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Dependencies:   mbed MPU6050_2 HMC5883L_4 SDFileSystem3

main.cpp@36:e13fca1666a4, 2019-03-02 (annotated)

Committer:
taknokolat
Date:
Sat Mar 02 00:16:23 2019 +0000
Revision:
36:e13fca1666a4
Parent:
35:0f89eff001a7
Child:
37:8e273677500d
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
HARUKIDELTA 17:83db05cab3d1 11 #define servo_NEUTRAL_R 1614
HARUKIDELTA 17:83db05cab3d1 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_high_FORWARD_R 1860
taknokolat 12:083662bca47d 16 #define servo_high_FORWARD_L 1860
HARUKIDELTA 17:83db05cab3d1 17 #define turntable_NEUTRAL 1180 //カメラ台座のサーボ
HARUKIDELTA 17:83db05cab3d1 18 #define matchspeed 1500 + 100 //カメラと方向を合わせるときの車輪の速度
HARUKIDELTA 17:83db05cab3d1 19 #define focus_NEUTRAL 1455 //焦点合わせ用サーボ
HARUKIDELTA 17:83db05cab3d1 20 #define camera_deg_A 1400 //カメラ角度調整
HARUKIDELTA 17:83db05cab3d1 21 #define camera_deg_B 1800
HARUKIDELTA 17:83db05cab3d1 22 #define pint_speed 25
taknokolat 20:011977a37394 23 #define pint_wait 3
HARUKIDELTA 17:83db05cab3d1 24 #define turntable_speed 1800
taknokolat 24:0ad1725c7849 25 #define time360 110
taknokolat 24:0ad1725c7849 26 #define match_wid 5
taknokolat 20:011977a37394 27 #define camera_board_wait 100
HARUKIDELTA 0:84ddd6d354e1 28
taknokolat 32:ab030832d180 29 #define ReturnCount 2
taknokolat 32:ab030832d180 30
HARUKIDELTA 0:84ddd6d354e1 31 #define MOVE_NEUTRAL 0
taknokolat 19:949bab1e9451 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,
HARUKIDELTA 17:83db05cab3d1 66 int *Pint_speed, float *Pint_wait,
taknokolat 19:949bab1e9451 67 int *Turntable_speed,
taknokolat 24:0ad1725c7849 68 int *Time360, int *Match_wid,
taknokolat 20:011977a37394 69 int *Camera_board_wait
taknokolat 12:083662bca47d 70 );
taknokolat 12:083662bca47d 71
taknokolat 6:166746820555 72 static float nowAngle[3] = {0,0,0},nowAngle_HMC=0;
taknokolat 6:166746820555 73 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0,g_FirstYAW_HMC;
Skykon 3:c18342e4fddd 74
taknokolat 7:8989a4b84695 75 bool setupFlag = false;
taknokolat 7:8989a4b84695 76 bool CameraDegFlag = false;
taknokolat 35:0f89eff001a7 77 bool jevoisFlag = false;
taknokolat 31:210cc32d3175 78 bool FocusFlag = false;
taknokolat 4:67f705d42f1e 79
taknokolat 24:0ad1725c7849 80 int g_CameraDegCounter = 0; //カメラの回転数をカウント
taknokolat 24:0ad1725c7849 81
Skykon 3:c18342e4fddd 82 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
Skykon 3:c18342e4fddd 83
Skykon 3:c18342e4fddd 84 Timer t;
HARUKIDELTA 26:ea86e69563b5 85 Timer t2;
Skykon 3:c18342e4fddd 86
HARUKIDELTA 25:1f938342d5f9 87 FILE *g_fp;
HARUKIDELTA 25:1f938342d5f9 88
taknokolat 14:90e9b44eb819 89 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
taknokolat 14:90e9b44eb819 90
taknokolat 30:90252dc48c1a 91 RawSerial pc(PA_2,PA_3,115200); //uart2 jevoiis
taknokolat 11:d44d137831b9 92 //pa2:UART2_TX,pa3:UART2_RX
taknokolat 30:90252dc48c1a 93 RawSerial pc2(PA_11,PA_12,115200); //uart1 raspberry
taknokolat 11:d44d137831b9 94 //pb6:UART1_TX,pb7:UART1_RX
taknokolat 11:d44d137831b9 95
HARUKIDELTA 5:8bfe95431ec0 96 //PWM pin宣言
taknokolat 6:166746820555 97 PwmOut servoR(PC_6); //TIM3_CH1 車輪右
taknokolat 6:166746820555 98 PwmOut servoL(PC_7); //TIM3_CH2 車輪左
HARUKIDELTA 5:8bfe95431ec0 99 PwmOut servoTurnTable(PB_0); //TIM3_CH3 カメラ台回転Servo
HARUKIDELTA 5:8bfe95431ec0 100 PwmOut servoCameradeg(PB_1); //TIM3_CH4 カメラ角度調節Servo
HARUKIDELTA 5:8bfe95431ec0 101 PwmOut servoCameraPinto(PB_6); //TIM4_CH1 カメラピント合わせ
taknokolat 35:0f89eff001a7 102 PwmOut servoCameramount(PC_8); //skipperウラ カメラマウント起動
taknokolat 35:0f89eff001a7 103 //PwmOut servoGetUP(PC_8); //skipperウラ 起き上がり動作
Skykon 3:c18342e4fddd 104
HARUKIDELTA 5:8bfe95431ec0 105 /*通信用のpinは
HARUKIDELTA 5:8bfe95431ec0 106 PA_3(UART2_Rx) skipperウラ
HARUKIDELTA 5:8bfe95431ec0 107 PA_12(UART6_Rx) skipperオモテ USB端子より
HARUKIDELTA 5:8bfe95431ec0 108 PB_7 (UART1_Rx) skipperオモテ 6番目 TIM4_CH2
HARUKIDELTA 5:8bfe95431ec0 109 */
HARUKIDELTA 5:8bfe95431ec0 110
HARUKIDELTA 5:8bfe95431ec0 111 /*超音波はRaspberryPiに積む*/
HARUKIDELTA 5:8bfe95431ec0 112
HARUKIDELTA 23:29b2722bd753 113 DigitalOut led1(PA_0); //tanakaOK kimuraは動作不良
HARUKIDELTA 23:29b2722bd753 114 DigitalOut led2(PA_1); //tanakaOK kimuraOK
HARUKIDELTA 23:29b2722bd753 115 DigitalOut led3(PB_5); //使ってないよ
HARUKIDELTA 23:29b2722bd753 116 DigitalOut led4(PB_4); //使ってないよ
HARUKIDELTA 17:83db05cab3d1 117
HARUKIDELTA 17:83db05cab3d1 118
HARUKIDELTA 5:8bfe95431ec0 119 //外付けコンパス
taknokolat 24:0ad1725c7849 120 //HMC5883L compass(PB_9, PB_8); //コンパスセンサー TIM4_CH3とCH4
HARUKIDELTA 0:84ddd6d354e1 121
taknokolat 2:f30666d7838b 122 char g_landingcommand='N';
taknokolat 1:290e621741fd 123
Skykon 3:c18342e4fddd 124 //MPU_check用
Skykon 3:c18342e4fddd 125 MPU6050DMP6 mpu6050(PC_0,&pc);
Skykon 3:c18342e4fddd 126
Skykon 3:c18342e4fddd 127
HARUKIDELTA 0:84ddd6d354e1 128 int main() {
taknokolat 1:290e621741fd 129
Skykon 3:c18342e4fddd 130 //MPU_check
Skykon 3:c18342e4fddd 131 setup();
taknokolat 19:949bab1e9451 132 //コンパスチェック用
taknokolat 19:949bab1e9451 133 /*while(1){
taknokolat 22:a19be3b505b7 134 //SensingMPU();
taknokolat 19:949bab1e9451 135 SensingHMC();
taknokolat 22:a19be3b505b7 136 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 19:949bab1e9451 137 pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 19:949bab1e9451 138 pc.printf("\r\n");
taknokolat 19:949bab1e9451 139 wait_ms(30);
taknokolat 19:949bab1e9451 140 }*/
Skykon 3:c18342e4fddd 141
taknokolat 11:d44d137831b9 142
taknokolat 1:290e621741fd 143 // シリアル通信受信の割り込みイベント登録
taknokolat 1:290e621741fd 144 pc.attach(getSF_Serial_jevois, Serial::RxIrq);
taknokolat 12:083662bca47d 145 pc2.attach(getSF_Serial_pi, Serial::RxIrq);
HARUKIDELTA 27:f67efcee6509 146 t2.start();
taknokolat 1:290e621741fd 147
taknokolat 36:e13fca1666a4 148 /*NVIC_DisableIRQ(USART2_IRQn);
taknokolat 29:5d239812ace6 149 while(g_landingcommand != 'B'){
taknokolat 29:5d239812ace6 150 wait_ms(30);
taknokolat 29:5d239812ace6 151 }
taknokolat 35:0f89eff001a7 152 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 29:5d239812ace6 153 jevoisFlag = true;
taknokolat 35:0f89eff001a7 154 g_landingcommand='N';
taknokolat 29:5d239812ace6 155 wait(5);
taknokolat 29:5d239812ace6 156 pc.printf("start\r\n");
taknokolat 36:e13fca1666a4 157 */
taknokolat 31:210cc32d3175 158
taknokolat 31:210cc32d3175 159 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL-200);
taknokolat 31:210cc32d3175 160 wait(1);
taknokolat 31:210cc32d3175 161 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL);
taknokolat 31:210cc32d3175 162
HARUKIDELTA 0:84ddd6d354e1 163 while(1) {
taknokolat 30:90252dc48c1a 164 if(jevoisFlag==true) NVIC_DisableIRQ(USART6_IRQn);
taknokolat 7:8989a4b84695 165 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 20:011977a37394 166 pc.printf("Move Camera Board\r\n");
taknokolat 10:63fe920595a7 167 MoveCameraBoard();
