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Dependencies:   mbed FreeRTOS

hbCommand.cpp@56:f363a6877c6a, 2019-03-06 (annotated)

Committer:
MasashiNomura
Date:
Wed Mar 06 02:18:47 2019 +0000
Revision:
56:f363a6877c6a
Parent:
53:b09c062cc31c
Child:
59:6b4dcd964d0f
2019/03/05 change SW 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>
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 56:f363a6877c6a 29 //EMG STOP 現在はモーターの強制停止
MasashiNomura 56:f363a6877c6a 30 if (g_CmdBuf[0] == ESC){gf_StopMot = true;}
MasashiNomura 56:f363a6877c6a 31 //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 56:f363a6877c6a 32 else if (strcmp(g_CmdBuf , "dbg" )==0 ){if(gf_Dbg != true) gf_Dbg = true;}//デバッグタスク起動
MasashiNomura 56:f363a6877c6a 33 else if (strcmp(g_CmdBuf , "smfpga1" )==0 ){gf_MtReqDct[0].req=true; gf_MtReqDct[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 34 else if (strcmp(g_CmdBuf , "smfpga2" )==0 ){gf_MtReqDct[1].req=true; gf_MtReqDct[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 35 else if (strcmp(g_CmdBuf , "smfpga3" )==0 ){gf_MtReqDct[2].req=true; gf_MtReqDct[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 36 else if (strcmp(g_CmdBuf , "smfpga4" )==0 ){gf_MtReqDct[3].req=true; gf_MtReqDct[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 37 else if (strcmp(g_CmdBuf , "smfpga5" )==0 ){gf_MtReqDct[4].req=true; gf_MtReqDct[4].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 38 else if (strcmp(g_CmdBuf , "smfpga6" )==0 ){gf_MtReqDct[5].req=true; gf_MtReqDct[5].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 39 else if (strcmp(g_CmdBuf , "smfpga7" )==0 ){gf_MtReqDct[6].req=true; gf_MtReqDct[6].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 40 else if (strcmp(g_CmdBuf , "smfpga8" )==0 ){gf_MtReqDct[7].req=true; gf_MtReqDct[7].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 41 //リード系
MasashiNomura 56:f363a6877c6a 42 else if (strcmp(g_CmdBuf , "re" )==0 ){gf_Print.d1.bf.e1=true; gf_Print.d1.bf.e2=true;}
MasashiNomura 56:f363a6877c6a 43 else if (strcmp(g_CmdBuf , "re1" )==0 ){gf_Print.d1.bf.e1=true;}
MasashiNomura 56:f363a6877c6a 44 else if (strcmp(g_CmdBuf , "re2" )==0 ){gf_Print.d1.bf.e2=true;}
MasashiNomura 56:f363a6877c6a 45 else if (strcmp(g_CmdBuf , "rep" )==0 ){gf_Print.d2.bf.ep1=true; gf_Print.d2.bf.ep2=true;}//エンジン用サーボにセットされた値
MasashiNomura 56:f363a6877c6a 46 else if (strcmp(g_CmdBuf , "rep1" )==0 ){gf_Print.d2.bf.ep1=true;}//前エンジン用サーボにセットされた値
MasashiNomura 56:f363a6877c6a 47 else if (strcmp(g_CmdBuf , "rep2" )==0 ){gf_Print.d2.bf.ep2=true;}//後エンジン用サーボにセットされた値
MasashiNomura 56:f363a6877c6a 48 else if (strcmp(g_CmdBuf , "rm" )==0 ){gf_Print.d1.bf.m1=true;gf_Print.d1.bf.m2=true;gf_Print.d1.bf.m3=true;gf_Print.d1.bf.m4=true;}//リードモーター
MasashiNomura 56:f363a6877c6a 49 else if (strcmp(g_CmdBuf , "rm1" )==0 ){gf_Print.d1.bf.m1=true;}//リードモーター1
MasashiNomura 56:f363a6877c6a 50 else if (strcmp(g_CmdBuf , "rm2" )==0 ){gf_Print.d1.bf.m2=true;}//リードモーター2
MasashiNomura 56:f363a6877c6a 51 else if (strcmp(g_CmdBuf , "rm3" )==0 ){gf_Print.d1.bf.m3=true;}//リードモーター3
MasashiNomura 56:f363a6877c6a 52 else if (strcmp(g_CmdBuf , "rm4" )==0 ){gf_Print.d1.bf.m4=true;}//リードモーター4
MasashiNomura 56:f363a6877c6a 53 else if (strcmp(g_CmdBuf , "rg" )==0 ){gf_Print.d1.bf.gy=true;}//リードジャイロ
MasashiNomura 56:f363a6877c6a 54 else if (strcmp(g_CmdBuf , "ry" )==0 ){gf_Print.d1.bf.yaw=true;}//リード姿勢角ヨー
