Diff: Global.cpp

Revision:

35:63ccdae58da4

Parent:

34:770a6bbb4d63

Child:

36:ad6b2b81bb89

diff -r 770a6bbb4d63 -r 63ccdae58da4 Global.cpp
--- a/Global.cpp	Wed Mar 01 14:34:27 2017 +0000
+++ b/Global.cpp	Sat Mar 18 08:34:17 2017 +0000
@@ -1,11 +1,18 @@
 #include "mbed.h"
 #include "Global.h"
 #include "rtos.h"
-
+#include "FlashManager.h"
+extern RawSerial pc3(USBTX, USBRX);
 
 //クラスじゃなくてnamespaceのほうが綺麗にかけるかもね
+void Global::setpc(RawSerial _pc){
+    _pc.printf("setpc\n");
+}
 
 Queue<char, 20> Global::initqueue;
+//----------------FlashMemory(pin指定はここで)--------------------------------------------
+SPI Global::spi(PA_7, PA_6, PA_5);// mosi, miso, sclk
+FlashManager Global::memory(spi, PB_9);//spi, cs
 //----------------普段は変動しない変数------------------------------------------------------
 //サーボのパラメータ（角度(度数法)で設定）max，minはニュートラルを基準にしている
 double Global::maxpitch = 5.0;
@@ -22,10 +29,10 @@
 double Global::minyawdegree = 0;
 double Global::neutralyawdegree = 0.5;
 //ジョイスティックの遊び([-1,1]でニュートラルを0とした時の値)
-double Global::maxpitchplayratio = 0;
-double Global::minpitchplayratio = 0;
-double Global::maxyawplayratio = 0;
-double Global::minyawplayratio = 0;
+double Global::maxpitchplayratio = 0.1;
+double Global::minpitchplayratio = -0.1;
+double Global::maxyawplayratio = 0.1;
+double Global::minyawplayratio = -0.1;
 //トリムの変化率（角度(度数法)で設定）
 double Global::trimpitchrate = 0.5;
 
@@ -65,79 +72,73 @@
 //----------------どこからでも使えるled,スイッチ,タイマーの一括管理-----------------------------
 Timer Global::timer;
 DigitalOut Global::led(LED2);
-//LocalFileSystem Global::local("local"); 
 
 //ここでINIT.csvファイルが読み込まれる
 void Global::initialize(){
     timer.start();
+    memory.reset();
     //fileread();
 }
 
 //INITファイルの読み込み
-/*void Global::fileread(){
-    float a, b, c, d, e, f;
- 
-    FILE* fp = fopen("/local/init.csv", "r");
-    if(fp == NULL) {
-        filewrite();
-        return;
-    }
-    //1行目
-    fscanf(fp, "%f,%f,%f,%f,%f,%f",&a, &b, &c, &d, &e, &f);
-    setneutralpitch(a);
-    setmaxpitch(b);
-    setminpitch(c);
-    setneutralyaw(d);
-    setmaxyaw(e);
-    setminyaw(f);
-    //2行目
-    fscanf(fp, "%f,%f,%f,%f,%f,%f",&a, &b, &c, &d, &e, &f);
-    setneutralpitchdegree(a);
-    setmaxpitchdegree(b);
-    setminpitchdegree(c);
-    setneutralyawdegree(d);
-    setmaxyawdegree(e);
-    setminyawdegree(f);
-    //3行目
-    fscanf(fp, "%f,%f,%f,%f,%f",&a, &b, &c, &d, &e);
-    setmaxpitchplayratio(a);
-    setminpitchplayratio(b);
-    setmaxyawplayratio(c);
-    setminyawplayratio(d);
-    settrimpitchrate(e);
-    fclose(fp);
+void Global::fileread(){
+    /***********Memoryに値が保存されていない場合filewrite()**********/
+    
+    /************************************************************/
+   
+   vector<double> param(17);
+   param = memory.readdouble(0x0,17);
+   
+   setneutralpitch(param[0]);
+   setmaxpitch(param[1]);
+   setminpitch(param[2]);
+   setneutralyaw(param[3]);
+   setmaxyaw(param[4]);
+   setminyaw(param[5]);
+   
+   setneutralpitchdegree(param[6]);
+   setmaxpitchdegree(param[7]);
+   setminpitchdegree(param[8]);
+   setneutralyawdegree(param[9]);
+   setmaxyawdegree(param[10]);
+   setminyawdegree(param[11]);
+   
+   setmaxpitchplayratio(param[12]);
+   setminpitchplayratio(param[13]);
+   setmaxyawplayratio(param[14]);
+   setminyawplayratio(param[15]);
+   settrimpitchrate(param[16]);
 }
 
 //INITファイルの書き込み
 void Global::filewrite(){
-    FILE* fp = fopen("/local/init.csv", "w");
-    if(fp == NULL) {
-        error("Could not open file for write\n");
-    }
-    fprintf(fp, "%f,%f,%f,%f,%f,%f\n", 
-        getneutralpitch(), 
-        getmaxpitch(),
-        getminpitch(),
-        getneutralyaw(),
-        getmaxyaw(),
-        getminyaw());
-    fprintf(fp, "%f,%f,%f,%f,%f,%f\n", 
-        getneutralpitchdegree(), 
-        getmaxpitchdegree(),
-        getminpitchdegree(),
-        getneutralyawdegree(),
-        getmaxyawdegree(),
-        getminyawdegree());
-    fprintf(fp, "%f,%f,%f,%f,%f\n", 
-        getmaxpitchplayratio(),
-        getminpitchplayratio(),
-        getmaxyawplayratio(),
-        getminyawplayratio(),
-        gettrimpitchrate());
-
-    fclose(fp);
-}*/
-
+   // pc.printf("push");
+    vector<double> param;
+    
+    param.push_back(getneutralpitch());
+    param.push_back(getmaxpitch());
+    param.push_back(getminpitch());
+    param.push_back(getneutralyaw());
+    param.push_back(getmaxyaw());
+    param.push_back(getminyaw());
+    
+    param.push_back(getneutralpitchdegree());
+    param.push_back(getmaxpitchdegree());
+    param.push_back(getminpitchdegree());
+    param.push_back(getneutralyawdegree());
+    param.push_back(getmaxyawdegree());
+    param.push_back(getminyawdegree());
+    
+    param.push_back(getmaxpitchplayratio());
+    param.push_back(getminpitchplayratio());
+    param.push_back(getmaxyawplayratio());
+    param.push_back(getminyawplayratio());
+    param.push_back(gettrimpitchrate());
+    pc3.printf("%d\n",param.size());
+    pc3.printf("write\n");
+    memory.writedouble(0x0,param);
+    pc3.printf("written\n");
+}
 
 //init等で更新される変数
 double Global::getmaxpitch(){return maxpitch;}
@@ -183,7 +184,6 @@
 
 void Global::settrimpitchrate(double _trimpitchrate){trimpitchrate=_trimpitchrate;}
 
-
 //常に更新される変数
 double Global::getpitch(){return pitch;}
 double Global::getpitchdegree(){return pitchdegree;}
@@ -217,8 +217,6 @@
 int Global::getservovolttime(){return servovolttime;}
 int Global::getmiconvolttime(){return miconvolttime;}
 
-
-
 void Global::setpitch(double _pitch){
     pitch = _pitch;
     pitchtime = timer.read_ms();