taknokolat 35:0f89eff001a7 168 if(jevoisFlag==true) NVIC_DisableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 169 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 10:63fe920595a7 170
taknokolat 20:011977a37394 171 pc.printf("Position\r\n");
taknokolat 22:a19be3b505b7 172 pc.printf("g_landingcommand=%c\r\n",g_landingcommand);
HARUKIDELTA 25:1f938342d5f9 173
taknokolat 30:90252dc48c1a 174 NVIC_DisableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 175 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 35:0f89eff001a7 176 if(g_landingcommand!='N'&&g_landingcommand!='P') MatchPosition();
taknokolat 30:90252dc48c1a 177 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 178 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 179
taknokolat 30:90252dc48c1a 180 if(jevoisFlag==true) NVIC_DisableIRQ(USART6_IRQn);
taknokolat 8:d11a59d2a2f1 181 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 182
taknokolat 20:011977a37394 183 pc.printf("Move Cansat\r\n");
taknokolat 7:8989a4b84695 184 MoveCansat(g_landingcommand);
taknokolat 30:90252dc48c1a 185 if(jevoisFlag==true) NVIC_DisableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 186 else NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 187 wait_ms(23);
taknokolat 8:d11a59d2a2f1 188
taknokolat 20:011977a37394 189 pc.printf("finish\r\n");
taknokolat 30:90252dc48c1a 190 if(jevoisFlag==true) NVIC_EnableIRQ(USART6_IRQn);
taknokolat 7:8989a4b84695 191 else NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 192 }
HARUKIDELTA 0:84ddd6d354e1 193 }
HARUKIDELTA 0:84ddd6d354e1 194
Skykon 3:c18342e4fddd 195
taknokolat 22:a19be3b505b7 196 void MoveCansat(char a)
HARUKIDELTA 0:84ddd6d354e1 197 {
taknokolat 30:90252dc48c1a 198 NVIC_DisableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 199 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 22:a19be3b505b7 200 switch(a){
taknokolat 2:f30666d7838b 201 case 'N': //MOVE_NEUTRAL
HARUKIDELTA 17:83db05cab3d1 202 servoR.pulsewidth_us(Servo_NEUTRAL_R);
HARUKIDELTA 17:83db05cab3d1 203 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 30:90252dc48c1a 204 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 205 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 26:ea86e69563b5 206 g_fp = fopen( "/sd/Datalog01.txt" ,"a" );
HARUKIDELTA 27:f67efcee6509 207 fprintf(g_fp, "Time = %d min %d sec : Goal is not found.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 26:ea86e69563b5 208 fclose(g_fp);
taknokolat 35:0f89eff001a7 209 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 210 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 211 break;
taknokolat 1:290e621741fd 212
taknokolat 2:f30666d7838b 213 case 'Y': //MOVE_FORWARD
HARUKIDELTA 17:83db05cab3d1 214 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 215 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 30:90252dc48c1a 216 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 217 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 218 g_fp = fopen( "/sd/Datalog01.txt" ,"a" );
HARUKIDELTA 27:f67efcee6509 219 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward .\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 220 fclose(g_fp);
taknokolat 35:0f89eff001a7 221 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 222 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 223 break;
taknokolat 1:290e621741fd 224
taknokolat 12:083662bca47d 225 case 'l': //MOVE_LEFT Low Speed
HARUKIDELTA 17:83db05cab3d1 226 servoR.pulsewidth_us(Servo_slow_FORWARD_R);
taknokolat 35:0f89eff001a7 227 servoL.pulsewidth_us(Servo_NEUTRAL_L);
HARUKIDELTA 27:f67efcee6509 228 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 229 fprintf(g_fp, "Time = %d min %d sec : Cansat move left low speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 230 fclose(g_fp);
taknokolat 35:0f89eff001a7 231 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 232 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 233 break;
HARUKIDELTA 27:f67efcee6509 234
taknokolat 12:083662bca47d 235 case 'L': //MOVE_LEFT High Speed
HARUKIDELTA 17:83db05cab3d1 236 servoR.pulsewidth_us(Servo_high_FORWARD_R);
taknokolat 35:0f89eff001a7 237 servoL.pulsewidth_us(Servo_NEUTRAL_L);
HARUKIDELTA 27:f67efcee6509 238 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 239 fprintf(g_fp, "Time = %d min %d sec : Cansat move left high speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 240 fclose(g_fp);
taknokolat 35:0f89eff001a7 241 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 242 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 243 break;
taknokolat 1:290e621741fd 244
taknokolat 12:083662bca47d 245 case 'r': //MOVE_RIGHT Low Speed
taknokolat 22:a19be3b505b7 246 servoR.pulsewidth_us(Servo_NEUTRAL_R);
HARUKIDELTA 17:83db05cab3d1 247 servoL.pulsewidth_us(Servo_slow_FORWARD_L);
taknokolat 30:90252dc48c1a 248 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 249 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 250 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 251 fprintf(g_fp, "Time = %d min %d sec : Cansat move right low speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 252 fclose(g_fp);
taknokolat 35:0f89eff001a7 253 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 254 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 255 break;
taknokolat 12:083662bca47d 256
taknokolat 12:083662bca47d 257 case 'R': //MOVE_RIGHT High Speed
taknokolat 22:a19be3b505b7 258 servoR.pulsewidth_us(Servo_NEUTRAL_R);
HARUKIDELTA 17:83db05cab3d1 259 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 30:90252dc48c1a 260 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 261 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 262 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 263 fprintf(g_fp, "Time = %d min %d sec : Cansat move left high speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 264 fclose(g_fp);
taknokolat 35:0f89eff001a7 265 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 266 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 267 break;
taknokolat 1:290e621741fd 268
taknokolat 1:290e621741fd 269 case 'G': //GOAL_FORWARD
HARUKIDELTA 17:83db05cab3d1 270 servoR.pulsewidth_us(Servo_slow_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 271 servoL.pulsewidth_us(Servo_slow_FORWARD_L);
HARUKIDELTA 27:f67efcee6509 272 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 273 fprintf(g_fp, "Time = %d min %d sec : Cansat move goal forward mode.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 274 fclose(g_fp);
taknokolat 35:0f89eff001a7 275 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 276 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 277 break;
taknokolat 12:083662bca47d 278
taknokolat 12:083662bca47d 279 case '1': //MOVE_FORWARD Speed Level 1
