航空研究会 / Mbed 2 deprecated hassi_17

sdカードに焦点調整を追加

Dependencies:   mbed MPU6050_2 HMC5883L_2 SDFileSystem3

main.cpp@16:26cee2aaf61d, 2019-02-13 (annotated)

Committer:
taknokolat
Date:
Wed Feb 13 08:18:10 2019 +0000
Revision:
16:26cee2aaf61d
Parent:
15:1519fccfcae3 
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
HARUKIDELTA 0:84ddd6d354e1 13 #define servo_slow_FORWARD_R 1560
HARUKIDELTA 0:84ddd6d354e1 14 #define servo_slow_FORWARD_L 1560
taknokolat 12:083662bca47d 15 #define servo_low_FORWARD_R 1560 //RasPi速さ調節用
taknokolat 12:083662bca47d 16 #define servo_high_FORWARD_R 1860
taknokolat 12:083662bca47d 17 #define servo_low_FORWARD_L 1560
taknokolat 12:083662bca47d 18 #define servo_high_FORWARD_L 1860
taknokolat 12:083662bca47d 19 #define servo_low_back_R 1360
taknokolat 12:083662bca47d 20 #define servo_high_back_R 1160
taknokolat 12:083662bca47d 21 #define servo_low_back_L 1360
taknokolat 12:083662bca47d 22 #define servo_high_back_L 1160
taknokolat 12:083662bca47d 23 #define turntable_NEUTRAL 1180 //カメラ台座のサーボ
taknokolat 12:083662bca47d 24 #define matchspeed 1500 + 100 //カメラと方向を合わせるときの車輪の速度
taknokolat 12:083662bca47d 25 #define focus_NEUTRAL 1455 //焦点合わせ用サーボ
taknokolat 12:083662bca47d 26 #define camera_deg_A 1400 //カメラ角度調整
taknokolat 12:083662bca47d 27 #define camera_deg_B 1800
taknokolat 16:26cee2aaf61d 28 #define pint_speed 25
taknokolat 16:26cee2aaf61d 29 #define pint_wait 3.5
HARUKIDELTA 0:84ddd6d354e1 30
HARUKIDELTA 0:84ddd6d354e1 31 #define MOVE_NEUTRAL 0
HARUKIDELTA 0:84ddd6d354e1 32 #define MOVE_FORWARD 1
HARUKIDELTA 0:84ddd6d354e1 33 #define MOVE_LEFT 2
HARUKIDELTA 0:84ddd6d354e1 34 #define MOVE_RIGHT 3
HARUKIDELTA 0:84ddd6d354e1 35 #define MOVE_BACK 4
Skykon 3:c18342e4fddd 36 #define GOAL_FORWARD 5 //ゴール付近_ゆっくり
HARUKIDELTA 0:84ddd6d354e1 37 #define GOAL_LEFT 6
HARUKIDELTA 0:84ddd6d354e1 38 #define GOAL_RIGHT 7
Skykon 3:c18342e4fddd 39 #define MAX_FORWARD 8 //はやい_姿勢修正用
HARUKIDELTA 0:84ddd6d354e1 40 #define MAX_BACK 9
HARUKIDELTA 0:84ddd6d354e1 41
taknokolat 1:290e621741fd 42 void getSF_Serial_jevois();
taknokolat 1:290e621741fd 43 void getSF_Serial_pi();
taknokolat 1:290e621741fd 44
Skykon 3:c18342e4fddd 45 //MPU_check用
Skykon 3:c18342e4fddd 46 void SensingMPU();
taknokolat 7:8989a4b84695 47
taknokolat 7:8989a4b84695 48 void MoveCansat(char g_landingcommand);
Skykon 3:c18342e4fddd 49 void setup();
Skykon 3:c18342e4fddd 50 void Init_sensors();
Skykon 3:c18342e4fddd 51 void DisplayClock();
taknokolat 4:67f705d42f1e 52 void DebugPrint();
taknokolat 6:166746820555 53 void SensingHMC();
taknokolat 7:8989a4b84695 54 void MoveCameraBoard();
taknokolat 7:8989a4b84695 55 void MatchPosition();
taknokolat 7:8989a4b84695 56 void FocusAdjust();
Skykon 3:c18342e4fddd 57
taknokolat 12:083662bca47d 58 //sd設定
taknokolat 12:083662bca47d 59 int GetParameter(FILE *fp, const char *paramName,char parameter[]);
taknokolat 12:083662bca47d 60
taknokolat 13:b088f0db7158 61 int SetOptions(int *Servo_NEUTRAL_R,int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 62 int *Servo_high_FORWARD_R,int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 63 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 64 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 65 int *Camera_deg_A, int *Camera_deg_B,
taknokolat 16:26cee2aaf61d 66 int *Pint_speed, float *Pint_wait
taknokolat 12:083662bca47d 67 );
taknokolat 12:083662bca47d 68
taknokolat 6:166746820555 69 static float nowAngle[3] = {0,0,0},nowAngle_HMC=0;
taknokolat 6:166746820555 70 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0,g_FirstYAW_HMC;
Skykon 3:c18342e4fddd 71
taknokolat 7:8989a4b84695 72 bool setupFlag = false;
taknokolat 7:8989a4b84695 73 bool CameraDegFlag = false;
taknokolat 7:8989a4b84695 74 bool jevoisFlag = true;
taknokolat 4:67f705d42f1e 75
Skykon 3:c18342e4fddd 76 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
Skykon 3:c18342e4fddd 77
Skykon 3:c18342e4fddd 78 Timer t;
Skykon 3:c18342e4fddd 79
taknokolat 14:90e9b44eb819 80 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
taknokolat 14:90e9b44eb819 81
taknokolat 11:d44d137831b9 82 RawSerial pc(PA_2,PA_3,115200); //uart2
taknokolat 11:d44d137831b9 83 //pa2:UART2_TX,pa3:UART2_RX
taknokolat 12:083662bca47d 84 RawSerial pc2(PA_11,PA_12,115200); //uart1
taknokolat 11:d44d137831b9 85 //pb6:UART1_TX,pb7:UART1_RX
taknokolat 11:d44d137831b9 86
HARUKIDELTA 5:8bfe95431ec0 87 //PWM pin宣言
taknokolat 6:166746820555 88 PwmOut servoR(PC_6); //TIM3_CH1 車輪右
taknokolat 6:166746820555 89 PwmOut servoL(PC_7); //TIM3_CH2 車輪左
HARUKIDELTA 5:8bfe95431ec0 90 PwmOut servoTurnTable(PB_0); //TIM3_CH3 カメラ台回転Servo
HARUKIDELTA 5:8bfe95431ec0 91 PwmOut servoCameradeg(PB_1); //TIM3_CH4 カメラ角度調節Servo
