imano yuta / Mbed 2 deprecated sahaquiel_raspi_uart_test

skipper_raspi_uart_test

Dependencies:   mbed MPU6050_2 HMC5883L_4 SDFileSystem3

main.cpp@20:011977a37394, 2019-02-16 (annotated)

Committer:
taknokolat
Date:
Sat Feb 16 02:50:19 2019 +0000
Revision:
20:011977a37394
Parent:
19:949bab1e9451
Child:
21:ca8f35e24e66
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
HARUKIDELTA 0:84ddd6d354e1 1 #include "mbed.h"
Skykon 3:c18342e4fddd 2 #include "MPU6050_DMP6.h"
taknokolat 6:166746820555 3 #include "HMC5883L.h"
taknokolat 12:083662bca47d 4 #include "SDFileSystem.h"
taknokolat 12:083662bca47d 5 #include "SkipperSv2.h"
taknokolat 12:083662bca47d 6 #include "falfalla.h"
Skykon 3:c18342e4fddd 7
Skykon 3:c18342e4fddd 8 //MPU_check用
Skykon 3:c18342e4fddd 9 #define PI 3.14159265358979
HARUKIDELTA 0:84ddd6d354e1 10
HARUKIDELTA 17:83db05cab3d1 11 #define servo_NEUTRAL_R 1614
HARUKIDELTA 17:83db05cab3d1 12 #define servo_NEUTRAL_L 1621
HARUKIDELTA 0:84ddd6d354e1 13 #define servo_slow_FORWARD_R 1560
HARUKIDELTA 0:84ddd6d354e1 14 #define servo_slow_FORWARD_L 1560
taknokolat 12:083662bca47d 15 #define servo_high_FORWARD_R 1860
taknokolat 12:083662bca47d 16 #define servo_high_FORWARD_L 1860
HARUKIDELTA 17:83db05cab3d1 17 #define turntable_NEUTRAL 1180 //カメラ台座のサーボ
HARUKIDELTA 17:83db05cab3d1 18 #define matchspeed 1500 + 100 //カメラと方向を合わせるときの車輪の速度
HARUKIDELTA 17:83db05cab3d1 19 #define focus_NEUTRAL 1455 //焦点合わせ用サーボ
HARUKIDELTA 17:83db05cab3d1 20 #define camera_deg_A 1400 //カメラ角度調整
HARUKIDELTA 17:83db05cab3d1 21 #define camera_deg_B 1800
HARUKIDELTA 17:83db05cab3d1 22 #define pint_speed 25
taknokolat 20:011977a37394 23 #define pint_wait 3
HARUKIDELTA 17:83db05cab3d1 24 #define turntable_speed 1800
taknokolat 19:949bab1e9451 25 #define calib_x 110
taknokolat 19:949bab1e9451 26 #define calib_y 300
taknokolat 20:011977a37394 27 #define camera_board_wait 100
HARUKIDELTA 0:84ddd6d354e1 28
HARUKIDELTA 0:84ddd6d354e1 29 #define MOVE_NEUTRAL 0
taknokolat 19:949bab1e9451 30 #define MOVE_FORWARD 1
HARUKIDELTA 0:84ddd6d354e1 31 #define MOVE_LEFT 2
HARUKIDELTA 0:84ddd6d354e1 32 #define MOVE_RIGHT 3
HARUKIDELTA 0:84ddd6d354e1 33 #define MOVE_BACK 4
Skykon 3:c18342e4fddd 34 #define GOAL_FORWARD 5 //ゴール付近_ゆっくり
HARUKIDELTA 0:84ddd6d354e1 35 #define GOAL_LEFT 6
HARUKIDELTA 0:84ddd6d354e1 36 #define GOAL_RIGHT 7
Skykon 3:c18342e4fddd 37 #define MAX_FORWARD 8 //はやい_姿勢修正用
HARUKIDELTA 0:84ddd6d354e1 38 #define MAX_BACK 9
HARUKIDELTA 0:84ddd6d354e1 39
taknokolat 1:290e621741fd 40 void getSF_Serial_jevois();
taknokolat 1:290e621741fd 41 void getSF_Serial_pi();
taknokolat 1:290e621741fd 42
Skykon 3:c18342e4fddd 43 //MPU_check用
Skykon 3:c18342e4fddd 44 void SensingMPU();
taknokolat 7:8989a4b84695 45
taknokolat 7:8989a4b84695 46 void MoveCansat(char g_landingcommand);
Skykon 3:c18342e4fddd 47 void setup();
Skykon 3:c18342e4fddd 48 void Init_sensors();
Skykon 3:c18342e4fddd 49 void DisplayClock();
taknokolat 4:67f705d42f1e 50 void DebugPrint();
taknokolat 6:166746820555 51 void SensingHMC();
taknokolat 7:8989a4b84695 52 void MoveCameraBoard();
taknokolat 7:8989a4b84695 53 void MatchPosition();
taknokolat 7:8989a4b84695 54 void FocusAdjust();
Skykon 3:c18342e4fddd 55
taknokolat 12:083662bca47d 56 //sd設定
taknokolat 12:083662bca47d 57 int GetParameter(FILE *fp, const char *paramName,char parameter[]);
taknokolat 12:083662bca47d 58
taknokolat 13:b088f0db7158 59 int SetOptions(int *Servo_NEUTRAL_R,int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 60 int *Servo_high_FORWARD_R,int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 61 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 62 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 63 int *Camera_deg_A, int *Camera_deg_B,
HARUKIDELTA 17:83db05cab3d1 64 int *Pint_speed, float *Pint_wait,
taknokolat 19:949bab1e9451 65 int *Turntable_speed,
taknokolat 20:011977a37394 66 int *Calib_x, int *Calib_y,
taknokolat 20:011977a37394 67 int *Camera_board_wait
taknokolat 12:083662bca47d 68 );
taknokolat 12:083662bca47d 69
taknokolat 6:166746820555 70 static float nowAngle[3] = {0,0,0},nowAngle_HMC=0;
taknokolat 6:166746820555 71 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0,g_FirstYAW_HMC;
Skykon 3:c18342e4fddd 72
taknokolat 7:8989a4b84695 73 bool setupFlag = false;
taknokolat 7:8989a4b84695 74 bool CameraDegFlag = false;
taknokolat 7:8989a4b84695 75 bool jevoisFlag = true;
taknokolat 4:67f705d42f1e 76
Skykon 3:c18342e4fddd 77 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
Skykon 3:c18342e4fddd 78
Skykon 3:c18342e4fddd 79 Timer t;
Skykon 3:c18342e4fddd 80
taknokolat 14:90e9b44eb819 81 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
taknokolat 14:90e9b44eb819 82
taknokolat 11:d44d137831b9 83 RawSerial pc(PA_2,PA_3,115200); //uart2
taknokolat 11:d44d137831b9 84 //pa2:UART2_TX,pa3:UART2_RX
taknokolat 12:083662bca47d 85 RawSerial pc2(PA_11,PA_12,115200); //uart1
taknokolat 11:d44d137831b9 86 //pb6:UART1_TX,pb7:UART1_RX
taknokolat 11:d44d137831b9 87
HARUKIDELTA 5:8bfe95431ec0 88 //PWM pin宣言
taknokolat 6:166746820555 89 PwmOut servoR(PC_6); //TIM3_CH1 車輪右
taknokolat 6:166746820555 90 PwmOut servoL(PC_7); //TIM3_CH2 車輪左
HARUKIDELTA 5:8bfe95431ec0 91 PwmOut servoTurnTable(PB_0); //TIM3_CH3 カメラ台回転Servo