HARUKIDELTA 17:83db05cab3d1 280 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 281 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 36:e13fca1666a4 282 wait(5);
taknokolat 12:083662bca47d 283 do{
taknokolat 22:a19be3b505b7 284 SensingMPU();
taknokolat 22:a19be3b505b7 285 wait_ms(30);
taknokolat 35:0f89eff001a7 286 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
HARUKIDELTA 27:f67efcee6509 287 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 288 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 1sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 289 fclose(g_fp);
taknokolat 35:0f89eff001a7 290 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 291 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 292 break;
taknokolat 12:083662bca47d 293
taknokolat 12:083662bca47d 294 case '2': //MOVE_FORWARD Speed Level 2
HARUKIDELTA 17:83db05cab3d1 295 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 296 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 36:e13fca1666a4 297 wait(10);
taknokolat 12:083662bca47d 298 do{
taknokolat 22:a19be3b505b7 299 SensingMPU();
taknokolat 22:a19be3b505b7 300 wait_ms(30);
taknokolat 22:a19be3b505b7 301 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
HARUKIDELTA 27:f67efcee6509 302 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 303 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 2sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 304 fclose(g_fp);
taknokolat 35:0f89eff001a7 305 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 306 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 307 break;
taknokolat 12:083662bca47d 308
taknokolat 12:083662bca47d 309 case '3': //MOVE_FORWARD Speed Level 3
HARUKIDELTA 17:83db05cab3d1 310 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 311 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 36:e13fca1666a4 312 //Camera_board_wait =
taknokolat 36:e13fca1666a4 313 wait(15);
taknokolat 12:083662bca47d 314 do{
taknokolat 22:a19be3b505b7 315 SensingMPU();
taknokolat 22:a19be3b505b7 316 wait_ms(30);
taknokolat 35:0f89eff001a7 317 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
HARUKIDELTA 27:f67efcee6509 318 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 319 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 3sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 320 fclose(g_fp);
taknokolat 35:0f89eff001a7 321 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 322 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 323 break;
taknokolat 12:083662bca47d 324
taknokolat 12:083662bca47d 325 case '4': //MOVE_FORWARD Speed Level 4
HARUKIDELTA 17:83db05cab3d1 326 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 327 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 36:e13fca1666a4 328 wait(20);
taknokolat 12:083662bca47d 329 do{
taknokolat 22:a19be3b505b7 330 SensingMPU();
taknokolat 22:a19be3b505b7 331 wait_ms(30);
taknokolat 35:0f89eff001a7 332 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)||(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
HARUKIDELTA 27:f67efcee6509 333 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 334 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 4sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 335 fclose(g_fp);
taknokolat 35:0f89eff001a7 336 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 337 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 338 break;
taknokolat 7:8989a4b84695 339
taknokolat 12:083662bca47d 340 case '5': //MOVE_FORWARD Speed Level 5
HARUKIDELTA 17:83db05cab3d1 341 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 342 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 36:e13fca1666a4 343 wait(25);
taknokolat 10:63fe920595a7 344 do{
taknokolat 22:a19be3b505b7 345 SensingMPU();
taknokolat 36:e13fca1666a4 346 wait_ms(25);
taknokolat 22:a19be3b505b7 347 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
HARUKIDELTA 27:f67efcee6509 348 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 349 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 5sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 350 fclose(g_fp);
taknokolat 35:0f89eff001a7 351 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 352 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 353 break;
taknokolat 7:8989a4b84695 354
taknokolat 7:8989a4b84695 355 case 'M': //MatchPosition
HARUKIDELTA 17:83db05cab3d1 356 servoR.pulsewidth_us(Matchspeed);
taknokolat 30:90252dc48c1a 357 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 358 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 359 break;
taknokolat 7:8989a4b84695 360
taknokolat 12:083662bca47d 361 case 'P': //jevoisからraspberry piへの切り替え
taknokolat 7:8989a4b84695 362 jevoisFlag = false;
taknokolat 28:887df143fa9c 363 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL + Turntable_speed);
taknokolat 28:887df143fa9c 364 wait_ms((float)Time360/(float)2);
taknokolat 28:887df143fa9c 365 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 30:90252dc48c1a 366 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 367 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 368 break;
taknokolat 12:083662bca47d 369
taknokolat 28:887df143fa9c 370 case 'B':
taknokolat 12:083662bca47d 371 /*RasPiからの超音波判定(プログラムスタート部)*/
taknokolat 30:90252dc48c1a 372 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 373 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 374 break;
taknokolat 1:290e621741fd 375
taknokolat 1:290e621741fd 376 default :
taknokolat 30:90252dc48c1a 377 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 22:a19be3b505b7 378 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 379 break;
taknokolat 1:290e621741fd 380
HARUKIDELTA 0:84ddd6d354e1 381 }
taknokolat 7:8989a4b84695 382
HARUKIDELTA 0:84ddd6d354e1 383 return;
taknokolat 1:290e621741fd 384 }
taknokolat 1:290e621741fd 385
taknokolat 7:8989a4b84695 386 void MoveCameraBoard(){
taknokolat 35:0f89eff001a7 387 if(jevoisFlag==true) NVIC_DisableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 388 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 22:a19be3b505b7 389 //pc.printf("start\r\n");
taknokolat 7:8989a4b84695 390 MoveCansat('N');
taknokolat 35:0f89eff001a7 391 if(jevoisFlag==true) NVIC_DisableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 392 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 22:a19be3b505b7 393 //pc.printf("ok\r\n");
taknokolat 10:63fe920595a7 394 g_landingcommand='N';
taknokolat 29:5d239812ace6 395 servoCameradeg.pulsewidth_us(Camera_deg_B);
taknokolat 29:5d239812ace6 396 wait_ms(30);
taknokolat 32:ab030832d180 397 if(g_CameraDegCounter==0){
taknokolat 32:ab030832d180 398 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL + Turntable_speed);
taknokolat 32:ab030832d180 399 wait_ms(Camera_board_wait*ReturnCount);
