航空研究会 / Mbed 2 deprecated fprintfTest

setup内にあり

Dependencies:   mbed MPU6050_2 HMC5883L_2 SDFileSystem3

main.cpp@17:2217b2ebef06, 2019-02-14 (annotated)

Committer:
taknokolat
Date:
Thu Feb 14 11:02:52 2019 +0000
Revision:
17:2217b2ebef06
Parent:
16:26cee2aaf61d 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
HARUKIDELTA 0:84ddd6d354e1 1 #include "mbed.h"
Skykon 3:c18342e4fddd 2 #include "MPU6050_DMP6.h"
taknokolat 6:166746820555 3 #include "HMC5883L.h"
taknokolat 12:083662bca47d 4 #include "SDFileSystem.h"
taknokolat 12:083662bca47d 5 #include "SkipperSv2.h"
taknokolat 12:083662bca47d 6 #include "falfalla.h"
Skykon 3:c18342e4fddd 7
Skykon 3:c18342e4fddd 8 //MPU_check用
Skykon 3:c18342e4fddd 9 #define PI 3.14159265358979
HARUKIDELTA 0:84ddd6d354e1 10
taknokolat 11:d44d137831b9 11 #define servo_NEUTRAL_R 1614
taknokolat 11:d44d137831b9 12 #define servo_NEUTRAL_L 1621
taknokolat 17:2217b2ebef06 13 #define servo_slow_FORWARD_R 1814
taknokolat 17:2217b2ebef06 14 #define servo_slow_FORWARD_L 1821
taknokolat 17:2217b2ebef06 15 #define servo_high_FORWARD_R 1714
taknokolat 17:2217b2ebef06 16 #define servo_high_FORWARD_L 1721
taknokolat 17:2217b2ebef06 17 #define turntable_NEUTRAL 1431 //カメラ台座のサーボ
taknokolat 17:2217b2ebef06 18 #define matchspeed 1714 //カメラと方向を合わせるときの車輪の速度
taknokolat 12:083662bca47d 19 #define focus_NEUTRAL 1455 //焦点合わせ用サーボ
taknokolat 12:083662bca47d 20 #define camera_deg_A 1400 //カメラ角度調整
taknokolat 12:083662bca47d 21 #define camera_deg_B 1800
taknokolat 16:26cee2aaf61d 22 #define pint_speed 25
taknokolat 16:26cee2aaf61d 23 #define pint_wait 3.5
HARUKIDELTA 0:84ddd6d354e1 24
HARUKIDELTA 0:84ddd6d354e1 25 #define MOVE_NEUTRAL 0
HARUKIDELTA 0:84ddd6d354e1 26 #define MOVE_FORWARD 1
HARUKIDELTA 0:84ddd6d354e1 27 #define MOVE_LEFT 2
HARUKIDELTA 0:84ddd6d354e1 28 #define MOVE_RIGHT 3
HARUKIDELTA 0:84ddd6d354e1 29 #define MOVE_BACK 4
Skykon 3:c18342e4fddd 30 #define GOAL_FORWARD 5 //ゴール付近_ゆっくり
HARUKIDELTA 0:84ddd6d354e1 31 #define GOAL_LEFT 6
HARUKIDELTA 0:84ddd6d354e1 32 #define GOAL_RIGHT 7
Skykon 3:c18342e4fddd 33 #define MAX_FORWARD 8 //はやい_姿勢修正用
HARUKIDELTA 0:84ddd6d354e1 34 #define MAX_BACK 9
HARUKIDELTA 0:84ddd6d354e1 35
taknokolat 1:290e621741fd 36 void getSF_Serial_jevois();
taknokolat 1:290e621741fd 37 void getSF_Serial_pi();
taknokolat 1:290e621741fd 38
Skykon 3:c18342e4fddd 39 //MPU_check用
Skykon 3:c18342e4fddd 40 void SensingMPU();
taknokolat 7:8989a4b84695 41
taknokolat 7:8989a4b84695 42 void MoveCansat(char g_landingcommand);
Skykon 3:c18342e4fddd 43 void setup();
Skykon 3:c18342e4fddd 44 void Init_sensors();
Skykon 3:c18342e4fddd 45 void DisplayClock();
taknokolat 4:67f705d42f1e 46 void DebugPrint();
taknokolat 6:166746820555 47 void SensingHMC();
taknokolat 7:8989a4b84695 48 void MoveCameraBoard();
taknokolat 7:8989a4b84695 49 void MatchPosition();
taknokolat 7:8989a4b84695 50 void FocusAdjust();
Skykon 3:c18342e4fddd 51
taknokolat 12:083662bca47d 52 //sd設定
taknokolat 12:083662bca47d 53 int GetParameter(FILE *fp, const char *paramName,char parameter[]);
taknokolat 12:083662bca47d 54
taknokolat 13:b088f0db7158 55 int SetOptions(int *Servo_NEUTRAL_R,int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 56 int *Servo_high_FORWARD_R,int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 57 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 58 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 59 int *Camera_deg_A, int *Camera_deg_B,
taknokolat 16:26cee2aaf61d 60 int *Pint_speed, float *Pint_wait
taknokolat 12:083662bca47d 61 );
taknokolat 12:083662bca47d 62
taknokolat 6:166746820555 63 static float nowAngle[3] = {0,0,0},nowAngle_HMC=0;
taknokolat 6:166746820555 64 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0,g_FirstYAW_HMC;
Skykon 3:c18342e4fddd 65
taknokolat 7:8989a4b84695 66 bool setupFlag = false;
taknokolat 7:8989a4b84695 67 bool CameraDegFlag = false;
taknokolat 7:8989a4b84695 68 bool jevoisFlag = true;
taknokolat 4:67f705d42f1e 69
taknokolat 17:2217b2ebef06 70 char g_filename[30]="Datalog01.txt";
taknokolat 17:2217b2ebef06 71
Skykon 3:c18342e4fddd 72 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
Skykon 3:c18342e4fddd 73
Skykon 3:c18342e4fddd 74 Timer t;
Skykon 3:c18342e4fddd 75
taknokolat 17:2217b2ebef06 76 FILE *g_fp;
taknokolat 17:2217b2ebef06 77
taknokolat 14:90e9b44eb819 78 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
taknokolat 14:90e9b44eb819 79
taknokolat 11:d44d137831b9 80 RawSerial pc(PA_2,PA_3,115200); //uart2
taknokolat 11:d44d137831b9 81 //pa2:UART2_TX,pa3:UART2_RX
taknokolat 12:083662bca47d 82 RawSerial pc2(PA_11,PA_12,115200); //uart1
taknokolat 11:d44d137831b9 83 //pb6:UART1_TX,pb7:UART1_RX
taknokolat 11:d44d137831b9 84
HARUKIDELTA 5:8bfe95431ec0 85 //PWM pin宣言
taknokolat 6:166746820555 86 PwmOut servoR(PC_6); //TIM3_CH1 車輪右