HARUKIDELTA 5:8bfe95431ec0 92 PwmOut servoCameradeg(PB_1); //TIM3_CH4 カメラ角度調節Servo
HARUKIDELTA 5:8bfe95431ec0 93 PwmOut servoCameraPinto(PB_6); //TIM4_CH1 カメラピント合わせ
HARUKIDELTA 5:8bfe95431ec0 94 PwmOut servoCameramount(PA_6); //skipperウラ カメラマウント起動
HARUKIDELTA 5:8bfe95431ec0 95 PwmOut servoGetUP(PC_8); //skipperウラ 起き上がり動作
Skykon 3:c18342e4fddd 96
HARUKIDELTA 5:8bfe95431ec0 97 /*通信用のpinは
HARUKIDELTA 5:8bfe95431ec0 98 PA_3(UART2_Rx) skipperウラ
HARUKIDELTA 5:8bfe95431ec0 99 PA_12(UART6_Rx) skipperオモテ USB端子より
HARUKIDELTA 5:8bfe95431ec0 100 PB_7 (UART1_Rx) skipperオモテ 6番目 TIM4_CH2
HARUKIDELTA 5:8bfe95431ec0 101 */
HARUKIDELTA 5:8bfe95431ec0 102
HARUKIDELTA 5:8bfe95431ec0 103 /*超音波はRaspberryPiに積む*/
HARUKIDELTA 5:8bfe95431ec0 104
HARUKIDELTA 17:83db05cab3d1 105 DigitalOut led1(PA_0); //黄色のコネクタ
HARUKIDELTA 17:83db05cab3d1 106 DigitalOut led2(PA_1);
HARUKIDELTA 17:83db05cab3d1 107 DigitalOut led3(PB_5);
HARUKIDELTA 17:83db05cab3d1 108 DigitalOut led4(PB_4);
HARUKIDELTA 17:83db05cab3d1 109
HARUKIDELTA 17:83db05cab3d1 110
HARUKIDELTA 5:8bfe95431ec0 111 //外付けコンパス
taknokolat 6:166746820555 112 HMC5883L compass(PB_9, PB_8); //コンパスセンサー TIM4_CH3とCH4
HARUKIDELTA 0:84ddd6d354e1 113
taknokolat 2:f30666d7838b 114 char g_landingcommand='N';
taknokolat 1:290e621741fd 115
Skykon 3:c18342e4fddd 116 //MPU_check用
Skykon 3:c18342e4fddd 117 MPU6050DMP6 mpu6050(PC_0,&pc);
Skykon 3:c18342e4fddd 118
Skykon 3:c18342e4fddd 119
HARUKIDELTA 0:84ddd6d354e1 120 int main() {
taknokolat 1:290e621741fd 121
Skykon 3:c18342e4fddd 122 //MPU_check
Skykon 3:c18342e4fddd 123 setup();
taknokolat 19:949bab1e9451 124 //コンパスチェック用
taknokolat 19:949bab1e9451 125 /*while(1){
taknokolat 19:949bab1e9451 126 SensingMPU();
taknokolat 19:949bab1e9451 127 SensingHMC();
taknokolat 19:949bab1e9451 128 pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 19:949bab1e9451 129 pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 19:949bab1e9451 130 pc.printf("\r\n");
taknokolat 19:949bab1e9451 131 wait_ms(30);
taknokolat 19:949bab1e9451 132 }*/
taknokolat 19:949bab1e9451 133
Skykon 3:c18342e4fddd 134
HARUKIDELTA 17:83db05cab3d1 135 servoCameradeg.pulsewidth_us(Camera_deg_A);
taknokolat 11:d44d137831b9 136
taknokolat 1:290e621741fd 137 // シリアル通信受信の割り込みイベント登録
taknokolat 1:290e621741fd 138 pc.attach(getSF_Serial_jevois, Serial::RxIrq);
taknokolat 12:083662bca47d 139 pc2.attach(getSF_Serial_pi, Serial::RxIrq);
taknokolat 1:290e621741fd 140
HARUKIDELTA 0:84ddd6d354e1 141 while(1) {
taknokolat 7:8989a4b84695 142 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 143 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 20:011977a37394 144 pc.printf("Move Camera Board\r\n");
taknokolat 10:63fe920595a7 145 MoveCameraBoard();
taknokolat 10:63fe920595a7 146
taknokolat 20:011977a37394 147 pc.printf("Position\r\n");
taknokolat 7:8989a4b84695 148 if(g_landingcommand!='N') MatchPosition();
taknokolat 8:d11a59d2a2f1 149
taknokolat 8:d11a59d2a2f1 150 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 8:d11a59d2a2f1 151 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 152
taknokolat 20:011977a37394 153 pc.printf("Move Cansat\r\n");
taknokolat 7:8989a4b84695 154 MoveCansat(g_landingcommand);
Skykon 3:c18342e4fddd 155 wait_ms(23);
taknokolat 8:d11a59d2a2f1 156
taknokolat 20:011977a37394 157 pc.printf("finish\r\n");
taknokolat 7:8989a4b84695 158 if(jevoisFlag==true) NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 159 else NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 160 }
HARUKIDELTA 0:84ddd6d354e1 161 }
HARUKIDELTA 0:84ddd6d354e1 162
Skykon 3:c18342e4fddd 163
taknokolat 1:290e621741fd 164 void MoveCansat(char g_landingcommand)
HARUKIDELTA 0:84ddd6d354e1 165 {
taknokolat 2:f30666d7838b 166 //NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 167 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 168 switch(g_landingcommand){
taknokolat 2:f30666d7838b 169 case 'N': //MOVE_NEUTRAL
HARUKIDELTA 17:83db05cab3d1 170 servoR.pulsewidth_us(Servo_NEUTRAL_R);
HARUKIDELTA 17:83db05cab3d1 171 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 2:f30666d7838b 172 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 173 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 174 break;
taknokolat 1:290e621741fd 175
taknokolat 2:f30666d7838b 176 case 'Y': //MOVE_FORWARD
HARUKIDELTA 17:83db05cab3d1 177 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 178 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 2:f30666d7838b 179 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 180 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 181 break;
taknokolat 1:290e621741fd 182
taknokolat 12:083662bca47d 183 case 'l': //MOVE_LEFT Low Speed
HARUKIDELTA 17:83db05cab3d1 184 servoR.pulsewidth_us(Servo_slow_FORWARD_R);
taknokolat 12:083662bca47d 185 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 186 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 187
taknokolat 12:083662bca47d 188 case 'L': //MOVE_LEFT High Speed
HARUKIDELTA 17:83db05cab3d1 189 servoR.pulsewidth_us(Servo_high_FORWARD_R);
taknokolat 2:f30666d7838b 190 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 191 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 192
taknokolat 12:083662bca47d 193 case 'r': //MOVE_RIGHT Low Speed
HARUKIDELTA 17:83db05cab3d1 194 servoL.pulsewidth_us(Servo_slow_FORWARD_L);
