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Dependencies:   mbed FreeRTOS

hbCommand.cpp@26:732bc37fbefd, 2018-12-13 (annotated)

Committer:
MasashiNomura
Date:
Thu Dec 13 12:15:35 2018 +0000
Revision:
26:732bc37fbefd
Parent:
25:f3a6e7eec9c3
Child:
27:ff63c23bc689
2018/12/13 Add MotorOfs Function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 18:5aa48aec9cae 1 #include <string.h>
takeru0x1103 18:5aa48aec9cae 2 #include <stdio.h>
MasashiNomura 25:f3a6e7eec9c3 3 #include "typedef.h"
takeru0x1103 18:5aa48aec9cae 4 #include "globalFlags.h"
takeru0x1103 18:5aa48aec9cae 5 #include "hbCommand.h"
takeru0x1103 18:5aa48aec9cae 6
takeru0x1103 18:5aa48aec9cae 7 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 8 //シリアルコマンド解析
takeru0x1103 18:5aa48aec9cae 9 //-------------------------------------------------------------
takeru0x1103 18:5aa48aec9cae 10 void commandParse(){
takeru0x1103 18:5aa48aec9cae 11 //フラグが立ってなければ何もしないで終わる
takeru0x1103 18:5aa48aec9cae 12 if(gf_CmdPrs==false){
takeru0x1103 18:5aa48aec9cae 13 return;
takeru0x1103 18:5aa48aec9cae 14 }
takeru0x1103 18:5aa48aec9cae 15 //フラグを落として以降の処理をする
takeru0x1103 18:5aa48aec9cae 16 gf_CmdPrs=false;
takeru0x1103 18:5aa48aec9cae 17
takeru0x1103 18:5aa48aec9cae 18 //第二引数の開始位置
takeru0x1103 18:5aa48aec9cae 19 UCHAR arg2pos=0;
takeru0x1103 18:5aa48aec9cae 20 while (1) {
takeru0x1103 19:4b0fe9a5ec38 21 if(g_CmdBuf[arg2pos]==NULL){
takeru0x1103 18:5aa48aec9cae 22 arg2pos++;
takeru0x1103 18:5aa48aec9cae 23 break;
takeru0x1103 18:5aa48aec9cae 24 }else{
takeru0x1103 18:5aa48aec9cae 25 arg2pos++;
takeru0x1103 18:5aa48aec9cae 26 }
takeru0x1103 18:5aa48aec9cae 27 }
takeru0x1103 18:5aa48aec9cae 28
MasashiNomura 25:f3a6e7eec9c3 29 //if(gf_State != SLEEP && gf_State != WAKEUP){
MasashiNomura 25:f3a6e7eec9c3 30 if(gf_State != SLEEP){
MasashiNomura 25:f3a6e7eec9c3 31 //EMG STOP 現在はモーターの強制停止
MasashiNomura 25:f3a6e7eec9c3 32 if (g_CmdBuf[0] == ESC){gf_StopMot = true;}
MasashiNomura 22:24c9c2dedca9 33 //リード系
MasashiNomura 25:f3a6e7eec9c3 34 else if (strcmp(g_CmdBuf , "re" )==0 ){gf_Print.bf.e1=true; gf_Print.bf.e2=true;}
MasashiNomura 22:24c9c2dedca9 35 else if (strcmp(g_CmdBuf , "re1" )==0 ){gf_Print.bf.e1=true;}
MasashiNomura 22:24c9c2dedca9 36 else if (strcmp(g_CmdBuf , "re2" )==0 ){gf_Print.bf.e2=true;}
MasashiNomura 22:24c9c2dedca9 37 else if (strcmp(g_CmdBuf , "rm" )==0 ){gf_Print.bf.m1=true;gf_Print.bf.m2=true;gf_Print.bf.m3=true;gf_Print.bf.m4=true;}//リードモーター
MasashiNomura 22:24c9c2dedca9 38 else if (strcmp(g_CmdBuf , "rm1" )==0 ){gf_Print.bf.m1=true;}//リードモーター1
MasashiNomura 22:24c9c2dedca9 39 else if (strcmp(g_CmdBuf , "rm2" )==0 ){gf_Print.bf.m2=true;}//リードモーター2
MasashiNomura 22:24c9c2dedca9 40 else if (strcmp(g_CmdBuf , "rm3" )==0 ){gf_Print.bf.m3=true;}//リードモーター3
MasashiNomura 22:24c9c2dedca9 41 else if (strcmp(g_CmdBuf , "rm4" )==0 ){gf_Print.bf.m4=true;}//リードモーター4
MasashiNomura 22:24c9c2dedca9 42 else if (strcmp(g_CmdBuf , "rg" )==0 ){gf_Print.bf.gy=true;}//リードジャイロ
