Parameters.hh

// 螳壽焚蛟､螟画焚蛟､譬ｼ邏咲畑繧ｯ繝ｩ繧ｹ
// 2011/04/12 Yuki YOKOKURA
//
// ARCS縺ｫ蠢�隕√↑螳壽焚蛟､縺翫ｈ縺ｳ螟画焚蛟､繧呈�ｼ邏阪＠縺ｾ縺吶��
//
// Copyright (C) 2011 Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 3 of the License, or any later version.
// This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
// See the GNU General Public License for more details <http://www.gnu.org/licenses/>.
// Besides, you can negotiate about other options of licenses instead of GPL.
// If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>.

#ifndef PARAMETERS
#define PARAMETERS

#include <string>
#include "DataStorage.hh"

using namespace ARCS;

// 螳壽焚蛟､譬ｼ邏咲畑蜷榊燕遨ｺ髢� (蜿ら�ｧ縺吶ｋ縺溘ａ縺ｮ using namespace 縺ｯ讌ｵ蜉帷ｦ∵ｭ｢)
namespace ConstParams {
        // ARCS謾ｹ險ら分蜿ｷ(ARCS繧ｳ繝ｼ繝画隼螟画凾縺ｫ縺｡繧�繧薙→螟峨∴繧九％縺ｨ)
        const char *const ARCS_REVISION = "[REV.20110721-A]";   // (16譁�蟄嶺ｻ･蜀�)
        
        // 螳滄ｨ薙ョ繝ｼ繧ｿ繝輔ぃ繧､繝ｫ縺ｮ險ｭ螳�
        const char *const       DATA_NAME       = "DATA.csv";           //              繝輔ぃ繧､繝ｫ蜷�
        const SaveType          DATA_TYPE       = STRG_FORMAT_CSV;      //              CSV蠖｢蠑上�郡TRG_FORMAT_CSV縲好AT蠖｢蠑�(TAB蛹ｺ蛻�繧�)縲郡TRG_FORMAT_DAT縲�
        const double            DATA_TIME       = 10;                           // [s]  菫晏ｭ俶凾髢�
        const unsigned int      DATA_NUM        = 3;                            //              菫晏ｭ倥☆繧句､画焚縺ｮ謨ｰ
        
        // RTAI螳滓凾髢薙せ繝ｬ繝�繝峨�ｮ險ｭ螳�
        const unsigned int THREAD_NUM = 2;      // 蜍穂ｽ懊＆縺帙ｋ繧ｹ繝ｬ繝�繝峨�ｮ謨ｰ (譛�螟ｧ謨ｰ8縺､縺ｾ縺ｧ)
        const unsigned long Ts[8]={
        //      s  m  u  n      蛻ｶ蠕｡蜻ｨ譛溘�ｯ Ts[0] 竕ｦ Ts[1] 竕ｦ Ts[2] 竕ｦ 窶ｦ 竕ｦ Ts[7] 縺ｫ縺ｪ繧九ｈ縺�縺ｫ縺吶ｋ縺薙→
                    100000,     // [ns] 蛻ｶ蠕｡逕ｨ蜻ｨ譛溷ｮ溯｡碁未謨ｰ0 (繧ｹ繝ｬ繝�繝�0) 蛻ｶ蠕｡蜻ｨ譛�
                    100000,     // [ns] 蛻ｶ蠕｡逕ｨ蜻ｨ譛溷ｮ溯｡碁未謨ｰ1 (繧ｹ繝ｬ繝�繝�1) 蛻ｶ蠕｡蜻ｨ譛�
                   3000000,     // [ns] 蛻ｶ蠕｡逕ｨ蜻ｨ譛溷ｮ溯｡碁未謨ｰ2 (繧ｹ繝ｬ繝�繝�2) 蛻ｶ蠕｡蜻ｨ譛�
                   4000000,     // [ns] 蛻ｶ蠕｡逕ｨ蜻ｨ譛溷ｮ溯｡碁未謨ｰ3 (繧ｹ繝ｬ繝�繝�3) 蛻ｶ蠕｡蜻ｨ譛�
                   5000000,     // [ns] 蛻ｶ蠕｡逕ｨ蜻ｨ譛溷ｮ溯｡碁未謨ｰ4 (繧ｹ繝ｬ繝�繝�4) 蛻ｶ蠕｡蜻ｨ譛�
                   6000000,     // [ns] 蛻ｶ蠕｡逕ｨ蜻ｨ譛溷ｮ溯｡碁未謨ｰ5 (繧ｹ繝ｬ繝�繝�5) 蛻ｶ蠕｡蜻ｨ譛�
                   7000000,     // [ns] 蛻ｶ蠕｡逕ｨ蜻ｨ譛溷ｮ溯｡碁未謨ｰ6 (繧ｹ繝ｬ繝�繝�6) 蛻ｶ蠕｡蜻ｨ譛�
                   8000000      // [ns] 蛻ｶ蠕｡逕ｨ蜻ｨ譛溷ｮ溯｡碁未謨ｰ7 (繧ｹ繝ｬ繝�繝�7) 蛻ｶ蠕｡蜻ｨ譛�
        };
        