MasashiNomura 56:f363a6877c6a 55 else if (strcmp(g_CmdBuf , "rimu")==0 ){gf_Print.d1.bf.yaw=true;gf_Print.d1.bf.gy=true;}//リードIMU
MasashiNomura 56:f363a6877c6a 56 else if (strcmp(g_CmdBuf , "rs" )==0 ){gf_Print.d2.bf.sw=true;}//リードスイッチ
MasashiNomura 56:f363a6877c6a 57 else if (strcmp(g_CmdBuf , "rfb" )==0 ){gf_Print.d1.bf.fb=true;}//PID制御フィードバック結果
MasashiNomura 56:f363a6877c6a 58 else if (strcmp(g_CmdBuf , "rp" )==0 ){gf_Print.d1.bf.pp=true;gf_Print.d1.bf.p=true;gf_Print.d1.bf.i=true;gf_Print.d1.bf.d=true;}//パラメータ全表示
MasashiNomura 56:f363a6877c6a 59 else if (strcmp(g_CmdBuf , "rpP" )==0 ){gf_Print.d1.bf.pp=true;}//パラメータアウターPゲイン表示
MasashiNomura 56:f363a6877c6a 60 else if (strcmp(g_CmdBuf , "rpp" )==0 ){gf_Print.d1.bf.p=true;}//パラメータPゲイン表示
MasashiNomura 56:f363a6877c6a 61 else if (strcmp(g_CmdBuf , "rpi" )==0 ){gf_Print.d1.bf.i=true;}//パラメータIゲイン表示
MasashiNomura 56:f363a6877c6a 62 else if (strcmp(g_CmdBuf , "rpd" )==0 ){gf_Print.d1.bf.d=true;}//パラメータDゲイン表示
MasashiNomura 56:f363a6877c6a 63 else if (strcmp(g_CmdBuf , "rmrpm" )==0 ){gf_Print.d2.bf.mrpm=true;}//Motorに支持されたRPM
MasashiNomura 56:f363a6877c6a 64
MasashiNomura 56:f363a6877c6a 65 //設定系
MasashiNomura 56:f363a6877c6a 66 else if (strcmp(g_CmdBuf , "se1" )==0 ){gf_AxReq[0].bf.req=true; gf_AxReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 67 else if (strcmp(g_CmdBuf , "se2" )==0 ){gf_AxReq[1].bf.req=true; gf_AxReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 68 else if (strcmp(g_CmdBuf , "sep1" )==0 ){gf_AxReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 69 else if (strcmp(g_CmdBuf , "sep2" )==0 ){gf_AxReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 70 else if (strcmp(g_CmdBuf , "seh1" )==0 ){gf_AxReqH[0].bf.req=true; gf_AxReqH[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 71 else if (strcmp(g_CmdBuf , "seh2" )==0 ){gf_AxReqH[1].bf.req=true; gf_AxReqH[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 72 else if (strcmp(g_CmdBuf , "ses1" )==0 ){gf_AxStepReq[0].bf.req=true; gf_AxStepReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 73 else if (strcmp(g_CmdBuf , "ses2" )==0 ){gf_AxStepReq[1].bf.req=true; gf_AxStepReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 74 else if (strcmp(g_CmdBuf , "seas" )==0 ){ gf_AxAdjStepReq[0].bf.req=true; gf_AxAdjStepReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 56:f363a6877c6a 75 gf_AxAdjStepReq[1].bf.req=true; gf_AxAdjStepReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 76 else if (strcmp(g_CmdBuf , "seas1" )==0 ){gf_AxAdjStepReq[0].bf.req=true; gf_AxAdjStepReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 77 else if (strcmp(g_CmdBuf , "seas2" )==0 ){gf_AxAdjStepReq[1].bf.req=true; gf_AxAdjStepReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 78 else if (strcmp(g_CmdBuf , "sm1" )==0 ){gf_MtReq[0].req=true; gf_MtReq[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 79 else if (strcmp(g_CmdBuf , "sm2" )==0 ){gf_MtReq[1].req=true; gf_MtReq[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 80 else if (strcmp(g_CmdBuf , "sm3" )==0 ){gf_MtReq[2].req=true; gf_MtReq[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 81 else if (strcmp(g_CmdBuf , "sm4" )==0 ){gf_MtReq[3].req=true; gf_MtReq[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 82 else if (strcmp(g_CmdBuf , "sm" )==0 ){