MasashiNomura 22:24c9c2dedca9 43 else if (strcmp(g_CmdBuf , "ry" )==0 ){gf_Print.bf.yaw=true;}//リード姿勢角ヨー
MasashiNomura 22:24c9c2dedca9 44 else if (strcmp(g_CmdBuf , "rimu")==0 ){gf_Print.bf.yaw=true;gf_Print.bf.gy=true;}//リードIMU
MasashiNomura 22:24c9c2dedca9 45 else if (strcmp(g_CmdBuf , "rs" )==0 ){ }//リードスイッチ
MasashiNomura 22:24c9c2dedca9 46 else if (strcmp(g_CmdBuf , "rfb" )==0 ){gf_Print.bf.fb=true;}//PID制御フィードバック結果
MasashiNomura 22:24c9c2dedca9 47 else if (strcmp(g_CmdBuf , "rp" )==0 ){gf_Print.bf.pp=true;gf_Print.bf.p=true;gf_Print.bf.i=true;gf_Print.bf.d=true;}//パラメータ全表示
MasashiNomura 22:24c9c2dedca9 48 else if (strcmp(g_CmdBuf , "rpP" )==0 ){gf_Print.bf.pp=true;}//パラメータアウターPゲイン表示
MasashiNomura 22:24c9c2dedca9 49 else if (strcmp(g_CmdBuf , "rpp" )==0 ){gf_Print.bf.p=true;}//パラメータPゲイン表示
MasashiNomura 22:24c9c2dedca9 50 else if (strcmp(g_CmdBuf , "rpi" )==0 ){gf_Print.bf.i=true;}//パラメータIゲイン表示
MasashiNomura 22:24c9c2dedca9 51 else if (strcmp(g_CmdBuf , "rpd" )==0 ){gf_Print.bf.d=true;}//パラメータDゲイン表示
MasashiNomura 22:24c9c2dedca9 52
MasashiNomura 22:24c9c2dedca9 53 //設定系
MasashiNomura 22:24c9c2dedca9 54 else if (strcmp(g_CmdBuf , "se1" )==0 ){gf_AxReq[0].bf.req=true; gf_AxReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 22:24c9c2dedca9 55 else if (strcmp(g_CmdBuf , "se2" )==0 ){gf_AxReq[1].bf.req=true; gf_AxReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 22:24c9c2dedca9 56 else if (strcmp(g_CmdBuf , "sm1" )==0 ){gf_MtReq[0].bf.req=true; gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 22:24c9c2dedca9 57 else if (strcmp(g_CmdBuf , "sm2" )==0 ){gf_MtReq[1].bf.req=true; gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 22:24c9c2dedca9 58 else if (strcmp(g_CmdBuf , "sm3" )==0 ){gf_MtReq[2].bf.req=true; gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 22:24c9c2dedca9 59 else if (strcmp(g_CmdBuf , "sm4" )==0 ){gf_MtReq[3].bf.req=true; gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 25:f3a6e7eec9c3 60 else if (strcmp(g_CmdBuf , "sma" )==0 ){
MasashiNomura 25:f3a6e7eec9c3 61 gf_MtReq[0].bf.req=true;
MasashiNomura 25:f3a6e7eec9c3 62 gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 25:f3a6e7eec9c3 63 gf_MtReq[1].bf.req=true;
MasashiNomura 25:f3a6e7eec9c3 64 gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 25:f3a6e7eec9c3 65 gf_MtReq[2].bf.req=true;
MasashiNomura 25:f3a6e7eec9c3 66 gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 25:f3a6e7eec9c3 67 gf_MtReq[3].bf.req=true;
MasashiNomura 25:f3a6e7eec9c3 68 gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 25:f3a6e7eec9c3 69 }
MasashiNomura 26:732bc37fbefd 70 else if (strcmp(g_CmdBuf , "smf" )==0 ){
MasashiNomura 26:732bc37fbefd 71 gf_MtReq[0].bf.req=true;
MasashiNomura 26:732bc37fbefd 72 gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 26:732bc37fbefd 73 gf_MtReq[1].bf.req=true;
MasashiNomura 26:732bc37fbefd 74 gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 26:732bc37fbefd 75 else if (strcmp(g_CmdBuf , "smr" )==0 ){
MasashiNomura 26:732bc37fbefd 76 gf_MtReq[2].bf.req=true;
