imano yuta / Mbed 2 deprecated sahaquiel_raspi_uart_test

skipper_raspi_uart_test

Dependencies:   mbed MPU6050_2 HMC5883L_4 SDFileSystem3

main.cpp@12:083662bca47d, 2019-02-12 (annotated)

Committer:
taknokolat
Date:
Tue Feb 12 12:56:21 2019 +0000
Revision:
12:083662bca47d
Parent:
11:d44d137831b9
Child:
13:b088f0db7158
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
taknokolat 11:d44d137831b9 11 #define servo_NEUTRAL_R 1614
taknokolat 11:d44d137831b9 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_low_FORWARD_R 1560 //RasPi速さ調節用
taknokolat 12:083662bca47d 16 #define servo_high_FORWARD_R 1860
taknokolat 12:083662bca47d 17 #define servo_low_FORWARD_L 1560
taknokolat 12:083662bca47d 18 #define servo_high_FORWARD_L 1860
taknokolat 12:083662bca47d 19 #define servo_low_back_R 1360
taknokolat 12:083662bca47d 20 #define servo_high_back_R 1160
taknokolat 12:083662bca47d 21 #define servo_low_back_L 1360
taknokolat 12:083662bca47d 22 #define servo_high_back_L 1160
taknokolat 12:083662bca47d 23 #define turntable_NEUTRAL 1180 //カメラ台座のサーボ
taknokolat 12:083662bca47d 24 #define matchspeed 1500 + 100 //カメラと方向を合わせるときの車輪の速度
taknokolat 12:083662bca47d 25 #define focus_NEUTRAL 1455 //焦点合わせ用サーボ
taknokolat 12:083662bca47d 26 #define camera_deg_A 1400 //カメラ角度調整
taknokolat 12:083662bca47d 27 #define camera_deg_B 1800
HARUKIDELTA 0:84ddd6d354e1 28
HARUKIDELTA 0:84ddd6d354e1 29 #define MOVE_NEUTRAL 0
HARUKIDELTA 0:84ddd6d354e1 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 12:083662bca47d 40 int Servo_NEUTRAL_R; //SDcard用宣言
taknokolat 12:083662bca47d 41 int Servo_NEUTRAL_L;
taknokolat 12:083662bca47d 42 int Servo_high_FORWARD_R;
taknokolat 12:083662bca47d 43 int Servo_high_FORWARD_L;
taknokolat 12:083662bca47d 44 int Servo_back_R;
taknokolat 12:083662bca47d 45 int Servo_back_L;
taknokolat 12:083662bca47d 46 int Servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 47 int Servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 48 int Turntable_NEUTRAL;
taknokolat 12:083662bca47d 49 int Matchspeed; //機体角度調整
taknokolat 12:083662bca47d 50 int Focus_NEUTRAL;//カメラ焦点
taknokolat 12:083662bca47d 51 int Camera_deg_A;//カメラ角度調整
taknokolat 12:083662bca47d 52 int Camera_deg_B;
Skykon 3:c18342e4fddd 53
taknokolat 1:290e621741fd 54 void getSF_Serial_jevois();
taknokolat 1:290e621741fd 55 void getSF_Serial_pi();
taknokolat 1:290e621741fd 56
Skykon 3:c18342e4fddd 57 //MPU_check用
Skykon 3:c18342e4fddd 58 void SensingMPU();
taknokolat 7:8989a4b84695 59
taknokolat 7:8989a4b84695 60 void MoveCansat(char g_landingcommand);
Skykon 3:c18342e4fddd 61 void setup();
Skykon 3:c18342e4fddd 62 void Init_sensors();
Skykon 3:c18342e4fddd 63 void DisplayClock();
taknokolat 4:67f705d42f1e 64 void DebugPrint();
taknokolat 6:166746820555 65 void SensingHMC();
taknokolat 7:8989a4b84695 66 void MoveCameraBoard();
taknokolat 7:8989a4b84695 67 void MatchPosition();
taknokolat 7:8989a4b84695 68 void FocusAdjust();
Skykon 3:c18342e4fddd 69
taknokolat 12:083662bca47d 70 //sd設定
taknokolat 12:083662bca47d 71 int GetParameter(FILE *fp, const char *paramName,char parameter[]);
taknokolat 12:083662bca47d 72
taknokolat 12:083662bca47d 73 int SetOptions(int Servo_NEUTRAL_R,int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 74 int *Servo_high_FORWARD_R,int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 75 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 76 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 12:083662bca47d 77 int *Camera_deg_A, int *Camera_deg_B
taknokolat 12:083662bca47d 78 );
taknokolat 12:083662bca47d 79
taknokolat 6:166746820555 80 static float nowAngle[3] = {0,0,0},nowAngle_HMC=0;
taknokolat 6:166746820555 81 float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0,g_FirstYAW_HMC;
Skykon 3:c18342e4fddd 82
taknokolat 7:8989a4b84695 83 bool setupFlag = false;
taknokolat 7:8989a4b84695 84 bool CameraDegFlag = false;
taknokolat 7:8989a4b84695 85 bool jevoisFlag = true;
taknokolat 4:67f705d42f1e 86
Skykon 3:c18342e4fddd 87 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
Skykon 3:c18342e4fddd 88
Skykon 3:c18342e4fddd 89 Timer t;
Skykon 3:c18342e4fddd 90
taknokolat 11:d44d137831b9 91 RawSerial pc(PA_2,PA_3,115200); //uart2
taknokolat 11:d44d137831b9 92 //pa2:UART2_TX,pa3:UART2_RX
taknokolat 12:083662bca47d 93 RawSerial pc2(PA_11,PA_12,115200); //uart1
taknokolat 11:d44d137831b9 94 //pb6:UART1_TX,pb7:UART1_RX
taknokolat 11:d44d137831b9 95
HARUKIDELTA 5:8bfe95431ec0 96 //PWM pin宣言
taknokolat 6:166746820555 97 PwmOut servoR(PC_6); //TIM3_CH1 車輪右
taknokolat 6:166746820555 98 PwmOut servoL(PC_7); //TIM3_CH2 車輪左
