航空研究会 / Mbed 2 deprecated hassi_log_test

log編集中

Dependencies:   mbed MPU6050_2 HMC5883L_2 SDFileSystem3

main.cpp@17:6b00aec234c7, 2019-02-13 (annotated)

Committer:
taknokolat
Date:
Wed Feb 13 11:38:59 2019 +0000
Revision:
17:6b00aec234c7
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
taknokolat 17:6b00aec234c7 10 #define LOGNAME "Datalog" //拡張子を除いたログファイル名
HARUKIDELTA 0:84ddd6d354e1 11
taknokolat 11:d44d137831b9 12 #define servo_NEUTRAL_R 1614
taknokolat 11:d44d137831b9 13 #define servo_NEUTRAL_L 1621
HARUKIDELTA 0:84ddd6d354e1 14 #define servo_slow_FORWARD_R 1560
HARUKIDELTA 0:84ddd6d354e1 15 #define servo_slow_FORWARD_L 1560
taknokolat 12:083662bca47d 16 #define servo_low_FORWARD_R 1560 //RasPi速さ調節用
taknokolat 12:083662bca47d 17 #define servo_high_FORWARD_R 1860
taknokolat 12:083662bca47d 18 #define servo_low_FORWARD_L 1560
taknokolat 12:083662bca47d 19 #define servo_high_FORWARD_L 1860
taknokolat 12:083662bca47d 20 #define servo_low_back_R 1360
taknokolat 12:083662bca47d 21 #define servo_high_back_R 1160
taknokolat 12:083662bca47d 22 #define servo_low_back_L 1360
taknokolat 12:083662bca47d 23 #define servo_high_back_L 1160
taknokolat 12:083662bca47d 24 #define turntable_NEUTRAL 1180 //カメラ台座のサーボ
taknokolat 12:083662bca47d 25 #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 26 #define focus_NEUTRAL 1455 //焦点合わせ用サーボ
taknokolat 12:083662bca47d 27 #define camera_deg_A 1400 //カメラ角度調整
taknokolat 12:083662bca47d 28 #define camera_deg_B 1800
taknokolat 16:26cee2aaf61d 29 #define pint_speed 25
taknokolat 16:26cee2aaf61d 30 #define pint_wait 3.5
HARUKIDELTA 0:84ddd6d354e1 31
HARUKIDELTA 0:84ddd6d354e1 32 #define MOVE_NEUTRAL 0
HARUKIDELTA 0:84ddd6d354e1 33 #define MOVE_FORWARD 1
HARUKIDELTA 0:84ddd6d354e1 34 #define MOVE_LEFT 2
HARUKIDELTA 0:84ddd6d354e1 35 #define MOVE_RIGHT 3
HARUKIDELTA 0:84ddd6d354e1 36 #define MOVE_BACK 4
Skykon 3:c18342e4fddd 37 #define GOAL_FORWARD 5 //ゴール付近_ゆっくり
HARUKIDELTA 0:84ddd6d354e1 38 #define GOAL_LEFT 6
HARUKIDELTA 0:84ddd6d354e1 39 #define GOAL_RIGHT 7
Skykon 3:c18342e4fddd 40 #define MAX_FORWARD 8 //はやい_姿勢修正用
HARUKIDELTA 0:84ddd6d354e1 41 #define MAX_BACK 9
HARUKIDELTA 0:84ddd6d354e1 42
taknokolat 1:290e621741fd 43 void getSF_Serial_jevois();
taknokolat 1:290e621741fd 44 void getSF_Serial_pi();
taknokolat 1:290e621741fd 45
Skykon 3:c18342e4fddd 46 //MPU_check用
Skykon 3:c18342e4fddd 47 void SensingMPU();
taknokolat 7:8989a4b84695 48
taknokolat 7:8989a4b84695 49 void MoveCansat(char g_landingcommand);
Skykon 3:c18342e4fddd 50 void setup();
Skykon 3:c18342e4fddd 51 void Init_sensors();
Skykon 3:c18342e4fddd 52 void DisplayClock();
taknokolat 4:67f705d42f1e 53 void DebugPrint();
taknokolat 6:166746820555 54 void SensingHMC();
taknokolat 7:8989a4b84695 55 void MoveCameraBoard();
taknokolat 7:8989a4b84695 56 void MatchPosition();
taknokolat 7:8989a4b84695 57 void FocusAdjust();
taknokolat 17:6b00aec234c7 58 void NewFileCreate(char *fname); //新しくファイルを生成
Skykon 3:c18342e4fddd 59
taknokolat 12:083662bca47d 60 //sd設定
taknokolat 12:083662bca47d 61 int GetParameter(FILE *fp, const char *paramName,char parameter[]);
taknokolat 12:083662bca47d 62
taknokolat 13:b088f0db7158 63 int SetOptions(int *Servo_NEUTRAL_R,int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 64 int *Servo_high_FORWARD_R,int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 65 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 66 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 67 int *Camera_deg_A, int *Camera_deg_B,
taknokolat 16:26cee2aaf61d 68 int *Pint_speed, float *Pint_wait
taknokolat 12:083662bca47d 69 );
taknokolat 12:083662bca47d 70
taknokolat 6:166746820555 71 static float nowAngle[3] = {0,0,0},nowAngle_HMC=0;
taknokolat 6:166746820555 72 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0,g_FirstYAW_HMC;
Skykon 3:c18342e4fddd 73
taknokolat 7:8989a4b84695 74 bool setupFlag = false;
taknokolat 7:8989a4b84695 75 bool CameraDegFlag = false;
taknokolat 7:8989a4b84695 76 bool jevoisFlag = true;
taknokolat 4:67f705d42f1e 77
Skykon 3:c18342e4fddd 78 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
Skykon 3:c18342e4fddd 79
Skykon 3:c18342e4fddd 80 Timer t;
Skykon 3:c18342e4fddd 81
taknokolat 14:90e9b44eb819 82 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
taknokolat 14:90e9b44eb819 83
taknokolat 11:d44d137831b9 84 RawSerial pc(PA_2,PA_3,115200); //uart2
taknokolat 11:d44d137831b9 85 //pa2:UART2_TX,pa3:UART2_RX
taknokolat 12:083662bca47d 86 RawSerial pc2(PA_11,PA_12,115200); //uart1
taknokolat 11:d44d137831b9 87 //pb6:UART1_TX,pb7:UART1_RX
taknokolat 11:d44d137831b9 88
HARUKIDELTA 5:8bfe95431ec0 89 //PWM pin宣言
taknokolat 6:166746820555 90 PwmOut servoR(PC_6); //TIM3_CH1 車輪右
taknokolat 6:166746820555 91 PwmOut servoL(PC_7); //TIM3_CH2 車輪左
HARUKIDELTA 5:8bfe95431ec0 92 PwmOut servoTurnTable(PB_0); //TIM3_CH3 カメラ台回転Servo
HARUKIDELTA 5:8bfe95431ec0 93 PwmOut servoCameradeg(PB_1); //TIM3_CH4 カメラ角度調節Servo
