File content as of revision 31:56c554c560c1:

#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++;
        }
    }
    
    //if(gf_State != SLEEP && gf_State != WAKEUP){
    if(gf_State != SLEEP){
        //EMG STOP 現在はモーターの強制停止
        if (g_CmdBuf[0] == ESC){gf_StopMot = true;}
        //リード系
        else if (strcmp(g_CmdBuf , "re"  )==0 ){gf_Print.bf.e1=true; gf_Print.bf.e2=true;}
        else if (strcmp(g_CmdBuf , "re1" )==0 ){gf_Print.bf.e1=true;}
        else if (strcmp(g_CmdBuf , "re2" )==0 ){gf_Print.bf.e2=true;}
        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  
        else if (strcmp(g_CmdBuf , "rm1" )==0 ){gf_Print.bf.m1=true;}//リードモーター1 
        else if (strcmp(g_CmdBuf , "rm2" )==0 ){gf_Print.bf.m2=true;}//リードモーター2 
        else if (strcmp(g_CmdBuf , "rm3" )==0 ){gf_Print.bf.m3=true;}//リードモーター3 
        else if (strcmp(g_CmdBuf , "rm4" )==0 ){gf_Print.bf.m4=true;}//リードモーター4 
        else if (strcmp(g_CmdBuf , "rg"  )==0 ){gf_Print.bf.gy=true;}//リードジャイロ  
        else if (strcmp(g_CmdBuf , "ry"  )==0 ){gf_Print.bf.yaw=true;}//リード姿勢角ヨー
        else if (strcmp(g_CmdBuf , "rimu")==0 ){gf_Print.bf.yaw=true;gf_Print.bf.gy=true;}//リードIMU
        else if (strcmp(g_CmdBuf , "rs"  )==0 ){ }//リードスイッチ
        else if (strcmp(g_CmdBuf , "rfb" )==0 ){gf_Print.bf.fb=true;}//PID制御フィードバック結果
        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
        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    
        else if (strcmp(g_CmdBuf , "rpp" )==0 ){gf_Print.bf.p=true;}//パラメータPゲイン表示 
        else if (strcmp(g_CmdBuf , "rpi" )==0 ){gf_Print.bf.i=true;}//パラメータIゲイン表示 
        else if (strcmp(g_CmdBuf , "rpd" )==0 ){gf_Print.bf.d=true;}//パラメータDゲイン表示
        