HARUKIDELTA 5:8bfe95431ec0 99 PwmOut servoTurnTable(PB_0); //TIM3_CH3 カメラ台回転Servo
HARUKIDELTA 5:8bfe95431ec0 100 PwmOut servoCameradeg(PB_1); //TIM3_CH4 カメラ角度調節Servo
HARUKIDELTA 5:8bfe95431ec0 101 PwmOut servoCameraPinto(PB_6); //TIM4_CH1 カメラピント合わせ
HARUKIDELTA 5:8bfe95431ec0 102 PwmOut servoCameramount(PA_6); //skipperウラ カメラマウント起動
HARUKIDELTA 5:8bfe95431ec0 103 PwmOut servoGetUP(PC_8); //skipperウラ 起き上がり動作
Skykon 3:c18342e4fddd 104
HARUKIDELTA 5:8bfe95431ec0 105 /*通信用のpinは
HARUKIDELTA 5:8bfe95431ec0 106 PA_3(UART2_Rx) skipperウラ
HARUKIDELTA 5:8bfe95431ec0 107 PA_12(UART6_Rx) skipperオモテ USB端子より
HARUKIDELTA 5:8bfe95431ec0 108 PB_7 (UART1_Rx) skipperオモテ 6番目 TIM4_CH2
HARUKIDELTA 5:8bfe95431ec0 109 */
HARUKIDELTA 5:8bfe95431ec0 110
HARUKIDELTA 5:8bfe95431ec0 111 /*超音波はRaspberryPiに積む*/
HARUKIDELTA 5:8bfe95431ec0 112
HARUKIDELTA 5:8bfe95431ec0 113 //外付けコンパス
taknokolat 6:166746820555 114 HMC5883L compass(PB_9, PB_8); //コンパスセンサー TIM4_CH3とCH4
HARUKIDELTA 0:84ddd6d354e1 115
taknokolat 2:f30666d7838b 116 char g_landingcommand='N';
taknokolat 1:290e621741fd 117
Skykon 3:c18342e4fddd 118 //MPU_check用
Skykon 3:c18342e4fddd 119 MPU6050DMP6 mpu6050(PC_0,&pc);
Skykon 3:c18342e4fddd 120
Skykon 3:c18342e4fddd 121
HARUKIDELTA 0:84ddd6d354e1 122 int main() {
taknokolat 1:290e621741fd 123
Skykon 3:c18342e4fddd 124 //MPU_check
Skykon 3:c18342e4fddd 125 setup();
Skykon 3:c18342e4fddd 126
taknokolat 11:d44d137831b9 127 servoCameradeg.pulsewidth_us(1400);
taknokolat 11:d44d137831b9 128
taknokolat 1:290e621741fd 129 // シリアル通信受信の割り込みイベント登録
taknokolat 1:290e621741fd 130 pc.attach(getSF_Serial_jevois, Serial::RxIrq);
taknokolat 12:083662bca47d 131 pc2.attach(getSF_Serial_pi, Serial::RxIrq);
taknokolat 1:290e621741fd 132
HARUKIDELTA 0:84ddd6d354e1 133 while(1) {
taknokolat 7:8989a4b84695 134 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 135 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 136
taknokolat 10:63fe920595a7 137 MoveCameraBoard();
taknokolat 10:63fe920595a7 138
taknokolat 7:8989a4b84695 139 if(g_landingcommand!='N') MatchPosition();
taknokolat 8:d11a59d2a2f1 140
taknokolat 8:d11a59d2a2f1 141 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 8:d11a59d2a2f1 142 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 143
taknokolat 7:8989a4b84695 144 MoveCansat(g_landingcommand);
Skykon 3:c18342e4fddd 145 wait_ms(23);
taknokolat 8:d11a59d2a2f1 146
taknokolat 7:8989a4b84695 147 if(jevoisFlag==true) NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 148 else NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 149 }
HARUKIDELTA 0:84ddd6d354e1 150 }
HARUKIDELTA 0:84ddd6d354e1 151
Skykon 3:c18342e4fddd 152
taknokolat 1:290e621741fd 153 void MoveCansat(char g_landingcommand)
HARUKIDELTA 0:84ddd6d354e1 154 {
taknokolat 2:f30666d7838b 155 //NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 156 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 157 switch(g_landingcommand){
taknokolat 2:f30666d7838b 158 case 'N': //MOVE_NEUTRAL
HARUKIDELTA 0:84ddd6d354e1 159 servoR.pulsewidth_us(servo_NEUTRAL_R);
HARUKIDELTA 0:84ddd6d354e1 160 servoL.pulsewidth_us(servo_NEUTRAL_L);
taknokolat 2:f30666d7838b 161 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 162 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 163 break;
taknokolat 1:290e621741fd 164
taknokolat 2:f30666d7838b 165 case 'Y': //MOVE_FORWARD
taknokolat 12:083662bca47d 166 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 167 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 2:f30666d7838b 168 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 169 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 170 break;
taknokolat 1:290e621741fd 171
taknokolat 12:083662bca47d 172 case 'l': //MOVE_LEFT Low Speed
taknokolat 12:083662bca47d 173 servoR.pulsewidth_us(servo_low_FORWARD_R);
taknokolat 12:083662bca47d 174 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 175 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 176
taknokolat 12:083662bca47d 177 case 'L': //MOVE_LEFT High Speed
taknokolat 12:083662bca47d 178 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 2:f30666d7838b 179 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 180 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 181
taknokolat 12:083662bca47d 182 case 'r': //MOVE_RIGHT Low Speed
taknokolat 12:083662bca47d 183 servoL.pulsewidth_us(servo_low_FORWARD_L);
taknokolat 2:f30666d7838b 184 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 185 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 186 break;
taknokolat 12:083662bca47d 187
taknokolat 12:083662bca47d 188 case 'R': //MOVE_RIGHT High Speed