taknokolat 6:166746820555 87 PwmOut servoL(PC_7); //TIM3_CH2 車輪左
HARUKIDELTA 5:8bfe95431ec0 88 PwmOut servoTurnTable(PB_0); //TIM3_CH3 カメラ台回転Servo
HARUKIDELTA 5:8bfe95431ec0 89 PwmOut servoCameradeg(PB_1); //TIM3_CH4 カメラ角度調節Servo
HARUKIDELTA 5:8bfe95431ec0 90 PwmOut servoCameraPinto(PB_6); //TIM4_CH1 カメラピント合わせ
HARUKIDELTA 5:8bfe95431ec0 91 PwmOut servoCameramount(PA_6); //skipperウラ カメラマウント起動
HARUKIDELTA 5:8bfe95431ec0 92 PwmOut servoGetUP(PC_8); //skipperウラ 起き上がり動作
Skykon 3:c18342e4fddd 93
HARUKIDELTA 5:8bfe95431ec0 94 /*通信用のpinは
HARUKIDELTA 5:8bfe95431ec0 95 PA_3(UART2_Rx) skipperウラ
HARUKIDELTA 5:8bfe95431ec0 96 PA_12(UART6_Rx) skipperオモテ USB端子より
HARUKIDELTA 5:8bfe95431ec0 97 PB_7 (UART1_Rx) skipperオモテ 6番目 TIM4_CH2
HARUKIDELTA 5:8bfe95431ec0 98 */
HARUKIDELTA 5:8bfe95431ec0 99
HARUKIDELTA 5:8bfe95431ec0 100 /*超音波はRaspberryPiに積む*/
HARUKIDELTA 5:8bfe95431ec0 101
HARUKIDELTA 5:8bfe95431ec0 102 //外付けコンパス
taknokolat 6:166746820555 103 HMC5883L compass(PB_9, PB_8); //コンパスセンサー TIM4_CH3とCH4
HARUKIDELTA 0:84ddd6d354e1 104
taknokolat 2:f30666d7838b 105 char g_landingcommand='N';
taknokolat 1:290e621741fd 106
Skykon 3:c18342e4fddd 107 //MPU_check用
Skykon 3:c18342e4fddd 108 MPU6050DMP6 mpu6050(PC_0,&pc);
Skykon 3:c18342e4fddd 109
Skykon 3:c18342e4fddd 110
HARUKIDELTA 0:84ddd6d354e1 111 int main() {
taknokolat 1:290e621741fd 112
Skykon 3:c18342e4fddd 113 //MPU_check
Skykon 3:c18342e4fddd 114 setup();
Skykon 3:c18342e4fddd 115
taknokolat 15:1519fccfcae3 116 servoCameradeg.pulsewidth_us(camera_deg_A);
taknokolat 11:d44d137831b9 117
taknokolat 1:290e621741fd 118 // シリアル通信受信の割り込みイベント登録
taknokolat 1:290e621741fd 119 pc.attach(getSF_Serial_jevois, Serial::RxIrq);
taknokolat 12:083662bca47d 120 pc2.attach(getSF_Serial_pi, Serial::RxIrq);
taknokolat 1:290e621741fd 121
HARUKIDELTA 0:84ddd6d354e1 122 while(1) {
taknokolat 7:8989a4b84695 123 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 124 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 125
taknokolat 10:63fe920595a7 126 MoveCameraBoard();
taknokolat 10:63fe920595a7 127
taknokolat 7:8989a4b84695 128 if(g_landingcommand!='N') MatchPosition();
taknokolat 8:d11a59d2a2f1 129
taknokolat 8:d11a59d2a2f1 130 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 8:d11a59d2a2f1 131 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 132
taknokolat 7:8989a4b84695 133 MoveCansat(g_landingcommand);
Skykon 3:c18342e4fddd 134 wait_ms(23);
taknokolat 8:d11a59d2a2f1 135
taknokolat 7:8989a4b84695 136 if(jevoisFlag==true) NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 137 else NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 138 }
HARUKIDELTA 0:84ddd6d354e1 139 }
HARUKIDELTA 0:84ddd6d354e1 140
Skykon 3:c18342e4fddd 141
taknokolat 1:290e621741fd 142 void MoveCansat(char g_landingcommand)
HARUKIDELTA 0:84ddd6d354e1 143 {
taknokolat 2:f30666d7838b 144 //NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 145 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 146 switch(g_landingcommand){
taknokolat 2:f30666d7838b 147 case 'N': //MOVE_NEUTRAL
HARUKIDELTA 0:84ddd6d354e1 148 servoR.pulsewidth_us(servo_NEUTRAL_R);
HARUKIDELTA 0:84ddd6d354e1 149 servoL.pulsewidth_us(servo_NEUTRAL_L);
taknokolat 2:f30666d7838b 150 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 151 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 152 break;
taknokolat 1:290e621741fd 153
taknokolat 2:f30666d7838b 154 case 'Y': //MOVE_FORWARD
taknokolat 12:083662bca47d 155 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 156 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 2:f30666d7838b 157 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 158 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 159 break;
taknokolat 1:290e621741fd 160
taknokolat 12:083662bca47d 161 case 'l': //MOVE_LEFT Low Speed
taknokolat 17:2217b2ebef06 162 servoR.pulsewidth_us(servo_slow_FORWARD_R);
taknokolat 12:083662bca47d 163 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 164 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 165
taknokolat 12:083662bca47d 166 case 'L': //MOVE_LEFT High Speed
taknokolat 12:083662bca47d 167 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 2:f30666d7838b 168 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 169 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 170
taknokolat 12:083662bca47d 171 case 'r': //MOVE_RIGHT Low Speed
taknokolat 17:2217b2ebef06 172 servoL.pulsewidth_us(servo_slow_FORWARD_L);
taknokolat 2:f30666d7838b 173 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 174 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 175 break;
taknokolat 12:083662bca47d 176
taknokolat 12:083662bca47d 177 case 'R': //MOVE_RIGHT High Speed
taknokolat 12:083662bca47d 178 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 2:f30666d7838b 179 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 180 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 181 break;