HARUKIDELTA 5:8bfe95431ec0 94 PwmOut servoCameraPinto(PB_6); //TIM4_CH1 カメラピント合わせ
HARUKIDELTA 5:8bfe95431ec0 95 PwmOut servoCameramount(PA_6); //skipperウラ カメラマウント起動
HARUKIDELTA 5:8bfe95431ec0 96 PwmOut servoGetUP(PC_8); //skipperウラ 起き上がり動作
Skykon 3:c18342e4fddd 97
HARUKIDELTA 5:8bfe95431ec0 98 /*通信用のpinは
HARUKIDELTA 5:8bfe95431ec0 99 PA_3(UART2_Rx) skipperウラ
HARUKIDELTA 5:8bfe95431ec0 100 PA_12(UART6_Rx) skipperオモテ USB端子より
HARUKIDELTA 5:8bfe95431ec0 101 PB_7 (UART1_Rx) skipperオモテ 6番目 TIM4_CH2
HARUKIDELTA 5:8bfe95431ec0 102 */
HARUKIDELTA 5:8bfe95431ec0 103
HARUKIDELTA 5:8bfe95431ec0 104 /*超音波はRaspberryPiに積む*/
HARUKIDELTA 5:8bfe95431ec0 105
HARUKIDELTA 5:8bfe95431ec0 106 //外付けコンパス
taknokolat 6:166746820555 107 HMC5883L compass(PB_9, PB_8); //コンパスセンサー TIM4_CH3とCH4
HARUKIDELTA 0:84ddd6d354e1 108
taknokolat 2:f30666d7838b 109 char g_landingcommand='N';
taknokolat 1:290e621741fd 110
Skykon 3:c18342e4fddd 111 //MPU_check用
Skykon 3:c18342e4fddd 112 MPU6050DMP6 mpu6050(PC_0,&pc);
Skykon 3:c18342e4fddd 113
Skykon 3:c18342e4fddd 114
HARUKIDELTA 0:84ddd6d354e1 115 int main() {
taknokolat 1:290e621741fd 116
Skykon 3:c18342e4fddd 117 //MPU_check
Skykon 3:c18342e4fddd 118 setup();
Skykon 3:c18342e4fddd 119
taknokolat 15:1519fccfcae3 120 servoCameradeg.pulsewidth_us(camera_deg_A);
taknokolat 11:d44d137831b9 121
taknokolat 1:290e621741fd 122 // シリアル通信受信の割り込みイベント登録
taknokolat 1:290e621741fd 123 pc.attach(getSF_Serial_jevois, Serial::RxIrq);
taknokolat 12:083662bca47d 124 pc2.attach(getSF_Serial_pi, Serial::RxIrq);
taknokolat 1:290e621741fd 125
HARUKIDELTA 0:84ddd6d354e1 126 while(1) {
taknokolat 7:8989a4b84695 127 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 128 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 129
taknokolat 10:63fe920595a7 130 MoveCameraBoard();
taknokolat 10:63fe920595a7 131
taknokolat 7:8989a4b84695 132 if(g_landingcommand!='N') MatchPosition();
taknokolat 8:d11a59d2a2f1 133
taknokolat 8:d11a59d2a2f1 134 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 8:d11a59d2a2f1 135 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 136
taknokolat 7:8989a4b84695 137 MoveCansat(g_landingcommand);
Skykon 3:c18342e4fddd 138 wait_ms(23);
taknokolat 8:d11a59d2a2f1 139
taknokolat 7:8989a4b84695 140 if(jevoisFlag==true) NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 141 else NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 142 }
HARUKIDELTA 0:84ddd6d354e1 143 }
HARUKIDELTA 0:84ddd6d354e1 144
Skykon 3:c18342e4fddd 145
taknokolat 1:290e621741fd 146 void MoveCansat(char g_landingcommand)
HARUKIDELTA 0:84ddd6d354e1 147 {
taknokolat 2:f30666d7838b 148 //NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 149 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 150 switch(g_landingcommand){
taknokolat 2:f30666d7838b 151 case 'N': //MOVE_NEUTRAL
HARUKIDELTA 0:84ddd6d354e1 152 servoR.pulsewidth_us(servo_NEUTRAL_R);
HARUKIDELTA 0:84ddd6d354e1 153 servoL.pulsewidth_us(servo_NEUTRAL_L);
taknokolat 2:f30666d7838b 154 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 155 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 156 break;
taknokolat 1:290e621741fd 157
taknokolat 2:f30666d7838b 158 case 'Y': //MOVE_FORWARD
taknokolat 12:083662bca47d 159 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 160 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 2:f30666d7838b 161 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 162 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 163 break;
taknokolat 1:290e621741fd 164
taknokolat 12:083662bca47d 165 case 'l': //MOVE_LEFT Low Speed
taknokolat 12:083662bca47d 166 servoR.pulsewidth_us(servo_low_FORWARD_R);
taknokolat 12:083662bca47d 167 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 168 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 169
taknokolat 12:083662bca47d 170 case 'L': //MOVE_LEFT High Speed
taknokolat 12:083662bca47d 171 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 2:f30666d7838b 172 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 173 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 174
taknokolat 12:083662bca47d 175 case 'r': //MOVE_RIGHT Low Speed
taknokolat 12:083662bca47d 176 servoL.pulsewidth_us(servo_low_FORWARD_L);
taknokolat 2:f30666d7838b 177 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 178 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 179 break;
taknokolat 12:083662bca47d 180
taknokolat 12:083662bca47d 181 case 'R': //MOVE_RIGHT High Speed
taknokolat 12:083662bca47d 182 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 2:f30666d7838b 183 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 184 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 185 break;
taknokolat 1:290e621741fd 186
taknokolat 1:290e621741fd 187 case 'G': //GOAL_FORWARD
HARUKIDELTA 0:84ddd6d354e1 188 servoR.pulsewidth_us(servo_slow_FORWARD_R);