        // ARCS縺ｮ險ｭ螳�
        const unsigned long ARCS_UPDATE_TIME = 50000;   // [us] ARCS逕ｻ髱｢謠冗判縺ｮ譖ｴ譁ｰ譎る俣
        
        // 莉ｻ諢丞､画焚蛟､陦ｨ遉ｺ縺ｮ險ｭ螳�
        const unsigned int MAX_OPT_VARS = 8;            // 陦ｨ遉ｺ螟画焚譛�螟ｧ謨ｰ
        const unsigned int NUM_OPT_VARS = 2;            // 陦ｨ遉ｺ縺励◆縺�螟画焚縺ｮ謨ｰ (譛�螟ｧ謨ｰ 8 縺ｾ縺ｧ)
        const std::string OPT_VAR_NAMES[MAX_OPT_VARS] = {
                "Fdis     [N]", // 莉ｻ諢上↓陦ｨ遉ｺ縺励◆縺�螟画焚蛟､縺ｮ螟画焚蜷�(12譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "Xres    [mm]", // 莉ｻ諢上↓陦ｨ遉ｺ縺励◆縺�螟画焚蛟､縺ｮ螟画焚蜷�(12譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "            ", // 莉ｻ諢上↓陦ｨ遉ｺ縺励◆縺�螟画焚蛟､縺ｮ螟画焚蜷�(12譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "            ", // 莉ｻ諢上↓陦ｨ遉ｺ縺励◆縺�螟画焚蛟､縺ｮ螟画焚蜷�(12譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "            ", // 莉ｻ諢上↓陦ｨ遉ｺ縺励◆縺�螟画焚蛟､縺ｮ螟画焚蜷�(12譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "            ", // 莉ｻ諢上↓陦ｨ遉ｺ縺励◆縺�螟画焚蛟､縺ｮ螟画焚蜷�(12譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "            ", // 莉ｻ諢上↓陦ｨ遉ｺ縺励◆縺�螟画焚蛟､縺ｮ螟画焚蜷�(12譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "            ", // 莉ｻ諢上↓陦ｨ遉ｺ縺励◆縺�螟画焚蛟､縺ｮ螟画焚蜷�(12譁�蟄励∪縺ｧ蜈･蜉帛庄)
        };
        
        // 繧ｰ繝ｩ繝柊(荳雁�ｴ)謠冗判縺ｮ險ｭ螳�
        const char *const       GRAPH_A_TITLE   = "FORCE [N]";  // 繧ｰ繝ｩ繝輔�ｮ繧ｿ繧､繝医Ν
        const int                       GRAPH_A_YMAX    =  5;                   // 繧ｰ繝ｩ繝輔�ｮ邵ｦ霆ｸ譛�螟ｧ蛟､ (謨ｴ謨ｰ縺ｮ縺ｿ蟇ｾ蠢�)
        const int                       GRAPH_A_YMIN    = -5;                   // 繧ｰ繝ｩ繝輔�ｮ邵ｦ霆ｸ譛�蟆丞�､ (謨ｴ謨ｰ縺ｮ縺ｿ蟇ｾ蠢�)
        const unsigned int      MAX_GRAPH_A             =  8;                   // 繧ｰ繝ｩ繝柊螟画焚譛�螟ｧ蛟､
        const unsigned int      GRAPH_A_NUM             =  1;                   // 陦ｨ遉ｺ縺励◆縺�螟画焚縺ｮ謨ｰ (譛�螟ｧ謨ｰ 8 縺ｾ縺ｧ)
        const std::string       GRAPH_A_NAMES[MAX_GRAPH_A] = {
                "Fdis    ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
        };
        