taknokolat 1:290e621741fd 182
taknokolat 1:290e621741fd 183 case 'G': //GOAL_FORWARD
HARUKIDELTA 0:84ddd6d354e1 184 servoR.pulsewidth_us(servo_slow_FORWARD_R);
HARUKIDELTA 0:84ddd6d354e1 185 servoL.pulsewidth_us(servo_slow_FORWARD_L);
taknokolat 2:f30666d7838b 186 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 187 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 188 break;
taknokolat 12:083662bca47d 189
taknokolat 12:083662bca47d 190 case '1': //MOVE_FORWARD Speed Level 1
taknokolat 12:083662bca47d 191 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 192 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 193 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 194 wait(1);
taknokolat 12:083662bca47d 195 do{
taknokolat 12:083662bca47d 196 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 197 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 198 break;
taknokolat 12:083662bca47d 199
taknokolat 12:083662bca47d 200 case '2': //MOVE_FORWARD Speed Level 2
taknokolat 12:083662bca47d 201 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 202 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 203 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 204 wait(2);
taknokolat 12:083662bca47d 205 do{
taknokolat 12:083662bca47d 206 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 207 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 208 break;
taknokolat 12:083662bca47d 209
taknokolat 12:083662bca47d 210 case '3': //MOVE_FORWARD Speed Level 3
taknokolat 12:083662bca47d 211 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 212 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 213 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 214 wait(3);
taknokolat 12:083662bca47d 215 do{
taknokolat 12:083662bca47d 216 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 217 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 218 break;
taknokolat 12:083662bca47d 219
taknokolat 12:083662bca47d 220 case '4': //MOVE_FORWARD Speed Level 4
taknokolat 12:083662bca47d 221 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 222 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 223 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 224 wait(4);
taknokolat 12:083662bca47d 225 do{
taknokolat 12:083662bca47d 226 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 227 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 228 break;
taknokolat 7:8989a4b84695 229
taknokolat 12:083662bca47d 230 case '5': //MOVE_FORWARD Speed Level 5
taknokolat 12:083662bca47d 231 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 232 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 7:8989a4b84695 233 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 234 wait(5);
taknokolat 10:63fe920595a7 235 do{
taknokolat 10:63fe920595a7 236 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 7:8989a4b84695 237 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 238 break;
taknokolat 7:8989a4b84695 239
taknokolat 7:8989a4b84695 240 case 'M': //MatchPosition
taknokolat 12:083662bca47d 241 servoR.pulsewidth_us(matchspeed);
taknokolat 7:8989a4b84695 242 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 243 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 244 break;
taknokolat 7:8989a4b84695 245
taknokolat 12:083662bca47d 246 case 'P': //jevoisからraspberry piへの切り替え
taknokolat 7:8989a4b84695 247 jevoisFlag = false;
taknokolat 7:8989a4b84695 248 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 249 break;
taknokolat 12:083662bca47d 250
taknokolat 12:083662bca47d 251 case 'S':
taknokolat 12:083662bca47d 252 /*RasPiからの超音波判定(プログラムスタート部)*/
taknokolat 12:083662bca47d 253 break;
taknokolat 1:290e621741fd 254
taknokolat 1:290e621741fd 255 default :
taknokolat 2:f30666d7838b 256 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 257 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 258 break;
taknokolat 1:290e621741fd 259
HARUKIDELTA 0:84ddd6d354e1 260 }
taknokolat 7:8989a4b84695 261
HARUKIDELTA 0:84ddd6d354e1 262 return;
taknokolat 1:290e621741fd 263 }
taknokolat 1:290e621741fd 264
taknokolat 7:8989a4b84695 265 void MoveCameraBoard(){
taknokolat 7:8989a4b84695 266 MoveCansat('N');
taknokolat 10:63fe920595a7 267 g_landingcommand='N';
taknokolat 11:d44d137831b9 268 servoTurnTable.pulsewidth_us(1800);
taknokolat 11:d44d137831b9 269 wait_ms(600);
taknokolat 12:083662bca47d 270 servoTurnTable.pulsewidth_us(turntable_NEUTRAL);
taknokolat 7:8989a4b84695 271 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 272 else wait(1);
taknokolat 7:8989a4b84695 273
taknokolat 7:8989a4b84695 274 if(g_landingcommand!='N') return;
taknokolat 7:8989a4b84695 275 if(!CameraDegFlag){