HARUKIDELTA 5:8bfe95431ec0 92 PwmOut servoCameraPinto(PB_6); //TIM4_CH1 カメラピント合わせ
HARUKIDELTA 5:8bfe95431ec0 93 PwmOut servoCameramount(PA_6); //skipperウラ カメラマウント起動
HARUKIDELTA 5:8bfe95431ec0 94 PwmOut servoGetUP(PC_8); //skipperウラ 起き上がり動作
Skykon 3:c18342e4fddd 95
HARUKIDELTA 5:8bfe95431ec0 96 /*通信用のpinは
HARUKIDELTA 5:8bfe95431ec0 97 PA_3(UART2_Rx) skipperウラ
HARUKIDELTA 5:8bfe95431ec0 98 PA_12(UART6_Rx) skipperオモテ USB端子より
HARUKIDELTA 5:8bfe95431ec0 99 PB_7 (UART1_Rx) skipperオモテ 6番目 TIM4_CH2
HARUKIDELTA 5:8bfe95431ec0 100 */
HARUKIDELTA 5:8bfe95431ec0 101
HARUKIDELTA 5:8bfe95431ec0 102 /*超音波はRaspberryPiに積む*/
HARUKIDELTA 5:8bfe95431ec0 103
HARUKIDELTA 5:8bfe95431ec0 104 //外付けコンパス
taknokolat 6:166746820555 105 HMC5883L compass(PB_9, PB_8); //コンパスセンサー TIM4_CH3とCH4
HARUKIDELTA 0:84ddd6d354e1 106
taknokolat 2:f30666d7838b 107 char g_landingcommand='N';
taknokolat 1:290e621741fd 108
Skykon 3:c18342e4fddd 109 //MPU_check用
Skykon 3:c18342e4fddd 110 MPU6050DMP6 mpu6050(PC_0,&pc);
Skykon 3:c18342e4fddd 111
Skykon 3:c18342e4fddd 112
HARUKIDELTA 0:84ddd6d354e1 113 int main() {
taknokolat 1:290e621741fd 114
Skykon 3:c18342e4fddd 115 //MPU_check
Skykon 3:c18342e4fddd 116 setup();
Skykon 3:c18342e4fddd 117
taknokolat 15:1519fccfcae3 118 servoCameradeg.pulsewidth_us(camera_deg_A);
taknokolat 11:d44d137831b9 119
taknokolat 1:290e621741fd 120 // シリアル通信受信の割り込みイベント登録
taknokolat 1:290e621741fd 121 pc.attach(getSF_Serial_jevois, Serial::RxIrq);
taknokolat 12:083662bca47d 122 pc2.attach(getSF_Serial_pi, Serial::RxIrq);
taknokolat 1:290e621741fd 123
HARUKIDELTA 0:84ddd6d354e1 124 while(1) {
taknokolat 7:8989a4b84695 125 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 126 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 127
taknokolat 10:63fe920595a7 128 MoveCameraBoard();
taknokolat 10:63fe920595a7 129
taknokolat 7:8989a4b84695 130 if(g_landingcommand!='N') MatchPosition();
taknokolat 8:d11a59d2a2f1 131
taknokolat 8:d11a59d2a2f1 132 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 8:d11a59d2a2f1 133 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 134
taknokolat 7:8989a4b84695 135 MoveCansat(g_landingcommand);
Skykon 3:c18342e4fddd 136 wait_ms(23);
taknokolat 8:d11a59d2a2f1 137
taknokolat 7:8989a4b84695 138 if(jevoisFlag==true) NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 139 else NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 140 }
HARUKIDELTA 0:84ddd6d354e1 141 }
HARUKIDELTA 0:84ddd6d354e1 142
Skykon 3:c18342e4fddd 143
taknokolat 1:290e621741fd 144 void MoveCansat(char g_landingcommand)
HARUKIDELTA 0:84ddd6d354e1 145 {
taknokolat 2:f30666d7838b 146 //NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 147 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 148 switch(g_landingcommand){
taknokolat 2:f30666d7838b 149 case 'N': //MOVE_NEUTRAL
HARUKIDELTA 0:84ddd6d354e1 150 servoR.pulsewidth_us(servo_NEUTRAL_R);
HARUKIDELTA 0:84ddd6d354e1 151 servoL.pulsewidth_us(servo_NEUTRAL_L);
taknokolat 2:f30666d7838b 152 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 153 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 154 break;
taknokolat 1:290e621741fd 155
taknokolat 2:f30666d7838b 156 case 'Y': //MOVE_FORWARD
taknokolat 12:083662bca47d 157 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 158 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 2:f30666d7838b 159 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 160 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 161 break;
taknokolat 1:290e621741fd 162
taknokolat 12:083662bca47d 163 case 'l': //MOVE_LEFT Low Speed
taknokolat 12:083662bca47d 164 servoR.pulsewidth_us(servo_low_FORWARD_R);
taknokolat 12:083662bca47d 165 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 166 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 167
taknokolat 12:083662bca47d 168 case 'L': //MOVE_LEFT High Speed
taknokolat 12:083662bca47d 169 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 2:f30666d7838b 170 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 171 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 172
taknokolat 12:083662bca47d 173 case 'r': //MOVE_RIGHT Low Speed
taknokolat 12:083662bca47d 174 servoL.pulsewidth_us(servo_low_FORWARD_L);
taknokolat 2:f30666d7838b 175 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 176 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 177 break;
taknokolat 12:083662bca47d 178
taknokolat 12:083662bca47d 179 case 'R': //MOVE_RIGHT High Speed
taknokolat 12:083662bca47d 180 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 2:f30666d7838b 181 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 182 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 183 break;
taknokolat 1:290e621741fd 184