taknokolat 12:083662bca47d 189 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 2:f30666d7838b 190 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 191 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 192 break;
taknokolat 1:290e621741fd 193
taknokolat 1:290e621741fd 194 case 'G': //GOAL_FORWARD
HARUKIDELTA 0:84ddd6d354e1 195 servoR.pulsewidth_us(servo_slow_FORWARD_R);
HARUKIDELTA 0:84ddd6d354e1 196 servoL.pulsewidth_us(servo_slow_FORWARD_L);
taknokolat 2:f30666d7838b 197 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 198 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 199 break;
taknokolat 12:083662bca47d 200
taknokolat 12:083662bca47d 201 case '1': //MOVE_FORWARD Speed Level 1
taknokolat 12:083662bca47d 202 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 203 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 204 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 205 wait(1);
taknokolat 12:083662bca47d 206 do{
taknokolat 12:083662bca47d 207 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 208 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 209 break;
taknokolat 12:083662bca47d 210
taknokolat 12:083662bca47d 211 case '2': //MOVE_FORWARD Speed Level 2
taknokolat 12:083662bca47d 212 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 213 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 214 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 215 wait(2);
taknokolat 12:083662bca47d 216 do{
taknokolat 12:083662bca47d 217 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 218 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 219 break;
taknokolat 12:083662bca47d 220
taknokolat 12:083662bca47d 221 case '3': //MOVE_FORWARD Speed Level 3
taknokolat 12:083662bca47d 222 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 223 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 224 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 225 wait(3);
taknokolat 12:083662bca47d 226 do{
taknokolat 12:083662bca47d 227 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 228 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 229 break;
taknokolat 12:083662bca47d 230
taknokolat 12:083662bca47d 231 case '4': //MOVE_FORWARD Speed Level 4
taknokolat 12:083662bca47d 232 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 233 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 12:083662bca47d 234 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 12:083662bca47d 235 wait(4);
taknokolat 12:083662bca47d 236 do{
taknokolat 12:083662bca47d 237 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 12:083662bca47d 238 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 239 break;
taknokolat 7:8989a4b84695 240
taknokolat 12:083662bca47d 241 case '5': //MOVE_FORWARD Speed Level 5
taknokolat 12:083662bca47d 242 servoR.pulsewidth_us(servo_high_FORWARD_R);
taknokolat 12:083662bca47d 243 servoL.pulsewidth_us(servo_high_FORWARD_L);
taknokolat 7:8989a4b84695 244 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 245 wait(5);
taknokolat 10:63fe920595a7 246 do{
taknokolat 10:63fe920595a7 247 }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
taknokolat 7:8989a4b84695 248 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 249 break;
taknokolat 7:8989a4b84695 250
taknokolat 7:8989a4b84695 251 case 'M': //MatchPosition
taknokolat 12:083662bca47d 252 servoR.pulsewidth_us(matchspeed);
taknokolat 7:8989a4b84695 253 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 254 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 255 break;
taknokolat 7:8989a4b84695 256
taknokolat 12:083662bca47d 257 case 'P': //jevoisからraspberry piへの切り替え
taknokolat 7:8989a4b84695 258 jevoisFlag = false;
taknokolat 7:8989a4b84695 259 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 260 break;
taknokolat 12:083662bca47d 261
taknokolat 12:083662bca47d 262 case 'S':
taknokolat 12:083662bca47d 263 /*RasPiからの超音波判定(プログラムスタート部)*/
taknokolat 12:083662bca47d 264 break;
taknokolat 1:290e621741fd 265
taknokolat 1:290e621741fd 266 default :
taknokolat 2:f30666d7838b 267 //NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 268 //NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 269 break;
taknokolat 1:290e621741fd 270
HARUKIDELTA 0:84ddd6d354e1 271 }
taknokolat 7:8989a4b84695 272
HARUKIDELTA 0:84ddd6d354e1 273 return;
taknokolat 1:290e621741fd 274 }
taknokolat 1:290e621741fd 275
taknokolat 7:8989a4b84695 276 void MoveCameraBoard(){
taknokolat 7:8989a4b84695 277 MoveCansat('N');
taknokolat 10:63fe920595a7 278 g_landingcommand='N';
taknokolat 11:d44d137831b9 279 servoTurnTable.pulsewidth_us(1800);