MasashiNomura 56:f363a6877c6a 83 for(int i = 0; i < 4; ++i){
MasashiNomura 56:f363a6877c6a 84 gf_MtReq[i].req=true;
MasashiNomura 56:f363a6877c6a 85 gf_MtReq[i].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 50:76413e8e073d 86 }
MasashiNomura 56:f363a6877c6a 87 }
MasashiNomura 56:f363a6877c6a 88 else if (strcmp(g_CmdBuf , "smf" )==0 ){
MasashiNomura 56:f363a6877c6a 89 gf_MtReq[0].req=true;
MasashiNomura 56:f363a6877c6a 90 gf_MtReq[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 56:f363a6877c6a 91 gf_MtReq[1].req=true;
MasashiNomura 56:f363a6877c6a 92 gf_MtReq[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 93 else if (strcmp(g_CmdBuf , "smr" )==0 ){
MasashiNomura 56:f363a6877c6a 94 gf_MtReq[2].req=true;
MasashiNomura 56:f363a6877c6a 95 gf_MtReq[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 56:f363a6877c6a 96 gf_MtReq[3].req=true;
MasashiNomura 56:f363a6877c6a 97 gf_MtReq[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); }
MasashiNomura 56:f363a6877c6a 98 else if (strcmp(g_CmdBuf , "smao1" )==0 ){gf_MtAttOfs[0].req=true; gf_MtAttOfs[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}//!< Set Motor Attitude Offset 1
MasashiNomura 56:f363a6877c6a 99 else if (strcmp(g_CmdBuf , "smao2" )==0 ){gf_MtAttOfs[1].req=true; gf_MtAttOfs[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}//!< Set Motor Attitude Offset 2
MasashiNomura 56:f363a6877c6a 100 else if (strcmp(g_CmdBuf , "smao3" )==0 ){gf_MtAttOfs[2].req=true; gf_MtAttOfs[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}//!< Set Motor Attitude Offset 3
MasashiNomura 56:f363a6877c6a 101 else if (strcmp(g_CmdBuf , "smao4" )==0 ){gf_MtAttOfs[3].req=true; gf_MtAttOfs[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}//!< Set Motor Attitude Offset 4
MasashiNomura 56:f363a6877c6a 102 else if (strcmp(g_CmdBuf , "smao" )==0 ){//!< Set Motor Attitude Offset
MasashiNomura 56:f363a6877c6a 103 for(int i = 0; i < 4; ++i){
MasashiNomura 56:f363a6877c6a 104 gf_MtAttOfs[i].req=true;
MasashiNomura 56:f363a6877c6a 105 gf_MtAttOfs[i].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 27:ff63c23bc689 106 }
MasashiNomura 56:f363a6877c6a 107 }
MasashiNomura 56:f363a6877c6a 108 else if (strcmp(g_CmdBuf , "smo1" )==0 ){gf_MtReqOfs[0].req=true; gf_MtReqOfs[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 109 else if (strcmp(g_CmdBuf , "smo2" )==0 ){gf_MtReqOfs[1].req=true; gf_MtReqOfs[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 110 else if (strcmp(g_CmdBuf , "smo3" )==0 ){gf_MtReqOfs[2].req=true; gf_MtReqOfs[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 111 else if (strcmp(g_CmdBuf , "smo4" )==0 ){gf_MtReqOfs[3].req=true; gf_MtReqOfs[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 112 else if (strcmp(g_CmdBuf , "smo" )==0 ){
MasashiNomura 56:f363a6877c6a 113 for(int i = 0; i < 4; ++i){
MasashiNomura 56:f363a6877c6a 114 gf_MtReqOfs[i].req=true;
MasashiNomura 56:f363a6877c6a 115 gf_MtReqOfs[i].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 56:f363a6877c6a 116 }
MasashiNomura 56:f363a6877c6a 117 }
MasashiNomura 56:f363a6877c6a 118 else if (strcmp(g_CmdBuf , "smof" )==0 ){
MasashiNomura 56:f363a6877c6a 119 gf_MtReqOfs[0].req=true;
MasashiNomura 56:f363a6877c6a 120 gf_MtReqOfs[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 56:f363a6877c6a 121 gf_MtReqOfs[1].req=true;
