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Dependencies:   mbed FreeRTOS

hbCommand.cpp@33:eb260dbfc22a, 2018-12-21 (annotated)

Committer:
MasashiNomura
Date:
Fri Dec 21 12:31:17 2018 +0000
Revision:
33:eb260dbfc22a
Parent:
32:7f4145cc3551
Child:
36:2cc739c7e4cb
12/21 Add analog read for accel Motor

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 31:56c554c560c1 56 else if (strcmp(g_CmdBuf , "sep1" )==0 ){gf_AxReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 31:56c554c560c1 57 else if (strcmp(g_CmdBuf , "sep2" )==0 ){gf_AxReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 58 else if (strcmp(g_CmdBuf , "sm1" )==0 ){gf_MtReq[0].req=true; gf_MtReq[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 59 else if (strcmp(g_CmdBuf , "sm2" )==0 ){gf_MtReq[1].req=true; gf_MtReq[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 60 else if (strcmp(g_CmdBuf , "sm3" )==0 ){gf_MtReq[2].req=true; gf_MtReq[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 61 else if (strcmp(g_CmdBuf , "sm4" )==0 ){gf_MtReq[3].req=true; gf_MtReq[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 27:ff63c23bc689 62 else if (strcmp(g_CmdBuf , "sm" )==0 ){
MasashiNomura 27:ff63c23bc689 63 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 64 gf_MtReq[i].req=true;
MasashiNomura 32:7f4145cc3551 65 gf_MtReq[i].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 27:ff63c23bc689 66 }
MasashiNomura 25:f3a6e7eec9c3 67 }
MasashiNomura 26:732bc37fbefd 68 else if (strcmp(g_CmdBuf , "smf" )==0 ){
MasashiNomura 32:7f4145cc3551 69 gf_MtReq[0].req=true;
MasashiNomura 32:7f4145cc3551 70 gf_MtReq[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 32:7f4145cc3551 71 gf_MtReq[1].req=true;
MasashiNomura 32:7f4145cc3551 72 gf_MtReq[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 26:732bc37fbefd 73 else if (strcmp(g_CmdBuf , "smr" )==0 ){
MasashiNomura 32:7f4145cc3551 74 gf_MtReq[2].req=true;
MasashiNomura 32:7f4145cc3551 75 gf_MtReq[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 32:7f4145cc3551 76 gf_MtReq[3].req=true;
MasashiNomura 32:7f4145cc3551 77 gf_MtReq[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); }
MasashiNomura 32:7f4145cc3551 78 else if (strcmp(g_CmdBuf , "smo1" )==0 ){gf_MtReqOfs[0].req=true; gf_MtReqOfs[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 79 else if (strcmp(g_CmdBuf , "smo2" )==0 ){gf_MtReqOfs[1].req=true; gf_MtReqOfs[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 80 else if (strcmp(g_CmdBuf , "smo3" )==0 ){gf_MtReqOfs[2].req=true; gf_MtReqOfs[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 81 else if (strcmp(g_CmdBuf , "smo4" )==0 ){gf_MtReqOfs[3].req=true; gf_MtReqOfs[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 27:ff63c23bc689 82 else if (strcmp(g_CmdBuf , "smo" )==0 ){
MasashiNomura 27:ff63c23bc689 83 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 84 gf_MtReqOfs[i].req=true;
MasashiNomura 32:7f4145cc3551 85 gf_MtReqOfs[i].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 27:ff63c23bc689 86 }
MasashiNomura 27:ff63c23bc689 87 }
MasashiNomura 27:ff63c23bc689 88 else if (strcmp(g_CmdBuf , "smof" )==0 ){
MasashiNomura 32:7f4145cc3551 89 gf_MtReqOfs[0].req=true;
MasashiNomura 32:7f4145cc3551 90 gf_MtReqOfs[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 32:7f4145cc3551 91 gf_MtReqOfs[1].req=true;
MasashiNomura 32:7f4145cc3551 92 gf_MtReqOfs[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 27:ff63c23bc689 93 else if (strcmp(g_CmdBuf , "smor" )==0 ){
MasashiNomura 32:7f4145cc3551 94 gf_MtReqOfs[2].req=true;
MasashiNomura 32:7f4145cc3551 95 gf_MtReqOfs[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 32:7f4145cc3551 96 gf_MtReqOfs[3].req=true;
MasashiNomura 32:7f4145cc3551 97 gf_MtReqOfs[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); }
MasashiNomura 27:ff63c23bc689 98
MasashiNomura 22:24c9c2dedca9 99 //キャリブレーション