HARUKIDELTA 0:84ddd6d354e1 189 servoL.pulsewidth_us(servo_slow_FORWARD_L);
taknokolat 2:f30666d7838b 190 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 191 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 192 break;
taknokolat 12:083662bca47d 193
taknokolat 12:083662bca47d 194 case '1': //MOVE_FORWARD Speed Level 1
taknokolat 12:083662bca47d 195 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 196 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 197 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 198 wait(1);
taknokolat 12:083662bca47d 199 do{
taknokolat 12:083662bca47d 200 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 201 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 202 break;
taknokolat 12:083662bca47d 203
taknokolat 12:083662bca47d 204 case '2': //MOVE_FORWARD Speed Level 2
taknokolat 12:083662bca47d 205 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 206 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 207 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 208 wait(2);
taknokolat 12:083662bca47d 209 do{
taknokolat 12:083662bca47d 210 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 211 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 212 break;
taknokolat 12:083662bca47d 213
taknokolat 12:083662bca47d 214 case '3': //MOVE_FORWARD Speed Level 3
taknokolat 12:083662bca47d 215 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 216 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 217 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 218 wait(3);
taknokolat 12:083662bca47d 219 do{
taknokolat 12:083662bca47d 220 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 221 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 222 break;
taknokolat 12:083662bca47d 223
taknokolat 12:083662bca47d 224 case '4': //MOVE_FORWARD Speed Level 4
taknokolat 12:083662bca47d 225 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 226 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 227 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 228 wait(4);
taknokolat 12:083662bca47d 229 do{
taknokolat 12:083662bca47d 230 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 231 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 232 break;
taknokolat 7:8989a4b84695 233
taknokolat 12:083662bca47d 234 case '5': //MOVE_FORWARD Speed Level 5
taknokolat 12:083662bca47d 235 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 236 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 7:8989a4b84695 237 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 238 wait(5);
taknokolat 10:63fe920595a7 239 do{
taknokolat 10:63fe920595a7 240 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 7:8989a4b84695 241 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 242 break;
taknokolat 7:8989a4b84695 243
taknokolat 7:8989a4b84695 244 case 'M': //MatchPosition
taknokolat 12:083662bca47d 245 servoR.pulsewidth_us(matchspeed);
taknokolat 7:8989a4b84695 246 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 247 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 248 break;
taknokolat 7:8989a4b84695 249
taknokolat 12:083662bca47d 250 case 'P': //jevoisからraspberry piへの切り替え
taknokolat 7:8989a4b84695 251 jevoisFlag = false;
taknokolat 7:8989a4b84695 252 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 253 break;
taknokolat 12:083662bca47d 254
taknokolat 12:083662bca47d 255 case 'S':
taknokolat 12:083662bca47d 256 /*RasPiからの超音波判定(プログラムスタート部)*/
taknokolat 12:083662bca47d 257 break;
taknokolat 1:290e621741fd 258
taknokolat 1:290e621741fd 259 default :
taknokolat 2:f30666d7838b 260 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 261 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 262 break;
taknokolat 1:290e621741fd 263
HARUKIDELTA 0:84ddd6d354e1 264 }
taknokolat 7:8989a4b84695 265
HARUKIDELTA 0:84ddd6d354e1 266 return;
taknokolat 1:290e621741fd 267 }
taknokolat 1:290e621741fd 268
taknokolat 7:8989a4b84695 269 void MoveCameraBoard(){
taknokolat 7:8989a4b84695 270 MoveCansat('N');
taknokolat 10:63fe920595a7 271 g_landingcommand='N';
taknokolat 11:d44d137831b9 272 servoTurnTable.pulsewidth_us(1800);
taknokolat 11:d44d137831b9 273 wait_ms(600);
taknokolat 12:083662bca47d 274 servoTurnTable.pulsewidth_us(turntable_NEUTRAL);
taknokolat 7:8989a4b84695 275 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 276 else wait(1);
taknokolat 7:8989a4b84695 277
taknokolat 7:8989a4b84695 278 if(g_landingcommand!='N') return;
taknokolat 7:8989a4b84695 279 if(!CameraDegFlag){
taknokolat 15:1519fccfcae3 280 for(int i=0; i<camera_deg_B-camera_deg_A;i=i+10){
taknokolat 15:1519fccfcae3 281 servoCameradeg.pulsewidth_us(camera_deg_A+10);
taknokolat 15:1519fccfcae3 282 wait_ms(20);
taknokolat 15:1519fccfcae3 283 }
taknokolat 7:8989a4b84695 284 CameraDegFlag=!CameraDegFlag;
taknokolat 7:8989a4b84695 285 }else{
taknokolat 15:1519fccfcae3 286 for(int i=0; i<camera_deg_B-camera_deg_A;i=i+10){