taknokolat 11:d44d137831b9 280 wait_ms(600);
taknokolat 12:083662bca47d 281 servoTurnTable.pulsewidth_us(turntable_NEUTRAL);
taknokolat 7:8989a4b84695 282 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 283 else wait(1);
taknokolat 7:8989a4b84695 284
taknokolat 7:8989a4b84695 285 if(g_landingcommand!='N') return;
taknokolat 7:8989a4b84695 286 if(!CameraDegFlag){
taknokolat 7:8989a4b84695 287 servoCameradeg.pulsewidth_us(1800);
taknokolat 7:8989a4b84695 288 CameraDegFlag=!CameraDegFlag;
taknokolat 7:8989a4b84695 289 }else{
taknokolat 11:d44d137831b9 290 servoCameradeg.pulsewidth_us(1400);
taknokolat 7:8989a4b84695 291 CameraDegFlag = !CameraDegFlag;
taknokolat 7:8989a4b84695 292 }
taknokolat 7:8989a4b84695 293
taknokolat 7:8989a4b84695 294 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 295 else wait(1);
taknokolat 7:8989a4b84695 296
taknokolat 7:8989a4b84695 297 return;
taknokolat 7:8989a4b84695 298 }
taknokolat 7:8989a4b84695 299
taknokolat 7:8989a4b84695 300 void MatchPosition(){
taknokolat 7:8989a4b84695 301 SensingMPU();
taknokolat 7:8989a4b84695 302 SensingHMC();
taknokolat 7:8989a4b84695 303 DebugPrint();
taknokolat 7:8989a4b84695 304
taknokolat 9:21cd5d18ad9e 305 while(nowAngle[YAW] <= nowAngle_HMC+5 && nowAngle[YAW] >= nowAngle_HMC-5){
taknokolat 7:8989a4b84695 306 MoveCansat('M');
taknokolat 9:21cd5d18ad9e 307 SensingMPU();
taknokolat 7:8989a4b84695 308 }
taknokolat 7:8989a4b84695 309 return;
taknokolat 7:8989a4b84695 310 }
taknokolat 7:8989a4b84695 311
taknokolat 7:8989a4b84695 312 void FocusAdjust(){
taknokolat 11:d44d137831b9 313 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL-200);
taknokolat 11:d44d137831b9 314 pc.printf("set\r\n");
taknokolat 11:d44d137831b9 315 wait(1);
taknokolat 7:8989a4b84695 316
taknokolat 11:d44d137831b9 317 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL+30);
taknokolat 11:d44d137831b9 318 pc.printf("check\r\n");
taknokolat 11:d44d137831b9 319 wait(3);
taknokolat 11:d44d137831b9 320 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL);
taknokolat 11:d44d137831b9 321
taknokolat 7:8989a4b84695 322 return;
taknokolat 7:8989a4b84695 323 }
taknokolat 7:8989a4b84695 324
taknokolat 1:290e621741fd 325 void getSF_Serial_jevois(){
taknokolat 1:290e621741fd 326
taknokolat 1:290e621741fd 327
taknokolat 1:290e621741fd 328 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 329
taknokolat 1:290e621741fd 330 static int bufcounter=0;
taknokolat 1:290e621741fd 331
taknokolat 1:290e621741fd 332
taknokolat 1:290e621741fd 333
taknokolat 1:290e621741fd 334 if(pc.readable()) { // 受信確認
taknokolat 1:290e621741fd 335
taknokolat 1:290e621741fd 336 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 337 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 338 //pc.printf("x");
taknokolat 1:290e621741fd 339 return;
taknokolat 1:290e621741fd 340 }
taknokolat 1:290e621741fd 341
taknokolat 1:290e621741fd 342
taknokolat 1:290e621741fd 343
taknokolat 1:290e621741fd 344 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 345
Skykon 3:c18342e4fddd 346 if(SFbuf[0]=='S' && bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 347
taknokolat 1:290e621741fd 348 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 349
taknokolat 1:290e621741fd 350 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 351 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 352 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 353 //wait_ms(20);
taknokolat 1:290e621741fd 354 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 355 bufcounter = 0;
taknokolat 1:290e621741fd 356 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 357 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 358 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 359 }
taknokolat 1:290e621741fd 360
taknokolat 1:290e621741fd 361 else if(bufcounter>=5){
taknokolat 1:290e621741fd 362 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 363 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 364 bufcounter = 0;
taknokolat 1:290e621741fd 365 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 366 }
taknokolat 1:290e621741fd 367 }
taknokolat 1:290e621741fd 368
taknokolat 1:290e621741fd 369
taknokolat 1:290e621741fd 370 }
taknokolat 1:290e621741fd 371
taknokolat 1:290e621741fd 372
taknokolat 12:083662bca47d 373 void getSF_Serial_pi(){
taknokolat 2:f30666d7838b 374
taknokolat 7:8989a4b84695 375 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 376
taknokolat 1:290e621741fd 377 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 378
taknokolat 1:290e621741fd 379 static int bufcounter=0;