taknokolat 1:290e621741fd 185 case 'G': //GOAL_FORWARD
HARUKIDELTA 0:84ddd6d354e1 186 servoR.pulsewidth_us(servo_slow_FORWARD_R);
HARUKIDELTA 0:84ddd6d354e1 187 servoL.pulsewidth_us(servo_slow_FORWARD_L);
taknokolat 2:f30666d7838b 188 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 189 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 190 break;
taknokolat 12:083662bca47d 191
taknokolat 12:083662bca47d 192 case '1': //MOVE_FORWARD Speed Level 1
taknokolat 12:083662bca47d 193 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 194 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 195 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 196 wait(1);
taknokolat 12:083662bca47d 197 do{
taknokolat 12:083662bca47d 198 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 199 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 200 break;
taknokolat 12:083662bca47d 201
taknokolat 12:083662bca47d 202 case '2': //MOVE_FORWARD Speed Level 2
taknokolat 12:083662bca47d 203 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 204 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 205 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 206 wait(2);
taknokolat 12:083662bca47d 207 do{
taknokolat 12:083662bca47d 208 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 209 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 210 break;
taknokolat 12:083662bca47d 211
taknokolat 12:083662bca47d 212 case '3': //MOVE_FORWARD Speed Level 3
taknokolat 12:083662bca47d 213 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 214 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 215 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 216 wait(3);
taknokolat 12:083662bca47d 217 do{
taknokolat 12:083662bca47d 218 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 219 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 220 break;
taknokolat 12:083662bca47d 221
taknokolat 12:083662bca47d 222 case '4': //MOVE_FORWARD Speed Level 4
taknokolat 12:083662bca47d 223 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 224 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 225 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 226 wait(4);
taknokolat 12:083662bca47d 227 do{
taknokolat 12:083662bca47d 228 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 229 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 230 break;
taknokolat 7:8989a4b84695 231
taknokolat 12:083662bca47d 232 case '5': //MOVE_FORWARD Speed Level 5
taknokolat 12:083662bca47d 233 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 234 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 7:8989a4b84695 235 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 236 wait(5);
taknokolat 10:63fe920595a7 237 do{
taknokolat 10:63fe920595a7 238 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 7:8989a4b84695 239 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 240 break;
taknokolat 7:8989a4b84695 241
taknokolat 7:8989a4b84695 242 case 'M': //MatchPosition
taknokolat 12:083662bca47d 243 servoR.pulsewidth_us(matchspeed);
taknokolat 7:8989a4b84695 244 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 245 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 246 break;
taknokolat 7:8989a4b84695 247
taknokolat 12:083662bca47d 248 case 'P': //jevoisからraspberry piへの切り替え
taknokolat 7:8989a4b84695 249 jevoisFlag = false;
taknokolat 7:8989a4b84695 250 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 251 break;
taknokolat 12:083662bca47d 252
taknokolat 12:083662bca47d 253 case 'S':
taknokolat 12:083662bca47d 254 /*RasPiからの超音波判定(プログラムスタート部)*/
taknokolat 12:083662bca47d 255 break;
taknokolat 1:290e621741fd 256
taknokolat 1:290e621741fd 257 default :
taknokolat 2:f30666d7838b 258 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 259 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 260 break;
taknokolat 1:290e621741fd 261
HARUKIDELTA 0:84ddd6d354e1 262 }
taknokolat 7:8989a4b84695 263
HARUKIDELTA 0:84ddd6d354e1 264 return;
taknokolat 1:290e621741fd 265 }
taknokolat 1:290e621741fd 266
taknokolat 7:8989a4b84695 267 void MoveCameraBoard(){
taknokolat 7:8989a4b84695 268 MoveCansat('N');
taknokolat 10:63fe920595a7 269 g_landingcommand='N';
taknokolat 11:d44d137831b9 270 servoTurnTable.pulsewidth_us(1800);
taknokolat 11:d44d137831b9 271 wait_ms(600);
taknokolat 12:083662bca47d 272 servoTurnTable.pulsewidth_us(turntable_NEUTRAL);
taknokolat 7:8989a4b84695 273 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 274 else wait(1);
taknokolat 7:8989a4b84695 275
taknokolat 7:8989a4b84695 276 if(g_landingcommand!='N') return;
taknokolat 7:8989a4b84695 277 if(!CameraDegFlag){
taknokolat 15:1519fccfcae3 278 for(int i=0; i<camera_deg_B-camera_deg_A;i=i+10){