taknokolat 15:1519fccfcae3 287 servoCameradeg.pulsewidth_us(camera_deg_A-10);
taknokolat 15:1519fccfcae3 288 }
taknokolat 7:8989a4b84695 289 CameraDegFlag = !CameraDegFlag;
taknokolat 7:8989a4b84695 290 }
taknokolat 7:8989a4b84695 291
taknokolat 7:8989a4b84695 292 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 293 else wait(1);
taknokolat 7:8989a4b84695 294
taknokolat 7:8989a4b84695 295 return;
taknokolat 7:8989a4b84695 296 }
taknokolat 7:8989a4b84695 297
taknokolat 7:8989a4b84695 298 void MatchPosition(){
taknokolat 7:8989a4b84695 299 SensingMPU();
taknokolat 7:8989a4b84695 300 SensingHMC();
taknokolat 7:8989a4b84695 301 DebugPrint();
taknokolat 7:8989a4b84695 302
taknokolat 9:21cd5d18ad9e 303 while(nowAngle[YAW] <= nowAngle_HMC+5 && nowAngle[YAW] >= nowAngle_HMC-5){
taknokolat 7:8989a4b84695 304 MoveCansat('M');
taknokolat 9:21cd5d18ad9e 305 SensingMPU();
taknokolat 7:8989a4b84695 306 }
taknokolat 7:8989a4b84695 307 return;
taknokolat 7:8989a4b84695 308 }
taknokolat 7:8989a4b84695 309
taknokolat 7:8989a4b84695 310 void FocusAdjust(){
taknokolat 15:1519fccfcae3 311 servoCameraPinto.pulsewidth_us(focus_NEUTRAL-200);
taknokolat 15:1519fccfcae3 312 //pc.printf("set\r\n");
taknokolat 11:d44d137831b9 313 wait(1);
taknokolat 7:8989a4b84695 314
taknokolat 16:26cee2aaf61d 315 servoCameraPinto.pulsewidth_us(focus_NEUTRAL+pint_speed);
taknokolat 15:1519fccfcae3 316 //pc.printf("check\r\n");
taknokolat 16:26cee2aaf61d 317 wait(pint_wait);
taknokolat 15:1519fccfcae3 318 servoCameraPinto.pulsewidth_us(focus_NEUTRAL);
taknokolat 11:d44d137831b9 319
taknokolat 7:8989a4b84695 320 return;
taknokolat 15:1519fccfcae3 321 }
taknokolat 7:8989a4b84695 322
taknokolat 1:290e621741fd 323 void getSF_Serial_jevois(){
taknokolat 1:290e621741fd 324
taknokolat 1:290e621741fd 325
taknokolat 1:290e621741fd 326 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 327
taknokolat 1:290e621741fd 328 static int bufcounter=0;
taknokolat 1:290e621741fd 329
taknokolat 1:290e621741fd 330
taknokolat 1:290e621741fd 331
taknokolat 1:290e621741fd 332 if(pc.readable()) { // 受信確認
taknokolat 1:290e621741fd 333
taknokolat 1:290e621741fd 334 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 335 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 336 //pc.printf("x");
taknokolat 1:290e621741fd 337 return;
taknokolat 1:290e621741fd 338 }
taknokolat 1:290e621741fd 339
taknokolat 1:290e621741fd 340
taknokolat 1:290e621741fd 341
taknokolat 1:290e621741fd 342 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 343
Skykon 3:c18342e4fddd 344 if(SFbuf[0]=='S' && bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 345
taknokolat 1:290e621741fd 346 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 347
taknokolat 1:290e621741fd 348 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 349 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 350 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 351 //wait_ms(20);
taknokolat 1:290e621741fd 352 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 353 bufcounter = 0;
taknokolat 1:290e621741fd 354 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 355 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 356 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 357 }
taknokolat 1:290e621741fd 358
taknokolat 1:290e621741fd 359 else if(bufcounter>=5){
taknokolat 1:290e621741fd 360 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 361 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 362 bufcounter = 0;
taknokolat 1:290e621741fd 363 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 364 }
taknokolat 1:290e621741fd 365 }
taknokolat 1:290e621741fd 366
taknokolat 1:290e621741fd 367
taknokolat 1:290e621741fd 368 }
taknokolat 1:290e621741fd 369
taknokolat 1:290e621741fd 370
taknokolat 12:083662bca47d 371 void getSF_Serial_pi(){
taknokolat 2:f30666d7838b 372
taknokolat 7:8989a4b84695 373 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 374
taknokolat 1:290e621741fd 375 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 376
taknokolat 1:290e621741fd 377 static int bufcounter=0;
taknokolat 1:290e621741fd 378
taknokolat 1:290e621741fd 379
taknokolat 1:290e621741fd 380
taknokolat 1:290e621741fd 381 if(pc2.readable()) { // 受信確認
taknokolat 1:290e621741fd 382
taknokolat 1:290e621741fd 383 SFbuf[bufcounter] = pc2.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 384 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 385 //pc.printf("x");
taknokolat 1:290e621741fd 386 return;
taknokolat 1:290e621741fd 387 }
taknokolat 1:290e621741fd 388
taknokolat 1:290e621741fd 389
taknokolat 1:290e621741fd 390
taknokolat 1:290e621741fd 391 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 392
taknokolat 1:290e621741fd 393 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 394
taknokolat 1:290e621741fd 395 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 396