MasashiNomura 26:732bc37fbefd 77 gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 26:732bc37fbefd 78 gf_MtReq[3].bf.req=true;
MasashiNomura 26:732bc37fbefd 79 gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]); }
MasashiNomura 22:24c9c2dedca9 80
MasashiNomura 22:24c9c2dedca9 81 //キャリブレーション
MasashiNomura 22:24c9c2dedca9 82 else if (strcmp(g_CmdBuf , "calyaw")==0 ){gf_Cal.bf.yaw=true;}//
MasashiNomura 22:24c9c2dedca9 83 else if (strcmp(g_CmdBuf , "calgyro")==0 ){gf_Cal.bf.gy=true;}//
MasashiNomura 22:24c9c2dedca9 84 else if (strcmp(g_CmdBuf , "calimu")==0 ){gf_Cal.bf.gy=true;gf_Cal.bf.yaw=true;}//
MasashiNomura 22:24c9c2dedca9 85
MasashiNomura 22:24c9c2dedca9 86 //チェック系
MasashiNomura 22:24c9c2dedca9 87
MasashiNomura 22:24c9c2dedca9 88 //連続モニタ
MasashiNomura 22:24c9c2dedca9 89 else if (strcmp(g_CmdBuf , "mg" )==0 ){gf_Print.bf.gy=true;gf_Mon.bf.gy=true;}//リードジャイロ
MasashiNomura 22:24c9c2dedca9 90 else if (strcmp(g_CmdBuf , "my" )==0 ){gf_Print.bf.yaw=true;gf_Mon.bf.yaw=true;}//リード姿勢角ヨー
MasashiNomura 22:24c9c2dedca9 91 else if (strcmp(g_CmdBuf , "mimu")==0 ){gf_Print.bf.yaw=true;gf_Print.bf.gy=true;gf_Mon.bf.yaw=true;gf_Mon.bf.gy=true;}//リードIMU
MasashiNomura 22:24c9c2dedca9 92 else if (strcmp(g_CmdBuf , "mfb" )==0 ){gf_Print.bf.fb=true;gf_Mon.bf.fb=true;}//PID制御フィードバック結果
MasashiNomura 25:f3a6e7eec9c3 93 else if (strcmp(g_CmdBuf , "mm1" ) == 0 ){gf_Mon.bf.m1=true;}
MasashiNomura 25:f3a6e7eec9c3 94 else if (strcmp(g_CmdBuf , "mm2" ) == 0 ){gf_Mon.bf.m2=true;}
MasashiNomura 25:f3a6e7eec9c3 95 else if (strcmp(g_CmdBuf , "mm3" ) == 0 ){gf_Mon.bf.m3=true;}
MasashiNomura 25:f3a6e7eec9c3 96 else if (strcmp(g_CmdBuf , "mm4" ) == 0 ){gf_Mon.bf.m4=true;}
MasashiNomura 22:24c9c2dedca9 97 else if (strcmp(g_CmdBuf , "kill")==0 ){gf_Mon.flg=0;}//モニタ停止
MasashiNomura 22:24c9c2dedca9 98
MasashiNomura 24:c5945aaae777 99 // 開発、デバッグ用コマンド
MasashiNomura 23:79e20be4bc5b 100 else if (strcmp(g_CmdBuf , "stat")==0 ){gf_Print.bf.stat=true;}//ステート表示
MasashiNomura 23:79e20be4bc5b 101 else if (strcmp(g_CmdBuf , "sstatf")==0 ){setStateF((enmHbState)atoi(&g_CmdBuf[arg2pos]));}//ステート強制遷移
MasashiNomura 25:f3a6e7eec9c3 102
MasashiNomura 25:f3a6e7eec9c3 103 else if (strcmp(g_CmdBuf , "stopmot")==0 ){gf_StopMot = true;}//モーター強制停止
MasashiNomura 25:f3a6e7eec9c3 104
MasashiNomura 24:c5945aaae777 105 else if (strcmp(g_CmdBuf , "spidpp")==0 ){g_PidPara.PP = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 Pp設定
MasashiNomura 24:c5945aaae777 106 else if (strcmp(g_CmdBuf , "spidp")==0 ){g_PidPara.P = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 P設定
MasashiNomura 24:c5945aaae777 107 else if (strcmp(g_CmdBuf , "spidi")==0 ){g_PidPara.I = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 I設定
MasashiNomura 24:c5945aaae777 108 else if (strcmp(g_CmdBuf , "spidd")==0 ){g_PidPara.D = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 D設定
MasashiNomura 24:c5945aaae777 109 else if (strcmp(g_CmdBuf , "spidimax")==0 ){g_PidPara.IMax = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 積分上限値設定