taknokolat 32:ab030832d180 400 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 32:ab030832d180 401
taknokolat 32:ab030832d180 402
taknokolat 32:ab030832d180 403 for(int i=200; i<Camera_deg_B-Camera_deg_A;i=i+200){
taknokolat 32:ab030832d180 404
taknokolat 32:ab030832d180 405 servoCameradeg.pulsewidth_us(Camera_deg_B-i);
taknokolat 32:ab030832d180 406 servoR.pulsewidth_us(Servo_NEUTRAL_R); //servo initialize
taknokolat 32:ab030832d180 407 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 36:e13fca1666a4 408 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 32:ab030832d180 409 wait_ms(30);
taknokolat 32:ab030832d180 410 //pc.printf("zoom2\r\n");
taknokolat 32:ab030832d180 411 if(jevoisFlag == true) FocusAdjust();
taknokolat 32:ab030832d180 412 else wait(1);
taknokolat 35:0f89eff001a7 413
taknokolat 35:0f89eff001a7 414 if(jevoisFlag==true) NVIC_DisableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 415 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 35:0f89eff001a7 416
taknokolat 32:ab030832d180 417 if(g_landingcommand!='N') return;
taknokolat 32:ab030832d180 418
taknokolat 32:ab030832d180 419 }
taknokolat 32:ab030832d180 420
taknokolat 32:ab030832d180 421 }
taknokolat 32:ab030832d180 422
taknokolat 24:0ad1725c7849 423 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL - Turntable_speed);
taknokolat 20:011977a37394 424 wait_ms(Camera_board_wait);
taknokolat 24:0ad1725c7849 425 g_CameraDegCounter++;
HARUKIDELTA 17:83db05cab3d1 426 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 22:a19be3b505b7 427 //pc.printf("zoom1\r\n");
taknokolat 7:8989a4b84695 428 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 429 else wait(1);
taknokolat 35:0f89eff001a7 430
taknokolat 35:0f89eff001a7 431 if(jevoisFlag==true) NVIC_DisableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 432 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 32:ab030832d180 433
taknokolat 32:ab030832d180 434
taknokolat 7:8989a4b84695 435 if(g_landingcommand!='N') return;
taknokolat 29:5d239812ace6 436
taknokolat 29:5d239812ace6 437 for(int i=200; i<Camera_deg_B-Camera_deg_A;i=i+200){
taknokolat 29:5d239812ace6 438
taknokolat 32:ab030832d180 439 servoCameradeg.pulsewidth_us(Camera_deg_B-i);
taknokolat 32:ab030832d180 440 servoR.pulsewidth_us(Servo_NEUTRAL_R); //servo initialize
taknokolat 32:ab030832d180 441 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 36:e13fca1666a4 442 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 32:ab030832d180 443 wait_ms(30);
taknokolat 29:5d239812ace6 444 //pc.printf("zoom2\r\n");
taknokolat 29:5d239812ace6 445 if(jevoisFlag == true) FocusAdjust();
taknokolat 29:5d239812ace6 446 else wait(1);
taknokolat 35:0f89eff001a7 447
taknokolat 35:0f89eff001a7 448 if(jevoisFlag==true) NVIC_DisableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 449 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 35:0f89eff001a7 450
taknokolat 29:5d239812ace6 451 if(g_landingcommand!='N') return;
taknokolat 29:5d239812ace6 452
taknokolat 7:8989a4b84695 453 }
taknokolat 7:8989a4b84695 454
taknokolat 20:011977a37394 455
taknokolat 32:ab030832d180 456 pc.printf("g_CameraDegCounter = %d\r\n",g_CameraDegCounter);
taknokolat 22:a19be3b505b7 457 //pc.printf("Move Board Finish\r\n");
taknokolat 7:8989a4b84695 458 return;
taknokolat 7:8989a4b84695 459 }
taknokolat 7:8989a4b84695 460
taknokolat 7:8989a4b84695 461 void MatchPosition(){
taknokolat 32:ab030832d180 462 NVIC_DisableIRQ(USART6_IRQn);
taknokolat 32:ab030832d180 463 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 22:a19be3b505b7 464 pc.printf("MatchPosition\r\n");
taknokolat 24:0ad1725c7849 465
taknokolat 32:ab030832d180 466 int TurnTime ;
taknokolat 32:ab030832d180 467
taknokolat 32:ab030832d180 468 TurnTime = g_CameraDegCounter - ReturnCount;
taknokolat 32:ab030832d180 469
taknokolat 32:ab030832d180 470 if(TurnTime >=0){
taknokolat 32:ab030832d180 471 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL + Turntable_speed);
taknokolat 32:ab030832d180 472 wait_ms(Camera_board_wait*TurnTime);
taknokolat 32:ab030832d180 473 }else{
taknokolat 32:ab030832d180 474 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL - Turntable_speed);
taknokolat 32:ab030832d180 475 wait_ms(-Camera_board_wait*TurnTime);
taknokolat 32:ab030832d180 476 }
taknokolat 24:0ad1725c7849 477 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 24:0ad1725c7849 478
taknokolat 22:a19be3b505b7 479 int SetLoop=0;
taknokolat 22:a19be3b505b7 480
taknokolat 22:a19be3b505b7 481 while(SetLoop<30){
taknokolat 7:8989a4b84695 482 SensingMPU();
taknokolat 22:a19be3b505b7 483 wait_ms(20);
taknokolat 24:0ad1725c7849 484 //SensingHMC();
taknokolat 24:0ad1725c7849 485 //wait_ms(20);
taknokolat 22:a19be3b505b7 486 //DebugPrint();
taknokolat 22:a19be3b505b7 487 SetLoop++;
taknokolat 22:a19be3b505b7 488 //pc.printf("nowAngle_HMC=%f\tMPU=%f\r\n",nowAngle_HMC,nowAngle[YAW]);
taknokolat 22:a19be3b505b7 489
taknokolat 22:a19be3b505b7 490 }
taknokolat 7:8989a4b84695 491
taknokolat 24:0ad1725c7849 492 static float TargetDeg = 0;
taknokolat 24:0ad1725c7849 493
taknokolat 32:ab030832d180 494 TargetDeg = 360*(float)Camera_board_wait*((float)g_CameraDegCounter - ReturnCount)/(float)Time360;
taknokolat 24:0ad1725c7849 495
taknokolat 33:5f77118eacd5 496 if(TargetDeg > 360)TargetDeg = TargetDeg - 360;
taknokolat 33:5f77118eacd5 497
taknokolat 24:0ad1725c7849 498 float HighTargetYaw = TargetDeg + Match_wid;
taknokolat 24:0ad1725c7849 499 float LowTargetYaw = TargetDeg - Match_wid;
taknokolat 21:ca8f35e24e66 500
taknokolat 22:a19be3b505b7 501
taknokolat 21:ca8f35e24e66 502 if(HighTargetYaw >= 360.0) HighTargetYaw = HighTargetYaw - 360.0;
taknokolat 22:a19be3b505b7 503
taknokolat 21:ca8f35e24e66 504 if(LowTargetYaw < 0) LowTargetYaw = LowTargetYaw + 360.0;
taknokolat 21:ca8f35e24e66 505
taknokolat 22:a19be3b505b7 506 pc.printf("\r\nnow=%f\t,high=%f\t,low=%f\r\n",nowAngle[YAW],HighTargetYaw,LowTargetYaw);
taknokolat 22:a19be3b505b7 507
taknokolat 24:0ad1725c7849 508 MoveCansat('r');
taknokolat 22:a19be3b505b7 509
taknokolat 22:a19be3b505b7 510 if(HighTargetYaw-LowTargetYaw<0){
taknokolat 22:a19be3b505b7 511 while(nowAngle[YAW] > HighTargetYaw && nowAngle[YAW] < LowTargetYaw){
taknokolat 22:a19be3b505b7 512 //MoveCansat('r');
taknokolat 22:a19be3b505b7 513 SensingMPU();
taknokolat 35:0f89eff001a7 514 wait_ms(10);
taknokolat 22:a19be3b505b7 515 pc.printf("nowAngle_MPU=%f\r\n",nowAngle[YAW]);
taknokolat 22:a19be3b505b7 516 }
taknokolat 22:a19be3b505b7 517 }else{
taknokolat 22:a19be3b505b7 518 while(nowAngle[YAW] > HighTargetYaw || nowAngle[YAW] < LowTargetYaw){
taknokolat 22:a19be3b505b7 519 //MoveCansat('r');
taknokolat 22:a19be3b505b7 520 SensingMPU();
taknokolat 35:0f89eff001a7 521 wait_ms(10);
taknokolat 22:a19be3b505b7 522 pc.printf("nowAngle_MPU=%f\r\n",nowAngle[YAW]);