taknokolat 2:f30666d7838b 195 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 196 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 197 break;
taknokolat 12:083662bca47d 198
taknokolat 12:083662bca47d 199 case 'R': //MOVE_RIGHT High Speed
HARUKIDELTA 17:83db05cab3d1 200 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 2:f30666d7838b 201 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 202 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 203 break;
taknokolat 1:290e621741fd 204
taknokolat 1:290e621741fd 205 case 'G': //GOAL_FORWARD
HARUKIDELTA 17:83db05cab3d1 206 servoR.pulsewidth_us(Servo_slow_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 207 servoL.pulsewidth_us(Servo_slow_FORWARD_L);
taknokolat 2:f30666d7838b 208 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 209 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 210 break;
taknokolat 12:083662bca47d 211
taknokolat 12:083662bca47d 212 case '1': //MOVE_FORWARD Speed Level 1
HARUKIDELTA 17:83db05cab3d1 213 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 214 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 215 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 216 wait(1);
taknokolat 12:083662bca47d 217 do{
taknokolat 12:083662bca47d 218 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 219 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 220 break;
taknokolat 12:083662bca47d 221
taknokolat 12:083662bca47d 222 case '2': //MOVE_FORWARD Speed Level 2
HARUKIDELTA 17:83db05cab3d1 223 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 224 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 225 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 226 wait(2);
taknokolat 12:083662bca47d 227 do{
taknokolat 12:083662bca47d 228 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 229 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 230 break;
taknokolat 12:083662bca47d 231
taknokolat 12:083662bca47d 232 case '3': //MOVE_FORWARD Speed Level 3
HARUKIDELTA 17:83db05cab3d1 233 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 234 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 235 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 236 wait(3);
taknokolat 12:083662bca47d 237 do{
taknokolat 12:083662bca47d 238 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 239 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 240 break;
taknokolat 12:083662bca47d 241
taknokolat 12:083662bca47d 242 case '4': //MOVE_FORWARD Speed Level 4
HARUKIDELTA 17:83db05cab3d1 243 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 244 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 245 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 246 wait(4);
taknokolat 12:083662bca47d 247 do{
taknokolat 12:083662bca47d 248 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 249 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 250 break;
taknokolat 7:8989a4b84695 251
taknokolat 12:083662bca47d 252 case '5': //MOVE_FORWARD Speed Level 5
HARUKIDELTA 17:83db05cab3d1 253 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 254 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 7:8989a4b84695 255 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 256 wait(5);
taknokolat 10:63fe920595a7 257 do{
taknokolat 10:63fe920595a7 258 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 7:8989a4b84695 259 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 260 break;
taknokolat 7:8989a4b84695 261
taknokolat 7:8989a4b84695 262 case 'M': //MatchPosition
HARUKIDELTA 17:83db05cab3d1 263 servoR.pulsewidth_us(Matchspeed);
taknokolat 7:8989a4b84695 264 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 265 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 266 break;
taknokolat 7:8989a4b84695 267
taknokolat 12:083662bca47d 268 case 'P': //jevoisからraspberry piへの切り替え
taknokolat 7:8989a4b84695 269 jevoisFlag = false;
taknokolat 7:8989a4b84695 270 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 271 break;
taknokolat 12:083662bca47d 272
taknokolat 12:083662bca47d 273 case 'S':
taknokolat 12:083662bca47d 274 /*RasPiからの超音波判定(プログラムスタート部)*/
taknokolat 12:083662bca47d 275 break;
taknokolat 1:290e621741fd 276
taknokolat 1:290e621741fd 277 default :
taknokolat 2:f30666d7838b 278 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 279 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 280 break;
taknokolat 1:290e621741fd 281
HARUKIDELTA 0:84ddd6d354e1 282 }
taknokolat 7:8989a4b84695 283
HARUKIDELTA 0:84ddd6d354e1 284 return;
taknokolat 1:290e621741fd 285 }
taknokolat 1:290e621741fd 286
taknokolat 7:8989a4b84695 287 void MoveCameraBoard(){
taknokolat 20:011977a37394 288 pc.printf("start\r\n");
taknokolat 7:8989a4b84695 289 MoveCansat('N');
taknokolat 20:011977a37394 290 pc.printf("ok\r\n");
taknokolat 10:63fe920595a7 291 g_landingcommand='N';
HARUKIDELTA 17:83db05cab3d1 292 servoTurnTable.pulsewidth_us(Turntable_speed);
taknokolat 20:011977a37394 293 wait_ms(Camera_board_wait);
HARUKIDELTA 17:83db05cab3d1 294 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 20:011977a37394 295 pc.printf("zoom1\r\n");
taknokolat 7:8989a4b84695 296 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 297 else wait(1);
taknokolat 7:8989a4b84695 298 if(g_landingcommand!='N') return;