taknokolat 15:1519fccfcae3 279 servoCameradeg.pulsewidth_us(camera_deg_A+10);
taknokolat 15:1519fccfcae3 280 wait_ms(20);
taknokolat 15:1519fccfcae3 281 }
taknokolat 7:8989a4b84695 282 CameraDegFlag=!CameraDegFlag;
taknokolat 7:8989a4b84695 283 }else{
taknokolat 15:1519fccfcae3 284 for(int i=0; i<camera_deg_B-camera_deg_A;i=i+10){
taknokolat 15:1519fccfcae3 285 servoCameradeg.pulsewidth_us(camera_deg_A-10);
taknokolat 15:1519fccfcae3 286 }
taknokolat 7:8989a4b84695 287 CameraDegFlag = !CameraDegFlag;
taknokolat 7:8989a4b84695 288 }
taknokolat 7:8989a4b84695 289
taknokolat 7:8989a4b84695 290 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 291 else wait(1);
taknokolat 7:8989a4b84695 292
taknokolat 7:8989a4b84695 293 return;
taknokolat 7:8989a4b84695 294 }
taknokolat 7:8989a4b84695 295
taknokolat 7:8989a4b84695 296 void MatchPosition(){
taknokolat 7:8989a4b84695 297 SensingMPU();
taknokolat 7:8989a4b84695 298 SensingHMC();
taknokolat 7:8989a4b84695 299 DebugPrint();
taknokolat 7:8989a4b84695 300
taknokolat 9:21cd5d18ad9e 301 while(nowAngle[YAW] <= nowAngle_HMC+5 && nowAngle[YAW] >= nowAngle_HMC-5){
taknokolat 7:8989a4b84695 302 MoveCansat('M');
taknokolat 9:21cd5d18ad9e 303 SensingMPU();
taknokolat 7:8989a4b84695 304 }
taknokolat 7:8989a4b84695 305 return;
taknokolat 7:8989a4b84695 306 }
taknokolat 7:8989a4b84695 307
taknokolat 7:8989a4b84695 308 void FocusAdjust(){
taknokolat 15:1519fccfcae3 309 servoCameraPinto.pulsewidth_us(focus_NEUTRAL-200);
taknokolat 15:1519fccfcae3 310 //pc.printf("set\r\n");
taknokolat 11:d44d137831b9 311 wait(1);
taknokolat 7:8989a4b84695 312
taknokolat 16:26cee2aaf61d 313 servoCameraPinto.pulsewidth_us(focus_NEUTRAL+pint_speed);
taknokolat 15:1519fccfcae3 314 //pc.printf("check\r\n");
taknokolat 16:26cee2aaf61d 315 wait(pint_wait);
taknokolat 15:1519fccfcae3 316 servoCameraPinto.pulsewidth_us(focus_NEUTRAL);
taknokolat 11:d44d137831b9 317
taknokolat 7:8989a4b84695 318 return;
taknokolat 15:1519fccfcae3 319 }
taknokolat 7:8989a4b84695 320
taknokolat 1:290e621741fd 321 void getSF_Serial_jevois(){
taknokolat 1:290e621741fd 322
taknokolat 1:290e621741fd 323
taknokolat 1:290e621741fd 324 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 325
taknokolat 1:290e621741fd 326 static int bufcounter=0;
taknokolat 1:290e621741fd 327
taknokolat 1:290e621741fd 328
taknokolat 1:290e621741fd 329
taknokolat 1:290e621741fd 330 if(pc.readable()) { // 受信確認
taknokolat 1:290e621741fd 331
taknokolat 1:290e621741fd 332 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 333 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 334 //pc.printf("x");
taknokolat 1:290e621741fd 335 return;
taknokolat 1:290e621741fd 336 }
taknokolat 1:290e621741fd 337
taknokolat 1:290e621741fd 338
taknokolat 1:290e621741fd 339
taknokolat 1:290e621741fd 340 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 341
Skykon 3:c18342e4fddd 342 if(SFbuf[0]=='S' && bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 343
taknokolat 1:290e621741fd 344 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 345
taknokolat 1:290e621741fd 346 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 347 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 348 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 349 //wait_ms(20);
taknokolat 1:290e621741fd 350 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 351 bufcounter = 0;
taknokolat 1:290e621741fd 352 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 353 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 354 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 355 }
taknokolat 1:290e621741fd 356
taknokolat 1:290e621741fd 357 else if(bufcounter>=5){
taknokolat 1:290e621741fd 358 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 359 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 360 bufcounter = 0;
taknokolat 1:290e621741fd 361 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 362 }
taknokolat 1:290e621741fd 363 }
taknokolat 1:290e621741fd 364
taknokolat 1:290e621741fd 365
taknokolat 1:290e621741fd 366 }
taknokolat 1:290e621741fd 367
taknokolat 1:290e621741fd 368
taknokolat 12:083662bca47d 369 void getSF_Serial_pi(){
taknokolat 2:f30666d7838b 370
taknokolat 7:8989a4b84695 371 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 372
taknokolat 1:290e621741fd 373 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 374
taknokolat 1:290e621741fd 375 static int bufcounter=0;
taknokolat 1:290e621741fd 376
taknokolat 1:290e621741fd 377
taknokolat 1:290e621741fd 378
taknokolat 1:290e621741fd 379 if(pc2.readable()) { // 受信確認
taknokolat 1:290e621741fd 380
taknokolat 1:290e621741fd 381 SFbuf[bufcounter] = pc2.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 382 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 383 //pc.printf("x");