MasashiNomura 56:f363a6877c6a 122 gf_MtReqOfs[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 56:f363a6877c6a 123 else if (strcmp(g_CmdBuf , "smor" )==0 ){
MasashiNomura 56:f363a6877c6a 124 gf_MtReqOfs[2].req=true;
MasashiNomura 56:f363a6877c6a 125 gf_MtReqOfs[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 56:f363a6877c6a 126 gf_MtReqOfs[3].req=true;
MasashiNomura 56:f363a6877c6a 127 gf_MtReqOfs[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); }
MasashiNomura 56:f363a6877c6a 128
MasashiNomura 56:f363a6877c6a 129 else if (strcmp(g_CmdBuf , "smbrk" )==0 ){gf_MtBrk.req=true; gf_MtBrk.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 42:cc8501b824ba 130
MasashiNomura 56:f363a6877c6a 131 //キャリブレーション
MasashiNomura 56:f363a6877c6a 132 else if (strcmp(g_CmdBuf , "calyaw")==0 ){gf_Cal.bf.yaw=true;}//
MasashiNomura 56:f363a6877c6a 133 else if (strcmp(g_CmdBuf , "calgyro")==0 ){gf_Cal.bf.gy=true;}//
MasashiNomura 56:f363a6877c6a 134 else if (strcmp(g_CmdBuf , "calimu")==0 ){gf_Cal.bf.gy=true;gf_Cal.bf.yaw=true;}//
MasashiNomura 56:f363a6877c6a 135
MasashiNomura 56:f363a6877c6a 136 //チェック系
MasashiNomura 48:71aec693a7dc 137
MasashiNomura 56:f363a6877c6a 138 //連続モニタ
MasashiNomura 56:f363a6877c6a 139 else if (strcmp(g_CmdBuf , "mg" )==0 ){gf_Print.d1.bf.gy=true;gf_Mon.d1.bf.gy=true;}//リードジャイロ
MasashiNomura 56:f363a6877c6a 140 else if (strcmp(g_CmdBuf , "my" )==0 ){gf_Print.d1.bf.yaw=true;gf_Mon.d1.bf.yaw=true;}//リード姿勢角ヨー
MasashiNomura 56:f363a6877c6a 141 else if (strcmp(g_CmdBuf , "mimu")==0 ){gf_Print.d1.bf.yaw=true;gf_Print.d1.bf.gy=true;gf_Mon.d1.bf.yaw=true;gf_Mon.d1.bf.gy=true;}//リードIMU
MasashiNomura 56:f363a6877c6a 142 else if (strcmp(g_CmdBuf , "mfb" )==0 ){gf_Print.d1.bf.fb=true;gf_Mon.d1.bf.fb=true;}//PID制御フィードバック結果
MasashiNomura 56:f363a6877c6a 143 else if (strcmp(g_CmdBuf , "mm1" ) == 0 ){gf_Mon.d1.bf.m1=true;}
MasashiNomura 56:f363a6877c6a 144 else if (strcmp(g_CmdBuf , "mm2" ) == 0 ){gf_Mon.d1.bf.m2=true;}
MasashiNomura 56:f363a6877c6a 145 else if (strcmp(g_CmdBuf , "mm3" ) == 0 ){gf_Mon.d1.bf.m3=true;}
MasashiNomura 56:f363a6877c6a 146 else if (strcmp(g_CmdBuf , "mm4" ) == 0 ){gf_Mon.d1.bf.m4=true;}
MasashiNomura 56:f363a6877c6a 147 else if (strcmp(g_CmdBuf , "msw" ) == 0 ){gf_Print.d2.bf.sw=true;gf_Mon.d2.bf.sw=true;}
MasashiNomura 56:f363a6877c6a 148 else if (strcmp(g_CmdBuf , "mana1" ) == 0 ){gf_Print.d2.bf.ain=true;gf_Mon.d2.bf.ain=true;}
MasashiNomura 56:f363a6877c6a 149 else if (strcmp(g_CmdBuf , "mmrpm" ) == 0 ){gf_Print.d2.bf.mrpm=true;gf_Mon.d2.bf.mrpm=true;}
MasashiNomura 56:f363a6877c6a 150 else if (strcmp(g_CmdBuf , "kill")==0 ){gf_Mon.d1.flg=0;gf_Mon.d2.flg=0;}//モニタ停止
MasashiNomura 56:f363a6877c6a 151
MasashiNomura 56:f363a6877c6a 152 // 開発、デバッグ用コマンド
MasashiNomura 56:f363a6877c6a 153 else if (strcmp(g_CmdBuf , "stat")==0 ){gf_Print.d1.bf.stat=true;}//ステート表示
MasashiNomura 56:f363a6877c6a 154 else if (strcmp(g_CmdBuf , "sstatf")==0 ){setStateF((enmHbState)atoi(&g_CmdBuf[arg2pos]));}//ステート強制遷移
MasashiNomura 43:156199c2f9b6 155
MasashiNomura 56:f363a6877c6a 156 else if (strcmp(g_CmdBuf , "sw0")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=0;}//SW 0bit目をON
MasashiNomura 56:f363a6877c6a 157 else if (strcmp(g_CmdBuf , "sw1")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=1;}//SW 1bit目をON
