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Dependencies:   mbed FreeRTOS

hbCommand.cpp@23:79e20be4bc5b, 2018-12-08 (annotated)

Committer:
MasashiNomura
Date:
Sat Dec 08 12:08:25 2018 +0000
Revision:
23:79e20be4bc5b
Parent:
22:24c9c2dedca9
Child:
24:c5945aaae777
2018/12/08 Add State Trans etc

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>
takeru0x1103 18:5aa48aec9cae 3 #include "globalFlags.h"
takeru0x1103 18:5aa48aec9cae 4 #include "hbCommand.h"
takeru0x1103 18:5aa48aec9cae 5
takeru0x1103 18:5aa48aec9cae 6 //-------------------------------------------------------------
takeru0x1103 19:4b0fe9a5ec38 7 //シリアルコマンド解析
takeru0x1103 18:5aa48aec9cae 8 //-------------------------------------------------------------
takeru0x1103 18:5aa48aec9cae 9 void commandParse(){
takeru0x1103 18:5aa48aec9cae 10 //フラグが立ってなければ何もしないで終わる
takeru0x1103 18:5aa48aec9cae 11 if(gf_CmdPrs==false){
takeru0x1103 18:5aa48aec9cae 12 return;
takeru0x1103 18:5aa48aec9cae 13 }
takeru0x1103 18:5aa48aec9cae 14 //フラグを落として以降の処理をする
takeru0x1103 18:5aa48aec9cae 15 gf_CmdPrs=false;
takeru0x1103 18:5aa48aec9cae 16
takeru0x1103 18:5aa48aec9cae 17 //第二引数の開始位置
takeru0x1103 18:5aa48aec9cae 18 UCHAR arg2pos=0;
takeru0x1103 18:5aa48aec9cae 19 while (1) {
takeru0x1103 19:4b0fe9a5ec38 20 if(g_CmdBuf[arg2pos]==NULL){
takeru0x1103 18:5aa48aec9cae 21 arg2pos++;
takeru0x1103 18:5aa48aec9cae 22 break;
takeru0x1103 18:5aa48aec9cae 23 }else{
takeru0x1103 18:5aa48aec9cae 24 arg2pos++;
takeru0x1103 18:5aa48aec9cae 25 }
takeru0x1103 18:5aa48aec9cae 26 }
takeru0x1103 18:5aa48aec9cae 27
MasashiNomura 22:24c9c2dedca9 28 if(gf_State != SLEEP && gf_State != WAKEUP){
MasashiNomura 22:24c9c2dedca9 29 //リード系
MasashiNomura 22:24c9c2dedca9 30 if (strcmp(g_CmdBuf , "re" )==0 ){gf_Print.bf.e1=true; gf_Print.bf.e2=true;}
MasashiNomura 22:24c9c2dedca9 31 else if (strcmp(g_CmdBuf , "re1" )==0 ){gf_Print.bf.e1=true;}
MasashiNomura 22:24c9c2dedca9 32 else if (strcmp(g_CmdBuf , "re2" )==0 ){gf_Print.bf.e2=true;}
MasashiNomura 22:24c9c2dedca9 33 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 34 else if (strcmp(g_CmdBuf , "rm1" )==0 ){gf_Print.bf.m1=true;}//リードモーター1
MasashiNomura 22:24c9c2dedca9 35 else if (strcmp(g_CmdBuf , "rm2" )==0 ){gf_Print.bf.m2=true;}//リードモーター2
MasashiNomura 22:24c9c2dedca9 36 else if (strcmp(g_CmdBuf , "rm3" )==0 ){gf_Print.bf.m3=true;}//リードモーター3
MasashiNomura 22:24c9c2dedca9 37 else if (strcmp(g_CmdBuf , "rm4" )==0 ){gf_Print.bf.m4=true;}//リードモーター4
MasashiNomura 22:24c9c2dedca9 38 else if (strcmp(g_CmdBuf , "rg" )==0 ){gf_Print.bf.gy=true;}//リードジャイロ
MasashiNomura 22:24c9c2dedca9 39 else if (strcmp(g_CmdBuf , "ry" )==0 ){gf_Print.bf.yaw=true;}//リード姿勢角ヨー
MasashiNomura 22:24c9c2dedca9 40 else if (strcmp(g_CmdBuf , "rimu")==0 ){gf_Print.bf.yaw=true;gf_Print.bf.gy=true;}//リードIMU
MasashiNomura 22:24c9c2dedca9 41 else if (strcmp(g_CmdBuf , "rs" )==0 ){ }//リードスイッチ
MasashiNomura 22:24c9c2dedca9 42 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 43 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 44 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 45 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 46 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 47 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 48