MasashiNomura 22:24c9c2dedca9 100 else if (strcmp(g_CmdBuf , "calyaw")==0 ){gf_Cal.bf.yaw=true;}//
MasashiNomura 22:24c9c2dedca9 101 else if (strcmp(g_CmdBuf , "calgyro")==0 ){gf_Cal.bf.gy=true;}//
MasashiNomura 22:24c9c2dedca9 102 else if (strcmp(g_CmdBuf , "calimu")==0 ){gf_Cal.bf.gy=true;gf_Cal.bf.yaw=true;}//
MasashiNomura 22:24c9c2dedca9 103
MasashiNomura 22:24c9c2dedca9 104 //チェック系
MasashiNomura 22:24c9c2dedca9 105
MasashiNomura 22:24c9c2dedca9 106 //連続モニタ
MasashiNomura 22:24c9c2dedca9 107 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 108 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 109 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 110 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 111 else if (strcmp(g_CmdBuf , "mm1" ) == 0 ){gf_Mon.bf.m1=true;}
MasashiNomura 25:f3a6e7eec9c3 112 else if (strcmp(g_CmdBuf , "mm2" ) == 0 ){gf_Mon.bf.m2=true;}
MasashiNomura 25:f3a6e7eec9c3 113 else if (strcmp(g_CmdBuf , "mm3" ) == 0 ){gf_Mon.bf.m3=true;}
MasashiNomura 25:f3a6e7eec9c3 114 else if (strcmp(g_CmdBuf , "mm4" ) == 0 ){gf_Mon.bf.m4=true;}
MasashiNomura 22:24c9c2dedca9 115 else if (strcmp(g_CmdBuf , "kill")==0 ){gf_Mon.flg=0;}//モニタ停止
MasashiNomura 22:24c9c2dedca9 116
MasashiNomura 24:c5945aaae777 117 // 開発、デバッグ用コマンド
MasashiNomura 23:79e20be4bc5b 118 else if (strcmp(g_CmdBuf , "stat")==0 ){gf_Print.bf.stat=true;}//ステート表示
MasashiNomura 23:79e20be4bc5b 119 else if (strcmp(g_CmdBuf , "sstatf")==0 ){setStateF((enmHbState)atoi(&g_CmdBuf[arg2pos]));}//ステート強制遷移
MasashiNomura 25:f3a6e7eec9c3 120
MasashiNomura 25:f3a6e7eec9c3 121 else if (strcmp(g_CmdBuf , "stopmot")==0 ){gf_StopMot = true;}//モーター強制停止
MasashiNomura 25:f3a6e7eec9c3 122
MasashiNomura 24:c5945aaae777 123 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 124 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 125 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 126 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 127 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 128 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 31:56c554c560c1 129 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 25:f3a6e7eec9c3 130
MasashiNomura 25:f3a6e7eec9c3 131 //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 132 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 133 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 134 //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 135 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 136 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 137 //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 138 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 139 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 140 //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 141 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 142 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 143 // else if (strcmp(g_CmdBuf , "smotofs")==0 ){
MasashiNomura 25:f3a6e7eec9c3 144 // g_MotPara[0].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
MasashiNomura 25:f3a6e7eec9c3 145 // g_MotPara[1].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
MasashiNomura 25:f3a6e7eec9c3 146 // g_MotPara[2].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
MasashiNomura 25:f3a6e7eec9c3 147 // g_MotPara[3].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
MasashiNomura 25:f3a6e7eec9c3 148 // }//モーター１~４オフセット設定
MasashiNomura 25:f3a6e7eec9c3 149 else if (strcmp(g_CmdBuf , "smothi")==0 ){
MasashiNomura 25:f3a6e7eec9c3 150 g_MotPara[0].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
MasashiNomura 25:f3a6e7eec9c3 151 g_MotPara[1].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
MasashiNomura 25:f3a6e7eec9c3 152 g_MotPara[2].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
MasashiNomura 25:f3a6e7eec9c3 153 g_MotPara[3].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
