teamALI
/
HB2018
ジャイロ追加前
hbCommand.cpp
- Committer:
- MasashiNomura
- Date:
- 2019-03-19
- Revision:
- 73:0720e5550476
- Parent:
- 63:aee44afe6363
- Child:
- 75:215dd63032d6
File content as of revision 73:0720e5550476:
#include <string.h> #include <stdio.h> #include "typedef.h" #include "globalFlags.h" #include "hbCommand.h" //------------------------------------------------------------- //シリアルコマンド解析 //------------------------------------------------------------- void commandParse(){ //フラグが立ってなければ何もしないで終わる if(gf_CmdPrs==false){ return; } //フラグを落として以降の処理をする gf_CmdPrs=false; //第二引数の開始位置 UCHAR arg2pos=0; while (1) { if(g_CmdBuf[arg2pos]==NULL){ arg2pos++; break; }else{ arg2pos++; } } //EMG STOP 現在はモーターの強制停止 if (g_CmdBuf[0] == ESC){gf_StopMot = true;} //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 else if (strcmp(g_CmdBuf , "dbg" )==0 ){if(gf_Dbg != true) gf_Dbg = true;}//デバッグタスク起動 else if (strcmp(g_CmdBuf , "smfpga1" )==0 ){gf_MtReqDct[0].req=true; gf_MtReqDct[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smfpga2" )==0 ){gf_MtReqDct[1].req=true; gf_MtReqDct[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smfpga3" )==0 ){gf_MtReqDct[2].req=true; gf_MtReqDct[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smfpga4" )==0 ){gf_MtReqDct[3].req=true; gf_MtReqDct[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smfpga5" )==0 ){gf_MtReqDct[4].req=true; gf_MtReqDct[4].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smfpga6" )==0 ){gf_MtReqDct[5].req=true; gf_MtReqDct[5].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smfpga7" )==0 ){gf_MtReqDct[6].req=true; gf_MtReqDct[6].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smfpga8" )==0 ){gf_MtReqDct[7].req=true; gf_MtReqDct[7].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} //リード系 else if (strcmp(g_CmdBuf , "re" )==0 ){gf_Print.d1.bf.e1=true; gf_Print.d1.bf.e2=true;} else if (strcmp(g_CmdBuf , "re1" )==0 ){gf_Print.d1.bf.e1=true;} else if (strcmp(g_CmdBuf , "re2" )==0 ){gf_Print.d1.bf.e2=true;} 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 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 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 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 else if (strcmp(g_CmdBuf , "rm1" )==0 ){gf_Print.d1.bf.m1=true;}//リードモーター1 else if (strcmp(g_CmdBuf , "rm2" )==0 ){gf_Print.d1.bf.m2=true;}//リードモーター2 else if (strcmp(g_CmdBuf , "rm3" )==0 ){gf_Print.d1.bf.m3=true;}//リードモーター3 else if (strcmp(g_CmdBuf , "rm4" )==0 ){gf_Print.d1.bf.m4=true;}//リードモーター4 else if (strcmp(g_CmdBuf , "rg" )==0 ){gf_Print.d1.bf.gy=true;}//リードジャイロ else if (strcmp(g_CmdBuf , "ry" )==0 ){gf_Print.d1.bf.yaw=true;}//リード姿勢角ヨー else if (strcmp(g_CmdBuf , "rimu")==0 ){gf_Print.d1.bf.yaw=true;gf_Print.d1.bf.gy=true;}//リードIMU else if (strcmp(g_CmdBuf , "rs" )==0 ){gf_Print.d2.bf.sw=true;}//リードスイッチ 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 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 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 else if (strcmp(g_CmdBuf , "rpp" )==0 ){gf_Print.d1.bf.p=true;}//パラメータPゲイン表示 else if (strcmp(g_CmdBuf , "rpi" )==0 ){gf_Print.d1.bf.i=true;}//パラメータIゲイン表示 else if (strcmp(g_CmdBuf , "rpd" )==0 ){gf_Print.d1.bf.d=true;}//パラメータDゲイン表示 else if (strcmp(g_CmdBuf , "rmrpm" )==0 ){gf_Print.d2.bf.mrpm=true;}//Motorに支持されたRPM //設定系 else if (strcmp(g_CmdBuf , "se1" )==0 ){gf_AxReq[0].bf.req=true; gf_AxReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "se2" )==0 ){gf_AxReq[1].bf.req=true; gf_AxReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "sep1" )==0 ){gf_AxReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "sep2" )==0 ){gf_AxReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "seh1" )==0 ){gf_AxReqH[0].bf.req=true; gf_AxReqH[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "seh2" )==0 ){gf_AxReqH[1].bf.req=true; gf_AxReqH[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "ses1" )==0 ){gf_AxStepReq[0].bf.req=true; gf_AxStepReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "ses2" )==0 ){gf_AxStepReq[1].bf.req=true; gf_AxStepReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "seas" )==0 ){ gf_AxAdjStepReq[0].bf.req=true; gf_AxAdjStepReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]); gf_AxAdjStepReq[1].bf.req=true; gf_AxAdjStepReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "seas1" )==0 ){gf_AxAdjStepReq[0].bf.req=true; gf_AxAdjStepReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "seas2" )==0 ){gf_AxAdjStepReq[1].bf.req=true; gf_AxAdjStepReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "sm1" )==0 ){gf_MtReq[0].req=true; gf_MtReq[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "sm2" )==0 ){gf_MtReq[1].req=true; gf_MtReq[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "sm3" )==0 ){gf_MtReq[2].req=true; gf_MtReq[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "sm4" )==0 ){gf_MtReq[3].req=true; gf_MtReq[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "sm" )==0 ){ for(int i = 0; i < 4; ++i){ gf_MtReq[i].req=true; gf_MtReq[i].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); } } else if (strcmp(g_CmdBuf , "smf" )==0 ){ gf_MtReq[0].req=true; gf_MtReq[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); gf_MtReq[1].req=true; gf_MtReq[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smr" )==0 ){ gf_MtReq[2].req=true; gf_MtReq[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); gf_MtReq[3].req=true; gf_MtReq[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); } 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 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 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 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 else if (strcmp(g_CmdBuf , "smao" )==0 ){//!< Set Motor Attitude Offset for(int i = 0; i < 4; ++i){ gf_MtAttOfs[i].req=true; gf_MtAttOfs[i].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); } } else if (strcmp(g_CmdBuf , "smo1" )==0 ){gf_MtReqOfs[0].req=true; gf_MtReqOfs[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smo2" )==0 ){gf_MtReqOfs[1].req=true; gf_MtReqOfs[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smo3" )==0 ){gf_MtReqOfs[2].req=true; gf_MtReqOfs[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smo4" )==0 ){gf_MtReqOfs[3].req=true; gf_MtReqOfs[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smo" )==0 ){ for(int i = 0; i < 4; ++i){ gf_MtReqOfs[i].req=true; gf_MtReqOfs[i].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); } } else if (strcmp(g_CmdBuf , "smof" )==0 ){ gf_MtReqOfs[0].req=true; gf_MtReqOfs[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); gf_MtReqOfs[1].req=true; gf_MtReqOfs[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smor" )==0 ){ gf_MtReqOfs[2].req=true; gf_MtReqOfs[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); gf_MtReqOfs[3].req=true; gf_MtReqOfs[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); } else if (strcmp(g_CmdBuf , "smbrk" )==0 ){gf_MtBrk.req=true; gf_MtBrk.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "sabrk" )==0 ){gf_AngBrk.req=true; gf_AngBrk.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} else if (strcmp(g_CmdBuf , "smdofs" )==0 ){gf_MtDefaultOffset.req=true; gf_MtDefaultOffset.