taknokolat 15:1519fccfcae3 276 for(int i=0; i<camera_deg_B-camera_deg_A;i=i+10){
taknokolat 15:1519fccfcae3 277 servoCameradeg.pulsewidth_us(camera_deg_A+10);
taknokolat 15:1519fccfcae3 278 wait_ms(20);
taknokolat 15:1519fccfcae3 279 }
taknokolat 7:8989a4b84695 280 CameraDegFlag=!CameraDegFlag;
taknokolat 7:8989a4b84695 281 }else{
taknokolat 15:1519fccfcae3 282 for(int i=0; i<camera_deg_B-camera_deg_A;i=i+10){
taknokolat 15:1519fccfcae3 283 servoCameradeg.pulsewidth_us(camera_deg_A-10);
taknokolat 15:1519fccfcae3 284 }
taknokolat 7:8989a4b84695 285 CameraDegFlag = !CameraDegFlag;
taknokolat 7:8989a4b84695 286 }
taknokolat 7:8989a4b84695 287
taknokolat 7:8989a4b84695 288 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 289 else wait(1);
taknokolat 7:8989a4b84695 290
taknokolat 7:8989a4b84695 291 return;
taknokolat 7:8989a4b84695 292 }
taknokolat 7:8989a4b84695 293
taknokolat 7:8989a4b84695 294 void MatchPosition(){
taknokolat 7:8989a4b84695 295 SensingMPU();
taknokolat 7:8989a4b84695 296 SensingHMC();
taknokolat 7:8989a4b84695 297 DebugPrint();
taknokolat 7:8989a4b84695 298
taknokolat 9:21cd5d18ad9e 299 while(nowAngle[YAW] <= nowAngle_HMC+5 && nowAngle[YAW] >= nowAngle_HMC-5){
taknokolat 7:8989a4b84695 300 MoveCansat('M');
taknokolat 9:21cd5d18ad9e 301 SensingMPU();
taknokolat 7:8989a4b84695 302 }
taknokolat 7:8989a4b84695 303 return;
taknokolat 7:8989a4b84695 304 }
taknokolat 7:8989a4b84695 305
taknokolat 7:8989a4b84695 306 void FocusAdjust(){
taknokolat 15:1519fccfcae3 307 servoCameraPinto.pulsewidth_us(focus_NEUTRAL-200);
taknokolat 15:1519fccfcae3 308 //pc.printf("set\r\n");
taknokolat 11:d44d137831b9 309 wait(1);
taknokolat 7:8989a4b84695 310
taknokolat 16:26cee2aaf61d 311 servoCameraPinto.pulsewidth_us(focus_NEUTRAL+pint_speed);
taknokolat 15:1519fccfcae3 312 //pc.printf("check\r\n");
taknokolat 16:26cee2aaf61d 313 wait(pint_wait);
taknokolat 15:1519fccfcae3 314 servoCameraPinto.pulsewidth_us(focus_NEUTRAL);
taknokolat 11:d44d137831b9 315
taknokolat 7:8989a4b84695 316 return;
taknokolat 15:1519fccfcae3 317 }
taknokolat 7:8989a4b84695 318
taknokolat 1:290e621741fd 319 void getSF_Serial_jevois(){
taknokolat 1:290e621741fd 320
taknokolat 1:290e621741fd 321
taknokolat 1:290e621741fd 322 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 323
taknokolat 1:290e621741fd 324 static int bufcounter=0;
taknokolat 1:290e621741fd 325
taknokolat 1:290e621741fd 326
taknokolat 1:290e621741fd 327
taknokolat 1:290e621741fd 328 if(pc.readable()) { // 受信確認
taknokolat 1:290e621741fd 329
taknokolat 1:290e621741fd 330 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 331 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 332 //pc.printf("x");
taknokolat 1:290e621741fd 333 return;
taknokolat 1:290e621741fd 334 }
taknokolat 1:290e621741fd 335
taknokolat 1:290e621741fd 336
taknokolat 1:290e621741fd 337
taknokolat 1:290e621741fd 338 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 339
Skykon 3:c18342e4fddd 340 if(SFbuf[0]=='S' && bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 341
taknokolat 1:290e621741fd 342 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 343
taknokolat 1:290e621741fd 344 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 345 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 346 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 347 //wait_ms(20);
taknokolat 1:290e621741fd 348 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 349 bufcounter = 0;
taknokolat 1:290e621741fd 350 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 351 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 352 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 353 }
taknokolat 1:290e621741fd 354
taknokolat 1:290e621741fd 355 else if(bufcounter>=5){
taknokolat 1:290e621741fd 356 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 357 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 358 bufcounter = 0;
taknokolat 1:290e621741fd 359 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 360 }
taknokolat 1:290e621741fd 361 }
taknokolat 1:290e621741fd 362
taknokolat 1:290e621741fd 363
taknokolat 1:290e621741fd 364 }
taknokolat 1:290e621741fd 365
taknokolat 1:290e621741fd 366
taknokolat 12:083662bca47d 367 void getSF_Serial_pi(){
taknokolat 2:f30666d7838b 368
taknokolat 7:8989a4b84695 369 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 370
taknokolat 1:290e621741fd 371 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 372
taknokolat 1:290e621741fd 373 static int bufcounter=0;
taknokolat 1:290e621741fd 374
taknokolat 1:290e621741fd 375
taknokolat 1:290e621741fd 376
taknokolat 1:290e621741fd 377 if(pc2.readable()) { // 受信確認
taknokolat 1:290e621741fd 378
taknokolat 1:290e621741fd 379 SFbuf[bufcounter] = pc2.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 380 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 381 //pc.printf("x");