        // 繧ｰ繝ｩ繝稗(荳句�ｴ)謠冗判縺ｮ險ｭ螳�
        const char *const       GRAPH_B_TITLE   = "POSITION [mm]";      // 繧ｰ繝ｩ繝輔�ｮ繧ｿ繧､繝医Ν
        const int                       GRAPH_B_YMAX    =  40;                          // 繧ｰ繝ｩ繝輔�ｮ邵ｦ霆ｸ譛�螟ｧ蛟､ (謨ｴ謨ｰ縺ｮ縺ｿ蟇ｾ蠢�)
        const int                       GRAPH_B_YMIN    = -40;                          // 繧ｰ繝ｩ繝輔�ｮ邵ｦ霆ｸ譛�蟆丞�､ (謨ｴ謨ｰ縺ｮ縺ｿ蟇ｾ蠢�)
        const unsigned int      MAX_GRAPH_B             =  8;                           // 繧ｰ繝ｩ繝柊螟画焚譛�螟ｧ蛟､
        const unsigned int      GRAPH_B_NUM             =  1;                           // 陦ｨ遉ｺ縺励◆縺�螟画焚縺ｮ謨ｰ (譛�螟ｧ謨ｰ 8 縺ｾ縺ｧ)
        const std::string       GRAPH_B_NAMES[MAX_GRAPH_B] = {
                "Xres    ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
                "        ",     // 蜃｡萓九↓陦ｨ遉ｺ縺吶ｋ螟画焚蜷� (8譁�蟄励∪縺ｧ蜈･蜉帛庄)
        };
        
        
        // D/A螟画鋤蝎ｨ PCI-3340 縺ｮ險ｭ螳� (繝懊�ｼ繝�1譫夂岼繧但�ｼ�2譫夂岼繧達�ｼ�3譫夂岼繧辰窶ｦ)
        const unsigned int NUM_CH_3340 = 8; // PCI-3340 繝√Ε繝阪Ν謨ｰ
        // 蜈磯�ｭ繧｢繝峨Ξ繧ｹ縺ｮ險ｭ螳�
        // Interface Corp. "Device ID"=0x0D0C (scanpci -v 縺� lspci -v 縺ｧ隱ｿ縺ｹ繧九％縺ｨ)
        const int Base3340_A = 0x0000CA00;      // PCI-3340 1譫夂岼 蜈磯�ｭ繧｢繝峨Ξ繧ｹ0
        
        // 繧ｨ繝ｳ繧ｳ繝ｼ繝�險域焚蝎ｨ PCI-6205 縺ｮ險ｭ螳� (繝懊�ｼ繝�1譫夂岼繧但�ｼ�2譫夂岼繧達�ｼ�3譫夂岼繧辰窶ｦ)
        const unsigned int NUM_CH_6205 = 8; // PCI-6205 繝√Ε繝阪Ν謨ｰ
        // 蜈磯�ｭ繧｢繝峨Ξ繧ｹ縺ｮ險ｭ螳�
        // Interface Corp. "Device ID"=0x183D (scanpci -v 縺� lspci -v 縺ｧ隱ｿ縺ｹ繧九％縺ｨ)
        const int Base6205_A[4]={       // PCI-6205 1譫夂岼 
                0x0000CF00,     // 蜈磯�ｭ繧｢繝峨Ξ繧ｹ0
                0x0000CE00,     // 蜈磯�ｭ繧｢繝峨Ξ繧ｹ1
                0x0000CD00,     // 蜈磯�ｭ繧｢繝峨Ξ繧ｹ2
                0x0000CC00      // 蜈磯�ｭ繧｢繝峨Ξ繧ｹ3
        };
        