taknokolat 22:a19be3b505b7 523 }
taknokolat 7:8989a4b84695 524 }
taknokolat 24:0ad1725c7849 525 g_CameraDegCounter = 0;
taknokolat 32:ab030832d180 526
taknokolat 32:ab030832d180 527 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 32:ab030832d180 528 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 529 return;
taknokolat 7:8989a4b84695 530 }
taknokolat 7:8989a4b84695 531
taknokolat 7:8989a4b84695 532 void FocusAdjust(){
taknokolat 35:0f89eff001a7 533 if(jevoisFlag==true) NVIC_DisableIRQ(USART6_IRQn);
taknokolat 35:0f89eff001a7 534 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 35:0f89eff001a7 535
taknokolat 31:210cc32d3175 536 if(FocusFlag == false){
taknokolat 33:5f77118eacd5 537 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL + Pint_speed);
taknokolat 33:5f77118eacd5 538 servoR.pulsewidth_us(Servo_NEUTRAL_R); //servo initialize
taknokolat 33:5f77118eacd5 539 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 36:e13fca1666a4 540 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 33:5f77118eacd5 541 wait(Pint_wait);
taknokolat 31:210cc32d3175 542 FocusFlag = !FocusFlag;
taknokolat 31:210cc32d3175 543 }else{
taknokolat 33:5f77118eacd5 544 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL - Pint_speed);
taknokolat 33:5f77118eacd5 545 servoR.pulsewidth_us(Servo_NEUTRAL_R); //servo initialize
taknokolat 33:5f77118eacd5 546 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 36:e13fca1666a4 547 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 33:5f77118eacd5 548 wait(Pint_wait);
taknokolat 31:210cc32d3175 549 FocusFlag = !FocusFlag;
taknokolat 31:210cc32d3175 550 }
HARUKIDELTA 17:83db05cab3d1 551 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL);
taknokolat 11:d44d137831b9 552
taknokolat 7:8989a4b84695 553 return;
taknokolat 15:1519fccfcae3 554 }
taknokolat 7:8989a4b84695 555
taknokolat 1:290e621741fd 556 void getSF_Serial_jevois(){
taknokolat 22:a19be3b505b7 557
taknokolat 22:a19be3b505b7 558 //pc.printf("jevois\r\n");
taknokolat 1:290e621741fd 559
taknokolat 1:290e621741fd 560
taknokolat 1:290e621741fd 561 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 562
taknokolat 1:290e621741fd 563 static int bufcounter=0;
taknokolat 1:290e621741fd 564
taknokolat 1:290e621741fd 565
taknokolat 1:290e621741fd 566
taknokolat 1:290e621741fd 567 if(pc.readable()) { // 受信確認
taknokolat 1:290e621741fd 568
taknokolat 1:290e621741fd 569 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 570 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 571 //pc.printf("x");
taknokolat 1:290e621741fd 572 return;
taknokolat 1:290e621741fd 573 }
taknokolat 1:290e621741fd 574
taknokolat 1:290e621741fd 575
taknokolat 1:290e621741fd 576
taknokolat 22:a19be3b505b7 577 pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 578
Skykon 3:c18342e4fddd 579 if(SFbuf[0]=='S' && bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 580
taknokolat 1:290e621741fd 581 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 582
taknokolat 1:290e621741fd 583 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 584 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 585 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 586 //wait_ms(20);
taknokolat 1:290e621741fd 587 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 588 bufcounter = 0;
taknokolat 1:290e621741fd 589 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 590 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 591 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 592 }
taknokolat 1:290e621741fd 593
taknokolat 1:290e621741fd 594 else if(bufcounter>=5){
taknokolat 1:290e621741fd 595 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 596 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 597 bufcounter = 0;
taknokolat 1:290e621741fd 598 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 599 }
taknokolat 1:290e621741fd 600 }
taknokolat 1:290e621741fd 601
taknokolat 1:290e621741fd 602
taknokolat 1:290e621741fd 603 }
taknokolat 1:290e621741fd 604
taknokolat 1:290e621741fd 605
taknokolat 12:083662bca47d 606 void getSF_Serial_pi(){
taknokolat 2:f30666d7838b 607
taknokolat 7:8989a4b84695 608 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 609
taknokolat 1:290e621741fd 610 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 611
taknokolat 1:290e621741fd 612 static int bufcounter=0;
taknokolat 1:290e621741fd 613
taknokolat 1:290e621741fd 614
taknokolat 1:290e621741fd 615
taknokolat 1:290e621741fd 616 if(pc2.readable()) { // 受信確認
taknokolat 1:290e621741fd 617
taknokolat 1:290e621741fd 618 SFbuf[bufcounter] = pc2.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 619 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 620 //pc.printf("x");
taknokolat 1:290e621741fd 621 return;
taknokolat 1:290e621741fd 622 }
taknokolat 1:290e621741fd 623
taknokolat 1:290e621741fd 624
taknokolat 1:290e621741fd 625
taknokolat 30:90252dc48c1a 626 pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 627
taknokolat 1:290e621741fd 628 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 629
taknokolat 1:290e621741fd 630 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 631
taknokolat 1:290e621741fd 632 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 633 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 634 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 635 //wait_ms(20);
taknokolat 1:290e621741fd 636 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 637 bufcounter = 0;
taknokolat 1:290e621741fd 638 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 639 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 640 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 641 }
taknokolat 1:290e621741fd 642
taknokolat 1:290e621741fd 643 else if(bufcounter>=5){
taknokolat 1:290e621741fd 644 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 645 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 646 bufcounter = 0;
taknokolat 1:290e621741fd 647 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 648 }
taknokolat 1:290e621741fd 649 }
taknokolat 2:f30666d7838b 650
taknokolat 7:8989a4b84695 651 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 652
taknokolat 12:083662bca47d 653 }
taknokolat 1:290e621741fd 654
Skykon 3:c18342e4fddd 655
Skykon 3:c18342e4fddd 656 void setup(){
HARUKIDELTA 23:29b2722bd753 657
HARUKIDELTA 23:29b2722bd753 658 led1 = 1;
HARUKIDELTA 23:29b2722bd753 659 led2 = 1;
HARUKIDELTA 23:29b2722bd753 660 led3 = 1;
HARUKIDELTA 23:29b2722bd753 661 led4 = 1;
HARUKIDELTA 26:ea86e69563b5 662
HARUKIDELTA 26:ea86e69563b5 663 servoR.pulsewidth_us(Servo_NEUTRAL_R); //servo initialize
HARUKIDELTA 26:ea86e69563b5 664 servoL.pulsewidth_us(Servo_NEUTRAL_L);
HARUKIDELTA 26:ea86e69563b5 665 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 29:5d239812ace6 666 servoCameradeg.pulsewidth_us(Camera_deg_B);