        //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 , "sm1"   )==0 ){gf_MtReq[0].bf.req=true; gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "sm2"   )==0 ){gf_MtReq[1].bf.req=true; gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "sm3"   )==0 ){gf_MtReq[2].bf.req=true; gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "sm4"   )==0 ){gf_MtReq[3].bf.req=true; gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "sm"   )==0 ){
            for(int i = 0; i < 4; ++i){
                gf_MtReq[i].bf.req=true; 
                gf_MtReq[i].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            }
            }
        else if (strcmp(g_CmdBuf , "smf"   )==0 ){
            gf_MtReq[0].bf.req=true;
            gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            gf_MtReq[1].bf.req=true;
            gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smr"   )==0 ){
            gf_MtReq[2].bf.req=true;
            gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            gf_MtReq[3].bf.req=true;
            gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);            }
        else if (strcmp(g_CmdBuf , "smo1"   )==0 ){gf_MtReqOfs[0].bf.req=true; gf_MtReqOfs[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smo2"   )==0 ){gf_MtReqOfs[1].bf.req=true; gf_MtReqOfs[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smo3"   )==0 ){gf_MtReqOfs[2].bf.req=true; gf_MtReqOfs[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smo4"   )==0 ){gf_MtReqOfs[3].bf.req=true; gf_MtReqOfs[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smo"   )==0 ){
            for(int i = 0; i < 4; ++i){
                gf_MtReqOfs[i].bf.req=true; 
                gf_MtReqOfs[i].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            }
        }
        else if (strcmp(g_CmdBuf , "smof"   )==0 ){
            gf_MtReqOfs[0].bf.req=true;
            gf_MtReqOfs[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            gf_MtReqOfs[1].bf.req=true;
            gf_MtReqOfs[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smor"   )==0 ){
            gf_MtReqOfs[2].bf.req=true;
            gf_MtReqOfs[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            gf_MtReqOfs[3].bf.req=true;
            gf_MtReqOfs[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);            }
        //else if (strcmp(g_CmdBuf , "smfpga1"   )==0 ){gf_MtReqDct[0].bf.req=true; gf_MtReqDct[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        //else if (strcmp(g_CmdBuf , "smfpga2"   )==0 ){gf_MtReqDct[1].bf.req=true; gf_MtReqDct[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        //else if (strcmp(g_CmdBuf , "smfpga3"   )==0 ){gf_MtReqDct[2].bf.req=true; gf_MtReqDct[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        //else if (strcmp(g_CmdBuf , "smfpga4"   )==0 ){gf_MtReqDct[3].bf.req=true; gf_MtReqDct[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        //else if (strcmp(g_CmdBuf , "smfpga5"   )==0 ){gf_MtReqDct[4].bf.req=true; gf_MtReqDct[4].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        //else if (strcmp(g_CmdBuf , "smfpga6"   )==0 ){gf_MtReqDct[5].bf.req=true; gf_MtReqDct[5].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        //else if (strcmp(g_CmdBuf , "smfpga7"   )==0 ){gf_MtReqDct[6].bf.req=true; gf_MtReqDct[6].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        //else if (strcmp(g_CmdBuf , "smfpga8"   )==0 ){gf_MtReqDct[7].bf.req=true; gf_MtReqDct[7].bf.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.bf.gy=true;gf_Mon.bf.gy=true;}//リードジャイロ  
        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
        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
        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
        else if (strcmp(g_CmdBuf , "mm1" ) == 0 ){gf_Mon.bf.m1=true;}
        else if (strcmp(g_CmdBuf , "mm2" ) == 0 ){gf_Mon.bf.m2=true;}
        else if (strcmp(g_CmdBuf , "mm3" ) == 0 ){gf_Mon.bf.m3=true;}
        else if (strcmp(g_CmdBuf , "mm4" ) == 0 ){gf_Mon.bf.m4=true;}
        else if (strcmp(g_CmdBuf , "kill")==0 ){gf_Mon.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.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 , "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 , "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
        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
        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
        //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
        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
        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
        //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
        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
        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
        //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
        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
        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
        // else if (strcmp(g_CmdBuf , "smotofs")==0 ){
        //     g_MotPara[0].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
        //     g_MotPara[1].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
        //     g_MotPara[2].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
        //     g_MotPara[3].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
        //     }//モーター１~４オフセット設定
        else if (strcmp(g_CmdBuf , "smothi")==0 ){
            g_MotPara[0].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
            g_MotPara[1].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
            g_MotPara[2].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
            g_MotPara[3].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
            }//モーター１~４上限値設定
        else if (strcmp(g_CmdBuf , "smotlow")==0 ){
            g_MotPara[0].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
            g_MotPara[1].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
            g_MotPara[2].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
            g_MotPara[3].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
            }//モーター１~４下限値設定
        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
        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 
        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 
        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 
        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 
       
        // else if (strcmp(g_CmdBuf , "op1" )==0 ){gf_MtReqOP[0].req=true; gf_MtReqOP[0].add_end=false; gf_MtReqOP[0].counter = 0; gf_MtReqOP[0].num = atoi(&g_CmdBuf[arg2pos]);}//モーター1一時的噴射
        // else if (strcmp(g_CmdBuf , "op2" )==0 ){gf_MtReqOP[1].req=true; gf_MtReqOP[1].add_end=false; gf_MtReqOP[1].counter = 0; gf_MtReqOP[1].num = atoi(&g_CmdBuf[arg2pos]);}//モーター2一時的噴射
        // else if (strcmp(g_CmdBuf , "op3" )==0 ){gf_MtReqOP[2].req=true; gf_MtReqOP[2].add_end=false; gf_MtReqOP[2].counter = 0; gf_MtReqOP[2].num = atoi(&g_CmdBuf[arg2pos]);}//モーター3一時的噴射
        // else if (strcmp(g_CmdBuf , "op4" )==0 ){gf_MtReqOP[3].req=true; gf_MtReqOP[3].add_end=false; gf_MtReqOP[3].counter = 0; gf_MtReqOP[3].num = atoi(&g_CmdBuf[arg2pos]);}//モーター4一時的噴射
        