taknokolat 1:290e621741fd 397 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 398 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 399 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 400 //wait_ms(20);
taknokolat 1:290e621741fd 401 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 402 bufcounter = 0;
taknokolat 1:290e621741fd 403 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 404 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 405 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 406 }
taknokolat 1:290e621741fd 407
taknokolat 1:290e621741fd 408 else if(bufcounter>=5){
taknokolat 1:290e621741fd 409 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 410 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 411 bufcounter = 0;
taknokolat 1:290e621741fd 412 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 413 }
taknokolat 1:290e621741fd 414 }
taknokolat 2:f30666d7838b 415
taknokolat 7:8989a4b84695 416 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 417
taknokolat 12:083662bca47d 418 }
taknokolat 1:290e621741fd 419
Skykon 3:c18342e4fddd 420
Skykon 3:c18342e4fddd 421 void setup(){
Skykon 3:c18342e4fddd 422
taknokolat 13:b088f0db7158 423 SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 424 &Servo_high_FORWARD_R, &Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 425 &Servo_slow_FORWARD_R,&Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 426 &Turntable_NEUTRAL,&Matchspeed,&Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 427 &Camera_deg_A, &Camera_deg_B,
taknokolat 16:26cee2aaf61d 428 &Pint_speed,&Pint_wait
taknokolat 17:6b00aec234c7 429 );
taknokolat 17:6b00aec234c7 430
taknokolat 17:6b00aec234c7 431 char filename[30];
taknokolat 16:26cee2aaf61d 432
taknokolat 17:6b00aec234c7 433 NewFileCreate(filename);
taknokolat 12:083662bca47d 434
Skykon 3:c18342e4fddd 435 Init_sensors();
Skykon 3:c18342e4fddd 436 //switch2.rise(ResetTrim);
Skykon 3:c18342e4fddd 437
taknokolat 7:8989a4b84695 438 //NVIC_SetPriority(USART1_IRQn,0);
taknokolat 7:8989a4b84695 439 //NVIC_SetPriority(EXTI0_IRQn,1);
taknokolat 7:8989a4b84695 440 //NVIC_SetPriority(TIM5_IRQn,2);
taknokolat 7:8989a4b84695 441 //NVIC_SetPriority(EXTI9_5_IRQn,3);
taknokolat 7:8989a4b84695 442 //NVIC_SetPriority(USART2_IRQn,4);
taknokolat 7:8989a4b84695 443
taknokolat 7:8989a4b84695 444 NVIC_SetPriority(USART1_IRQn,0);//割り込み優先度
taknokolat 7:8989a4b84695 445 NVIC_SetPriority(USART2_IRQn,1);
taknokolat 7:8989a4b84695 446
Skykon 3:c18342e4fddd 447 DisplayClock();
Skykon 3:c18342e4fddd 448 t.start();
Skykon 3:c18342e4fddd 449
Skykon 3:c18342e4fddd 450 pc.printf("MPU calibration start\r\n");
taknokolat 6:166746820555 451 pc.printf("HMC calibration start\r\n");
Skykon 3:c18342e4fddd 452
Skykon 3:c18342e4fddd 453 float offsetstart = t.read();
Skykon 3:c18342e4fddd 454 while(t.read() - offsetstart < 26){
Skykon 3:c18342e4fddd 455 SensingMPU();
taknokolat 6:166746820555 456 SensingHMC();
Skykon 3:c18342e4fddd 457 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
taknokolat 6:166746820555 458 pc.printf("%3.2f\t",nowAngle_HMC);
Skykon 3:c18342e4fddd 459 pc.printf("\r\n");
Skykon 3:c18342e4fddd 460 }
Skykon 3:c18342e4fddd 461
Skykon 3:c18342e4fddd 462 FirstROLL = nowAngle[ROLL];
Skykon 3:c18342e4fddd 463 FirstPITCH = nowAngle[PITCH];
Skykon 3:c18342e4fddd 464 nowAngle[ROLL] -=FirstROLL;
Skykon 3:c18342e4fddd 465 nowAngle[PITCH] -=FirstPITCH;
taknokolat 6:166746820555 466 FirstYAW = nowAngle[YAW];
taknokolat 6:166746820555 467 nowAngle[YAW] -= FirstYAW;
taknokolat 6:166746820555 468
taknokolat 6:166746820555 469 g_FirstYAW_HMC = nowAngle_HMC;
taknokolat 6:166746820555 470 nowAngle_HMC -=g_FirstYAW_HMC;
taknokolat 6:166746820555 471 if(nowAngle_HMC<0)nowAngle_HMC+=360;
Skykon 3:c18342e4fddd 472
Skykon 3:c18342e4fddd 473 wait(0.2);
Skykon 3:c18342e4fddd 474
Skykon 3:c18342e4fddd 475 pc.printf("All initialized\r\n");
taknokolat 4:67f705d42f1e 476 setupFlag=true;
taknokolat 1:290e621741fd 477 }
taknokolat 1:290e621741fd 478
Skykon 3:c18342e4fddd 479
Skykon 3:c18342e4fddd 480 void SensingMPU(){
Skykon 3:c18342e4fddd 481 //static int16_t deltaT = 0, t_start = 0;
Skykon 3:c18342e4fddd 482 //t_start = t.read_us();
Skykon 3:c18342e4fddd 483
taknokolat 7:8989a4b84695 484 float rpy[3] = {0};
Skykon 3:c18342e4fddd 485 static uint16_t count_changeRPY = 0;
Skykon 3:c18342e4fddd 486 static bool flg_checkoutlier = false;
Skykon 3:c18342e4fddd 487 NVIC_DisableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 488 NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 489 NVIC_DisableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 490 NVIC_DisableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 491 NVIC_DisableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 492
Skykon 3:c18342e4fddd 493 mpu6050.getRollPitchYaw_Skipper(rpy);
Skykon 3:c18342e4fddd 494
