teamALI
/
HB2018
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Diff: hbCommand.cpp
- Revision:
- 56:f363a6877c6a
- Parent:
- 53:b09c062cc31c
- Child:
- 59:6b4dcd964d0f
diff -r e245227d9fea -r f363a6877c6a hbCommand.cpp
--- a/hbCommand.cpp Mon Mar 04 08:07:20 2019 +0000
+++ b/hbCommand.cpp Wed Mar 06 02:18:47 2019 +0000
@@ -26,269 +26,164 @@
}
}
- //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.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]);}
- else if (strcmp(g_CmdBuf , "smao2" )==0 ){gf_MtAttOfs[1].req=true; gf_MtAttOfs[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
- else if (strcmp(g_CmdBuf , "smao3" )==0 ){gf_MtAttOfs[2].req=true; gf_MtAttOfs[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
- else if (strcmp(g_CmdBuf , "smao4" )==0 ){gf_MtAttOfs[3].req=true; gf_MtAttOfs[3].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
- else if (strcmp(g_CmdBuf , "smao" )==0 ){
- for(int i = 0; i < 4; ++i){
- gf_MtAttOfs[i].req=true;
- gf_MtAttOfs[i].val=(UINT16)atoi(&g_CmdBuf[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 , "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 , "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 , "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]); }
-
- //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 , "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 , "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
-
+ //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
-
- //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 , "rs" )==0 ){gf_Print.d2.bf.sw=true;}//リードスイッチ
-
- 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 , "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 , "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 , "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]);}
+ //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 , "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 , "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 , "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 , "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]);}
-
- //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 , "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 , "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 , "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 , "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 , "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 , "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 , "kill")==0 ){gf_Mon.d1.flg=0;gf_Mon.d2.flg=0;}//モニタ停止
- //何にも引っ掛からない
- else {sp.printf("command missmatch\r\n"); };
- }
+ //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) );