = BODY_CONT_ON;
665	}
666
667
668	void
669	onPS3ButtonCrossEdgeOff(void) {
670	g_isBrake = FALSE;
671	g_body_cont_info.breaklamp = BODY_CONT_OFF;
672	}
673
674	/*
675	* ¢ : nU[h
676	*/
677	void
678	onPS3ButtonTriangleEdgeOn(void) {
679	TOGGLE_ON_OFF(g_body_cont_info.hazardlamp);
680	}
681
682	void
683	onPS3ButtonTriangleEdgeOff(void) {
684
685	}
686
687	/*
688	* : CwbhCg(wbhCg1/wbhCg2) ØèÖ¦
689	*/
690	void
691	onPS3ButtonNoughtEdgeOn(void) {
692	TOGGLE_ON_OFF(g_body_cont_info.headlight1);
693	TOGGLE_ON_OFF(g_body_cont_info.headlight2);
694	}
695
696	void
697	onPS3ButtonNoughtEdgeOff(void) {
698
699	}
700
701	/*
702	* : tHO(wbhCg3) ØèÖ¦
703	*/
704	void
705	onPS3ButtonSquareEdgeOn(void) {
706	TOGGLE_ON_OFF(g_body_cont_info.headlight3);
707	}
708
709	void
710	onPS3ButtonSquareEdgeOff(void) {
711
712	}
713
714	/*
715	* ¶{^ : XeAOÌj
716	[gð²®
717	*/
718	void
719	onPS3ButtonLeftEdgeOn(void) {
720	AdjustSteerNeturalL();
721	g_body_cont_info.blinker_l = BODY_CONT_ON;
722	}
723
724	void
725	onPS3ButtonLeftEdgeOff(void) {
726	g_body_cont_info.blinker_l = (g_blinker_l_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
727	}
728
729	/*
730	* E{^ : XeAOÌj
731	[gð²®
732	*/
733	void
734	onPS3ButtonRightEdgeOn(void) {
735	AdjustSteerNeturalR();
736	g_body_cont_info.blinker_r = BODY_CONT_ON;
737	}
738
739	void
740	onPS3ButtonRightEdgeOff(void) {
741	g_body_cont_info.blinker_r = (g_blinker_r_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
742	}
743
744	/*
745	* ã{^ : XeAOðj
746	[gÉ·é
747	*/
748	void
749	onPS3ButtonUpEdgeOn(void) {
750	InitSteerNetural();
751	g_body_cont_info.blinker_l = BODY_CONT_ON;
752	g_body_cont_info.blinker_r = BODY_CONT_ON;
753	}
754
755	void
756	onPS3ButtonUpEdgeOff(void) {
757	g_body_cont_info.blinker_l = (g_blinker_l_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
758	g_body_cont_info.blinker_r = (g_blinker_r_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
759	}
760
761	/*
762	* º{^ : [^§äÌQCðúlÉ·é
763	*/
764	void
765	onPS3ButtonDownEdgeOn(void) {
766	char str[30];
767
768	g_speed_gain = MOTOR_GAIN_INIT;
769	SetDriveSpeed(g_speed/g_speed_gain);
770	g_body_cont_info.blinker_l = BODY_CONT_ON;
771	g_body_cont_info.blinker_r = BODY_CONT_ON;
772
773	sprintf(str, "Adjust speed gain = %d \r\n", g_speed_gain);
774	uart_PSendString(RC_OUTPUT_PORT, str);
775	}
776
777	void
778	onPS3ButtonDownEdgeOff(void) {
779	g_body_cont_info.blinker_l = (g_blinker_l_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
780	g_body_cont_info.blinker_r = (g_blinker_r_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
781	}
782
783
784	/*
785	* L1/R1 : ûüw¦íÌON/OFF
786	*/
787	void
788	onPS3ButtonL1EdgeOn(void){
789	if (g_blinker_l_blink) {
790	g_blinker_l_blink = FALSE;
791	/* {fB[ÖÌw¦ªONÌêÍ¼Ì@\ªONÉµÄ¢é½ß½àµÈ¢ */
792	if (!(g_body_cont_info.blinker_l == BODY_CONT_ON)) {
793	g_body_cont_info.blinker_l = BODY_CONT_OFF;
794	}
795	} else {
796	g_blinker_l_blink = TRUE;
797	/* {fB[ÖÌw¦ªONÌêÍ¼Ì@\ªONÉµÄ¢é½ß½àµÈ¢ */
798	if (!(g_body_cont_info.blinker_l == BODY_CONT_ON)) {
799	g_body_cont_info.blinker_l = BODY_CONT_BLINK;
800	}
801	}
802	}
803
804	void
805	onPS3ButtonL1EdgeOff(void) {
806
807	}
808
809	void
810	onPS3ButtonR1EdgeOn(void){
811	if (g_blinker_r_blink) {
812	g_blinker_r_blink = FALSE;
813	/* {fB[ÖÌw¦ªONÌêÍ¼Ì@\ªONÉµÄ¢é½ß½àµÈ¢ */
814	if (!(g_body_cont_info.blinker_r == BODY_CONT_ON)) {
815	g_body_cont_info.blinker_r = BODY_CONT_OFF;
816	}
817	} else {
818	g_blinker_r_blink = TRUE;
819	/* {fB[ÖÌw¦ªONÌêÍ¼Ì@\ªONÉµÄ¢é½ß½àµÈ¢ */
820	if (!(g_body_cont_info.blinker_r == BODY_CONT_ON)) {
821	g_body_cont_info.blinker_r = BODY_CONT_BLINK;
822	}
823	}
824	}
825
826	void
827	onPS3ButtonR1EdgeOff(void) {
828
829	}
830
831	/*