taknokolat 1:290e621741fd 382 return;
taknokolat 1:290e621741fd 383 }
taknokolat 1:290e621741fd 384
taknokolat 1:290e621741fd 385
taknokolat 1:290e621741fd 386
taknokolat 1:290e621741fd 387 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 388
taknokolat 1:290e621741fd 389 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 390
taknokolat 1:290e621741fd 391 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 392
taknokolat 1:290e621741fd 393 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 394 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 395 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 396 //wait_ms(20);
taknokolat 1:290e621741fd 397 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 398 bufcounter = 0;
taknokolat 1:290e621741fd 399 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 400 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 401 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 402 }
taknokolat 1:290e621741fd 403
taknokolat 1:290e621741fd 404 else if(bufcounter>=5){
taknokolat 1:290e621741fd 405 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 406 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 407 bufcounter = 0;
taknokolat 1:290e621741fd 408 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 409 }
taknokolat 1:290e621741fd 410 }
taknokolat 2:f30666d7838b 411
taknokolat 7:8989a4b84695 412 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 413
taknokolat 12:083662bca47d 414 }
taknokolat 1:290e621741fd 415
Skykon 3:c18342e4fddd 416
Skykon 3:c18342e4fddd 417 void setup(){
Skykon 3:c18342e4fddd 418
taknokolat 13:b088f0db7158 419 SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 420 &Servo_high_FORWARD_R, &Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 421 &Servo_slow_FORWARD_R,&Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 422 &Turntable_NEUTRAL,&Matchspeed,&Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 423 &Camera_deg_A, &Camera_deg_B,
taknokolat 16:26cee2aaf61d 424 &Pint_speed,&Pint_wait
taknokolat 16:26cee2aaf61d 425
taknokolat 13:b088f0db7158 426 );
taknokolat 17:2217b2ebef06 427
taknokolat 17:2217b2ebef06 428 g_fp = fopen(g_filename, "a");
taknokolat 17:2217b2ebef06 429 fprintf(g_fp,"Fall Start.\r\n");
taknokolat 12:083662bca47d 430
Skykon 3:c18342e4fddd 431 Init_sensors();
Skykon 3:c18342e4fddd 432 //switch2.rise(ResetTrim);
Skykon 3:c18342e4fddd 433
taknokolat 7:8989a4b84695 434 //NVIC_SetPriority(USART1_IRQn,0);
taknokolat 7:8989a4b84695 435 //NVIC_SetPriority(EXTI0_IRQn,1);
taknokolat 7:8989a4b84695 436 //NVIC_SetPriority(TIM5_IRQn,2);
taknokolat 7:8989a4b84695 437 //NVIC_SetPriority(EXTI9_5_IRQn,3);
taknokolat 7:8989a4b84695 438 //NVIC_SetPriority(USART2_IRQn,4);
taknokolat 7:8989a4b84695 439
taknokolat 7:8989a4b84695 440 NVIC_SetPriority(USART1_IRQn,0);//割り込み優先度
taknokolat 7:8989a4b84695 441 NVIC_SetPriority(USART2_IRQn,1);
taknokolat 7:8989a4b84695 442
Skykon 3:c18342e4fddd 443 DisplayClock();
Skykon 3:c18342e4fddd 444 t.start();
Skykon 3:c18342e4fddd 445
Skykon 3:c18342e4fddd 446 pc.printf("MPU calibration start\r\n");
taknokolat 6:166746820555 447 pc.printf("HMC calibration start\r\n");
Skykon 3:c18342e4fddd 448
Skykon 3:c18342e4fddd 449 float offsetstart = t.read();
Skykon 3:c18342e4fddd 450 while(t.read() - offsetstart < 26){
Skykon 3:c18342e4fddd 451 SensingMPU();
taknokolat 6:166746820555 452 SensingHMC();
Skykon 3:c18342e4fddd 453 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
taknokolat 6:166746820555 454 pc.printf("%3.2f\t",nowAngle_HMC);
Skykon 3:c18342e4fddd 455 pc.printf("\r\n");
Skykon 3:c18342e4fddd 456 }
Skykon 3:c18342e4fddd 457
Skykon 3:c18342e4fddd 458 FirstROLL = nowAngle[ROLL];
Skykon 3:c18342e4fddd 459 FirstPITCH = nowAngle[PITCH];
Skykon 3:c18342e4fddd 460 nowAngle[ROLL] -=FirstROLL;
Skykon 3:c18342e4fddd 461 nowAngle[PITCH] -=FirstPITCH;
taknokolat 6:166746820555 462 FirstYAW = nowAngle[YAW];
taknokolat 6:166746820555 463 nowAngle[YAW] -= FirstYAW;
taknokolat 6:166746820555 464
taknokolat 6:166746820555 465 g_FirstYAW_HMC = nowAngle_HMC;
taknokolat 6:166746820555 466 nowAngle_HMC -=g_FirstYAW_HMC;
taknokolat 6:166746820555 467 if(nowAngle_HMC<0)nowAngle_HMC+=360;
Skykon 3:c18342e4fddd 468
Skykon 3:c18342e4fddd 469 wait(0.2);
Skykon 3:c18342e4fddd 470
Skykon 3:c18342e4fddd 471 pc.printf("All initialized\r\n");
taknokolat 4:67f705d42f1e 472 setupFlag=true;
taknokolat 1:290e621741fd 473 }
taknokolat 1:290e621741fd 474
Skykon 3:c18342e4fddd 475
Skykon 3:c18342e4fddd 476 void SensingMPU(){
Skykon 3:c18342e4fddd 477 //static int16_t deltaT = 0, t_start = 0;
Skykon 3:c18342e4fddd 478 //t_start = t.read_us();
Skykon 3:c18342e4fddd 479
taknokolat 7:8989a4b84695 480 float rpy[3] = {0};
Skykon 3:c18342e4fddd 481 static uint16_t count_changeRPY = 0;