        // 謗ｨ蜉�/繝医Ν繧ｯ螳壽焚縺ｮ險ｭ螳� [D/A螟画鋤蝎ｨ PCI-3340 1譫夂岼 縺ｫ蟇ｾ蠢懊☆繧九い繧ｯ繝√Η繧ｨ繝ｼ繧ｿ]
        // 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ縺ｮ繝�繝ｼ繧ｿ繧ｷ繝ｼ繝医↓蠕薙▲縺ｦ螟画峩縺吶ｋ縺薙→
        const double Kf_A[NUM_CH_3340]={
                22,             // [N/A] or [Nm/A] CH1 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚
                3.33,   // [N/A] or [Nm/A] CH2 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚
                3.33,   // [N/A] or [Nm/A] CH3 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚
                3.33,   // [N/A] or [Nm/A] CH4 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚
                3.33,   // [N/A] or [Nm/A] CH5 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚
                3.33,   // [N/A] or [Nm/A] CH6 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚
                3.33,   // [N/A] or [Nm/A] CH7 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚
                3.33    // [N/A] or [Nm/A] CH8 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 謗ｨ蜉� or 繝医Ν繧ｯ螳壽焚
        };
        
        // 諷｣諤ｧ縺ｮ險ｭ螳� [D/A螟画鋤蝎ｨ PCI-3340 1譫夂岼 縺ｫ蟇ｾ蠢懊☆繧九い繧ｯ繝√Η繧ｨ繝ｼ繧ｿ]
        // 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ縺ｮ繝�繝ｼ繧ｿ繧ｷ繝ｼ繝医↓蠕薙▲縺ｦ螟画峩縺吶ｋ縺薙→
        const double Mn_A[NUM_CH_3340]={
                0.3,    // [kg] or [kgm^2] CH1 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 諷｣諤ｧ
                0.245,  // [kg] or [kgm^2] CH2 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 諷｣諤ｧ
                0.245,  // [kg] or [kgm^2] CH3 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 諷｣諤ｧ
                0.245,  // [kg] or [kgm^2] CH4 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 諷｣諤ｧ
                0.245,  // [kg] or [kgm^2] CH5 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 諷｣諤ｧ
                0.245,  // [kg] or [kgm^2] CH6 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 諷｣諤ｧ
                0.245,  // [kg] or [kgm^2] CH7 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 諷｣諤ｧ
                0.245   // [kg] or [kgm^2] CH8 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 諷｣諤ｧ
        };
        
        // 螳壽�ｼ髮ｻ豬√�ｮ險ｭ螳� [D/A螟画鋤蝎ｨ PCI-3340 1譫夂岼 縺ｫ蟇ｾ蠢懊☆繧九い繧ｯ繝√Η繧ｨ繝ｼ繧ｿ]
        // 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ縺ｮ繝�繝ｼ繧ｿ繧ｷ繝ｼ繝医↓蠕薙▲縺ｦ螟画峩縺吶ｋ縺薙→
        const double Irat_A[NUM_CH_3340]={
                0.4,    // [A] CH1 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 螳壽�ｼ髮ｻ豬�
                0.81,   // [A] CH2 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 螳壽�ｼ髮ｻ豬�
                0.81,   // [A] CH3 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 螳壽�ｼ髮ｻ豬�
                0.81,   // [A] CH4 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 螳壽�ｼ髮ｻ豬�
                0.81,   // [A] CH5 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 螳壽�ｼ髮ｻ豬�
                0.81,   // [A] CH6 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 螳壽�ｼ髮ｻ豬�
                0.81,   // [A] CH7 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 螳壽�ｼ髮ｻ豬�
                0.81    // [A] CH8 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 螳壽�ｼ髮ｻ豬�
        };
        
        // 譛�螟ｧ髮ｻ豬√�ｮ險ｭ螳� [D/A螟画鋤蝎ｨ PCI-3340 1譫夂岼 縺ｫ蟇ｾ蠢懊☆繧九い繧ｯ繝√Η繧ｨ繝ｼ繧ｿ]
        // 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ縺ｮ繝�繝ｼ繧ｿ繧ｷ繝ｼ繝医↓蠕薙▲縺ｦ螟画峩縺吶ｋ縺薙→
        const double Imax_A[NUM_CH_3340]={
                1.6,    // [A] CH1 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 譛�螟ｧ髮ｻ豬�
                2.7,    // [A] CH2 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 譛�螟ｧ髮ｻ豬�
                2.7,    // [A] CH3 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 譛�螟ｧ髮ｻ豬�
                2.7,    // [A] CH4 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 譛�螟ｧ髮ｻ豬�
                2.7,    // [A] CH5 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 譛�螟ｧ髮ｻ豬�
                2.7,    // [A] CH6 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 譛�螟ｧ髮ｻ豬�
                2.7,    // [A] CH7 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 譛�螟ｧ髮ｻ豬�
                2.7             // [A] CH8 繧｢繧ｯ繝√Η繧ｨ繝ｼ繧ｿ 譛�螟ｧ髮ｻ豬�
        };
        