taknokolat 1:290e621741fd 384 return;
taknokolat 1:290e621741fd 385 }
taknokolat 1:290e621741fd 386
taknokolat 1:290e621741fd 387
taknokolat 1:290e621741fd 388
taknokolat 1:290e621741fd 389 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 390
taknokolat 1:290e621741fd 391 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 392
taknokolat 1:290e621741fd 393 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 394
taknokolat 1:290e621741fd 395 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 396 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 397 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 398 //wait_ms(20);
taknokolat 1:290e621741fd 399 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 400 bufcounter = 0;
taknokolat 1:290e621741fd 401 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 402 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 403 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 404 }
taknokolat 1:290e621741fd 405
taknokolat 1:290e621741fd 406 else if(bufcounter>=5){
taknokolat 1:290e621741fd 407 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 408 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 409 bufcounter = 0;
taknokolat 1:290e621741fd 410 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 411 }
taknokolat 1:290e621741fd 412 }
taknokolat 2:f30666d7838b 413
taknokolat 7:8989a4b84695 414 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 415
taknokolat 12:083662bca47d 416 }
taknokolat 1:290e621741fd 417
Skykon 3:c18342e4fddd 418
Skykon 3:c18342e4fddd 419 void setup(){
Skykon 3:c18342e4fddd 420
taknokolat 13:b088f0db7158 421 SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 422 &Servo_high_FORWARD_R, &Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 423 &Servo_slow_FORWARD_R,&Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 424 &Turntable_NEUTRAL,&Matchspeed,&Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 425 &Camera_deg_A, &Camera_deg_B,
taknokolat 16:26cee2aaf61d 426 &Pint_speed,&Pint_wait
taknokolat 16:26cee2aaf61d 427
taknokolat 13:b088f0db7158 428 );
taknokolat 12:083662bca47d 429
Skykon 3:c18342e4fddd 430 Init_sensors();
Skykon 3:c18342e4fddd 431 //switch2.rise(ResetTrim);
Skykon 3:c18342e4fddd 432
taknokolat 7:8989a4b84695 433 //NVIC_SetPriority(USART1_IRQn,0);
taknokolat 7:8989a4b84695 434 //NVIC_SetPriority(EXTI0_IRQn,1);
taknokolat 7:8989a4b84695 435 //NVIC_SetPriority(TIM5_IRQn,2);
taknokolat 7:8989a4b84695 436 //NVIC_SetPriority(EXTI9_5_IRQn,3);
taknokolat 7:8989a4b84695 437 //NVIC_SetPriority(USART2_IRQn,4);
taknokolat 7:8989a4b84695 438
taknokolat 7:8989a4b84695 439 NVIC_SetPriority(USART1_IRQn,0);//割り込み優先度
taknokolat 7:8989a4b84695 440 NVIC_SetPriority(USART2_IRQn,1);
taknokolat 7:8989a4b84695 441
Skykon 3:c18342e4fddd 442 DisplayClock();
Skykon 3:c18342e4fddd 443 t.start();
Skykon 3:c18342e4fddd 444
Skykon 3:c18342e4fddd 445 pc.printf("MPU calibration start\r\n");
taknokolat 6:166746820555 446 pc.printf("HMC calibration start\r\n");
Skykon 3:c18342e4fddd 447
Skykon 3:c18342e4fddd 448 float offsetstart = t.read();
Skykon 3:c18342e4fddd 449 while(t.read() - offsetstart < 26){
Skykon 3:c18342e4fddd 450 SensingMPU();
taknokolat 6:166746820555 451 SensingHMC();
Skykon 3:c18342e4fddd 452 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
taknokolat 6:166746820555 453 pc.printf("%3.2f\t",nowAngle_HMC);
Skykon 3:c18342e4fddd 454 pc.printf("\r\n");
Skykon 3:c18342e4fddd 455 }
Skykon 3:c18342e4fddd 456
Skykon 3:c18342e4fddd 457 FirstROLL = nowAngle[ROLL];
Skykon 3:c18342e4fddd 458 FirstPITCH = nowAngle[PITCH];
Skykon 3:c18342e4fddd 459 nowAngle[ROLL] -=FirstROLL;
Skykon 3:c18342e4fddd 460 nowAngle[PITCH] -=FirstPITCH;
taknokolat 6:166746820555 461 FirstYAW = nowAngle[YAW];
taknokolat 6:166746820555 462 nowAngle[YAW] -= FirstYAW;
taknokolat 6:166746820555 463
taknokolat 6:166746820555 464 g_FirstYAW_HMC = nowAngle_HMC;
taknokolat 6:166746820555 465 nowAngle_HMC -=g_FirstYAW_HMC;
taknokolat 6:166746820555 466 if(nowAngle_HMC<0)nowAngle_HMC+=360;
Skykon 3:c18342e4fddd 467
Skykon 3:c18342e4fddd 468 wait(0.2);
Skykon 3:c18342e4fddd 469
Skykon 3:c18342e4fddd 470 pc.printf("All initialized\r\n");
taknokolat 4:67f705d42f1e 471 setupFlag=true;
taknokolat 1:290e621741fd 472 }
taknokolat 1:290e621741fd 473
Skykon 3:c18342e4fddd 474
Skykon 3:c18342e4fddd 475 void SensingMPU(){
Skykon 3:c18342e4fddd 476 //static int16_t deltaT = 0, t_start = 0;
Skykon 3:c18342e4fddd 477 //t_start = t.read_us();
Skykon 3:c18342e4fddd 478
taknokolat 7:8989a4b84695 479 float rpy[3] = {0};
Skykon 3:c18342e4fddd 480 static uint16_t count_changeRPY = 0;
Skykon 3:c18342e4fddd 481 static bool flg_checkoutlier = false;