Skykon 3:c18342e4fddd 482 static bool flg_checkoutlier = false;
Skykon 3:c18342e4fddd 483 NVIC_DisableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 484 NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 485 NVIC_DisableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 486 NVIC_DisableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 487 NVIC_DisableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 488
Skykon 3:c18342e4fddd 489 mpu6050.getRollPitchYaw_Skipper(rpy);
Skykon 3:c18342e4fddd 490
Skykon 3:c18342e4fddd 491 NVIC_EnableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 492 NVIC_EnableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 493 NVIC_EnableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 494 NVIC_EnableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 495 NVIC_EnableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 496
Skykon 3:c18342e4fddd 497
Skykon 3:c18342e4fddd 498 //外れ値対策
Skykon 3:c18342e4fddd 499 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
Skykon 3:c18342e4fddd 500 rpy[ROLL] -= FirstROLL;
Skykon 3:c18342e4fddd 501 rpy[PITCH] -= FirstPITCH;
taknokolat 4:67f705d42f1e 502 if(!setupFlag){
taknokolat 4:67f705d42f1e 503 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 504 }else{
taknokolat 4:67f705d42f1e 505 if(rpy[YAW] >= FirstYAW){
taknokolat 4:67f705d42f1e 506 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 507 }else{
taknokolat 4:67f705d42f1e 508 rpy[YAW] += 360.0f;
taknokolat 4:67f705d42f1e 509 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 510 }
taknokolat 4:67f705d42f1e 511 }
Skykon 3:c18342e4fddd 512
Skykon 3:c18342e4fddd 513 for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}}
Skykon 3:c18342e4fddd 514 if(!flg_checkoutlier || count_changeRPY >= 2){
Skykon 3:c18342e4fddd 515 for(uint8_t i=0; i<3; i++){
Skykon 3:c18342e4fddd 516 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
Skykon 3:c18342e4fddd 517 }
Skykon 3:c18342e4fddd 518 count_changeRPY = 0;
Skykon 3:c18342e4fddd 519 }else count_changeRPY++;
Skykon 3:c18342e4fddd 520 flg_checkoutlier = false;
Skykon 3:c18342e4fddd 521
Skykon 3:c18342e4fddd 522 }
Skykon 3:c18342e4fddd 523
Skykon 3:c18342e4fddd 524
Skykon 3:c18342e4fddd 525 void Init_sensors(){
Skykon 3:c18342e4fddd 526 if(mpu6050.setup() == -1){
Skykon 3:c18342e4fddd 527 pc.printf("failed initialize\r\n");
Skykon 3:c18342e4fddd 528 }
Skykon 3:c18342e4fddd 529 }
Skykon 3:c18342e4fddd 530
Skykon 3:c18342e4fddd 531
Skykon 3:c18342e4fddd 532 void DisplayClock(){
Skykon 3:c18342e4fddd 533 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
Skykon 3:c18342e4fddd 534 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
Skykon 3:c18342e4fddd 535 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
Skykon 3:c18342e4fddd 536 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
Skykon 3:c18342e4fddd 537 pc.printf("\r\n");
taknokolat 4:67f705d42f1e 538 }
taknokolat 6:166746820555 539
taknokolat 6:166746820555 540 void SensingHMC(){
taknokolat 6:166746820555 541 //static int16_t deltaT = 0, t_start = 0;
taknokolat 6:166746820555 542 //t_start = t.read_us();
taknokolat 6:166746820555 543
taknokolat 7:8989a4b84695 544 float rpy=0;
taknokolat 6:166746820555 545 static uint16_t count_changeRPY = 0;
taknokolat 6:166746820555 546 static bool flg_checkoutlier = false;
taknokolat 6:166746820555 547 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 6:166746820555 548 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 6:166746820555 549 NVIC_DisableIRQ(TIM5_IRQn);
taknokolat 6:166746820555 550 NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat 6:166746820555 551 NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat 4:67f705d42f1e 552
taknokolat 6:166746820555 553 rpy= compass.getHeadingXYDeg(20,50);
taknokolat 6:166746820555 554
taknokolat 6:166746820555 555 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 6:166746820555 556 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 6:166746820555 557 NVIC_EnableIRQ(TIM5_IRQn);
taknokolat 6:166746820555 558 NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat 6:166746820555 559 NVIC_EnableIRQ(EXTI9_5_IRQn);
taknokolat 6:166746820555 560
taknokolat 6:166746820555 561
taknokolat 6:166746820555 562 //外れ値対策
taknokolat 6:166746820555 563 //rpy*= 180.0f/PI;
taknokolat 6:166746820555 564 if(!setupFlag){
taknokolat 6:166746820555 565 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 566 }else{
taknokolat 6:166746820555 567 if(rpy >= g_FirstYAW_HMC){
taknokolat 6:166746820555 568 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 569 }else{
taknokolat 6:166746820555 570 rpy += 360.0f;
taknokolat 6:166746820555 571 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 572 }
taknokolat 6:166746820555 573 }
taknokolat 6:166746820555 574