        // 繧ｵ繝ｼ繝懊い繝ｳ繝鈴崕蝨ｧ髮ｻ豬∵鋤邂励ご繧､繝ｳ縺ｮ險ｭ螳� [D/A螟画鋤蝎ｨ PCI-3340 1譫夂岼 縺ｫ蟇ｾ蠢懊☆繧九し繝ｼ繝懊い繝ｳ繝余
        // 繧ｵ繝ｼ繝懊い繝ｳ繝励�ｮ險ｭ螳壹↓蠕薙＞螳壽焚繧貞､画峩縺吶ｋ縺薙→
        // 繧ｵ繝ｼ繝懊い繝ｳ繝励�ｮ險ｭ螳壻ｾ具ｼ�3V/0.7275A 竊� 3V 荳弱∴繧九→ 0.7275A 豬√☆
        // 鬧�蜍暮崕豬√�ｮ譁ｹ蜷代→繧ｨ繝ｳ繧ｳ繝ｼ繝�縺ｮ譁ｹ蜷代↓豕ｨ諢擾ｼ亥髄縺阪′驕輔≧蝣ｴ蜷茨ｼ御ｸ玖ｨ倥�ｮ蛟､縺ｯ雋�縺ｫ縺ｪ繧具ｼ�
        const double VAconv_A[NUM_CH_3340]={
                -3.0/0.154,     // [V/A] CH1 繧ｵ繝ｼ繝懊い繝ｳ繝鈴崕蝨ｧ髮ｻ豬∵鋤邂励ご繧､繝ｳ
                3.0/0.7275,     // [V/A] CH2 繧ｵ繝ｼ繝懊い繝ｳ繝鈴崕蝨ｧ髮ｻ豬∵鋤邂励ご繧､繝ｳ
                3.0/0.7275,     // [V/A] CH3 繧ｵ繝ｼ繝懊い繝ｳ繝鈴崕蝨ｧ髮ｻ豬∵鋤邂励ご繧､繝ｳ
                3.0/0.7275,     // [V/A] CH4 繧ｵ繝ｼ繝懊い繝ｳ繝鈴崕蝨ｧ髮ｻ豬∵鋤邂励ご繧､繝ｳ
                3.0/0.7275,     // [V/A] CH5 繧ｵ繝ｼ繝懊い繝ｳ繝鈴崕蝨ｧ髮ｻ豬∵鋤邂励ご繧､繝ｳ
                3.0/0.7275,     // [V/A] CH6 繧ｵ繝ｼ繝懊い繝ｳ繝鈴崕蝨ｧ髮ｻ豬∵鋤邂励ご繧､繝ｳ
                3.0/0.7275,     // [V/A] CH7 繧ｵ繝ｼ繝懊い繝ｳ繝鈴崕蝨ｧ髮ｻ豬∵鋤邂励ご繧､繝ｳ
                3.0/0.7275      // [V/A] CH8 繧ｵ繝ｼ繝懊い繝ｳ繝鈴崕蝨ｧ髮ｻ豬∵鋤邂励ご繧､繝ｳ
        };
        