Skykon 3:c18342e4fddd 482 NVIC_DisableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 483 NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 484 NVIC_DisableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 485 NVIC_DisableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 486 NVIC_DisableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 487
Skykon 3:c18342e4fddd 488 mpu6050.getRollPitchYaw_Skipper(rpy);
Skykon 3:c18342e4fddd 489
Skykon 3:c18342e4fddd 490 NVIC_EnableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 491 NVIC_EnableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 492 NVIC_EnableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 493 NVIC_EnableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 494 NVIC_EnableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 495
Skykon 3:c18342e4fddd 496
Skykon 3:c18342e4fddd 497 //外れ値対策
Skykon 3:c18342e4fddd 498 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
Skykon 3:c18342e4fddd 499 rpy[ROLL] -= FirstROLL;
Skykon 3:c18342e4fddd 500 rpy[PITCH] -= FirstPITCH;
taknokolat 4:67f705d42f1e 501 if(!setupFlag){
taknokolat 4:67f705d42f1e 502 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 503 }else{
taknokolat 4:67f705d42f1e 504 if(rpy[YAW] >= FirstYAW){
taknokolat 4:67f705d42f1e 505 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 506 }else{
taknokolat 4:67f705d42f1e 507 rpy[YAW] += 360.0f;
taknokolat 4:67f705d42f1e 508 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 509 }
taknokolat 4:67f705d42f1e 510 }
Skykon 3:c18342e4fddd 511
Skykon 3:c18342e4fddd 512 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 513 if(!flg_checkoutlier || count_changeRPY >= 2){
Skykon 3:c18342e4fddd 514 for(uint8_t i=0; i<3; i++){
Skykon 3:c18342e4fddd 515 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
Skykon 3:c18342e4fddd 516 }
Skykon 3:c18342e4fddd 517 count_changeRPY = 0;
Skykon 3:c18342e4fddd 518 }else count_changeRPY++;
Skykon 3:c18342e4fddd 519 flg_checkoutlier = false;
Skykon 3:c18342e4fddd 520
Skykon 3:c18342e4fddd 521 }
Skykon 3:c18342e4fddd 522
Skykon 3:c18342e4fddd 523
Skykon 3:c18342e4fddd 524 void Init_sensors(){
Skykon 3:c18342e4fddd 525 if(mpu6050.setup() == -1){
Skykon 3:c18342e4fddd 526 pc.printf("failed initialize\r\n");
Skykon 3:c18342e4fddd 527 }
Skykon 3:c18342e4fddd 528 }
Skykon 3:c18342e4fddd 529
Skykon 3:c18342e4fddd 530
Skykon 3:c18342e4fddd 531 void DisplayClock(){
Skykon 3:c18342e4fddd 532 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
Skykon 3:c18342e4fddd 533 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
Skykon 3:c18342e4fddd 534 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
Skykon 3:c18342e4fddd 535 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
Skykon 3:c18342e4fddd 536 pc.printf("\r\n");
taknokolat 4:67f705d42f1e 537 }
taknokolat 6:166746820555 538
taknokolat 6:166746820555 539 void SensingHMC(){
taknokolat 6:166746820555 540 //static int16_t deltaT = 0, t_start = 0;
taknokolat 6:166746820555 541 //t_start = t.read_us();
taknokolat 6:166746820555 542
taknokolat 7:8989a4b84695 543 float rpy=0;
taknokolat 6:166746820555 544 static uint16_t count_changeRPY = 0;
taknokolat 6:166746820555 545 static bool flg_checkoutlier = false;
taknokolat 6:166746820555 546 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 6:166746820555 547 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 6:166746820555 548 NVIC_DisableIRQ(TIM5_IRQn);
taknokolat 6:166746820555 549 NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat 6:166746820555 550 NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat 4:67f705d42f1e 551
taknokolat 6:166746820555 552 rpy= compass.getHeadingXYDeg(20,50);
taknokolat 6:166746820555 553
taknokolat 6:166746820555 554 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 6:166746820555 555 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 6:166746820555 556 NVIC_EnableIRQ(TIM5_IRQn);
taknokolat 6:166746820555 557 NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat 6:166746820555 558 NVIC_EnableIRQ(EXTI9_5_IRQn);
taknokolat 6:166746820555 559
taknokolat 6:166746820555 560
taknokolat 6:166746820555 561 //外れ値対策
taknokolat 6:166746820555 562 //rpy*= 180.0f/PI;
taknokolat 6:166746820555 563 if(!setupFlag){
taknokolat 6:166746820555 564 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 565 }else{
taknokolat 6:166746820555 566 if(rpy >= g_FirstYAW_HMC){
taknokolat 6:166746820555 567 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 568 }else{
taknokolat 6:166746820555 569 rpy += 360.0f;
taknokolat 6:166746820555 570 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 571 }
taknokolat 6:166746820555 572 }
taknokolat 6:166746820555 573