        //何にも引っ掛からない
        else {sp.printf("command missmatch\r\n"); };
    } else if(gf_State == SLEEP){
        //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 , "stat")==0 ){gf_Print.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 , "sm1"   )==0 ){gf_MtReq[0].bf.req=true; gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "sm2"   )==0 ){gf_MtReq[1].bf.req=true; gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "sm3"   )==0 ){gf_MtReq[2].bf.req=true; gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "sm4"   )==0 ){gf_MtReq[3].bf.req=true; gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "sm"   )==0 ){
            for(int i = 0; i < 4; ++i){
                gf_MtReq[i].bf.req=true; 
                gf_MtReq[i].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            }
            }
        else if (strcmp(g_CmdBuf , "smf"   )==0 ){
            gf_MtReq[0].bf.req=true;
            gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            gf_MtReq[1].bf.req=true;
            gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smr"   )==0 ){
            gf_MtReq[2].bf.req=true;
            gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            gf_MtReq[3].bf.req=true;
            gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);            }
        else if (strcmp(g_CmdBuf , "smo1"   )==0 ){gf_MtReqOfs[0].bf.req=true; gf_MtReqOfs[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smo2"   )==0 ){gf_MtReqOfs[1].bf.req=true; gf_MtReqOfs[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smo3"   )==0 ){gf_MtReqOfs[2].bf.req=true; gf_MtReqOfs[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smo4"   )==0 ){gf_MtReqOfs[3].bf.req=true; gf_MtReqOfs[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smo"   )==0 ){
            for(int i = 0; i < 4; ++i){
                gf_MtReqOfs[i].bf.req=true; 
                gf_MtReqOfs[i].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            }
        }
        else if (strcmp(g_CmdBuf , "smof"   )==0 ){
            gf_MtReqOfs[0].bf.req=true;
            gf_MtReqOfs[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            gf_MtReqOfs[1].bf.req=true;
            gf_MtReqOfs[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smor"   )==0 ){
            gf_MtReqOfs[2].bf.req=true;
            gf_MtReqOfs[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
            gf_MtReqOfs[3].bf.req=true;
            gf_MtReqOfs[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);            }
        else if (strcmp(g_CmdBuf , "smfpga1"   )==0 ){gf_MtReqDct[0].bf.req=true; gf_MtReqDct[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smfpga2"   )==0 ){gf_MtReqDct[1].bf.req=true; gf_MtReqDct[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smfpga3"   )==0 ){gf_MtReqDct[2].bf.req=true; gf_MtReqDct[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smfpga4"   )==0 ){gf_MtReqDct[3].bf.req=true; gf_MtReqDct[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smfpga5"   )==0 ){gf_MtReqDct[4].bf.req=true; gf_MtReqDct[4].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smfpga6"   )==0 ){gf_MtReqDct[5].bf.req=true; gf_MtReqDct[5].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smfpga7"   )==0 ){gf_MtReqDct[6].bf.req=true; gf_MtReqDct[6].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
        else if (strcmp(g_CmdBuf , "smfpga8"   )==0 ){gf_MtReqDct[7].bf.req=true; gf_MtReqDct[7].bf.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;}//

        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 , "op1" )==0 ){gf_MtReqOP[0].req=true; gf_MtReqOP[0].add_end=false; gf_MtReqOP[0].counter = 0; gf_MtReqOP[0].num = atoi(&g_CmdBuf[arg2pos]);}//モーター1一時的噴射
        // else if (strcmp(g_CmdBuf , "op2" )==0 ){gf_MtReqOP[1].req=true; gf_MtReqOP[1].add_end=false; gf_MtReqOP[1].counter = 0; gf_MtReqOP[1].num = atoi(&g_CmdBuf[arg2pos]);}//モーター2一時的噴射
        // else if (strcmp(g_CmdBuf , "op3" )==0 ){gf_MtReqOP[2].req=true; gf_MtReqOP[2].add_end=false; gf_MtReqOP[2].counter = 0; gf_MtReqOP[2].num = atoi(&g_CmdBuf[arg2pos]);}//モーター3一時的噴射
        // else if (strcmp(g_CmdBuf , "op4" )==0 ){gf_MtReqOP[3].req=true; gf_MtReqOP[3].add_end=false; gf_MtReqOP[3].counter = 0; gf_MtReqOP[3].num = atoi(&g_CmdBuf[arg2pos]);}//モーター4一時的噴射
        //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;
}