taknokolat 6:166746820555 575 if(rpy < nowAngle_HMC-10 || rpy > nowAngle_HMC+10) {flg_checkoutlier = true;}
taknokolat 6:166746820555 576 if(!flg_checkoutlier || count_changeRPY >= 2){
taknokolat 6:166746820555 577
taknokolat 6:166746820555 578 nowAngle_HMC = (rpy + nowAngle_HMC)/2.0f; //2つの移動平均
taknokolat 6:166746820555 579
taknokolat 6:166746820555 580 count_changeRPY = 0;
taknokolat 6:166746820555 581 }else count_changeRPY++;
taknokolat 6:166746820555 582 flg_checkoutlier = false;
taknokolat 6:166746820555 583
taknokolat 6:166746820555 584 }
taknokolat 12:083662bca47d 585
taknokolat 12:083662bca47d 586 int SetOptions(int *Servo_NEUTRAL_R, int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 587 int *Servo_high_FORWARD_R, int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 588 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 589 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 590 int *Camera_deg_A, int *Camera_deg_B,
taknokolat 16:26cee2aaf61d 591 int *Pint_speed, float *Pint_wait
taknokolat 12:083662bca47d 592 ){
taknokolat 12:083662bca47d 593
taknokolat 12:083662bca47d 594 pc.printf("SDsetup start.\r\n");
taknokolat 12:083662bca47d 595
taknokolat 12:083662bca47d 596 FILE *fp;
taknokolat 12:083662bca47d 597 char parameter[20]; //文字列渡す用の配列
taknokolat 12:083662bca47d 598 int SDerrorcount = 0; //取得できなかった数を返す
taknokolat 12:083662bca47d 599 const char *paramNames[] = {
taknokolat 12:083662bca47d 600 "SERVO_NEUTRAL_R",
taknokolat 12:083662bca47d 601 "SERVO_NEUTRAL_L",
taknokolat 12:083662bca47d 602 "SERVO_HIGH_FORWARD_R",
taknokolat 12:083662bca47d 603 "SERVO_HIGH_FORWARD_L",
taknokolat 12:083662bca47d 604 "SERVO_SLOW_FORWARD_R",
taknokolat 12:083662bca47d 605 "SERVO_SLOW_FORWARD_L",
taknokolat 12:083662bca47d 606 "TURNTABLE_NEUTRAL",
taknokolat 12:083662bca47d 607 "MATCH_SPEED",
taknokolat 12:083662bca47d 608 "FOCUS_NEUTRAL",
taknokolat 12:083662bca47d 609 "CAMERA_DEG_A",
taknokolat 16:26cee2aaf61d 610 "CAMERA_DEG_B",
taknokolat 16:26cee2aaf61d 611 "PINT_SPEED",
taknokolat 16:26cee2aaf61d 612 "PINT_WAIT"
taknokolat 12:083662bca47d 613 };
taknokolat 12:083662bca47d 614
taknokolat 12:083662bca47d 615 fp = fopen("/sd/option.txt","r");
taknokolat 12:083662bca47d 616
taknokolat 12:083662bca47d 617 if(fp != NULL){ //開けたら
taknokolat 12:083662bca47d 618 pc.printf("File was openned.\r\n");
taknokolat 12:083662bca47d 619 if(GetParameter(fp,paramNames[0],parameter)) *Servo_NEUTRAL_R = atof(parameter);
taknokolat 12:083662bca47d 620 else{ *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 621 SDerrorcount++;
taknokolat 12:083662bca47d 622 }
taknokolat 12:083662bca47d 623 if(GetParameter(fp,paramNames[1],parameter)) *Servo_NEUTRAL_L = atof(parameter);
taknokolat 12:083662bca47d 624 else{ *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 625 SDerrorcount++;
taknokolat 12:083662bca47d 626 }
taknokolat 12:083662bca47d 627 if(GetParameter(fp,paramNames[2],parameter)) *Servo_high_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 628 else{ *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 629 SDerrorcount++;
taknokolat 12:083662bca47d 630 }
taknokolat 12:083662bca47d 631 if(GetParameter(fp,paramNames[3],parameter)) *Servo_high_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 632 else{ *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 633 SDerrorcount++;
taknokolat 12:083662bca47d 634 }
taknokolat 12:083662bca47d 635 if(GetParameter(fp,paramNames[4],parameter)) *Servo_slow_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 636 else{ *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 637 SDerrorcount++;
taknokolat 12:083662bca47d 638 }
taknokolat 12:083662bca47d 639 if(GetParameter(fp,paramNames[5],parameter)) *Servo_slow_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 640 else{ *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 641 SDerrorcount++;
taknokolat 12:083662bca47d 642 }
taknokolat 12:083662bca47d 643
taknokolat 12:083662bca47d 644 if(GetParameter(fp,paramNames[6],parameter)) *Turntable_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 645 else{ *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 646 SDerrorcount++;
taknokolat 12:083662bca47d 647 }
taknokolat 12:083662bca47d 648 if(GetParameter(fp,paramNames[7],parameter)) *Matchspeed = atof(parameter);
taknokolat 12:083662bca47d 649 else{ *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 650 SDerrorcount++;
taknokolat 12:083662bca47d 651 }
taknokolat 12:083662bca47d 652 if(GetParameter(fp,paramNames[8],parameter)) *Focus_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 653 else{ *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 654 SDerrorcount++;
taknokolat 12:083662bca47d 655 }
taknokolat 12:083662bca47d 656 if(GetParameter(fp,paramNames[9],parameter)) *Camera_deg_A = atof(parameter);