        // 繧ｨ繝ｳ繧ｳ繝ｼ繝�蛻�隗｣閭ｽ縺ｮ險ｭ螳� [繧ｨ繝ｳ繧ｳ繝ｼ繝�繧ｫ繧ｦ繝ｳ繧ｿ PCI-6205 1譫夂岼 縺ｫ蟇ｾ蠢懊☆繧九お繝ｳ繧ｳ繝ｼ繝�]
        // 繧ｨ繝ｳ繧ｳ繝ｼ繝�縺ｮ繝�繝ｼ繧ｿ繧ｷ繝ｼ繝医↓蠕薙▲縺ｦ螟画峩縺吶ｋ縺薙→
        const double EncResolutions_A[NUM_CH_6205]={
                50e-9,  // [m] or [rad] CH1 繧ｨ繝ｳ繧ｳ繝ｼ繝�蛻�隗｣閭ｽ
                100e-9, // [m] or [rad] CH2 繧ｨ繝ｳ繧ｳ繝ｼ繝�蛻�隗｣閭ｽ
                100e-9, // [m] or [rad] CH3 繧ｨ繝ｳ繧ｳ繝ｼ繝�蛻�隗｣閭ｽ
                100e-9, // [m] or [rad] CH4 繧ｨ繝ｳ繧ｳ繝ｼ繝�蛻�隗｣閭ｽ
                100e-9, // [m] or [rad] CH5 繧ｨ繝ｳ繧ｳ繝ｼ繝�蛻�隗｣閭ｽ
                100e-9, // [m] or [rad] CH6 繧ｨ繝ｳ繧ｳ繝ｼ繝�蛻�隗｣閭ｽ
                100e-9, // [m] or [rad] CH7 繧ｨ繝ｳ繧ｳ繝ｼ繝�蛻�隗｣閭ｽ
                100e-9  // [m] or [rad] CH8 繧ｨ繝ｳ繧ｳ繝ｼ繝�蛻�隗｣閭ｽ
        };

}

// Parameters繧ｯ繝ｩ繧ｹ
// 螳滓凾髢薙せ繝ｬ繝�繝蛾俣�ｼ窟RCS 縺ｮ髢薙〒蜈ｱ譛峨＆繧後ｋ蜷�遞ｮ螟画焚繧呈�ｼ邏阪☆繧�
// 莉･荳九�ｮ螟画焚縺ｯ Spinlock or Mutex 縺ｧ菫晁ｭｷ縺輔ｌ繧九∋縺阪〒縺ゅｋ(縺後→繧翫≠縺医★謗剃ｻ門宛蠕｡縺ｪ縺励〒讒伜ｭ占ｦ�)
class VariableParams {
        private:
                
        public:
                // 莉･荳九�ｯ繧､繝ｳ繧ｿ繝ｼ繝輔ぉ繝ｼ繧ｹ髢｢騾｣縺ｮ螟画焚
                volatile double IrefA[ConstParams::NUM_CH_3340];        // [A] PCI-3340 1譫夂岼 髮ｻ豬∵欠莉､蛟､
                volatile double XresA[ConstParams::NUM_CH_6205];        // [m] PCI-6205 1譫夂岼 菴咲ｽｮ蠢懃ｭ泌�､
                
                // 莉･荳九�ｯ繧ｹ繝ｬ繝�繝蛾未騾｣縺ｮ螟画焚
                volatile double Time;                                                                   // [s]  譎ょ綾 (荳�逡ｪ騾溘＞繧ｹ繝ｬ繝�繝� THREAD0 縺ｮ譎ょ綾)
                volatile long PeriodicTime[ConstParams::THREAD_NUM];    // [ns] 險域ｸｬ縺輔ｌ縺溷宛蠕｡蜻ｨ譛�
                volatile long ComputationTime[ConstParams::THREAD_NUM]; // [ns] 險域ｸｬ縺輔ｌ縺滓ｶ郁ｲｻ譎る俣
                
                // 莉･荳九�ｯ莉ｻ諢丞､画焚蛟､陦ｨ遉ｺ縺ｮ縺溘ａ縺ｮ螟画焚
                volatile double OptionalVars[ConstParams::NUM_OPT_VARS];// 縺薙％縺ｫ譖ｸ縺崎ｾｼ繧√�ｰ螂ｽ縺阪↑蛟､繧定｡ｨ遉ｺ縺ｧ縺阪ｋ(譛�螟ｧ8縺､縺ｾ縺ｧ)
                
                // 莉･荳九�ｯ繧ｰ繝ｩ繝墓緒逕ｻ髢｢騾｣縺ｮ螟画焚
                double GraphA[ConstParams::MAX_GRAPH_A];        // 繧ｰ繝ｩ繝柊(荳雁�ｴ)縺ｮ陦ｨ遉ｺ蛟､譬ｼ邏咲畑
                double GraphB[ConstParams::MAX_GRAPH_B];        // 繧ｰ繝ｩ繝稗(荳句�ｴ)縺ｮ陦ｨ遉ｺ蛟､譬ｼ邏咲畑

};

#endif