taknokolat 7:8989a4b84695 299 if(!CameraDegFlag){
taknokolat 18:4566d1f5fc60 300 for(int i=30; i<Camera_deg_B-Camera_deg_A;i=i+30){
taknokolat 18:4566d1f5fc60 301 servoCameradeg.pulsewidth_us(Camera_deg_A+i);
taknokolat 20:011977a37394 302 pc.printf("%d\r\n",i);
taknokolat 15:1519fccfcae3 303 wait_ms(20);
taknokolat 15:1519fccfcae3 304 }
taknokolat 7:8989a4b84695 305 CameraDegFlag=!CameraDegFlag;
taknokolat 7:8989a4b84695 306 }else{
taknokolat 18:4566d1f5fc60 307 for(int i=30; i<Camera_deg_B-Camera_deg_A;i=i+30){
taknokolat 18:4566d1f5fc60 308 servoCameradeg.pulsewidth_us(Camera_deg_B-i);
taknokolat 20:011977a37394 309 pc.printf("%d\r\n",i);
taknokolat 18:4566d1f5fc60 310 wait_ms(20);
taknokolat 15:1519fccfcae3 311 }
taknokolat 7:8989a4b84695 312 CameraDegFlag = !CameraDegFlag;
taknokolat 7:8989a4b84695 313 }
taknokolat 20:011977a37394 314
taknokolat 20:011977a37394 315 pc.printf("zoom2\r\n");
taknokolat 7:8989a4b84695 316 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 317 else wait(1);
taknokolat 7:8989a4b84695 318
taknokolat 20:011977a37394 319
taknokolat 20:011977a37394 320 pc.printf("Move Board Finish\r\n");
taknokolat 7:8989a4b84695 321 return;
taknokolat 7:8989a4b84695 322 }
taknokolat 7:8989a4b84695 323
taknokolat 7:8989a4b84695 324 void MatchPosition(){
taknokolat 7:8989a4b84695 325 SensingMPU();
taknokolat 7:8989a4b84695 326 SensingHMC();
taknokolat 7:8989a4b84695 327 DebugPrint();
taknokolat 7:8989a4b84695 328
taknokolat 9:21cd5d18ad9e 329 while(nowAngle[YAW] <= nowAngle_HMC+5 && nowAngle[YAW] >= nowAngle_HMC-5){
taknokolat 7:8989a4b84695 330 MoveCansat('M');
taknokolat 9:21cd5d18ad9e 331 SensingMPU();
taknokolat 7:8989a4b84695 332 }
taknokolat 7:8989a4b84695 333 return;
taknokolat 7:8989a4b84695 334 }
taknokolat 7:8989a4b84695 335
taknokolat 7:8989a4b84695 336 void FocusAdjust(){
HARUKIDELTA 17:83db05cab3d1 337 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL-200);
taknokolat 20:011977a37394 338 pc.printf("set\r\n");
taknokolat 11:d44d137831b9 339 wait(1);
taknokolat 20:011977a37394 340 pc.printf("set2\r\n");
HARUKIDELTA 17:83db05cab3d1 341 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL+Pint_speed);
taknokolat 20:011977a37394 342 pc.printf("check\r\n");
taknokolat 20:011977a37394 343 wait(Pint_wait);
HARUKIDELTA 17:83db05cab3d1 344 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL);
taknokolat 11:d44d137831b9 345
taknokolat 7:8989a4b84695 346 return;
taknokolat 15:1519fccfcae3 347 }
taknokolat 7:8989a4b84695 348
taknokolat 1:290e621741fd 349 void getSF_Serial_jevois(){
taknokolat 1:290e621741fd 350
taknokolat 1:290e621741fd 351
taknokolat 1:290e621741fd 352 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 353
taknokolat 1:290e621741fd 354 static int bufcounter=0;
taknokolat 1:290e621741fd 355
taknokolat 1:290e621741fd 356
taknokolat 1:290e621741fd 357
taknokolat 1:290e621741fd 358 if(pc.readable()) { // 受信確認
taknokolat 1:290e621741fd 359
taknokolat 1:290e621741fd 360 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 361 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 362 //pc.printf("x");
taknokolat 1:290e621741fd 363 return;
taknokolat 1:290e621741fd 364 }
taknokolat 1:290e621741fd 365
taknokolat 1:290e621741fd 366
taknokolat 1:290e621741fd 367
taknokolat 1:290e621741fd 368 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 369
Skykon 3:c18342e4fddd 370 if(SFbuf[0]=='S' && bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 371
taknokolat 1:290e621741fd 372 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 373
taknokolat 1:290e621741fd 374 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 375 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 376 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 377 //wait_ms(20);
taknokolat 1:290e621741fd 378 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 379 bufcounter = 0;
taknokolat 1:290e621741fd 380 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 381 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 382 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 383 }
taknokolat 1:290e621741fd 384
taknokolat 1:290e621741fd 385 else if(bufcounter>=5){
taknokolat 1:290e621741fd 386 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 387 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 388 bufcounter = 0;
taknokolat 1:290e621741fd 389 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 390 }
taknokolat 1:290e621741fd 391 }
taknokolat 1:290e621741fd 392
taknokolat 1:290e621741fd 393
taknokolat 1:290e621741fd 394 }
taknokolat 1:290e621741fd 395
taknokolat 1:290e621741fd 396
taknokolat 12:083662bca47d 397 void getSF_Serial_pi(){
taknokolat 2:f30666d7838b 398
taknokolat 7:8989a4b84695 399 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 400
taknokolat 1:290e621741fd 401 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 402
taknokolat 1:290e621741fd 403 static int bufcounter=0;
taknokolat 1:290e621741fd 404
taknokolat 1:290e621741fd 405
taknokolat 1:290e621741fd 406
taknokolat 1:290e621741fd 407 if(pc2.readable()) { // 受信確認
taknokolat 1:290e621741fd 408
taknokolat 1:290e621741fd 409 SFbuf[bufcounter] = pc2.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 410 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 411 //pc.printf("x");