MasashiNomura 24:c5945aaae777 110 else if (strcmp(g_CmdBuf , "spidimin")==0 ){g_PidPara.IMin = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 積分下限値設定
MasashiNomura 25:f3a6e7eec9c3 111
MasashiNomura 25:f3a6e7eec9c3 112 //else if (strcmp(g_CmdBuf , "smot1ofs")==0 ){g_MotPara[0].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;}//モーター１オフセット設定
MasashiNomura 25:f3a6e7eec9c3 113 else if (strcmp(g_CmdBuf , "smot1hi")==0 ){g_MotPara[0].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;}//モーター１上限値設定
MasashiNomura 25:f3a6e7eec9c3 114 else if (strcmp(g_CmdBuf , "smot1low")==0 ){g_MotPara[0].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;}//モーター１下限値設定
MasashiNomura 25:f3a6e7eec9c3 115 //else if (strcmp(g_CmdBuf , "smot2ofs")==0 ){g_MotPara[1].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;}//モーター２オフセット設定
MasashiNomura 25:f3a6e7eec9c3 116 else if (strcmp(g_CmdBuf , "smot2hi")==0 ){g_MotPara[1].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;}//モーター２上限値設定
MasashiNomura 25:f3a6e7eec9c3 117 else if (strcmp(g_CmdBuf , "smot2low")==0 ){g_MotPara[1].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;}//モーター２下限値設定
MasashiNomura 25:f3a6e7eec9c3 118 //else if (strcmp(g_CmdBuf , "smot3ofs")==0 ){g_MotPara[2].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;}//モーター３オフセット設定
MasashiNomura 25:f3a6e7eec9c3 119 else if (strcmp(g_CmdBuf , "smot3hi")==0 ){g_MotPara[2].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;}//モーター３上限値設定
MasashiNomura 25:f3a6e7eec9c3 120 else if (strcmp(g_CmdBuf , "smot3low")==0 ){g_MotPara[2].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;}//モーター３下限値設定
MasashiNomura 25:f3a6e7eec9c3 121 //else if (strcmp(g_CmdBuf , "smot4ofs")==0 ){g_MotPara[3].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;}//モーター４オフセット設定
MasashiNomura 25:f3a6e7eec9c3 122 else if (strcmp(g_CmdBuf , "smot4hi")==0 ){g_MotPara[3].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;}//モーター４上限値設定
MasashiNomura 25:f3a6e7eec9c3 123 else if (strcmp(g_CmdBuf , "smot4low")==0 ){g_MotPara[3].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;}//モーター４下限値設定
MasashiNomura 25:f3a6e7eec9c3 124 // else if (strcmp(g_CmdBuf , "smotofs")==0 ){
MasashiNomura 25:f3a6e7eec9c3 125 // g_MotPara[0].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
MasashiNomura 25:f3a6e7eec9c3 126 // g_MotPara[1].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
MasashiNomura 25:f3a6e7eec9c3 127 // g_MotPara[2].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
MasashiNomura 25:f3a6e7eec9c3 128 // g_MotPara[3].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
MasashiNomura 25:f3a6e7eec9c3 129 // }//モーター１~４オフセット設定
MasashiNomura 25:f3a6e7eec9c3 130 else if (strcmp(g_CmdBuf , "smothi")==0 ){
MasashiNomura 25:f3a6e7eec9c3 131 g_MotPara[0].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
MasashiNomura 25:f3a6e7eec9c3 132 g_MotPara[1].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
MasashiNomura 25:f3a6e7eec9c3 133 g_MotPara[2].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