taknokolat 1:290e621741fd 380
taknokolat 1:290e621741fd 381
taknokolat 1:290e621741fd 382
taknokolat 1:290e621741fd 383 if(pc2.readable()) { // 受信確認
taknokolat 1:290e621741fd 384
taknokolat 1:290e621741fd 385 SFbuf[bufcounter] = pc2.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 386 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 387 //pc.printf("x");
taknokolat 1:290e621741fd 388 return;
taknokolat 1:290e621741fd 389 }
taknokolat 1:290e621741fd 390
taknokolat 1:290e621741fd 391
taknokolat 1:290e621741fd 392
taknokolat 1:290e621741fd 393 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 394
taknokolat 1:290e621741fd 395 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 396
taknokolat 1:290e621741fd 397 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 398
taknokolat 1:290e621741fd 399 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 400 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 401 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 402 //wait_ms(20);
taknokolat 1:290e621741fd 403 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 404 bufcounter = 0;
taknokolat 1:290e621741fd 405 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 406 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 407 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 408 }
taknokolat 1:290e621741fd 409
taknokolat 1:290e621741fd 410 else if(bufcounter>=5){
taknokolat 1:290e621741fd 411 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 412 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 413 bufcounter = 0;
taknokolat 1:290e621741fd 414 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 415 }
taknokolat 1:290e621741fd 416 }
taknokolat 2:f30666d7838b 417
taknokolat 7:8989a4b84695 418 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 419
taknokolat 12:083662bca47d 420 }
taknokolat 1:290e621741fd 421
Skykon 3:c18342e4fddd 422
Skykon 3:c18342e4fddd 423 void setup(){
Skykon 3:c18342e4fddd 424
taknokolat 12:083662bca47d 425 /*SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 426 &Servo_high_FORWARD_R, &Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 427 &Servo_slow_FORWARD_R,&Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 428 &Turntable_NEUTRAL,&Matchspeed,&Focus_NEUTRAL,
taknokolat 12:083662bca47d 429 &Camera_deg_A, &Camera_deg_B
taknokolat 12:083662bca47d 430 );*/
taknokolat 12:083662bca47d 431
Skykon 3:c18342e4fddd 432 Init_sensors();
Skykon 3:c18342e4fddd 433 //switch2.rise(ResetTrim);
Skykon 3:c18342e4fddd 434
taknokolat 7:8989a4b84695 435 //NVIC_SetPriority(USART1_IRQn,0);
taknokolat 7:8989a4b84695 436 //NVIC_SetPriority(EXTI0_IRQn,1);
taknokolat 7:8989a4b84695 437 //NVIC_SetPriority(TIM5_IRQn,2);
taknokolat 7:8989a4b84695 438 //NVIC_SetPriority(EXTI9_5_IRQn,3);
taknokolat 7:8989a4b84695 439 //NVIC_SetPriority(USART2_IRQn,4);
taknokolat 7:8989a4b84695 440
taknokolat 7:8989a4b84695 441 NVIC_SetPriority(USART1_IRQn,0);//割り込み優先度
taknokolat 7:8989a4b84695 442 NVIC_SetPriority(USART2_IRQn,1);
taknokolat 7:8989a4b84695 443
Skykon 3:c18342e4fddd 444 DisplayClock();
Skykon 3:c18342e4fddd 445 t.start();
Skykon 3:c18342e4fddd 446
Skykon 3:c18342e4fddd 447 pc.printf("MPU calibration start\r\n");
taknokolat 6:166746820555 448 pc.printf("HMC calibration start\r\n");
Skykon 3:c18342e4fddd 449
Skykon 3:c18342e4fddd 450 float offsetstart = t.read();
Skykon 3:c18342e4fddd 451 while(t.read() - offsetstart < 26){
Skykon 3:c18342e4fddd 452 SensingMPU();
taknokolat 6:166746820555 453 SensingHMC();
Skykon 3:c18342e4fddd 454 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
taknokolat 6:166746820555 455 pc.printf("%3.2f\t",nowAngle_HMC);
Skykon 3:c18342e4fddd 456 pc.printf("\r\n");
Skykon 3:c18342e4fddd 457 }
Skykon 3:c18342e4fddd 458
Skykon 3:c18342e4fddd 459 FirstROLL = nowAngle[ROLL];
Skykon 3:c18342e4fddd 460 FirstPITCH = nowAngle[PITCH];
Skykon 3:c18342e4fddd 461 nowAngle[ROLL] -=FirstROLL;
Skykon 3:c18342e4fddd 462 nowAngle[PITCH] -=FirstPITCH;
taknokolat 6:166746820555 463 FirstYAW = nowAngle[YAW];
taknokolat 6:166746820555 464 nowAngle[YAW] -= FirstYAW;
taknokolat 6:166746820555 465
taknokolat 6:166746820555 466 g_FirstYAW_HMC = nowAngle_HMC;
taknokolat 6:166746820555 467 nowAngle_HMC -=g_FirstYAW_HMC;
taknokolat 6:166746820555 468 if(nowAngle_HMC<0)nowAngle_HMC+=360;
Skykon 3:c18342e4fddd 469
Skykon 3:c18342e4fddd 470 wait(0.2);
Skykon 3:c18342e4fddd 471
Skykon 3:c18342e4fddd 472 pc.printf("All initialized\r\n");
taknokolat 4:67f705d42f1e 473 setupFlag=true;
taknokolat 1:290e621741fd 474 }
taknokolat 1:290e621741fd 475
Skykon 3:c18342e4fddd 476