Skykon 3:c18342e4fddd 495 NVIC_EnableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 496 NVIC_EnableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 497 NVIC_EnableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 498 NVIC_EnableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 499 NVIC_EnableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 500
Skykon 3:c18342e4fddd 501
Skykon 3:c18342e4fddd 502 //外れ値対策
Skykon 3:c18342e4fddd 503 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
Skykon 3:c18342e4fddd 504 rpy[ROLL] -= FirstROLL;
Skykon 3:c18342e4fddd 505 rpy[PITCH] -= FirstPITCH;
taknokolat 4:67f705d42f1e 506 if(!setupFlag){
taknokolat 4:67f705d42f1e 507 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 508 }else{
taknokolat 4:67f705d42f1e 509 if(rpy[YAW] >= FirstYAW){
taknokolat 4:67f705d42f1e 510 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 511 }else{
taknokolat 4:67f705d42f1e 512 rpy[YAW] += 360.0f;
taknokolat 4:67f705d42f1e 513 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 514 }
taknokolat 4:67f705d42f1e 515 }
Skykon 3:c18342e4fddd 516
Skykon 3:c18342e4fddd 517 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 518 if(!flg_checkoutlier || count_changeRPY >= 2){
Skykon 3:c18342e4fddd 519 for(uint8_t i=0; i<3; i++){
Skykon 3:c18342e4fddd 520 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
Skykon 3:c18342e4fddd 521 }
Skykon 3:c18342e4fddd 522 count_changeRPY = 0;
Skykon 3:c18342e4fddd 523 }else count_changeRPY++;
Skykon 3:c18342e4fddd 524 flg_checkoutlier = false;
Skykon 3:c18342e4fddd 525
Skykon 3:c18342e4fddd 526 }
Skykon 3:c18342e4fddd 527
Skykon 3:c18342e4fddd 528
Skykon 3:c18342e4fddd 529 void Init_sensors(){
Skykon 3:c18342e4fddd 530 if(mpu6050.setup() == -1){
Skykon 3:c18342e4fddd 531 pc.printf("failed initialize\r\n");
Skykon 3:c18342e4fddd 532 }
Skykon 3:c18342e4fddd 533 }
Skykon 3:c18342e4fddd 534
Skykon 3:c18342e4fddd 535
Skykon 3:c18342e4fddd 536 void DisplayClock(){
Skykon 3:c18342e4fddd 537 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
Skykon 3:c18342e4fddd 538 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
Skykon 3:c18342e4fddd 539 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
Skykon 3:c18342e4fddd 540 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
Skykon 3:c18342e4fddd 541 pc.printf("\r\n");
taknokolat 4:67f705d42f1e 542 }
taknokolat 6:166746820555 543
taknokolat 6:166746820555 544 void SensingHMC(){
taknokolat 6:166746820555 545 //static int16_t deltaT = 0, t_start = 0;
taknokolat 6:166746820555 546 //t_start = t.read_us();
taknokolat 6:166746820555 547
taknokolat 7:8989a4b84695 548 float rpy=0;
taknokolat 6:166746820555 549 static uint16_t count_changeRPY = 0;
taknokolat 6:166746820555 550 static bool flg_checkoutlier = false;
taknokolat 6:166746820555 551 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 6:166746820555 552 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 6:166746820555 553 NVIC_DisableIRQ(TIM5_IRQn);
taknokolat 6:166746820555 554 NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat 6:166746820555 555 NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat 4:67f705d42f1e 556
taknokolat 6:166746820555 557 rpy= compass.getHeadingXYDeg(20,50);
taknokolat 6:166746820555 558
taknokolat 6:166746820555 559 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 6:166746820555 560 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 6:166746820555 561 NVIC_EnableIRQ(TIM5_IRQn);
taknokolat 6:166746820555 562 NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat 6:166746820555 563 NVIC_EnableIRQ(EXTI9_5_IRQn);
taknokolat 6:166746820555 564
taknokolat 6:166746820555 565
taknokolat 6:166746820555 566 //外れ値対策
taknokolat 6:166746820555 567 //rpy*= 180.0f/PI;
taknokolat 6:166746820555 568 if(!setupFlag){
taknokolat 6:166746820555 569 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 570 }else{
taknokolat 6:166746820555 571 if(rpy >= g_FirstYAW_HMC){
taknokolat 6:166746820555 572 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 573 }else{
taknokolat 6:166746820555 574 rpy += 360.0f;
taknokolat 6:166746820555 575 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 576 }
taknokolat 6:166746820555 577 }
taknokolat 6:166746820555 578
taknokolat 6:166746820555 579 if(rpy < nowAngle_HMC-10 || rpy > nowAngle_HMC+10) {flg_checkoutlier = true;}
taknokolat 6:166746820555 580 if(!flg_checkoutlier || count_changeRPY >= 2){
taknokolat 6:166746820555 581
taknokolat 6:166746820555 582 nowAngle_HMC = (rpy + nowAngle_HMC)/2.0f; //2つの移動平均
taknokolat 6:166746820555 583
taknokolat 6:166746820555 584 count_changeRPY = 0;
taknokolat 6:166746820555 585 }else count_changeRPY++;
taknokolat 6:166746820555 586 flg_checkoutlier = false;
taknokolat 6:166746820555 587
taknokolat 6:166746820555 588 }
taknokolat 12:083662bca47d 589
taknokolat 12:083662bca47d 590 int SetOptions(int *Servo_NEUTRAL_R, int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 591 int *Servo_high_FORWARD_R, int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 592 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 593 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 594 int *Camera_deg_A, int *Camera_deg_B,