MasashiNomura 56:f363a6877c6a 158 else if (strcmp(g_CmdBuf , "sw2")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=2;}//SW 2bit目をON
MasashiNomura 56:f363a6877c6a 159 else if (strcmp(g_CmdBuf , "sw3")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=3;}//SW 3bit目をON
MasashiNomura 56:f363a6877c6a 160 else if (strcmp(g_CmdBuf , "sw4")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=4;}//SW 4bit目をON
MasashiNomura 56:f363a6877c6a 161 else if (strcmp(g_CmdBuf , "sw5")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=5;}//SW 5bit目をON
MasashiNomura 56:f363a6877c6a 162 else if (strcmp(g_CmdBuf , "sw6")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=6;}//SW 6bit目をON
MasashiNomura 56:f363a6877c6a 163 else if (strcmp(g_CmdBuf , "sw7")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=7;}//SW 7bit目をON
MasashiNomura 56:f363a6877c6a 164 else if (strcmp(g_CmdBuf , "sw8")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=8;}//SW 8bit目をON
MasashiNomura 56:f363a6877c6a 165 else if (strcmp(g_CmdBuf , "sw9")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=9;}//SW 9bit目をON
MasashiNomura 25:f3a6e7eec9c3 166
MasashiNomura 56:f363a6877c6a 167 else if (strcmp(g_CmdBuf , "stopmot")==0 ){gf_StopMot = true;}//モーター強制停止
MasashiNomura 56:f363a6877c6a 168
MasashiNomura 56:f363a6877c6a 169 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 56:f363a6877c6a 170 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 56:f363a6877c6a 171 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 56:f363a6877c6a 172 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 56:f363a6877c6a 173 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 56:f363a6877c6a 174 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 56:f363a6877c6a 175 else if (strcmp(g_CmdBuf , "spidv")==0 ){g_PidPara.V = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PID2の角速度の係数
MasashiNomura 56:f363a6877c6a 176 else if (strcmp(g_CmdBuf , "spidmode" )==0 ){g_PidPara.mode = (ePIDMode)atoi(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDのモード
MasashiNomura 29:eb3d72dd94aa 177
MasashiNomura 56:f363a6877c6a 178 else if (strcmp(g_CmdBuf , "rmo" )==0 ){gf_Print.d2.bf.mo1=true;gf_Print.d2.bf.mo2=true;gf_Print.d2.bf.mo3=true;gf_Print.d2.bf.mo4=true;}//リードモーターオフセット
MasashiNomura 56:f363a6877c6a 179 else if (strcmp(g_CmdBuf , "rmo1" )==0 ){gf_Print.d2.bf.mo1=true;}//リードモーターオフセット1
MasashiNomura 56:f363a6877c6a 180 else if (strcmp(g_CmdBuf , "rmo2" )==0 ){gf_Print.d2.bf.mo2=true;}//リードモーターオフセット2
MasashiNomura 56:f363a6877c6a 181 else if (strcmp(g_CmdBuf , "rmo3" )==0 ){gf_Print.d2.bf.mo3=true;}//リードモーターオフセット3
MasashiNomura 56:f363a6877c6a 182 else if (strcmp(g_CmdBuf , "rmo4" )==0 ){gf_Print.d2.bf.mo4=true;}//リードモーターオフセット4
MasashiNomura 56:f363a6877c6a 183 else if (strcmp(g_CmdBuf , "rana1" )==0 ){gf_Print.d2.bf.ain=true;}//アナログ入力リード forモーターアクセル
MasashiNomura 38:24ee50452755 184
MasashiNomura 56:f363a6877c6a 185 //何にも引っ掛からない
MasashiNomura 56:f363a6877c6a 186 else {sp.printf("command missmatch\r\n"); };
takeru0x1103 18:5aa48aec9cae 187
takeru0x1103 18:5aa48aec9cae 188 //バッファクリア
takeru0x1103 19:4b0fe9a5ec38 189 memset(&g_CmdBuf[0] , 0x00 , sizeof(g_CmdBuf) );
takeru0x1103 19:4b0fe9a5ec38 190
takeru0x1103 18:5aa48aec9cae 191 //フラグ下す
takeru0x1103 18:5aa48aec9cae 192 gf_CmdPrs = false;
takeru0x1103 18:5aa48aec9cae 193 }
takeru0x1103 18:5aa48aec9cae 194
takeru0x1103 18:5aa48aec9cae 195