Skykon 3:c18342e4fddd 477 void SensingMPU(){
Skykon 3:c18342e4fddd 478 //static int16_t deltaT = 0, t_start = 0;
Skykon 3:c18342e4fddd 479 //t_start = t.read_us();
Skykon 3:c18342e4fddd 480
taknokolat 7:8989a4b84695 481 float rpy[3] = {0};
Skykon 3:c18342e4fddd 482 static uint16_t count_changeRPY = 0;
Skykon 3:c18342e4fddd 483 static bool flg_checkoutlier = false;
Skykon 3:c18342e4fddd 484 NVIC_DisableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 485 NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 486 NVIC_DisableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 487 NVIC_DisableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 488 NVIC_DisableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 489
Skykon 3:c18342e4fddd 490 mpu6050.getRollPitchYaw_Skipper(rpy);
Skykon 3:c18342e4fddd 491
Skykon 3:c18342e4fddd 492 NVIC_EnableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 493 NVIC_EnableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 494 NVIC_EnableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 495 NVIC_EnableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 496 NVIC_EnableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 497
Skykon 3:c18342e4fddd 498
Skykon 3:c18342e4fddd 499 //外れ値対策
Skykon 3:c18342e4fddd 500 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
Skykon 3:c18342e4fddd 501 rpy[ROLL] -= FirstROLL;
Skykon 3:c18342e4fddd 502 rpy[PITCH] -= FirstPITCH;
taknokolat 4:67f705d42f1e 503 if(!setupFlag){
taknokolat 4:67f705d42f1e 504 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 505 }else{
taknokolat 4:67f705d42f1e 506 if(rpy[YAW] >= FirstYAW){
taknokolat 4:67f705d42f1e 507 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 508 }else{
taknokolat 4:67f705d42f1e 509 rpy[YAW] += 360.0f;
taknokolat 4:67f705d42f1e 510 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 511 }
taknokolat 4:67f705d42f1e 512 }
Skykon 3:c18342e4fddd 513
Skykon 3:c18342e4fddd 514 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 515 if(!flg_checkoutlier || count_changeRPY >= 2){
Skykon 3:c18342e4fddd 516 for(uint8_t i=0; i<3; i++){
Skykon 3:c18342e4fddd 517 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
Skykon 3:c18342e4fddd 518 }
Skykon 3:c18342e4fddd 519 count_changeRPY = 0;
Skykon 3:c18342e4fddd 520 }else count_changeRPY++;
Skykon 3:c18342e4fddd 521 flg_checkoutlier = false;
Skykon 3:c18342e4fddd 522
Skykon 3:c18342e4fddd 523 }
Skykon 3:c18342e4fddd 524
Skykon 3:c18342e4fddd 525
Skykon 3:c18342e4fddd 526 void Init_sensors(){
Skykon 3:c18342e4fddd 527 if(mpu6050.setup() == -1){
Skykon 3:c18342e4fddd 528 pc.printf("failed initialize\r\n");
Skykon 3:c18342e4fddd 529 }
Skykon 3:c18342e4fddd 530 }
Skykon 3:c18342e4fddd 531
Skykon 3:c18342e4fddd 532
Skykon 3:c18342e4fddd 533 void DisplayClock(){
Skykon 3:c18342e4fddd 534 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
Skykon 3:c18342e4fddd 535 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
Skykon 3:c18342e4fddd 536 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
Skykon 3:c18342e4fddd 537 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
Skykon 3:c18342e4fddd 538 pc.printf("\r\n");
taknokolat 4:67f705d42f1e 539 }
taknokolat 6:166746820555 540
taknokolat 6:166746820555 541 void SensingHMC(){
taknokolat 6:166746820555 542 //static int16_t deltaT = 0, t_start = 0;
taknokolat 6:166746820555 543 //t_start = t.read_us();
taknokolat 6:166746820555 544
taknokolat 7:8989a4b84695 545 float rpy=0;
taknokolat 6:166746820555 546 static uint16_t count_changeRPY = 0;
taknokolat 6:166746820555 547 static bool flg_checkoutlier = false;
taknokolat 6:166746820555 548 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 6:166746820555 549 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 6:166746820555 550 NVIC_DisableIRQ(TIM5_IRQn);
taknokolat 6:166746820555 551 NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat 6:166746820555 552 NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat 4:67f705d42f1e 553
taknokolat 6:166746820555 554 rpy= compass.getHeadingXYDeg(20,50);
taknokolat 6:166746820555 555
taknokolat 6:166746820555 556 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 6:166746820555 557 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 6:166746820555 558 NVIC_EnableIRQ(TIM5_IRQn);
taknokolat 6:166746820555 559 NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat 6:166746820555 560 NVIC_EnableIRQ(EXTI9_5_IRQn);
taknokolat 6:166746820555 561
taknokolat 6:166746820555 562
taknokolat 6:166746820555 563 //外れ値対策
taknokolat 6:166746820555 564 //rpy*= 180.0f/PI;
taknokolat 6:166746820555 565 if(!setupFlag){