taknokolat 16:26cee2aaf61d 595 int *Pint_speed, float *Pint_wait
taknokolat 12:083662bca47d 596 ){
taknokolat 12:083662bca47d 597
taknokolat 12:083662bca47d 598 pc.printf("SDsetup start.\r\n");
taknokolat 12:083662bca47d 599
taknokolat 12:083662bca47d 600 FILE *fp;
taknokolat 12:083662bca47d 601 char parameter[20]; //文字列渡す用の配列
taknokolat 12:083662bca47d 602 int SDerrorcount = 0; //取得できなかった数を返す
taknokolat 12:083662bca47d 603 const char *paramNames[] = {
taknokolat 12:083662bca47d 604 "SERVO_NEUTRAL_R",
taknokolat 12:083662bca47d 605 "SERVO_NEUTRAL_L",
taknokolat 12:083662bca47d 606 "SERVO_HIGH_FORWARD_R",
taknokolat 12:083662bca47d 607 "SERVO_HIGH_FORWARD_L",
taknokolat 12:083662bca47d 608 "SERVO_SLOW_FORWARD_R",
taknokolat 12:083662bca47d 609 "SERVO_SLOW_FORWARD_L",
taknokolat 12:083662bca47d 610 "TURNTABLE_NEUTRAL",
taknokolat 12:083662bca47d 611 "MATCH_SPEED",
taknokolat 12:083662bca47d 612 "FOCUS_NEUTRAL",
taknokolat 12:083662bca47d 613 "CAMERA_DEG_A",
taknokolat 16:26cee2aaf61d 614 "CAMERA_DEG_B",
taknokolat 16:26cee2aaf61d 615 "PINT_SPEED",
taknokolat 16:26cee2aaf61d 616 "PINT_WAIT"
taknokolat 12:083662bca47d 617 };
taknokolat 12:083662bca47d 618
taknokolat 12:083662bca47d 619 fp = fopen("/sd/option.txt","r");
taknokolat 12:083662bca47d 620
taknokolat 12:083662bca47d 621 if(fp != NULL){ //開けたら
taknokolat 12:083662bca47d 622 pc.printf("File was openned.\r\n");
taknokolat 12:083662bca47d 623 if(GetParameter(fp,paramNames[0],parameter)) *Servo_NEUTRAL_R = atof(parameter);
taknokolat 12:083662bca47d 624 else{ *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 625 SDerrorcount++;
taknokolat 12:083662bca47d 626 }
taknokolat 12:083662bca47d 627 if(GetParameter(fp,paramNames[1],parameter)) *Servo_NEUTRAL_L = atof(parameter);
taknokolat 12:083662bca47d 628 else{ *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 629 SDerrorcount++;
taknokolat 12:083662bca47d 630 }
taknokolat 12:083662bca47d 631 if(GetParameter(fp,paramNames[2],parameter)) *Servo_high_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 632 else{ *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 633 SDerrorcount++;
taknokolat 12:083662bca47d 634 }
taknokolat 12:083662bca47d 635 if(GetParameter(fp,paramNames[3],parameter)) *Servo_high_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 636 else{ *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 637 SDerrorcount++;
taknokolat 12:083662bca47d 638 }
taknokolat 12:083662bca47d 639 if(GetParameter(fp,paramNames[4],parameter)) *Servo_slow_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 640 else{ *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 641 SDerrorcount++;
taknokolat 12:083662bca47d 642 }
taknokolat 12:083662bca47d 643 if(GetParameter(fp,paramNames[5],parameter)) *Servo_slow_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 644 else{ *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 645 SDerrorcount++;
taknokolat 12:083662bca47d 646 }
taknokolat 12:083662bca47d 647
taknokolat 12:083662bca47d 648 if(GetParameter(fp,paramNames[6],parameter)) *Turntable_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 649 else{ *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 650 SDerrorcount++;
taknokolat 12:083662bca47d 651 }
taknokolat 12:083662bca47d 652 if(GetParameter(fp,paramNames[7],parameter)) *Matchspeed = atof(parameter);
taknokolat 12:083662bca47d 653 else{ *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 654 SDerrorcount++;
taknokolat 12:083662bca47d 655 }
taknokolat 12:083662bca47d 656 if(GetParameter(fp,paramNames[8],parameter)) *Focus_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 657 else{ *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 658 SDerrorcount++;
taknokolat 12:083662bca47d 659 }
taknokolat 12:083662bca47d 660 if(GetParameter(fp,paramNames[9],parameter)) *Camera_deg_A = atof(parameter);
taknokolat 12:083662bca47d 661 else{ *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 662 SDerrorcount++;
taknokolat 12:083662bca47d 663 }
taknokolat 12:083662bca47d 664 if(GetParameter(fp,paramNames[10],parameter)) *Camera_deg_B = atof(parameter);
taknokolat 12:083662bca47d 665 else{ *Camera_deg_B = camera_deg_B;
taknokolat 12:083662bca47d 666 SDerrorcount++;
taknokolat 12:083662bca47d 667 }
taknokolat 16:26cee2aaf61d 668 if(GetParameter(fp,paramNames[11],parameter)) *Pint_speed = atof(parameter);
taknokolat 16:26cee2aaf61d 669 else{ *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 670 SDerrorcount++;
taknokolat 16:26cee2aaf61d 671 }
taknokolat 16:26cee2aaf61d 672 if(GetParameter(fp,paramNames[12],parameter)) *Pint_wait = atof(parameter);
taknokolat 16:26cee2aaf61d 673 else{ *Pint_wait = pint_wait;
taknokolat 16:26cee2aaf61d 674 SDerrorcount++;