HARUKIDELTA 26:ea86e69563b5 667 servoCameraPinto.pulsewidth_us(focus_NEUTRAL);
Skykon 3:c18342e4fddd 668
taknokolat 13:b088f0db7158 669 SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 670 &Servo_high_FORWARD_R, &Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 671 &Servo_slow_FORWARD_R,&Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 672 &Turntable_NEUTRAL,&Matchspeed,&Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 673 &Camera_deg_A, &Camera_deg_B,
HARUKIDELTA 17:83db05cab3d1 674 &Pint_speed,&Pint_wait,
taknokolat 19:949bab1e9451 675 &Turntable_speed,
taknokolat 24:0ad1725c7849 676 &Time360, &Match_wid,
taknokolat 20:011977a37394 677 &Camera_board_wait
taknokolat 13:b088f0db7158 678 );
taknokolat 12:083662bca47d 679
Skykon 3:c18342e4fddd 680 Init_sensors();
Skykon 3:c18342e4fddd 681 //switch2.rise(ResetTrim);
Skykon 3:c18342e4fddd 682
taknokolat 30:90252dc48c1a 683 //NVIC_SetPriority(USART6_IRQn,0);
taknokolat 7:8989a4b84695 684 //NVIC_SetPriority(EXTI0_IRQn,1);
taknokolat 7:8989a4b84695 685 //NVIC_SetPriority(TIM5_IRQn,2);
taknokolat 7:8989a4b84695 686 //NVIC_SetPriority(EXTI9_5_IRQn,3);
taknokolat 7:8989a4b84695 687 //NVIC_SetPriority(USART2_IRQn,4);
taknokolat 7:8989a4b84695 688
taknokolat 30:90252dc48c1a 689 NVIC_SetPriority(USART6_IRQn,0);//割り込み優先度
taknokolat 7:8989a4b84695 690 NVIC_SetPriority(USART2_IRQn,1);
taknokolat 7:8989a4b84695 691
Skykon 3:c18342e4fddd 692 DisplayClock();
Skykon 3:c18342e4fddd 693 t.start();
Skykon 3:c18342e4fddd 694
Skykon 3:c18342e4fddd 695 pc.printf("MPU calibration start\r\n");
taknokolat 24:0ad1725c7849 696 //pc.printf("HMC calibration start\r\n");
Skykon 3:c18342e4fddd 697
Skykon 3:c18342e4fddd 698 float offsetstart = t.read();
Skykon 3:c18342e4fddd 699 while(t.read() - offsetstart < 26){
Skykon 3:c18342e4fddd 700 SensingMPU();
taknokolat 24:0ad1725c7849 701 //SensingHMC();
Skykon 3:c18342e4fddd 702 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
taknokolat 24:0ad1725c7849 703 //pc.printf("\t%3.2f\t",nowAngle_HMC);
Skykon 3:c18342e4fddd 704 pc.printf("\r\n");
HARUKIDELTA 23:29b2722bd753 705 led1 = !led1;
HARUKIDELTA 23:29b2722bd753 706 led2 = !led2;
HARUKIDELTA 23:29b2722bd753 707 led3 = !led3;
HARUKIDELTA 23:29b2722bd753 708 led4 = !led4;
Skykon 3:c18342e4fddd 709 }
Skykon 3:c18342e4fddd 710
Skykon 3:c18342e4fddd 711 FirstROLL = nowAngle[ROLL];
Skykon 3:c18342e4fddd 712 FirstPITCH = nowAngle[PITCH];
Skykon 3:c18342e4fddd 713 nowAngle[ROLL] -=FirstROLL;
Skykon 3:c18342e4fddd 714 nowAngle[PITCH] -=FirstPITCH;
taknokolat 6:166746820555 715 FirstYAW = nowAngle[YAW];
taknokolat 6:166746820555 716 nowAngle[YAW] -= FirstYAW;
taknokolat 6:166746820555 717
taknokolat 24:0ad1725c7849 718 //g_FirstYAW_HMC = nowAngle_HMC;
taknokolat 24:0ad1725c7849 719 //nowAngle_HMC -=g_FirstYAW_HMC;
taknokolat 24:0ad1725c7849 720 //if(nowAngle_HMC<0)nowAngle_HMC+=360;
Skykon 3:c18342e4fddd 721
HARUKIDELTA 23:29b2722bd753 722 led1 = 0;
HARUKIDELTA 23:29b2722bd753 723 led2 = 0;
HARUKIDELTA 23:29b2722bd753 724 led3 = 0;
HARUKIDELTA 23:29b2722bd753 725 led4 = 0;
HARUKIDELTA 23:29b2722bd753 726
Skykon 3:c18342e4fddd 727 wait(0.2);
Skykon 3:c18342e4fddd 728
HARUKIDELTA 26:ea86e69563b5 729
HARUKIDELTA 26:ea86e69563b5 730 g_fp = fopen( "/sd/Datalog01.txt" ,"a" );
HARUKIDELTA 26:ea86e69563b5 731 if( g_fp == NULL ) {
HARUKIDELTA 26:ea86e69563b5 732 pc.printf( "ファイルオープンエラー\r\n" );
HARUKIDELTA 26:ea86e69563b5 733 }
HARUKIDELTA 27:f67efcee6509 734 fprintf(g_fp,"\r\n-------------------------\r\n");
HARUKIDELTA 26:ea86e69563b5 735 fprintf(g_fp,"All initialized.\r\n");
HARUKIDELTA 26:ea86e69563b5 736 fclose( g_fp );
HARUKIDELTA 26:ea86e69563b5 737
HARUKIDELTA 26:ea86e69563b5 738
Skykon 3:c18342e4fddd 739 pc.printf("All initialized\r\n");
taknokolat 4:67f705d42f1e 740 setupFlag=true;
taknokolat 1:290e621741fd 741 }
taknokolat 1:290e621741fd 742
Skykon 3:c18342e4fddd 743
Skykon 3:c18342e4fddd 744 void SensingMPU(){
Skykon 3:c18342e4fddd 745 //static int16_t deltaT = 0, t_start = 0;
Skykon 3:c18342e4fddd 746 //t_start = t.read_us();
Skykon 3:c18342e4fddd 747
taknokolat 7:8989a4b84695 748 float rpy[3] = {0};
Skykon 3:c18342e4fddd 749 static uint16_t count_changeRPY = 0;
Skykon 3:c18342e4fddd 750 static bool flg_checkoutlier = false;
taknokolat 30:90252dc48c1a 751 NVIC_DisableIRQ(USART6_IRQn);
Skykon 3:c18342e4fddd 752 NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 753 NVIC_DisableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 754 NVIC_DisableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 755 NVIC_DisableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 756
Skykon 3:c18342e4fddd 757 mpu6050.getRollPitchYaw_Skipper(rpy);
Skykon 3:c18342e4fddd 758
taknokolat 30:90252dc48c1a 759 NVIC_EnableIRQ(USART6_IRQn);
Skykon 3:c18342e4fddd 760 NVIC_EnableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 761 NVIC_EnableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 762 NVIC_EnableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 763 NVIC_EnableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 764
Skykon 3:c18342e4fddd 765
Skykon 3:c18342e4fddd 766 //外れ値対策
Skykon 3:c18342e4fddd 767 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
Skykon 3:c18342e4fddd 768 rpy[ROLL] -= FirstROLL;
Skykon 3:c18342e4fddd 769 rpy[PITCH] -= FirstPITCH;
taknokolat 4:67f705d42f1e 770 if(!setupFlag){
taknokolat 4:67f705d42f1e 771 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 772 }else{
taknokolat 4:67f705d42f1e 773 if(rpy[YAW] >= FirstYAW){
taknokolat 4:67f705d42f1e 774 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 775 }else{
taknokolat 4:67f705d42f1e 776 rpy[YAW] += 360.0f;
taknokolat 4:67f705d42f1e 777 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 778 }
taknokolat 4:67f705d42f1e 779 }
Skykon 3:c18342e4fddd 780
Skykon 3:c18342e4fddd 781 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 782 if(!flg_checkoutlier || count_changeRPY >= 2){
Skykon 3:c18342e4fddd 783 for(uint8_t i=0; i<3; i++){
taknokolat 34:0c2b67b31b12 784 if(rpy[i] > nowAngle[i]-180 && rpy[i] < nowAngle[i]+180){
taknokolat 34:0c2b67b31b12 785 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
taknokolat 34:0c2b67b31b12 786 }else{
taknokolat 34:0c2b67b31b12 787 nowAngle[i] = rpy[i];
taknokolat 34:0c2b67b31b12 788 }
Skykon 3:c18342e4fddd 789 }
Skykon 3:c18342e4fddd 790 count_changeRPY = 0;
Skykon 3:c18342e4fddd 791 }else count_changeRPY++;
Skykon 3:c18342e4fddd 792 flg_checkoutlier = false;
Skykon 3:c18342e4fddd 793
Skykon 3:c18342e4fddd 794 }
Skykon 3:c18342e4fddd 795
Skykon 3:c18342e4fddd 796
Skykon 3:c18342e4fddd 797 void Init_sensors(){
Skykon 3:c18342e4fddd 798 if(mpu6050.setup() == -1){
Skykon 3:c18342e4fddd 799 pc.printf("failed initialize\r\n");
Skykon 3:c18342e4fddd 800 }
Skykon 3:c18342e4fddd 801 }
Skykon 3:c18342e4fddd 802
Skykon 3:c18342e4fddd 803