taknokolat 6:166746820555 574 if(rpy < nowAngle_HMC-10 || rpy > nowAngle_HMC+10) {flg_checkoutlier = true;}
taknokolat 6:166746820555 575 if(!flg_checkoutlier || count_changeRPY >= 2){
taknokolat 6:166746820555 576
taknokolat 6:166746820555 577 nowAngle_HMC = (rpy + nowAngle_HMC)/2.0f; //2つの移動平均
taknokolat 6:166746820555 578
taknokolat 6:166746820555 579 count_changeRPY = 0;
taknokolat 6:166746820555 580 }else count_changeRPY++;
taknokolat 6:166746820555 581 flg_checkoutlier = false;
taknokolat 6:166746820555 582
taknokolat 6:166746820555 583 }
taknokolat 12:083662bca47d 584
taknokolat 12:083662bca47d 585 int SetOptions(int *Servo_NEUTRAL_R, int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 586 int *Servo_high_FORWARD_R, int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 587 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 588 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 589 int *Camera_deg_A, int *Camera_deg_B,
taknokolat 16:26cee2aaf61d 590 int *Pint_speed, float *Pint_wait
taknokolat 12:083662bca47d 591 ){
taknokolat 12:083662bca47d 592
taknokolat 12:083662bca47d 593 pc.printf("SDsetup start.\r\n");
taknokolat 12:083662bca47d 594
taknokolat 12:083662bca47d 595 FILE *fp;
taknokolat 12:083662bca47d 596 char parameter[20]; //文字列渡す用の配列
taknokolat 12:083662bca47d 597 int SDerrorcount = 0; //取得できなかった数を返す
taknokolat 12:083662bca47d 598 const char *paramNames[] = {
taknokolat 12:083662bca47d 599 "SERVO_NEUTRAL_R",
taknokolat 12:083662bca47d 600 "SERVO_NEUTRAL_L",
taknokolat 12:083662bca47d 601 "SERVO_HIGH_FORWARD_R",
taknokolat 12:083662bca47d 602 "SERVO_HIGH_FORWARD_L",
taknokolat 12:083662bca47d 603 "SERVO_SLOW_FORWARD_R",
taknokolat 12:083662bca47d 604 "SERVO_SLOW_FORWARD_L",
taknokolat 12:083662bca47d 605 "TURNTABLE_NEUTRAL",
taknokolat 12:083662bca47d 606 "MATCH_SPEED",
taknokolat 12:083662bca47d 607 "FOCUS_NEUTRAL",
taknokolat 12:083662bca47d 608 "CAMERA_DEG_A",
taknokolat 16:26cee2aaf61d 609 "CAMERA_DEG_B",
taknokolat 16:26cee2aaf61d 610 "PINT_SPEED",
taknokolat 16:26cee2aaf61d 611 "PINT_WAIT"
taknokolat 12:083662bca47d 612 };
taknokolat 12:083662bca47d 613
taknokolat 12:083662bca47d 614 fp = fopen("/sd/option.txt","r");
taknokolat 12:083662bca47d 615
taknokolat 12:083662bca47d 616 if(fp != NULL){ //開けたら
taknokolat 12:083662bca47d 617 pc.printf("File was openned.\r\n");
taknokolat 12:083662bca47d 618 if(GetParameter(fp,paramNames[0],parameter)) *Servo_NEUTRAL_R = atof(parameter);
taknokolat 12:083662bca47d 619 else{ *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 620 SDerrorcount++;
taknokolat 12:083662bca47d 621 }
taknokolat 12:083662bca47d 622 if(GetParameter(fp,paramNames[1],parameter)) *Servo_NEUTRAL_L = atof(parameter);
taknokolat 12:083662bca47d 623 else{ *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 624 SDerrorcount++;
taknokolat 12:083662bca47d 625 }
taknokolat 12:083662bca47d 626 if(GetParameter(fp,paramNames[2],parameter)) *Servo_high_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 627 else{ *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 628 SDerrorcount++;
taknokolat 12:083662bca47d 629 }
taknokolat 12:083662bca47d 630 if(GetParameter(fp,paramNames[3],parameter)) *Servo_high_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 631 else{ *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 632 SDerrorcount++;
taknokolat 12:083662bca47d 633 }
taknokolat 12:083662bca47d 634 if(GetParameter(fp,paramNames[4],parameter)) *Servo_slow_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 635 else{ *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 636 SDerrorcount++;
taknokolat 12:083662bca47d 637 }
taknokolat 12:083662bca47d 638 if(GetParameter(fp,paramNames[5],parameter)) *Servo_slow_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 639 else{ *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 640 SDerrorcount++;
taknokolat 12:083662bca47d 641 }
taknokolat 12:083662bca47d 642
taknokolat 12:083662bca47d 643 if(GetParameter(fp,paramNames[6],parameter)) *Turntable_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 644 else{ *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 645 SDerrorcount++;
taknokolat 12:083662bca47d 646 }
taknokolat 12:083662bca47d 647 if(GetParameter(fp,paramNames[7],parameter)) *Matchspeed = atof(parameter);
taknokolat 12:083662bca47d 648 else{ *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 649 SDerrorcount++;
taknokolat 12:083662bca47d 650 }
taknokolat 12:083662bca47d 651 if(GetParameter(fp,paramNames[8],parameter)) *Focus_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 652 else{ *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 653 SDerrorcount++;
taknokolat 12:083662bca47d 654 }