taknokolat 1:290e621741fd 412 return;
taknokolat 1:290e621741fd 413 }
taknokolat 1:290e621741fd 414
taknokolat 1:290e621741fd 415
taknokolat 1:290e621741fd 416
taknokolat 1:290e621741fd 417 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 418
taknokolat 1:290e621741fd 419 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 420
taknokolat 1:290e621741fd 421 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 422
taknokolat 1:290e621741fd 423 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 424 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 425 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 426 //wait_ms(20);
taknokolat 1:290e621741fd 427 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 428 bufcounter = 0;
taknokolat 1:290e621741fd 429 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 430 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 431 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 432 }
taknokolat 1:290e621741fd 433
taknokolat 1:290e621741fd 434 else if(bufcounter>=5){
taknokolat 1:290e621741fd 435 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 436 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 437 bufcounter = 0;
taknokolat 1:290e621741fd 438 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 439 }
taknokolat 1:290e621741fd 440 }
taknokolat 2:f30666d7838b 441
taknokolat 7:8989a4b84695 442 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 443
taknokolat 12:083662bca47d 444 }
taknokolat 1:290e621741fd 445
Skykon 3:c18342e4fddd 446
Skykon 3:c18342e4fddd 447 void setup(){
Skykon 3:c18342e4fddd 448
taknokolat 13:b088f0db7158 449 SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 450 &Servo_high_FORWARD_R, &Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 451 &Servo_slow_FORWARD_R,&Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 452 &Turntable_NEUTRAL,&Matchspeed,&Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 453 &Camera_deg_A, &Camera_deg_B,
HARUKIDELTA 17:83db05cab3d1 454 &Pint_speed,&Pint_wait,
taknokolat 19:949bab1e9451 455 &Turntable_speed,
taknokolat 20:011977a37394 456 &Calib_x, &Calib_y,
taknokolat 20:011977a37394 457 &Camera_board_wait
taknokolat 13:b088f0db7158 458 );
taknokolat 12:083662bca47d 459
Skykon 3:c18342e4fddd 460 Init_sensors();
Skykon 3:c18342e4fddd 461 //switch2.rise(ResetTrim);
Skykon 3:c18342e4fddd 462
taknokolat 7:8989a4b84695 463 //NVIC_SetPriority(USART1_IRQn,0);
taknokolat 7:8989a4b84695 464 //NVIC_SetPriority(EXTI0_IRQn,1);
taknokolat 7:8989a4b84695 465 //NVIC_SetPriority(TIM5_IRQn,2);
taknokolat 7:8989a4b84695 466 //NVIC_SetPriority(EXTI9_5_IRQn,3);
taknokolat 7:8989a4b84695 467 //NVIC_SetPriority(USART2_IRQn,4);
taknokolat 7:8989a4b84695 468
taknokolat 7:8989a4b84695 469 NVIC_SetPriority(USART1_IRQn,0);//割り込み優先度
taknokolat 7:8989a4b84695 470 NVIC_SetPriority(USART2_IRQn,1);
taknokolat 7:8989a4b84695 471
Skykon 3:c18342e4fddd 472 DisplayClock();
Skykon 3:c18342e4fddd 473 t.start();
Skykon 3:c18342e4fddd 474
Skykon 3:c18342e4fddd 475 pc.printf("MPU calibration start\r\n");
taknokolat 6:166746820555 476 pc.printf("HMC calibration start\r\n");
Skykon 3:c18342e4fddd 477
Skykon 3:c18342e4fddd 478 float offsetstart = t.read();
Skykon 3:c18342e4fddd 479 while(t.read() - offsetstart < 26){
Skykon 3:c18342e4fddd 480 SensingMPU();
taknokolat 6:166746820555 481 SensingHMC();
Skykon 3:c18342e4fddd 482 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
taknokolat 6:166746820555 483 pc.printf("%3.2f\t",nowAngle_HMC);
Skykon 3:c18342e4fddd 484 pc.printf("\r\n");
Skykon 3:c18342e4fddd 485 }
Skykon 3:c18342e4fddd 486
Skykon 3:c18342e4fddd 487 FirstROLL = nowAngle[ROLL];
Skykon 3:c18342e4fddd 488 FirstPITCH = nowAngle[PITCH];
Skykon 3:c18342e4fddd 489 nowAngle[ROLL] -=FirstROLL;
Skykon 3:c18342e4fddd 490 nowAngle[PITCH] -=FirstPITCH;
taknokolat 6:166746820555 491 FirstYAW = nowAngle[YAW];
taknokolat 6:166746820555 492 nowAngle[YAW] -= FirstYAW;
taknokolat 6:166746820555 493
taknokolat 6:166746820555 494 g_FirstYAW_HMC = nowAngle_HMC;
taknokolat 6:166746820555 495 nowAngle_HMC -=g_FirstYAW_HMC;
taknokolat 6:166746820555 496 if(nowAngle_HMC<0)nowAngle_HMC+=360;
Skykon 3:c18342e4fddd 497
Skykon 3:c18342e4fddd 498 wait(0.2);
Skykon 3:c18342e4fddd 499
Skykon 3:c18342e4fddd 500 pc.printf("All initialized\r\n");
taknokolat 4:67f705d42f1e 501 setupFlag=true;
taknokolat 1:290e621741fd 502 }
taknokolat 1:290e621741fd 503
Skykon 3:c18342e4fddd 504
Skykon 3:c18342e4fddd 505 void SensingMPU(){
Skykon 3:c18342e4fddd 506 //static int16_t deltaT = 0, t_start = 0;
Skykon 3:c18342e4fddd 507 //t_start = t.read_us();
Skykon 3:c18342e4fddd 508
taknokolat 7:8989a4b84695 509 float rpy[3] = {0};
Skykon 3:c18342e4fddd 510 static uint16_t count_changeRPY = 0;
Skykon 3:c18342e4fddd 511 static bool flg_checkoutlier = false;
Skykon 3:c18342e4fddd 512 NVIC_DisableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 513 NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 514 NVIC_DisableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 515 NVIC_DisableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 516 NVIC_DisableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 517
Skykon 3:c18342e4fddd 518 mpu6050.getRollPitchYaw_Skipper(rpy);
Skykon 3:c18342e4fddd 519