MasashiNomura 25:f3a6e7eec9c3 154 }//モーター１~４上限値設定
MasashiNomura 25:f3a6e7eec9c3 155 else if (strcmp(g_CmdBuf , "smotlow")==0 ){
MasashiNomura 25:f3a6e7eec9c3 156 g_MotPara[0].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
MasashiNomura 25:f3a6e7eec9c3 157 g_MotPara[1].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
MasashiNomura 25:f3a6e7eec9c3 158 g_MotPara[2].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
MasashiNomura 25:f3a6e7eec9c3 159 g_MotPara[3].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
MasashiNomura 25:f3a6e7eec9c3 160 }//モーター１~４下限値設定
MasashiNomura 26:732bc37fbefd 161 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 162 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 163 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 164 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 165 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 33:eb260dbfc22a 166 else if (strcmp(g_CmdBuf , "rana1" )==0 ){gf_DbgPrint.bf.ana1=true;}//アナログ入力リード forモーターアクセル
MasashiNomura 32:7f4145cc3551 167
MasashiNomura 22:24c9c2dedca9 168 //何にも引っ掛からない
MasashiNomura 22:24c9c2dedca9 169 else {sp.printf("command missmatch\r\n"); };
MasashiNomura 22:24c9c2dedca9 170 } else if(gf_State == SLEEP){
MasashiNomura 25:f3a6e7eec9c3 171 //EMG STOP 現在はモーターの強制停止
MasashiNomura 25:f3a6e7eec9c3 172 if (g_CmdBuf[0] == ESC){gf_StopMot = true;}
MasashiNomura 25:f3a6e7eec9c3 173 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 174 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 175 else if (strcmp(g_CmdBuf , "stat")==0 ){gf_Print.bf.stat=true;}//ステート表示
MasashiNomura 23:79e20be4bc5b 176 else if (strcmp(g_CmdBuf , "sstatf")==0 ){setStateF((enmHbState)atoi(&g_CmdBuf[arg2pos]));}//ステート強制遷移
MasashiNomura 32:7f4145cc3551 177 else if (strcmp(g_CmdBuf , "sm1" )==0 ){gf_MtReq[0].req=true; gf_MtReq[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 178 else if (strcmp(g_CmdBuf , "sm2" )==0 ){gf_MtReq[1].req=true; gf_MtReq[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 179 else if (strcmp(g_CmdBuf , "sm3" )==0 ){gf_MtReq[2].req=true; gf_MtReq[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 180 else if (strcmp(g_CmdBuf , "sm4" )==0 ){gf_MtReq[3].req=true; gf_MtReq[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 27:ff63c23bc689 181 else if (strcmp(g_CmdBuf , "sm" )==0 ){
MasashiNomura 27:ff63c23bc689 182 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 183 gf_MtReq[i].req=true;
MasashiNomura 32:7f4145cc3551 184 gf_MtReq[i].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 27:ff63c23bc689 185 }
MasashiNomura 25:f3a6e7eec9c3 186 }
MasashiNomura 26:732bc37fbefd 187 else if (strcmp(g_CmdBuf , "smf" )==0 ){
MasashiNomura 32:7f4145cc3551 188 gf_MtReq[0].req=true;
MasashiNomura 32:7f4145cc3551 189 gf_MtReq[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 32:7f4145cc3551 190 gf_MtReq[1].req=true;
MasashiNomura 32:7f4145cc3551 191 gf_MtReq[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 26:732bc37fbefd 192 else if (strcmp(g_CmdBuf , "smr" )==0 ){
MasashiNomura 32:7f4145cc3551 193 gf_MtReq[2].req=true;
MasashiNomura 32:7f4145cc3551 194 gf_MtReq[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 32:7f4145cc3551 195 gf_MtReq[3].req=true;
MasashiNomura 32:7f4145cc3551 196 gf_MtReq[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); }
MasashiNomura 32:7f4145cc3551 197 else if (strcmp(g_CmdBuf , "smo1" )==0 ){gf_MtReqOfs[0].req=true; gf_MtReqOfs[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 198 else if (strcmp(g_CmdBuf , "smo2" )==0 ){gf_MtReqOfs[1].req=true; gf_MtReqOfs[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 199 else if (strcmp(g_CmdBuf , "smo3" )==0 ){gf_MtReqOfs[2].req=true; gf_MtReqOfs[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 200 else if (strcmp(g_CmdBuf , "smo4" )==0 ){gf_MtReqOfs[3].req=true; gf_MtReqOfs[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 27:ff63c23bc689 201 else if (strcmp(g_CmdBuf , "smo" )==0 ){