taknokolat 12:083662bca47d 655 if(GetParameter(fp,paramNames[9],parameter)) *Camera_deg_A = atof(parameter);
taknokolat 12:083662bca47d 656 else{ *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 657 SDerrorcount++;
taknokolat 12:083662bca47d 658 }
taknokolat 12:083662bca47d 659 if(GetParameter(fp,paramNames[10],parameter)) *Camera_deg_B = atof(parameter);
taknokolat 12:083662bca47d 660 else{ *Camera_deg_B = camera_deg_B;
taknokolat 12:083662bca47d 661 SDerrorcount++;
taknokolat 12:083662bca47d 662 }
taknokolat 16:26cee2aaf61d 663 if(GetParameter(fp,paramNames[11],parameter)) *Pint_speed = atof(parameter);
taknokolat 16:26cee2aaf61d 664 else{ *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 665 SDerrorcount++;
taknokolat 16:26cee2aaf61d 666 }
taknokolat 16:26cee2aaf61d 667 if(GetParameter(fp,paramNames[12],parameter)) *Pint_wait = atof(parameter);
taknokolat 16:26cee2aaf61d 668 else{ *Pint_wait = pint_wait;
taknokolat 16:26cee2aaf61d 669 SDerrorcount++;
taknokolat 16:26cee2aaf61d 670 }
taknokolat 12:083662bca47d 671
taknokolat 12:083662bca47d 672 fclose(fp);
taknokolat 12:083662bca47d 673
taknokolat 12:083662bca47d 674 }else{ //ファイルがなかったら
taknokolat 12:083662bca47d 675 pc.printf("fp was null.\r\n");
taknokolat 12:083662bca47d 676
taknokolat 12:083662bca47d 677 *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 678 *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 679 *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 680 *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 681 *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 682 *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 683 *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 684 *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 685 *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 686 *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 687 *Camera_deg_B = camera_deg_B;
taknokolat 16:26cee2aaf61d 688 *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 689 *Pint_wait = pint_wait;
taknokolat 12:083662bca47d 690 SDerrorcount = -1;
taknokolat 12:083662bca47d 691 }
taknokolat 12:083662bca47d 692 pc.printf("SDsetup finished.\r\n");
taknokolat 12:083662bca47d 693 if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
taknokolat 12:083662bca47d 694 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
taknokolat 12:083662bca47d 695 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
taknokolat 12:083662bca47d 696
taknokolat 12:083662bca47d 697 pc.printf("Servo_NEUTRAL_R = %d, Servo_NEUTRAL_L = %d\r\n", *Servo_NEUTRAL_R, *Servo_NEUTRAL_L);
taknokolat 13:b088f0db7158 698 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 699 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 700 pc.printf("Turntable_NEUTRAL = %d, Matchspeed = %d\r\n", *Turntable_NEUTRAL, *Matchspeed);
taknokolat 13:b088f0db7158 701 pc.printf("Focus_NEUTRAL = %d\r\n", *Focus_NEUTRAL);
taknokolat 13:b088f0db7158 702 pc.printf("Camera_deg_A = %d, Camera_deg_B = %d\r\n", *Camera_deg_A, *Camera_deg_B);
taknokolat 16:26cee2aaf61d 703 pc.printf("Pint_speed = %d, Pint_wait = %f\r\n", *Pint_speed, *Pint_wait);
taknokolat 12:083662bca47d 704
taknokolat 12:083662bca47d 705 return SDerrorcount;
taknokolat 12:083662bca47d 706 }
taknokolat 12:083662bca47d 707
taknokolat 12:083662bca47d 708 int GetParameter(FILE *fp, const char *paramName,char parameter[]){
taknokolat 12:083662bca47d 709 int i=0, j=0;
taknokolat 12:083662bca47d 710 int strmax = 200;
taknokolat 12:083662bca47d 711 char str[strmax];
taknokolat 12:083662bca47d 712
taknokolat 12:083662bca47d 713 rewind(fp); //ファイル位置を先頭に
taknokolat 12:083662bca47d 714 while(1){
taknokolat 12:083662bca47d 715 if (fgets(str, strmax, fp) == NULL) {
taknokolat 12:083662bca47d 716 return 0;
taknokolat 12:083662bca47d 717 }
taknokolat 12:083662bca47d 718 if (!strncmp(str, paramName, strlen(paramName))) {
taknokolat 12:083662bca47d 719 while (str[i++] != '=') {}
taknokolat 12:083662bca47d 720 while (str[i] != '\n') {
taknokolat 12:083662bca47d 721 parameter[j++] = str[i++];
taknokolat 12:083662bca47d 722 }
taknokolat 12:083662bca47d 723 parameter[j] = '\0';
taknokolat 12:083662bca47d 724 return 1;
taknokolat 12:083662bca47d 725 }
taknokolat 12:083662bca47d 726 }
taknokolat 12:083662bca47d 727 }
taknokolat 12:083662bca47d 728
taknokolat 12:083662bca47d 729
taknokolat 6:166746820555 730
taknokolat 4:67f705d42f1e 731 void DebugPrint(){
taknokolat 4:67f705d42f1e 732 //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 733 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 7:8989a4b84695 734 //pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 7:8989a4b84695 735 //pc.printf("\r\n");
taknokolat 6:166746820555 736 }