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);} //キャリブレーション else if (strcmp(g_CmdBuf , "calyaw")==0 ){gf_Cal.bf.yaw=true;}// else if (strcmp(g_CmdBuf , "calgyro")==0 ){gf_Cal.bf.gy=true;}// else if (strcmp(g_CmdBuf , "calimu")==0 ){gf_Cal.bf.gy=true;gf_Cal.bf.yaw=true;}// //チェック系 //連続モニタ 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 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 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 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 else if (strcmp(g_CmdBuf , "mm1" ) == 0 ){gf_Mon.d1.bf.m1=true;} else if (strcmp(g_CmdBuf , "mm2" ) == 0 ){gf_Mon.d1.bf.m2=true;} else if (strcmp(g_CmdBuf , "mm3" ) == 0 ){gf_Mon.d1.bf.m3=true;} else if (strcmp(g_CmdBuf , "mm4" ) == 0 ){gf_Mon.d1.bf.m4=true;} else if (strcmp(g_CmdBuf , "msw" ) == 0 ){gf_Print.d2.bf.sw=true;gf_Mon.d2.bf.sw=true;} else if (strcmp(g_CmdBuf , "mana1" ) == 0 ){gf_Print.d2.bf.ain=true;gf_Mon.d2.bf.ain=true;} else if (strcmp(g_CmdBuf , "mmrpm" ) == 0 ){gf_Print.d2.bf.mrpm=true;gf_Mon.d2.bf.mrpm=true;} else if (strcmp(g_CmdBuf , "kill")==0 ){gf_Mon.d1.flg=0;gf_Mon.d2.flg=0;}//モニタ停止 // 開発、デバッグ用コマンド else if (strcmp(g_CmdBuf , "stat")==0 ){gf_Print.d1.bf.stat=true;}//ステート表示 else if (strcmp(g_CmdBuf , "sstatf")==0 ){setStateF((enmHbState)atoi(&g_CmdBuf[arg2pos]));}//ステート強制遷移 else if (strcmp(g_CmdBuf , "sw0")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=0;}//SW 0bit目をON else if (strcmp(g_CmdBuf , "sw1")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=1;}//SW 1bit目をON else if (strcmp(g_CmdBuf , "sw2")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=2;}//SW 2bit目をON else if (strcmp(g_CmdBuf , "sw3")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=3;}//SW 3bit目をON else if (strcmp(g_CmdBuf , "sw4")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=4;}//SW 4bit目をON else if (strcmp(g_CmdBuf , "sw5")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=5;}//SW 5bit目をON else if (strcmp(g_CmdBuf , "sw6")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=6;}//SW 6bit目をON else if (strcmp(g_CmdBuf , "sw7")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=7;}//SW 7bit目をON else if (strcmp(g_CmdBuf , "sw8")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=8;}//SW 8bit目をON else if (strcmp(g_CmdBuf , "sw9")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=9;}//SW 9bit目をON else if (strcmp(g_CmdBuf , "stopmot")==0 ){gf_StopMot = true;}//モーター強制停止 else if (strcmp(g_CmdBuf , "spidpp")==0 ){g_PidPara.PP = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 Pp設定 else if (strcmp(g_CmdBuf , "spidp")==0 ){g_PidPara.P = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 P設定 else if (strcmp(g_CmdBuf , "spidi")==0 ){g_PidPara.I = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 I設定 else if (strcmp(g_CmdBuf , "spidd")==0 ){g_PidPara.D = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 D設定 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 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 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 else if (strcmp(g_CmdBuf , "spidmode" )==0 ){g_PidPara.mode = (ePIDMode)atoi(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDのモード 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 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 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 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 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 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 else if (strcmp(g_CmdBuf , "srimu" )==0 ){gf_Print.d2.bf.rimu_stat=true; gf_EnbImuRead = (UINT16)atoi(&g_CmdBuf[arg2pos]) == 0 ? false : true;} //何にも引っ掛からない else {sp.printf("command missmatch\r\n"); }; //バッファクリア memset(&g_CmdBuf[0] , 0x00 , sizeof(g_CmdBuf) ); //フラグ下す gf_CmdPrs = false; }