MasashiNomura 25:f3a6e7eec9c3 134 g_MotPara[3].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
MasashiNomura 25:f3a6e7eec9c3 135 }//モーター１~４上限値設定
MasashiNomura 25:f3a6e7eec9c3 136 else if (strcmp(g_CmdBuf , "smotlow")==0 ){
MasashiNomura 25:f3a6e7eec9c3 137 g_MotPara[0].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
MasashiNomura 25:f3a6e7eec9c3 138 g_MotPara[1].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
MasashiNomura 25:f3a6e7eec9c3 139 g_MotPara[2].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
MasashiNomura 25:f3a6e7eec9c3 140 g_MotPara[3].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
MasashiNomura 25:f3a6e7eec9c3 141 }//モーター１~４下限値設定
MasashiNomura 26:732bc37fbefd 142 else if (strcmp(g_CmdBuf , "rmo" )==0 ){gf_DbgPrint.bf.mo1=true;gf_DbgPrint.bf.mo2=true;gf_DbgPrint.bf.mo3=true;gf_DbgPrint.bf.mo4=true;}//リードモーターオフセット
MasashiNomura 26:732bc37fbefd 143 else if (strcmp(g_CmdBuf , "rmo1" )==0 ){gf_DbgPrint.bf.mo1=true;}//リードモーターオフセット1
MasashiNomura 26:732bc37fbefd 144 else if (strcmp(g_CmdBuf , "rmo2" )==0 ){gf_DbgPrint.bf.mo2=true;}//リードモーターオフセット2
MasashiNomura 26:732bc37fbefd 145 else if (strcmp(g_CmdBuf , "rmo3" )==0 ){gf_DbgPrint.bf.mo3=true;}//リードモーターオフセット3
MasashiNomura 26:732bc37fbefd 146 else if (strcmp(g_CmdBuf , "rmo4" )==0 ){gf_DbgPrint.bf.mo4=true;}//リードモーターオフセット4
MasashiNomura 25:f3a6e7eec9c3 147
MasashiNomura 23:79e20be4bc5b 148
MasashiNomura 22:24c9c2dedca9 149 //何にも引っ掛からない
MasashiNomura 22:24c9c2dedca9 150 else {sp.printf("command missmatch\r\n"); };
MasashiNomura 22:24c9c2dedca9 151 } else if(gf_State == SLEEP){
MasashiNomura 25:f3a6e7eec9c3 152 //EMG STOP 現在はモーターの強制停止
MasashiNomura 25:f3a6e7eec9c3 153 if (g_CmdBuf[0] == ESC){gf_StopMot = true;}
MasashiNomura 25:f3a6e7eec9c3 154 else if (strcmp(g_CmdBuf , "sarm" )==0 ){gf_Armed = true;}//アーミングフラグセット テスト用
MasashiNomura 23:79e20be4bc5b 155 else if (strcmp(g_CmdBuf , "dbg" )==0 ){if(gf_Dbg != true) gf_Dbg = true;}//デバッグタスク起動
MasashiNomura 24:c5945aaae777 156 else if (strcmp(g_CmdBuf , "stat")==0 ){gf_Print.bf.stat=true;}//ステート表示
MasashiNomura 23:79e20be4bc5b 157 else if (strcmp(g_CmdBuf , "sstatf")==0 ){setStateF((enmHbState)atoi(&g_CmdBuf[arg2pos]));}//ステート強制遷移
MasashiNomura 25:f3a6e7eec9c3 158 else if (strcmp(g_CmdBuf , "sm1" )==0 ){gf_MtReq[0].bf.req=true; gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 25:f3a6e7eec9c3 159 else if (strcmp(g_CmdBuf , "sm2" )==0 ){gf_MtReq[1].bf.req=true; gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 25:f3a6e7eec9c3 160 else if (strcmp(g_CmdBuf , "sm3" )==0 ){gf_MtReq[2].bf.req=true; gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 25:f3a6e7eec9c3 161 else if (strcmp(g_CmdBuf , "sm4" )==0 ){gf_MtReq[3].bf.req=true; gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 25:f3a6e7eec9c3 162 else if (strcmp(g_CmdBuf , "sma" )==0 ){
MasashiNomura 25:f3a6e7eec9c3 163 gf_MtReq[0].bf.req=true;
MasashiNomura 25:f3a6e7eec9c3 164 gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 25:f3a6e7eec9c3 165 gf_MtReq[1].bf.req=true;