MasashiNomura 27:ff63c23bc689 202 for(int i = 0; i < 4; ++i){
MasashiNomura 32:7f4145cc3551 203 gf_MtReqOfs[i].req=true;
MasashiNomura 32:7f4145cc3551 204 gf_MtReqOfs[i].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 27:ff63c23bc689 205 }
MasashiNomura 27:ff63c23bc689 206 }
MasashiNomura 27:ff63c23bc689 207 else if (strcmp(g_CmdBuf , "smof" )==0 ){
MasashiNomura 32:7f4145cc3551 208 gf_MtReqOfs[0].req=true;
MasashiNomura 32:7f4145cc3551 209 gf_MtReqOfs[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 32:7f4145cc3551 210 gf_MtReqOfs[1].req=true;
MasashiNomura 32:7f4145cc3551 211 gf_MtReqOfs[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 27:ff63c23bc689 212 else if (strcmp(g_CmdBuf , "smor" )==0 ){
MasashiNomura 32:7f4145cc3551 213 gf_MtReqOfs[2].req=true;
MasashiNomura 32:7f4145cc3551 214 gf_MtReqOfs[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
MasashiNomura 32:7f4145cc3551 215 gf_MtReqOfs[3].req=true;
MasashiNomura 32:7f4145cc3551 216 gf_MtReqOfs[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]); }
MasashiNomura 32:7f4145cc3551 217 else if (strcmp(g_CmdBuf , "smfpga1" )==0 ){gf_MtReqDct[0].req=true; gf_MtReqDct[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 218 else if (strcmp(g_CmdBuf , "smfpga2" )==0 ){gf_MtReqDct[1].req=true; gf_MtReqDct[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 219 else if (strcmp(g_CmdBuf , "smfpga3" )==0 ){gf_MtReqDct[2].req=true; gf_MtReqDct[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 220 else if (strcmp(g_CmdBuf , "smfpga4" )==0 ){gf_MtReqDct[3].req=true; gf_MtReqDct[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 221 else if (strcmp(g_CmdBuf , "smfpga5" )==0 ){gf_MtReqDct[4].req=true; gf_MtReqDct[4].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 222 else if (strcmp(g_CmdBuf , "smfpga6" )==0 ){gf_MtReqDct[5].req=true; gf_MtReqDct[5].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 223 else if (strcmp(g_CmdBuf , "smfpga7" )==0 ){gf_MtReqDct[6].req=true; gf_MtReqDct[6].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 32:7f4145cc3551 224 else if (strcmp(g_CmdBuf , "smfpga8" )==0 ){gf_MtReqDct[7].req=true; gf_MtReqDct[7].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
MasashiNomura 25:f3a6e7eec9c3 225
MasashiNomura 25:f3a6e7eec9c3 226 //キャリブレーション
MasashiNomura 25:f3a6e7eec9c3 227 else if (strcmp(g_CmdBuf , "calyaw")==0 ){gf_Cal.bf.yaw=true;}//
MasashiNomura 25:f3a6e7eec9c3 228 else if (strcmp(g_CmdBuf , "calgyro")==0 ){gf_Cal.bf.gy=true;}//
MasashiNomura 25:f3a6e7eec9c3 229 else if (strcmp(g_CmdBuf , "calimu")==0 ){gf_Cal.bf.gy=true;gf_Cal.bf.yaw=true;}//
MasashiNomura 25:f3a6e7eec9c3 230
MasashiNomura 25:f3a6e7eec9c3 231 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 232 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 233 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 234 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 235 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 236 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 31:56c554c560c1 237 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 29:eb3d72dd94aa 238
MasashiNomura 33:eb260dbfc22a 239 else if (strcmp(g_CmdBuf , "rana1" )==0 ){gf_DbgPrint.bf.ana1=true;}//アナログ入力リード forモーターアクセル
MasashiNomura 22:24c9c2dedca9 240 //何にも引っ掛からない
MasashiNomura 22:24c9c2dedca9 241 else {sp.printf("command missmatch\r\n"); };
MasashiNomura 22:24c9c2dedca9 242 }
takeru0x1103 18:5aa48aec9cae 243
takeru0x1103 18:5aa48aec9cae 244 //バッファクリア
takeru0x1103 19:4b0fe9a5ec38 245 memset(&g_CmdBuf[0] , 0x00 , sizeof(g_CmdBuf) );
takeru0x1103 19:4b0fe9a5ec38 246
takeru0x1103 18:5aa48aec9cae 247 //フラグ下す
takeru0x1103 18:5aa48aec9cae 248 gf_CmdPrs = false;
takeru0x1103 18:5aa48aec9cae 249 }
takeru0x1103 18:5aa48aec9cae 250
takeru0x1103 18:5aa48aec9cae 251