taknokolat 16:26cee2aaf61d 675 }
taknokolat 12:083662bca47d 676
taknokolat 12:083662bca47d 677 fclose(fp);
taknokolat 12:083662bca47d 678
taknokolat 12:083662bca47d 679 }else{ //ファイルがなかったら
taknokolat 12:083662bca47d 680 pc.printf("fp was null.\r\n");
taknokolat 12:083662bca47d 681
taknokolat 12:083662bca47d 682 *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 683 *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 684 *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 685 *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 686 *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 687 *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 688 *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 689 *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 690 *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 691 *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 692 *Camera_deg_B = camera_deg_B;
taknokolat 16:26cee2aaf61d 693 *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 694 *Pint_wait = pint_wait;
taknokolat 12:083662bca47d 695 SDerrorcount = -1;
taknokolat 12:083662bca47d 696 }
taknokolat 12:083662bca47d 697 pc.printf("SDsetup finished.\r\n");
taknokolat 12:083662bca47d 698 if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
taknokolat 12:083662bca47d 699 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
taknokolat 12:083662bca47d 700 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
taknokolat 12:083662bca47d 701
taknokolat 12:083662bca47d 702 pc.printf("Servo_NEUTRAL_R = %d, Servo_NEUTRAL_L = %d\r\n", *Servo_NEUTRAL_R, *Servo_NEUTRAL_L);
taknokolat 13:b088f0db7158 703 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 704 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 705 pc.printf("Turntable_NEUTRAL = %d, Matchspeed = %d\r\n", *Turntable_NEUTRAL, *Matchspeed);
taknokolat 13:b088f0db7158 706 pc.printf("Focus_NEUTRAL = %d\r\n", *Focus_NEUTRAL);
taknokolat 13:b088f0db7158 707 pc.printf("Camera_deg_A = %d, Camera_deg_B = %d\r\n", *Camera_deg_A, *Camera_deg_B);
taknokolat 16:26cee2aaf61d 708 pc.printf("Pint_speed = %d, Pint_wait = %f\r\n", *Pint_speed, *Pint_wait);
taknokolat 12:083662bca47d 709
taknokolat 12:083662bca47d 710 return SDerrorcount;
taknokolat 12:083662bca47d 711 }
taknokolat 12:083662bca47d 712
taknokolat 12:083662bca47d 713 int GetParameter(FILE *fp, const char *paramName,char parameter[]){
taknokolat 12:083662bca47d 714 int i=0, j=0;
taknokolat 12:083662bca47d 715 int strmax = 200;
taknokolat 12:083662bca47d 716 char str[strmax];
taknokolat 12:083662bca47d 717
taknokolat 12:083662bca47d 718 rewind(fp); //ファイル位置を先頭に
taknokolat 12:083662bca47d 719 while(1){
taknokolat 12:083662bca47d 720 if (fgets(str, strmax, fp) == NULL) {
taknokolat 12:083662bca47d 721 return 0;
taknokolat 12:083662bca47d 722 }
taknokolat 12:083662bca47d 723 if (!strncmp(str, paramName, strlen(paramName))) {
taknokolat 12:083662bca47d 724 while (str[i++] != '=') {}
taknokolat 12:083662bca47d 725 while (str[i] != '\n') {
taknokolat 12:083662bca47d 726 parameter[j++] = str[i++];
taknokolat 12:083662bca47d 727 }
taknokolat 12:083662bca47d 728 parameter[j] = '\0';
taknokolat 12:083662bca47d 729 return 1;
taknokolat 12:083662bca47d 730 }
taknokolat 12:083662bca47d 731 }
taknokolat 12:083662bca47d 732 }
taknokolat 12:083662bca47d 733
taknokolat 17:6b00aec234c7 734 void NewFileCreate(char fname[]){
taknokolat 17:6b00aec234c7 735
taknokolat 17:6b00aec234c7 736 uint16_t i_FileCheck;
taknokolat 17:6b00aec234c7 737 FILE *fileP;
taknokolat 12:083662bca47d 738
taknokolat 17:6b00aec234c7 739 for (i_FileCheck = 1; i_FileCheck < 99; i_FileCheck++) {
taknokolat 17:6b00aec234c7 740 sprintf(fname, "/sd/%s%02d.txt", LOGNAME, i_FileCheck);
taknokolat 17:6b00aec234c7 741 pc.printf("%s\r\n",fname);
taknokolat 17:6b00aec234c7 742
taknokolat 17:6b00aec234c7 743 fileP = fopen(fname, "r");
taknokolat 17:6b00aec234c7 744 if(fileP == NULL){ //参照した番号のファイルがなければ生成
taknokolat 17:6b00aec234c7 745 fileP = fopen(fname,"w");
taknokolat 17:6b00aec234c7 746
taknokolat 17:6b00aec234c7 747 if(fileP != NULL) {
taknokolat 17:6b00aec234c7 748 pc.printf("%s was created\r\n",fname);
taknokolat 17:6b00aec234c7 749
taknokolat 17:6b00aec234c7 750 fclose(fileP);
taknokolat 17:6b00aec234c7 751 break;
taknokolat 17:6b00aec234c7 752 }
taknokolat 17:6b00aec234c7 753 else pc.printf("Faired to create a new file.\r\n");
taknokolat 17:6b00aec234c7 754 }
taknokolat 17:6b00aec234c7 755 else fclose(fileP);
taknokolat 17:6b00aec234c7 756 }
taknokolat 17:6b00aec234c7 757 }
taknokolat 6:166746820555 758
taknokolat 4:67f705d42f1e 759 void DebugPrint(){
taknokolat 4:67f705d42f1e 760 //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 761 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 7:8989a4b84695 762 //pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 7:8989a4b84695 763 //pc.printf("\r\n");
taknokolat 6:166746820555 764 }