MasashiNomura 25:f3a6e7eec9c3 166 gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 25:f3a6e7eec9c3 167 gf_MtReq[2].bf.req=true;
MasashiNomura 25:f3a6e7eec9c3 168 gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 25:f3a6e7eec9c3 169 gf_MtReq[3].bf.req=true;
MasashiNomura 25:f3a6e7eec9c3 170 gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 25:f3a6e7eec9c3 171 }
MasashiNomura 26:732bc37fbefd 172 else if (strcmp(g_CmdBuf , "smf" )==0 ){
MasashiNomura 26:732bc37fbefd 173 gf_MtReq[0].bf.req=true;
MasashiNomura 26:732bc37fbefd 174 gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 26:732bc37fbefd 175 gf_MtReq[1].bf.req=true;
MasashiNomura 26:732bc37fbefd 176 gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 26:732bc37fbefd 177 else if (strcmp(g_CmdBuf , "smr" )==0 ){
MasashiNomura 26:732bc37fbefd 178 gf_MtReq[2].bf.req=true;
MasashiNomura 26:732bc37fbefd 179 gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 26:732bc37fbefd 180 gf_MtReq[3].bf.req=true;
MasashiNomura 26:732bc37fbefd 181 gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]); }
MasashiNomura 25:f3a6e7eec9c3 182
MasashiNomura 25:f3a6e7eec9c3 183 //キャリブレーション
MasashiNomura 25:f3a6e7eec9c3 184 else if (strcmp(g_CmdBuf , "calyaw")==0 ){gf_Cal.bf.yaw=true;}//
MasashiNomura 25:f3a6e7eec9c3 185 else if (strcmp(g_CmdBuf , "calgyro")==0 ){gf_Cal.bf.gy=true;}//
MasashiNomura 25:f3a6e7eec9c3 186 else if (strcmp(g_CmdBuf , "calimu")==0 ){gf_Cal.bf.gy=true;gf_Cal.bf.yaw=true;}//
MasashiNomura 25:f3a6e7eec9c3 187
MasashiNomura 25:f3a6e7eec9c3 188 else if (strcmp(g_CmdBuf , "spidpp")==0 ){g_PidPara.PP = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 Pp設定
MasashiNomura 25:f3a6e7eec9c3 189 else if (strcmp(g_CmdBuf , "spidp")==0 ){g_PidPara.P = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 P設定
MasashiNomura 25:f3a6e7eec9c3 190 else if (strcmp(g_CmdBuf , "spidi")==0 ){g_PidPara.I = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 I設定
MasashiNomura 25:f3a6e7eec9c3 191 else if (strcmp(g_CmdBuf , "spidd")==0 ){g_PidPara.D = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 D設定
MasashiNomura 25:f3a6e7eec9c3 192 else if (strcmp(g_CmdBuf , "spidimax")==0 ){g_PidPara.IMax = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 積分上限値設定
MasashiNomura 25:f3a6e7eec9c3 193 else if (strcmp(g_CmdBuf , "spidimin")==0 ){g_PidPara.IMin = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 積分下限値設定
MasashiNomura 22:24c9c2dedca9 194 //何にも引っ掛からない
MasashiNomura 22:24c9c2dedca9 195 else {sp.printf("command missmatch\r\n"); };
MasashiNomura 22:24c9c2dedca9 196 }
takeru0x1103 18:5aa48aec9cae 197
takeru0x1103 18:5aa48aec9cae 198 //バッファクリア
takeru0x1103 19:4b0fe9a5ec38 199 memset(&g_CmdBuf[0] , 0x00 , sizeof(g_CmdBuf) );
takeru0x1103 19:4b0fe9a5ec38 200
takeru0x1103 18:5aa48aec9cae 201 //フラグ下す
takeru0x1103 18:5aa48aec9cae 202 gf_CmdPrs = false;
takeru0x1103 18:5aa48aec9cae 203 }
takeru0x1103 18:5aa48aec9cae 204
takeru0x1103 18:5aa48aec9cae 205