taknokolat 6:166746820555 566 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 567 }else{
taknokolat 6:166746820555 568 if(rpy >= g_FirstYAW_HMC){
taknokolat 6:166746820555 569 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 570 }else{
taknokolat 6:166746820555 571 rpy += 360.0f;
taknokolat 6:166746820555 572 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 573 }
taknokolat 6:166746820555 574 }
taknokolat 6:166746820555 575
taknokolat 6:166746820555 576 if(rpy < nowAngle_HMC-10 || rpy > nowAngle_HMC+10) {flg_checkoutlier = true;}
taknokolat 6:166746820555 577 if(!flg_checkoutlier || count_changeRPY >= 2){
taknokolat 6:166746820555 578
taknokolat 6:166746820555 579 nowAngle_HMC = (rpy + nowAngle_HMC)/2.0f; //2つの移動平均
taknokolat 6:166746820555 580
taknokolat 6:166746820555 581 count_changeRPY = 0;
taknokolat 6:166746820555 582 }else count_changeRPY++;
taknokolat 6:166746820555 583 flg_checkoutlier = false;
taknokolat 6:166746820555 584
taknokolat 6:166746820555 585 }
taknokolat 12:083662bca47d 586
taknokolat 12:083662bca47d 587 int SetOptions(int *Servo_NEUTRAL_R, int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 588 int *Servo_high_FORWARD_R, int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 589 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 590 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 12:083662bca47d 591 int *Camera_deg_A, int *Camera_deg_B
taknokolat 12:083662bca47d 592 ){
taknokolat 12:083662bca47d 593
taknokolat 12:083662bca47d 594 pc.printf("SDsetup start.\r\n");
taknokolat 12:083662bca47d 595
taknokolat 12:083662bca47d 596 FILE *fp;
taknokolat 12:083662bca47d 597 char parameter[20]; //文字列渡す用の配列
taknokolat 12:083662bca47d 598 int SDerrorcount = 0; //取得できなかった数を返す
taknokolat 12:083662bca47d 599 const char *paramNames[] = {
taknokolat 12:083662bca47d 600 "SERVO_NEUTRAL_R",
taknokolat 12:083662bca47d 601 "SERVO_NEUTRAL_L",
taknokolat 12:083662bca47d 602 "SERVO_HIGH_FORWARD_R",
taknokolat 12:083662bca47d 603 "SERVO_HIGH_FORWARD_L",
taknokolat 12:083662bca47d 604 "SERVO_SLOW_FORWARD_R",
taknokolat 12:083662bca47d 605 "SERVO_SLOW_FORWARD_L",
taknokolat 12:083662bca47d 606 "TURNTABLE_NEUTRAL",
taknokolat 12:083662bca47d 607 "MATCH_SPEED",
taknokolat 12:083662bca47d 608 "FOCUS_NEUTRAL",
taknokolat 12:083662bca47d 609 "CAMERA_DEG_A",
taknokolat 12:083662bca47d 610 "CAMERA_DEG_B"
taknokolat 12:083662bca47d 611 };
taknokolat 12:083662bca47d 612
taknokolat 12:083662bca47d 613 fp = fopen("/sd/option.txt","r");
taknokolat 12:083662bca47d 614
taknokolat 12:083662bca47d 615 if(fp != NULL){ //開けたら
taknokolat 12:083662bca47d 616 pc.printf("File was openned.\r\n");
taknokolat 12:083662bca47d 617 if(GetParameter(fp,paramNames[0],parameter)) *Servo_NEUTRAL_R = atof(parameter);
taknokolat 12:083662bca47d 618 else{ *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 619 SDerrorcount++;
taknokolat 12:083662bca47d 620 }
taknokolat 12:083662bca47d 621 if(GetParameter(fp,paramNames[1],parameter)) *Servo_NEUTRAL_L = atof(parameter);
taknokolat 12:083662bca47d 622 else{ *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 623 SDerrorcount++;
taknokolat 12:083662bca47d 624 }
taknokolat 12:083662bca47d 625 if(GetParameter(fp,paramNames[2],parameter)) *Servo_high_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 626 else{ *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 627 SDerrorcount++;
taknokolat 12:083662bca47d 628 }
taknokolat 12:083662bca47d 629 if(GetParameter(fp,paramNames[3],parameter)) *Servo_high_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 630 else{ *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 631 SDerrorcount++;
taknokolat 12:083662bca47d 632 }
taknokolat 12:083662bca47d 633 if(GetParameter(fp,paramNames[4],parameter)) *Servo_slow_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 634 else{ *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 635 SDerrorcount++;
taknokolat 12:083662bca47d 636 }
taknokolat 12:083662bca47d 637 if(GetParameter(fp,paramNames[5],parameter)) *Servo_slow_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 638 else{ *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 639 SDerrorcount++;
taknokolat 12:083662bca47d 640 }
taknokolat 12:083662bca47d 641
taknokolat 12:083662bca47d 642 if(GetParameter(fp,paramNames[6],parameter)) *Turntable_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 643 else{ *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 644 SDerrorcount++;
taknokolat 12:083662bca47d 645 }
taknokolat 12:083662bca47d 646 if(GetParameter(fp,paramNames[7],parameter)) *Matchspeed = atof(parameter);