taknokolat 12:083662bca47d 657 else{ *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 658 SDerrorcount++;
taknokolat 12:083662bca47d 659 }
taknokolat 12:083662bca47d 660 if(GetParameter(fp,paramNames[10],parameter)) *Camera_deg_B = atof(parameter);
taknokolat 12:083662bca47d 661 else{ *Camera_deg_B = camera_deg_B;
taknokolat 12:083662bca47d 662 SDerrorcount++;
taknokolat 12:083662bca47d 663 }
taknokolat 16:26cee2aaf61d 664 if(GetParameter(fp,paramNames[11],parameter)) *Pint_speed = atof(parameter);
taknokolat 16:26cee2aaf61d 665 else{ *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 666 SDerrorcount++;
taknokolat 16:26cee2aaf61d 667 }
taknokolat 16:26cee2aaf61d 668 if(GetParameter(fp,paramNames[12],parameter)) *Pint_wait = atof(parameter);
taknokolat 16:26cee2aaf61d 669 else{ *Pint_wait = pint_wait;
taknokolat 16:26cee2aaf61d 670 SDerrorcount++;
taknokolat 16:26cee2aaf61d 671 }
taknokolat 12:083662bca47d 672
taknokolat 12:083662bca47d 673 fclose(fp);
taknokolat 12:083662bca47d 674
taknokolat 12:083662bca47d 675 }else{ //ファイルがなかったら
taknokolat 12:083662bca47d 676 pc.printf("fp was null.\r\n");
taknokolat 12:083662bca47d 677
taknokolat 12:083662bca47d 678 *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 679 *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 680 *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 681 *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 682 *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 683 *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 684 *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 685 *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 686 *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 687 *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 688 *Camera_deg_B = camera_deg_B;
taknokolat 16:26cee2aaf61d 689 *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 690 *Pint_wait = pint_wait;
taknokolat 12:083662bca47d 691 SDerrorcount = -1;
taknokolat 12:083662bca47d 692 }
taknokolat 12:083662bca47d 693 pc.printf("SDsetup finished.\r\n");
taknokolat 12:083662bca47d 694 if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
taknokolat 12:083662bca47d 695 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
taknokolat 12:083662bca47d 696 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
taknokolat 12:083662bca47d 697
taknokolat 12:083662bca47d 698 pc.printf("Servo_NEUTRAL_R = %d, Servo_NEUTRAL_L = %d\r\n", *Servo_NEUTRAL_R, *Servo_NEUTRAL_L);
taknokolat 13:b088f0db7158 699 pc.printf("Servo_high_FORWARD_R = %d, Servo_high_FORWARD_L = %d\r\n", *Servo_high_FORWARD_R, *Servo_high_FORWARD_L);
taknokolat 13:b088f0db7158 700 pc.printf("Servo_slow_FORWARD_R = %d, Servo_slow_FORWARD_L = %d\r\n", *Servo_slow_FORWARD_R, *Servo_slow_FORWARD_L);
taknokolat 13:b088f0db7158 701 pc.printf("Turntable_NEUTRAL = %d, Matchspeed = %d\r\n", *Turntable_NEUTRAL, *Matchspeed);
taknokolat 13:b088f0db7158 702 pc.printf("Focus_NEUTRAL = %d\r\n", *Focus_NEUTRAL);
taknokolat 13:b088f0db7158 703 pc.printf("Camera_deg_A = %d, Camera_deg_B = %d\r\n", *Camera_deg_A, *Camera_deg_B);
taknokolat 16:26cee2aaf61d 704 pc.printf("Pint_speed = %d, Pint_wait = %f\r\n", *Pint_speed, *Pint_wait);
taknokolat 12:083662bca47d 705
taknokolat 12:083662bca47d 706 return SDerrorcount;
taknokolat 12:083662bca47d 707 }
taknokolat 12:083662bca47d 708
taknokolat 12:083662bca47d 709 int GetParameter(FILE *fp, const char *paramName,char parameter[]){
taknokolat 12:083662bca47d 710 int i=0, j=0;
taknokolat 12:083662bca47d 711 int strmax = 200;
taknokolat 12:083662bca47d 712 char str[strmax];
taknokolat 12:083662bca47d 713
taknokolat 12:083662bca47d 714 rewind(fp); //ファイル位置を先頭に
taknokolat 12:083662bca47d 715 while(1){
taknokolat 12:083662bca47d 716 if (fgets(str, strmax, fp) == NULL) {
taknokolat 12:083662bca47d 717 return 0;
taknokolat 12:083662bca47d 718 }
taknokolat 12:083662bca47d 719 if (!strncmp(str, paramName, strlen(paramName))) {
taknokolat 12:083662bca47d 720 while (str[i++] != '=') {}
taknokolat 12:083662bca47d 721 while (str[i] != '\n') {
taknokolat 12:083662bca47d 722 parameter[j++] = str[i++];
taknokolat 12:083662bca47d 723 }
taknokolat 12:083662bca47d 724 parameter[j] = '\0';
taknokolat 12:083662bca47d 725 return 1;
taknokolat 12:083662bca47d 726 }
taknokolat 12:083662bca47d 727 }
taknokolat 12:083662bca47d 728 }
taknokolat 12:083662bca47d 729
taknokolat 12:083662bca47d 730
taknokolat 6:166746820555 731
taknokolat 4:67f705d42f1e 732 void DebugPrint(){
taknokolat 4:67f705d42f1e 733 //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); //skipper地磁気センサ_デバック用
taknokolat 7:8989a4b84695 734 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 7:8989a4b84695 735 //pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 7:8989a4b84695 736 //pc.printf("\r\n");
taknokolat 6:166746820555 737 }