MasashiNomura 22:24c9c2dedca9 49 //設定系
MasashiNomura 22:24c9c2dedca9 50 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 51 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 52 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 53 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 54 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 55 else if (strcmp(g_CmdBuf , "sm4" )==0 ){gf_MtReq[3].bf.req=true; gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 22:24c9c2dedca9 56
MasashiNomura 22:24c9c2dedca9 57 //キャリブレーション
MasashiNomura 22:24c9c2dedca9 58 else if (strcmp(g_CmdBuf , "calyaw")==0 ){gf_Cal.bf.yaw=true;}//
MasashiNomura 22:24c9c2dedca9 59 else if (strcmp(g_CmdBuf , "calgyro")==0 ){gf_Cal.bf.gy=true;}//
MasashiNomura 22:24c9c2dedca9 60 else if (strcmp(g_CmdBuf , "calimu")==0 ){gf_Cal.bf.gy=true;gf_Cal.bf.yaw=true;}//
MasashiNomura 22:24c9c2dedca9 61
MasashiNomura 22:24c9c2dedca9 62 //チェック系
MasashiNomura 22:24c9c2dedca9 63
MasashiNomura 22:24c9c2dedca9 64 //連続モニタ
MasashiNomura 22:24c9c2dedca9 65 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 66 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 67 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 68 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 22:24c9c2dedca9 69 else if (strcmp(g_CmdBuf , "kill")==0 ){gf_Mon.flg=0;}//モニタ停止
MasashiNomura 22:24c9c2dedca9 70
MasashiNomura 23:79e20be4bc5b 71 else if (strcmp(g_CmdBuf , "stat")==0 ){gf_Print.bf.stat=true;}//ステート表示
MasashiNomura 23:79e20be4bc5b 72 else if (strcmp(g_CmdBuf , "sstatf")==0 ){setStateF((enmHbState)atoi(&g_CmdBuf[arg2pos]));}//ステート強制遷移
MasashiNomura 23:79e20be4bc5b 73
MasashiNomura 23:79e20be4bc5b 74
MasashiNomura 22:24c9c2dedca9 75 //何にも引っ掛からない
MasashiNomura 22:24c9c2dedca9 76 else {sp.printf("command missmatch\r\n"); };
MasashiNomura 22:24c9c2dedca9 77 } else if(gf_State == SLEEP){
MasashiNomura 22:24c9c2dedca9 78 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 79 else if (strcmp(g_CmdBuf , "dbg" )==0 ){if(gf_Dbg != true) gf_Dbg = true;}//デバッグタスク起動
MasashiNomura 23:79e20be4bc5b 80 else if (strcmp(g_CmdBuf , "sstatf")==0 ){setStateF((enmHbState)atoi(&g_CmdBuf[arg2pos]));}//ステート強制遷移
MasashiNomura 22:24c9c2dedca9 81 //何にも引っ掛からない
MasashiNomura 22:24c9c2dedca9 82 else {sp.printf("command missmatch\r\n"); };
MasashiNomura 22:24c9c2dedca9 83 }
MasashiNomura 22:24c9c2dedca9 84 // //リード系
MasashiNomura 22:24c9c2dedca9 85 // if (strcmp(g_CmdBuf , "re" )==0 ){gf_Print.bf.e1=true; gf_Print.bf.e2=true;}
MasashiNomura 22:24c9c2dedca9 86 // else if (strcmp(g_CmdBuf , "re1" )==0 ){gf_Print.bf.e1=true;}
MasashiNomura 22:24c9c2dedca9 87 // else if (strcmp(g_CmdBuf , "re2" )==0 ){gf_Print.bf.e2=true;}
MasashiNomura 22:24c9c2dedca9 88 // 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 89 // else if (strcmp(g_CmdBuf , "rm1" )==0 ){gf_Print.bf.m1=true;}//リードモーター1
MasashiNomura 22:24c9c2dedca9 90 // else if (strcmp(g_CmdBuf , "rm2" )==0 ){gf_Print.bf.m2=true;}//リードモーター2
MasashiNomura 22:24c9c2dedca9 91 // else if (strcmp(g_CmdBuf , "rm3" )==0 ){gf_Print.bf.m3=true;}//リードモーター3