taknokolat 12:083662bca47d 647 else{ *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 648 SDerrorcount++;
taknokolat 12:083662bca47d 649 }
taknokolat 12:083662bca47d 650 if(GetParameter(fp,paramNames[8],parameter)) *Focus_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 651 else{ *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 652 SDerrorcount++;
taknokolat 12:083662bca47d 653 }
taknokolat 12:083662bca47d 654 if(GetParameter(fp,paramNames[9],parameter)) *Camera_deg_A = atof(parameter);
taknokolat 12:083662bca47d 655 else{ *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 656 SDerrorcount++;
taknokolat 12:083662bca47d 657 }
taknokolat 12:083662bca47d 658 if(GetParameter(fp,paramNames[10],parameter)) *Camera_deg_B = atof(parameter);
taknokolat 12:083662bca47d 659 else{ *Camera_deg_B = camera_deg_B;
taknokolat 12:083662bca47d 660 SDerrorcount++;
taknokolat 12:083662bca47d 661 }
taknokolat 12:083662bca47d 662
taknokolat 12:083662bca47d 663 fclose(fp);
taknokolat 12:083662bca47d 664
taknokolat 12:083662bca47d 665 }else{ //ファイルがなかったら
taknokolat 12:083662bca47d 666 pc.printf("fp was null.\r\n");
taknokolat 12:083662bca47d 667
taknokolat 12:083662bca47d 668 *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 669 *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 670 *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 671 *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 672 *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 673 *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 674 *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 675 *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 676 *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 677 *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 678 *Camera_deg_B = camera_deg_B;
taknokolat 12:083662bca47d 679 SDerrorcount = -1;
taknokolat 12:083662bca47d 680 }
taknokolat 12:083662bca47d 681 pc.printf("SDsetup finished.\r\n");
taknokolat 12:083662bca47d 682 if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
taknokolat 12:083662bca47d 683 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
taknokolat 12:083662bca47d 684 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
taknokolat 12:083662bca47d 685
taknokolat 12:083662bca47d 686 pc.printf("Servo_NEUTRAL_R = %d, Servo_NEUTRAL_L = %d\r\n", *Servo_NEUTRAL_R, *Servo_NEUTRAL_L);
taknokolat 12:083662bca47d 687 pc.printf("Servo_high_FORWARD_R = %d, Servo_high_FORWARD_L = %d, kdRUD = %f\r\n", *Servo_high_FORWARD_R, *Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 688 pc.printf("Servo_slow_FORWARD_R = %f, Servo_slow_FORWARD_L = %f\r\n", *Servo_slow_FORWARD_R, *Servo_slow_FORWARD_L);
taknokolat 12:083662bca47d 689 pc.printf("Turntable_NEUTRAL = %f, Matchspeed = %f\r\n", *Turntable_NEUTRAL, *Matchspeed);
taknokolat 12:083662bca47d 690 pc.printf("Focus_NEUTRAL = %fr\n", *Focus_NEUTRAL);
taknokolat 12:083662bca47d 691 pc.printf("Camera_deg_A = %f, Camera_deg_B = %f\r\n", *Camera_deg_A, *Camera_deg_B);
taknokolat 12:083662bca47d 692
taknokolat 12:083662bca47d 693 return SDerrorcount;
taknokolat 12:083662bca47d 694 }
taknokolat 12:083662bca47d 695
taknokolat 12:083662bca47d 696 int GetParameter(FILE *fp, const char *paramName,char parameter[]){
taknokolat 12:083662bca47d 697 int i=0, j=0;
taknokolat 12:083662bca47d 698 int strmax = 200;
taknokolat 12:083662bca47d 699 char str[strmax];
taknokolat 12:083662bca47d 700
taknokolat 12:083662bca47d 701 rewind(fp); //ファイル位置を先頭に
taknokolat 12:083662bca47d 702 while(1){
taknokolat 12:083662bca47d 703 if (fgets(str, strmax, fp) == NULL) {
taknokolat 12:083662bca47d 704 return 0;
taknokolat 12:083662bca47d 705 }
taknokolat 12:083662bca47d 706 if (!strncmp(str, paramName, strlen(paramName))) {
taknokolat 12:083662bca47d 707 while (str[i++] != '=') {}
taknokolat 12:083662bca47d 708 while (str[i] != '\n') {
taknokolat 12:083662bca47d 709 parameter[j++] = str[i++];
taknokolat 12:083662bca47d 710 }
taknokolat 12:083662bca47d 711 parameter[j] = '\0';
taknokolat 12:083662bca47d 712 return 1;
taknokolat 12:083662bca47d 713 }
taknokolat 12:083662bca47d 714 }
taknokolat 12:083662bca47d 715 }
taknokolat 12:083662bca47d 716
taknokolat 12:083662bca47d 717
taknokolat 6:166746820555 718
taknokolat 4:67f705d42f1e 719 void DebugPrint(){
taknokolat 4:67f705d42f1e 720 //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 721 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 7:8989a4b84695 722 //pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 7:8989a4b84695 723 //pc.printf("\r\n");
taknokolat 6:166746820555 724 }