Skykon 3:c18342e4fddd 804 void DisplayClock(){
Skykon 3:c18342e4fddd 805 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
Skykon 3:c18342e4fddd 806 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
Skykon 3:c18342e4fddd 807 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
Skykon 3:c18342e4fddd 808 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
Skykon 3:c18342e4fddd 809 pc.printf("\r\n");
taknokolat 4:67f705d42f1e 810 }
taknokolat 6:166746820555 811
taknokolat 24:0ad1725c7849 812 /*void SensingHMC(){
taknokolat 6:166746820555 813 //static int16_t deltaT = 0, t_start = 0;
taknokolat 6:166746820555 814 //t_start = t.read_us();
taknokolat 6:166746820555 815
taknokolat 7:8989a4b84695 816 float rpy=0;
taknokolat 6:166746820555 817 static uint16_t count_changeRPY = 0;
taknokolat 6:166746820555 818 static bool flg_checkoutlier = false;
taknokolat 30:90252dc48c1a 819 NVIC_DisableIRQ(USART6_IRQn);
taknokolat 6:166746820555 820 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 19:949bab1e9451 821 //NVIC_DisableIRQ(TIM5_IRQn);
taknokolat 19:949bab1e9451 822 //NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat 19:949bab1e9451 823 //NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat 4:67f705d42f1e 824
taknokolat 24:0ad1725c7849 825 rpy= compass.getHeadingXYDeg(Time360,Match_wid);
taknokolat 6:166746820555 826
taknokolat 30:90252dc48c1a 827 NVIC_EnableIRQ(USART6_IRQn);
taknokolat 6:166746820555 828 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 19:949bab1e9451 829 //NVIC_EnableIRQ(TIM5_IRQn);
taknokolat 19:949bab1e9451 830 //NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat 19:949bab1e9451 831 //NVIC_EnableIRQ(EXTI9_5_IRQn);
taknokolat 6:166746820555 832
taknokolat 6:166746820555 833
taknokolat 6:166746820555 834 //外れ値対策
taknokolat 6:166746820555 835 //rpy*= 180.0f/PI;
taknokolat 6:166746820555 836 if(!setupFlag){
taknokolat 6:166746820555 837 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 838 }else{
taknokolat 6:166746820555 839 if(rpy >= g_FirstYAW_HMC){
taknokolat 6:166746820555 840 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 841 }else{
taknokolat 6:166746820555 842 rpy += 360.0f;
taknokolat 6:166746820555 843 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 844 }
taknokolat 6:166746820555 845 }
taknokolat 6:166746820555 846
taknokolat 6:166746820555 847 if(rpy < nowAngle_HMC-10 || rpy > nowAngle_HMC+10) {flg_checkoutlier = true;}
taknokolat 6:166746820555 848 if(!flg_checkoutlier || count_changeRPY >= 2){
taknokolat 6:166746820555 849
taknokolat 6:166746820555 850 nowAngle_HMC = (rpy + nowAngle_HMC)/2.0f; //2つの移動平均
taknokolat 6:166746820555 851
taknokolat 6:166746820555 852 count_changeRPY = 0;
taknokolat 6:166746820555 853 }else count_changeRPY++;
taknokolat 6:166746820555 854 flg_checkoutlier = false;
taknokolat 6:166746820555 855
taknokolat 24:0ad1725c7849 856 }*/
taknokolat 12:083662bca47d 857
taknokolat 12:083662bca47d 858 int SetOptions(int *Servo_NEUTRAL_R, int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 859 int *Servo_high_FORWARD_R, int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 860 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 861 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 862 int *Camera_deg_A, int *Camera_deg_B,
HARUKIDELTA 17:83db05cab3d1 863 int *Pint_speed, float *Pint_wait,
taknokolat 19:949bab1e9451 864 int *Turntable_speed,
taknokolat 24:0ad1725c7849 865 int *Time360, int *Match_wid,
taknokolat 20:011977a37394 866 int *Camera_board_wait
taknokolat 12:083662bca47d 867 ){
taknokolat 12:083662bca47d 868
taknokolat 12:083662bca47d 869 pc.printf("SDsetup start.\r\n");
taknokolat 12:083662bca47d 870
taknokolat 12:083662bca47d 871 FILE *fp;
taknokolat 12:083662bca47d 872 char parameter[20]; //文字列渡す用の配列
taknokolat 12:083662bca47d 873 int SDerrorcount = 0; //取得できなかった数を返す
taknokolat 12:083662bca47d 874 const char *paramNames[] = {
taknokolat 12:083662bca47d 875 "SERVO_NEUTRAL_R",
taknokolat 12:083662bca47d 876 "SERVO_NEUTRAL_L",
taknokolat 12:083662bca47d 877 "SERVO_HIGH_FORWARD_R",
taknokolat 12:083662bca47d 878 "SERVO_HIGH_FORWARD_L",
taknokolat 12:083662bca47d 879 "SERVO_SLOW_FORWARD_R",
taknokolat 12:083662bca47d 880 "SERVO_SLOW_FORWARD_L",
taknokolat 12:083662bca47d 881 "TURNTABLE_NEUTRAL",
taknokolat 12:083662bca47d 882 "MATCH_SPEED",
taknokolat 12:083662bca47d 883 "FOCUS_NEUTRAL",
taknokolat 12:083662bca47d 884 "CAMERA_DEG_A",
taknokolat 16:26cee2aaf61d 885 "CAMERA_DEG_B",
taknokolat 16:26cee2aaf61d 886 "PINT_SPEED",
HARUKIDELTA 17:83db05cab3d1 887 "PINT_WAIT",
taknokolat 19:949bab1e9451 888 "TURNTABLE_SPEED",
taknokolat 24:0ad1725c7849 889 "TIME360",
taknokolat 24:0ad1725c7849 890 "MATCH_WID",
taknokolat 20:011977a37394 891 "CAMERA_BOARD_WAIT"
taknokolat 12:083662bca47d 892 };
taknokolat 12:083662bca47d 893
taknokolat 12:083662bca47d 894 fp = fopen("/sd/option.txt","r");
taknokolat 12:083662bca47d 895
taknokolat 12:083662bca47d 896 if(fp != NULL){ //開けたら
taknokolat 12:083662bca47d 897 pc.printf("File was openned.\r\n");
taknokolat 12:083662bca47d 898 if(GetParameter(fp,paramNames[0],parameter)) *Servo_NEUTRAL_R = atof(parameter);
taknokolat 12:083662bca47d 899 else{ *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 900 SDerrorcount++;
taknokolat 12:083662bca47d 901 }
taknokolat 12:083662bca47d 902 if(GetParameter(fp,paramNames[1],parameter)) *Servo_NEUTRAL_L = atof(parameter);
taknokolat 12:083662bca47d 903 else{ *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 904 SDerrorcount++;
taknokolat 12:083662bca47d 905 }
taknokolat 12:083662bca47d 906 if(GetParameter(fp,paramNames[2],parameter)) *Servo_high_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 907 else{ *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 908 SDerrorcount++;
taknokolat 12:083662bca47d 909 }
taknokolat 12:083662bca47d 910 if(GetParameter(fp,paramNames[3],parameter)) *Servo_high_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 911 else{ *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 912 SDerrorcount++;
taknokolat 12:083662bca47d 913 }
taknokolat 12:083662bca47d 914 if(GetParameter(fp,paramNames[4],parameter)) *Servo_slow_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 915 else{ *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 916 SDerrorcount++;
taknokolat 12:083662bca47d 917 }
taknokolat 12:083662bca47d 918 if(GetParameter(fp,paramNames[5],parameter)) *Servo_slow_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 919 else{ *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 920 SDerrorcount++;
taknokolat 12:083662bca47d 921 }
taknokolat 12:083662bca47d 922
taknokolat 12:083662bca47d 923 if(GetParameter(fp,paramNames[6],parameter)) *Turntable_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 924 else{ *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 925 SDerrorcount++;