MasashiNomura 22:24c9c2dedca9 92 // else if (strcmp(g_CmdBuf , "rm4" )==0 ){gf_Print.bf.m4=true;}//リードモーター4
MasashiNomura 22:24c9c2dedca9 93 // else if (strcmp(g_CmdBuf , "rg" )==0 ){gf_Print.bf.gy=true;}//リードジャイロ
MasashiNomura 22:24c9c2dedca9 94 // else if (strcmp(g_CmdBuf , "ry" )==0 ){gf_Print.bf.yaw=true;}//リード姿勢角ヨー
MasashiNomura 22:24c9c2dedca9 95 // else if (strcmp(g_CmdBuf , "rimu")==0 ){gf_Print.bf.yaw=true;gf_Print.bf.gy=true;}//リードIMU
MasashiNomura 22:24c9c2dedca9 96 // else if (strcmp(g_CmdBuf , "rs" )==0 ){ }//リードスイッチ
MasashiNomura 22:24c9c2dedca9 97 // 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 98 // 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 99 // 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 100 // 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 101 // 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 102 // else if (strcmp(g_CmdBuf , "rpd" )==0 ){gf_Print.bf.d=true;}//パラメータDゲイン表示
takeru0x1103 18:5aa48aec9cae 103
MasashiNomura 22:24c9c2dedca9 104 // //設定系
MasashiNomura 22:24c9c2dedca9 105 // 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 106 // 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 107 // 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 108 // 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 109 // 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 110 // else if (strcmp(g_CmdBuf , "sm4" )==0 ){gf_MtReq[3].bf.req=true; gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 22:24c9c2dedca9 111 // else if (strcmp(g_CmdBuf , "sarm" )==0 ){gf_Armed = true;}//アーミングフラグセット
takeru0x1103 18:5aa48aec9cae 112
MasashiNomura 22:24c9c2dedca9 113 // //
MasashiNomura 22:24c9c2dedca9 114 // // else if (strcmp(g_CmdBuf , "dbg" )==0 ){}
takeru0x1103 21:78302ecdb661 115
MasashiNomura 22:24c9c2dedca9 116 // //キャリブレーション
MasashiNomura 22:24c9c2dedca9 117 // else if (strcmp(g_CmdBuf , "calyaw")==0 ){gf_Cal.bf.yaw=true;}//
MasashiNomura 22:24c9c2dedca9 118 // else if (strcmp(g_CmdBuf , "calgyro")==0 ){gf_Cal.bf.gy=true;}//
MasashiNomura 22:24c9c2dedca9 119 // else if (strcmp(g_CmdBuf , "calimu")==0 ){gf_Cal.bf.gy=true;gf_Cal.bf.yaw=true;}//
takeru0x1103 18:5aa48aec9cae 120
MasashiNomura 22:24c9c2dedca9 121 // //チェック系
takeru0x1103 18:5aa48aec9cae 122
MasashiNomura 22:24c9c2dedca9 123 // //連続モニタ
MasashiNomura 22:24c9c2dedca9 124 // 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 125 // 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 126 // 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 127 // 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 22:24c9c2dedca9 128 // else if (strcmp(g_CmdBuf , "kill")==0 ){gf_Mon.flg=0;}//モニタ停止
takeru0x1103 21:78302ecdb661 129
MasashiNomura 22:24c9c2dedca9 130 // //何にも引っ掛からない
MasashiNomura 22:24c9c2dedca9 131 // else {sp.printf("command missmatch\r\n"); };
takeru0x1103 18:5aa48aec9cae 132
takeru0x1103 18:5aa48aec9cae 133 //バッファクリア
takeru0x1103 19:4b0fe9a5ec38 134 memset(&g_CmdBuf[0] , 0x00 , sizeof(g_CmdBuf) );
takeru0x1103 19:4b0fe9a5ec38 135
takeru0x1103 18:5aa48aec9cae 136 //フラグ下す
takeru0x1103 18:5aa48aec9cae 137 gf_CmdPrs = false;
takeru0x1103 18:5aa48aec9cae 138 }
takeru0x1103 18:5aa48aec9cae 139
takeru0x1103 18:5aa48aec9cae 140