832	* L2/R2 : [^§äÌQCðÏX
833	*/
834	void
835	onPS3ButtonL2EdgeOn(void){
836	AdjustSpeedGainD();
837	g_body_cont_info.blinker_l = BODY_CONT_ON;
838	}
839
840	void
841	onPS3ButtonL2EdgeOff(void){
842	g_body_cont_info.blinker_l = (g_blinker_l_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
843	}
844
845	void
846	onPS3ButtonR2EdgeOn(void){
847	AdjustSpeedGainU();
848	g_body_cont_info.blinker_r = BODY_CONT_ON;
849	}
850
851	void
852	onPS3ButtonR2EdgeOff(void){
853	g_body_cont_info.blinker_r = (g_blinker_r_blink)? BODY_CONT_BLINK : BODY_CONT_OFF;
854	}
855
856
857	/*
858	* {^ÌÏ»oÌ½ßÌ}N
859	*/
860	#define PS3BUTTON_EDGE_ON(no) ((p_g_pre_ps3button[no] == FALSE) && (p_g_cur_ps3button[no] == TRUE))
861	#define PS3BUTTON_EDGE_OFF(no) ((p_g_pre_ps3button[no] == TRUE) && (p_g_cur_ps3button[no] == FALSE))
862	#define PS3ANALOG_CHANGE(no) (p_g_pre_ps3analog[no] != p_g_cur_ps3analog[no])
863
864	/*
865	* PS3Rg[©çÌCxgÌ
866	*/
867	void
868	onMsgPS3(void) {
869	if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_CROSS)){
870	onPS3ButtonCrossEdgeOff();
871	}
872	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_TRIANGLE)){
873	onPS3ButtonTriangleEdgeOn();
874	}
875	if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_TRIANGLE)){
876	onPS3ButtonTriangleEdgeOff();
877	}
878	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_NOUGHT)){
879	onPS3ButtonNoughtEdgeOn();
880	}
881	if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_NOUGHT)){
882	onPS3ButtonNoughtEdgeOff();
883	}
884	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_SQUARE)){
885	onPS3ButtonSquareEdgeOn();
886	}
887	if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_SQUARE)){
888	onPS3ButtonSquareEdgeOff();
889	}
890
891
892	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_LEFT)){
893	onPS3ButtonLeftEdgeOn();
894	}
895	if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_LEFT)){
896	onPS3ButtonLeftEdgeOff();
897	}
898	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_RIGHT)){
899	onPS3ButtonRightEdgeOn();
900	}
901	if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_RIGHT)){
902	onPS3ButtonRightEdgeOff();
903	}
904	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_UP)){
905	onPS3ButtonUpEdgeOn();
906	}
907	if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_UP)){
908	onPS3ButtonUpEdgeOff();
909	}
910	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_DOWN)){
911	onPS3ButtonDownEdgeOn();
912	}
913	if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_DOWN)){
914	onPS3ButtonDownEdgeOff();
915	}
916	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_CROSS)){
917	onPS3ButtonCrossEdgeOn();
918	}
919
920
921	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_L1)){
922	onPS3ButtonL1EdgeOn();
923	}
924	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_R1)){
925	onPS3ButtonR1EdgeOn();
926	}
927
928	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_L2)){
929	onPS3ButtonL2EdgeOn();
930	}
931	if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_L2)){
932	onPS3ButtonL2EdgeOff();
933	}
934	if (PS3BUTTON_EDGE_ON(NO_PS3BUTTON_R2)){
935	onPS3ButtonR2EdgeOn();
936	}
937	if (PS3BUTTON_EDGE_OFF(NO_PS3BUTTON_R2)){
938	onPS3ButtonR2EdgeOff();
939	}
940	if (PS3ANALOG_CHANGE(NO_PS3ANALOG_L_LR)) {
941	onPS3AnalogL_LR();
942	}
943	if (PS3ANALOG_CHANGE(NO_PS3ANALOG_L_UD)) {
944	onPS3AnalogL_UD();
945	}
946	if (PS3ANALOG_CHANGE(NO_PS3ANALOG_R_LR)) {
947	onPS3AnalogR_LR();
948	}
949	if (PS3ANALOG_CHANGE(NO_PS3ANALOG_R_UD)) {
950	onPS3AnalogR_UD();
951	}
952	}

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source: rc_os_nios2/trunk/atk2-sc1_1.3.2/obj/nios2_dev_rc/cmd_rcb3.c@ 295

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