taknokolat 12:083662bca47d 926 }
taknokolat 12:083662bca47d 927 if(GetParameter(fp,paramNames[7],parameter)) *Matchspeed = atof(parameter);
taknokolat 12:083662bca47d 928 else{ *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 929 SDerrorcount++;
taknokolat 12:083662bca47d 930 }
taknokolat 12:083662bca47d 931 if(GetParameter(fp,paramNames[8],parameter)) *Focus_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 932 else{ *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 933 SDerrorcount++;
taknokolat 12:083662bca47d 934 }
taknokolat 19:949bab1e9451 935 if(GetParameter(fp,paramNames[9],parameter)) *Camera_deg_A = atof(parameter);
taknokolat 12:083662bca47d 936 else{ *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 937 SDerrorcount++;
taknokolat 12:083662bca47d 938 }
taknokolat 19:949bab1e9451 939 if(GetParameter(fp,paramNames[10],parameter)) *Camera_deg_B = atof(parameter);
taknokolat 12:083662bca47d 940 else{ *Camera_deg_B = camera_deg_B;
taknokolat 12:083662bca47d 941 SDerrorcount++;
taknokolat 12:083662bca47d 942 }
taknokolat 19:949bab1e9451 943 if(GetParameter(fp,paramNames[11],parameter)) *Pint_speed = atof(parameter);
taknokolat 16:26cee2aaf61d 944 else{ *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 945 SDerrorcount++;
taknokolat 16:26cee2aaf61d 946 }
taknokolat 20:011977a37394 947 if(GetParameter(fp,paramNames[12],parameter)) *Pint_wait = atof(parameter);
taknokolat 20:011977a37394 948 else{ *Pint_wait = pint_wait;
taknokolat 16:26cee2aaf61d 949 SDerrorcount++;
taknokolat 16:26cee2aaf61d 950 }
taknokolat 19:949bab1e9451 951 if(GetParameter(fp,paramNames[13],parameter)) *Turntable_speed = atof(parameter);
HARUKIDELTA 17:83db05cab3d1 952 else{ *Turntable_speed = turntable_speed;
HARUKIDELTA 17:83db05cab3d1 953 SDerrorcount++;
HARUKIDELTA 17:83db05cab3d1 954 }
taknokolat 24:0ad1725c7849 955 if(GetParameter(fp,paramNames[14],parameter)) *Time360 = atof(parameter);
taknokolat 24:0ad1725c7849 956 else{ *Time360 = time360;
taknokolat 19:949bab1e9451 957 SDerrorcount++;
taknokolat 19:949bab1e9451 958 }
taknokolat 24:0ad1725c7849 959 if(GetParameter(fp,paramNames[15],parameter)) *Match_wid = atof(parameter);
taknokolat 24:0ad1725c7849 960 else{ *Match_wid = match_wid;
taknokolat 19:949bab1e9451 961 SDerrorcount++;
taknokolat 19:949bab1e9451 962 }
taknokolat 20:011977a37394 963 if(GetParameter(fp,paramNames[16],parameter)) *Camera_board_wait = atof(parameter);
taknokolat 20:011977a37394 964 else{ *Camera_board_wait = camera_board_wait;
taknokolat 20:011977a37394 965 SDerrorcount++;
taknokolat 20:011977a37394 966 }
taknokolat 12:083662bca47d 967 fclose(fp);
taknokolat 12:083662bca47d 968
taknokolat 12:083662bca47d 969 }else{ //ファイルがなかったら
taknokolat 12:083662bca47d 970 pc.printf("fp was null.\r\n");
taknokolat 12:083662bca47d 971
taknokolat 12:083662bca47d 972 *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 973 *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 974 *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 975 *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 976 *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 977 *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 978 *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 979 *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 980 *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 981 *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 982 *Camera_deg_B = camera_deg_B;
taknokolat 16:26cee2aaf61d 983 *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 984 *Pint_wait = pint_wait;
HARUKIDELTA 17:83db05cab3d1 985 *Turntable_speed = turntable_speed;
taknokolat 24:0ad1725c7849 986 *Time360 = time360;
taknokolat 24:0ad1725c7849 987 *Match_wid = match_wid;
taknokolat 22:a19be3b505b7 988 *Camera_board_wait = camera_board_wait;
taknokolat 12:083662bca47d 989 SDerrorcount = -1;
taknokolat 12:083662bca47d 990 }
taknokolat 12:083662bca47d 991 pc.printf("SDsetup finished.\r\n");
taknokolat 12:083662bca47d 992 if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
taknokolat 12:083662bca47d 993 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
taknokolat 12:083662bca47d 994 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
taknokolat 12:083662bca47d 995
taknokolat 12:083662bca47d 996 pc.printf("Servo_NEUTRAL_R = %d, Servo_NEUTRAL_L = %d\r\n", *Servo_NEUTRAL_R, *Servo_NEUTRAL_L);
taknokolat 13:b088f0db7158 997 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 998 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 999 pc.printf("Turntable_NEUTRAL = %d, Matchspeed = %d\r\n", *Turntable_NEUTRAL, *Matchspeed);
taknokolat 13:b088f0db7158 1000 pc.printf("Focus_NEUTRAL = %d\r\n", *Focus_NEUTRAL);
taknokolat 13:b088f0db7158 1001 pc.printf("Camera_deg_A = %d, Camera_deg_B = %d\r\n", *Camera_deg_A, *Camera_deg_B);
taknokolat 16:26cee2aaf61d 1002 pc.printf("Pint_speed = %d, Pint_wait = %f\r\n", *Pint_speed, *Pint_wait);
HARUKIDELTA 17:83db05cab3d1 1003 pc.printf("Turntable_speed = %d\r\n",*Turntable_speed);
taknokolat 24:0ad1725c7849 1004 pc.printf("Time360 = %d, Match_wid = %d\r\n", *Time360, *Match_wid);
taknokolat 20:011977a37394 1005 pc.printf("Camera_board_wait = %d\r\n", *Camera_board_wait);
taknokolat 12:083662bca47d 1006
taknokolat 12:083662bca47d 1007 return SDerrorcount;
taknokolat 12:083662bca47d 1008 }
taknokolat 12:083662bca47d 1009 int GetParameter(FILE *fp, const char *paramName,char parameter[]){
taknokolat 12:083662bca47d 1010 int i=0, j=0;
taknokolat 12:083662bca47d 1011 int strmax = 200;
taknokolat 12:083662bca47d 1012 char str[strmax];
taknokolat 12:083662bca47d 1013
taknokolat 12:083662bca47d 1014 rewind(fp); //ファイル位置を先頭に
taknokolat 12:083662bca47d 1015 while(1){
taknokolat 12:083662bca47d 1016 if (fgets(str, strmax, fp) == NULL) {
taknokolat 12:083662bca47d 1017 return 0;
taknokolat 12:083662bca47d 1018 }
taknokolat 12:083662bca47d 1019 if (!strncmp(str, paramName, strlen(paramName))) {
taknokolat 12:083662bca47d 1020 while (str[i++] != '=') {}
taknokolat 12:083662bca47d 1021 while (str[i] != '\n') {
taknokolat 12:083662bca47d 1022 parameter[j++] = str[i++];
taknokolat 12:083662bca47d 1023 }
taknokolat 12:083662bca47d 1024 parameter[j] = '\0';
taknokolat 12:083662bca47d 1025 return 1;
taknokolat 12:083662bca47d 1026 }
taknokolat 12:083662bca47d 1027 }
taknokolat 12:083662bca47d 1028 }
taknokolat 12:083662bca47d 1029
taknokolat 12:083662bca47d 1030
taknokolat 6:166746820555 1031
taknokolat 4:67f705d42f1e 1032 void DebugPrint(){
taknokolat 4:67f705d42f1e 1033 //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 1034 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 7:8989a4b84695 1035 //pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 7:8989a4b84695 1036 //pc.printf("\r\n");
taknokolat 6:166746820555 1037 }