Skykon 3:c18342e4fddd 520 NVIC_EnableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 521 NVIC_EnableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 522 NVIC_EnableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 523 NVIC_EnableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 524 NVIC_EnableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 525
Skykon 3:c18342e4fddd 526
Skykon 3:c18342e4fddd 527 //外れ値対策
Skykon 3:c18342e4fddd 528 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
Skykon 3:c18342e4fddd 529 rpy[ROLL] -= FirstROLL;
Skykon 3:c18342e4fddd 530 rpy[PITCH] -= FirstPITCH;
taknokolat 4:67f705d42f1e 531 if(!setupFlag){
taknokolat 4:67f705d42f1e 532 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 533 }else{
taknokolat 4:67f705d42f1e 534 if(rpy[YAW] >= FirstYAW){
taknokolat 4:67f705d42f1e 535 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 536 }else{
taknokolat 4:67f705d42f1e 537 rpy[YAW] += 360.0f;
taknokolat 4:67f705d42f1e 538 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 539 }
taknokolat 4:67f705d42f1e 540 }
Skykon 3:c18342e4fddd 541
Skykon 3:c18342e4fddd 542 for(uint8_t i=0; i<3; i++) {if(rpy[i] < nowAngle[i]-10 || rpy[i] > nowAngle[i]+10) {flg_checkoutlier = true;}}
Skykon 3:c18342e4fddd 543 if(!flg_checkoutlier || count_changeRPY >= 2){
Skykon 3:c18342e4fddd 544 for(uint8_t i=0; i<3; i++){
Skykon 3:c18342e4fddd 545 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
Skykon 3:c18342e4fddd 546 }
Skykon 3:c18342e4fddd 547 count_changeRPY = 0;
Skykon 3:c18342e4fddd 548 }else count_changeRPY++;
Skykon 3:c18342e4fddd 549 flg_checkoutlier = false;
Skykon 3:c18342e4fddd 550
Skykon 3:c18342e4fddd 551 }
Skykon 3:c18342e4fddd 552
Skykon 3:c18342e4fddd 553
Skykon 3:c18342e4fddd 554 void Init_sensors(){
Skykon 3:c18342e4fddd 555 if(mpu6050.setup() == -1){
Skykon 3:c18342e4fddd 556 pc.printf("failed initialize\r\n");
Skykon 3:c18342e4fddd 557 }
Skykon 3:c18342e4fddd 558 }
Skykon 3:c18342e4fddd 559
Skykon 3:c18342e4fddd 560
Skykon 3:c18342e4fddd 561 void DisplayClock(){
Skykon 3:c18342e4fddd 562 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
Skykon 3:c18342e4fddd 563 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
Skykon 3:c18342e4fddd 564 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
Skykon 3:c18342e4fddd 565 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
Skykon 3:c18342e4fddd 566 pc.printf("\r\n");
taknokolat 4:67f705d42f1e 567 }
taknokolat 6:166746820555 568
taknokolat 6:166746820555 569 void SensingHMC(){
taknokolat 6:166746820555 570 //static int16_t deltaT = 0, t_start = 0;
taknokolat 6:166746820555 571 //t_start = t.read_us();
taknokolat 6:166746820555 572
taknokolat 7:8989a4b84695 573 float rpy=0;
taknokolat 6:166746820555 574 static uint16_t count_changeRPY = 0;
taknokolat 6:166746820555 575 static bool flg_checkoutlier = false;
taknokolat 6:166746820555 576 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 6:166746820555 577 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 19:949bab1e9451 578 //NVIC_DisableIRQ(TIM5_IRQn);
taknokolat 19:949bab1e9451 579 //NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat 19:949bab1e9451 580 //NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat 4:67f705d42f1e 581
taknokolat 19:949bab1e9451 582 rpy= compass.getHeadingXYDeg(Calib_x,Calib_y);
taknokolat 6:166746820555 583
taknokolat 6:166746820555 584 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 6:166746820555 585 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 19:949bab1e9451 586 //NVIC_EnableIRQ(TIM5_IRQn);
taknokolat 19:949bab1e9451 587 //NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat 19:949bab1e9451 588 //NVIC_EnableIRQ(EXTI9_5_IRQn);
taknokolat 6:166746820555 589
taknokolat 6:166746820555 590
taknokolat 6:166746820555 591 //外れ値対策
taknokolat 6:166746820555 592 //rpy*= 180.0f/PI;
taknokolat 6:166746820555 593 if(!setupFlag){
taknokolat 6:166746820555 594 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 595 }else{
taknokolat 6:166746820555 596 if(rpy >= g_FirstYAW_HMC){
taknokolat 6:166746820555 597 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 598 }else{
taknokolat 6:166746820555 599 rpy += 360.0f;
taknokolat 6:166746820555 600 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 601 }
taknokolat 6:166746820555 602 }
taknokolat 6:166746820555 603
taknokolat 6:166746820555 604 if(rpy < nowAngle_HMC-10 || rpy > nowAngle_HMC+10) {flg_checkoutlier = true;}
taknokolat 6:166746820555 605 if(!flg_checkoutlier || count_changeRPY >= 2){
taknokolat 6:166746820555 606
taknokolat 6:166746820555 607 nowAngle_HMC = (rpy + nowAngle_HMC)/2.0f; //2つの移動平均
taknokolat 6:166746820555 608
taknokolat 6:166746820555 609 count_changeRPY = 0;
taknokolat 6:166746820555 610 }else count_changeRPY++;
taknokolat 6:166746820555 611 flg_checkoutlier = false;
taknokolat 6:166746820555 612
taknokolat 6:166746820555 613 }
taknokolat 12:083662bca47d 614
taknokolat 12:083662bca47d 615 int SetOptions(int *Servo_NEUTRAL_R, int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 616 int *Servo_high_FORWARD_R, int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 617 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 618 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 619 int *Camera_deg_A, int *Camera_deg_B,
HARUKIDELTA 17:83db05cab3d1 620 int *Pint_speed, float *Pint_wait,
taknokolat 19:949bab1e9451 621 int *Turntable_speed,
taknokolat 20:011977a37394 622 int *Calib_x, int *Calib_y,
taknokolat 20:011977a37394 623 int *Camera_board_wait
taknokolat 12:083662bca47d 624 ){
taknokolat 12:083662bca47d 625
taknokolat 12:083662bca47d 626 pc.printf("SDsetup start.\r\n");
taknokolat 12:083662bca47d 627
taknokolat 12:083662bca47d 628 FILE *fp;
taknokolat 12:083662bca47d 629 char parameter[20]; //文字列渡す用の配列
taknokolat 12:083662bca47d 630 int SDerrorcount = 0; //取得できなかった数を返す
taknokolat 12:083662bca47d 631 const char *paramNames[] = {
taknokolat 12:083662bca47d 632 "SERVO_NEUTRAL_R",
taknokolat 12:083662bca47d 633 "SERVO_NEUTRAL_L",
taknokolat 12:083662bca47d 634 "SERVO_HIGH_FORWARD_R",
taknokolat 12:083662bca47d 635 "SERVO_HIGH_FORWARD_L",
taknokolat 12:083662bca47d 636 "SERVO_SLOW_FORWARD_R",
taknokolat 12:083662bca47d 637 "SERVO_SLOW_FORWARD_L",
taknokolat 12:083662bca47d 638 "TURNTABLE_NEUTRAL",
taknokolat 12:083662bca47d 639 "MATCH_SPEED",
taknokolat 12:083662bca47d 640 "FOCUS_NEUTRAL",
taknokolat 12:083662bca47d 641 "CAMERA_DEG_A",
taknokolat 16:26cee2aaf61d 642 "CAMERA_DEG_B",
taknokolat 16:26cee2aaf61d 643 "PINT_SPEED",
HARUKIDELTA 17:83db05cab3d1 644 "PINT_WAIT",
taknokolat 19:949bab1e9451 645 "TURNTABLE_SPEED",
taknokolat 19:949bab1e9451 646 "CALIB_X",
taknokolat 20:011977a37394 647 "CALIB_Y",
taknokolat 20:011977a37394 648 "CAMERA_BOARD_WAIT"
taknokolat 12:083662bca47d 649 };
taknokolat 12:083662bca47d 650
taknokolat 12:083662bca47d 651 fp = fopen("/sd/option.txt","r");
taknokolat 12:083662bca47d 652
taknokolat 12:083662bca47d 653 if(fp != NULL){ //開けたら
taknokolat 12:083662bca47d 654 pc.printf("File was openned.\r\n");
taknokolat 12:083662bca47d 655 if(GetParameter(fp,paramNames[0],parameter)) *Servo_NEUTRAL_R = atof(parameter);
taknokolat 12:083662bca47d 656 else{ *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 657 SDerrorcount++;
taknokolat 12:083662bca47d 658 }
taknokolat 12:083662bca47d 659 if(GetParameter(fp,paramNames[1],parameter)) *Servo_NEUTRAL_L = atof(parameter);
taknokolat 12:083662bca47d 660 else{ *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 661 SDerrorcount++;
taknokolat 12:083662bca47d 662 }
taknokolat 12:083662bca47d 663 if(GetParameter(fp,paramNames[2],parameter)) *Servo_high_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 664 else{ *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 665 SDerrorcount++;
taknokolat 12:083662bca47d 666 }
taknokolat 12:083662bca47d 667 if(GetParameter(fp,paramNames[3],parameter)) *Servo_high_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 668 else{ *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 669 SDerrorcount++;
taknokolat 12:083662bca47d 670 }
taknokolat 12:083662bca47d 671 if(GetParameter(fp,paramNames[4],parameter)) *Servo_slow_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 672 else{ *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 673 SDerrorcount++;
taknokolat 12:083662bca47d 674 }
taknokolat 12:083662bca47d 675 if(GetParameter(fp,paramNames[5],parameter)) *Servo_slow_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 676 else{ *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 677 SDerrorcount++;
taknokolat 12:083662bca47d 678 }
taknokolat 12:083662bca47d 679
taknokolat 12:083662bca47d 680 if(GetParameter(fp,paramNames[6],parameter)) *Turntable_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 681 else{ *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 682 SDerrorcount++;
taknokolat 12:083662bca47d 683 }
taknokolat 12:083662bca47d 684 if(GetParameter(fp,paramNames[7],parameter)) *Matchspeed = atof(parameter);
taknokolat 12:083662bca47d 685 else{ *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 686 SDerrorcount++;
taknokolat 12:083662bca47d 687 }
taknokolat 12:083662bca47d 688 if(GetParameter(fp,paramNames[8],parameter)) *Focus_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 689 else{ *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 690 SDerrorcount++;
taknokolat 12:083662bca47d 691 }
taknokolat 19:949bab1e9451 692 if(GetParameter(fp,paramNames[9],parameter)) *Camera_deg_A = atof(parameter);
taknokolat 12:083662bca47d 693 else{ *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 694 SDerrorcount++;
taknokolat 12:083662bca47d 695 }
taknokolat 19:949bab1e9451 696 if(GetParameter(fp,paramNames[10],parameter)) *Camera_deg_B = atof(parameter);
taknokolat 12:083662bca47d 697 else{ *Camera_deg_B = camera_deg_B;
taknokolat 12:083662bca47d 698 SDerrorcount++;
taknokolat 12:083662bca47d 699 }
taknokolat 19:949bab1e9451 700 if(GetParameter(fp,paramNames[11],parameter)) *Pint_speed = atof(parameter);
taknokolat 16:26cee2aaf61d 701 else{ *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 702 SDerrorcount++;
taknokolat 16:26cee2aaf61d 703 }
taknokolat 20:011977a37394 704 if(GetParameter(fp,paramNames[12],parameter)) *Pint_wait = atof(parameter);
taknokolat 20:011977a37394 705 else{ *Pint_wait = pint_wait;
taknokolat 16:26cee2aaf61d 706 SDerrorcount++;
taknokolat 16:26cee2aaf61d 707 }
taknokolat 19:949bab1e9451 708 if(GetParameter(fp,paramNames[13],parameter)) *Turntable_speed = atof(parameter);
HARUKIDELTA 17:83db05cab3d1 709 else{ *Turntable_speed = turntable_speed;
HARUKIDELTA 17:83db05cab3d1 710 SDerrorcount++;
HARUKIDELTA 17:83db05cab3d1 711 }
taknokolat 19:949bab1e9451 712 if(GetParameter(fp,paramNames[14],parameter)) *Calib_x = atof(parameter);
taknokolat 19:949bab1e9451 713 else{ *Calib_x = calib_x;
taknokolat 19:949bab1e9451 714 SDerrorcount++;
taknokolat 19:949bab1e9451 715 }
taknokolat 19:949bab1e9451 716 if(GetParameter(fp,paramNames[15],parameter)) *Calib_y = atof(parameter);
taknokolat 19:949bab1e9451 717 else{ *Calib_y = calib_y;
taknokolat 19:949bab1e9451 718 SDerrorcount++;
taknokolat 19:949bab1e9451 719 }
taknokolat 20:011977a37394 720 if(GetParameter(fp,paramNames[16],parameter)) *Camera_board_wait = atof(parameter);
taknokolat 20:011977a37394 721 else{ *Camera_board_wait = camera_board_wait;
taknokolat 20:011977a37394 722 SDerrorcount++;
taknokolat 20:011977a37394 723 }
taknokolat 12:083662bca47d 724 fclose(fp);
taknokolat 12:083662bca47d 725
taknokolat 12:083662bca47d 726 }else{ //ファイルがなかったら
taknokolat 12:083662bca47d 727 pc.printf("fp was null.\r\n");
taknokolat 12:083662bca47d 728
taknokolat 12:083662bca47d 729 *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 730 *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 731 *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 732 *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 733 *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 734 *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 735 *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 736 *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 737 *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 738 *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 739 *Camera_deg_B = camera_deg_B;
taknokolat 16:26cee2aaf61d 740 *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 741 *Pint_wait = pint_wait;
HARUKIDELTA 17:83db05cab3d1 742 *Turntable_speed = turntable_speed;
taknokolat 19:949bab1e9451 743 *Calib_x = calib_x;
taknokolat 19:949bab1e9451 744 *Calib_y = calib_y;
taknokolat 20:011977a37394 745 *Camera_board_wait;
taknokolat 12:083662bca47d 746 SDerrorcount = -1;
taknokolat 12:083662bca47d 747 }
taknokolat 12:083662bca47d 748 pc.printf("SDsetup finished.\r\n");
taknokolat 12:083662bca47d 749 if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
taknokolat 12:083662bca47d 750 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
taknokolat 12:083662bca47d 751 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
taknokolat 12:083662bca47d 752
taknokolat 12:083662bca47d 753 pc.printf("Servo_NEUTRAL_R = %d, Servo_NEUTRAL_L = %d\r\n", *Servo_NEUTRAL_R, *Servo_NEUTRAL_L);
taknokolat 13:b088f0db7158 754 pc.printf("Servo_high_FORWARD_R = %d, Servo_high_FORWARD_L = %d\r\n", *Servo_high_FORWARD_R, *Servo_high_FORWARD_L);
taknokolat 13:b088f0db7158 755 pc.printf("Servo_slow_FORWARD_R = %d, Servo_slow_FORWARD_L = %d\r\n", *Servo_slow_FORWARD_R, *Servo_slow_FORWARD_L);
taknokolat 13:b088f0db7158 756 pc.printf("Turntable_NEUTRAL = %d, Matchspeed = %d\r\n", *Turntable_NEUTRAL, *Matchspeed);
taknokolat 13:b088f0db7158 757 pc.printf("Focus_NEUTRAL = %d\r\n", *Focus_NEUTRAL);
taknokolat 13:b088f0db7158 758 pc.printf("Camera_deg_A = %d, Camera_deg_B = %d\r\n", *Camera_deg_A, *Camera_deg_B);
taknokolat 16:26cee2aaf61d 759 pc.printf("Pint_speed = %d, Pint_wait = %f\r\n", *Pint_speed, *Pint_wait);
HARUKIDELTA 17:83db05cab3d1 760 pc.printf("Turntable_speed = %d\r\n",*Turntable_speed);
taknokolat 19:949bab1e9451 761 pc.printf("Calib_x = %d, Calib_y = %d\r\n", *Calib_x, *Calib_y);
taknokolat 20:011977a37394 762 pc.printf("Camera_board_wait = %d\r\n", *Camera_board_wait);
taknokolat 12:083662bca47d 763
taknokolat 12:083662bca47d 764 return SDerrorcount;
taknokolat 12:083662bca47d 765 }
taknokolat 12:083662bca47d 766 int GetParameter(FILE *fp, const char *paramName,char parameter[]){
taknokolat 12:083662bca47d 767 int i=0, j=0;
taknokolat 12:083662bca47d 768 int strmax = 200;
taknokolat 12:083662bca47d 769 char str[strmax];
taknokolat 12:083662bca47d 770
taknokolat 12:083662bca47d 771 rewind(fp); //ファイル位置を先頭に
taknokolat 12:083662bca47d 772 while(1){
taknokolat 12:083662bca47d 773 if (fgets(str, strmax, fp) == NULL) {
taknokolat 12:083662bca47d 774 return 0;
taknokolat 12:083662bca47d 775 }
taknokolat 12:083662bca47d 776 if (!strncmp(str, paramName, strlen(paramName))) {
taknokolat 12:083662bca47d 777 while (str[i++] != '=') {}
taknokolat 12:083662bca47d 778 while (str[i] != '\n') {
taknokolat 12:083662bca47d 779 parameter[j++] = str[i++];
taknokolat 12:083662bca47d 780 }
taknokolat 12:083662bca47d 781 parameter[j] = '\0';
taknokolat 12:083662bca47d 782 return 1;
taknokolat 12:083662bca47d 783 }
taknokolat 12:083662bca47d 784 }
taknokolat 12:083662bca47d 785 }
taknokolat 12:083662bca47d 786
taknokolat 12:083662bca47d 787
taknokolat 6:166746820555 788
taknokolat 4:67f705d42f1e 789 void DebugPrint(){
taknokolat 4:67f705d42f1e 790 //for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]); //skipper地磁気センサ_デバック用
taknokolat 7:8989a4b84695 791 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 7:8989a4b84695 792 //pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 7:8989a4b84695 793 //pc.printf("\r\n");
taknokolat 6:166746820555 794 }