imano yuta / Mbed 2 deprecated sahaquiel_raspi_uart_test

skipper_raspi_uart_test

Dependencies:   mbed MPU6050_2 HMC5883L_4 SDFileSystem3

main.cpp@28:887df143fa9c, 2019-02-20 (annotated)

Committer:
taknokolat
Date:
Wed Feb 20 03:24:30 2019 +0000
Revision:
28:887df143fa9c
Parent:
27:f67efcee6509
Child:
29:5d239812ace6
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 24:0ad1725c7849 25 #define time360 110
taknokolat 24:0ad1725c7849 26 #define match_wid 5
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 24:0ad1725c7849 66 int *Time360, int *Match_wid,
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
taknokolat 24:0ad1725c7849 77 int g_CameraDegCounter = 0; //カメラの回転数をカウント
taknokolat 24:0ad1725c7849 78
Skykon 3:c18342e4fddd 79 enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度
Skykon 3:c18342e4fddd 80
Skykon 3:c18342e4fddd 81 Timer t;
HARUKIDELTA 26:ea86e69563b5 82 Timer t2;
Skykon 3:c18342e4fddd 83
HARUKIDELTA 25:1f938342d5f9 84 FILE *g_fp;
HARUKIDELTA 25:1f938342d5f9 85
taknokolat 14:90e9b44eb819 86 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
taknokolat 14:90e9b44eb819 87
taknokolat 11:d44d137831b9 88 RawSerial pc(PA_2,PA_3,115200); //uart2
taknokolat 11:d44d137831b9 89 //pa2:UART2_TX,pa3:UART2_RX
taknokolat 12:083662bca47d 90 RawSerial pc2(PA_11,PA_12,115200); //uart1
taknokolat 11:d44d137831b9 91 //pb6:UART1_TX,pb7:UART1_RX
taknokolat 11:d44d137831b9 92
HARUKIDELTA 5:8bfe95431ec0 93 //PWM pin宣言
taknokolat 6:166746820555 94 PwmOut servoR(PC_6); //TIM3_CH1 車輪右
taknokolat 6:166746820555 95 PwmOut servoL(PC_7); //TIM3_CH2 車輪左
HARUKIDELTA 5:8bfe95431ec0 96 PwmOut servoTurnTable(PB_0); //TIM3_CH3 カメラ台回転Servo
HARUKIDELTA 5:8bfe95431ec0 97 PwmOut servoCameradeg(PB_1); //TIM3_CH4 カメラ角度調節Servo
HARUKIDELTA 5:8bfe95431ec0 98 PwmOut servoCameraPinto(PB_6); //TIM4_CH1 カメラピント合わせ
HARUKIDELTA 5:8bfe95431ec0 99 PwmOut servoCameramount(PA_6); //skipperウラ カメラマウント起動
HARUKIDELTA 5:8bfe95431ec0 100 PwmOut servoGetUP(PC_8); //skipperウラ 起き上がり動作
Skykon 3:c18342e4fddd 101
HARUKIDELTA 5:8bfe95431ec0 102 /*通信用のpinは
HARUKIDELTA 5:8bfe95431ec0 103 PA_3(UART2_Rx) skipperウラ
HARUKIDELTA 5:8bfe95431ec0 104 PA_12(UART6_Rx) skipperオモテ USB端子より
HARUKIDELTA 5:8bfe95431ec0 105 PB_7 (UART1_Rx) skipperオモテ 6番目 TIM4_CH2
HARUKIDELTA 5:8bfe95431ec0 106 */
HARUKIDELTA 5:8bfe95431ec0 107
HARUKIDELTA 5:8bfe95431ec0 108 /*超音波はRaspberryPiに積む*/
HARUKIDELTA 5:8bfe95431ec0 109
HARUKIDELTA 23:29b2722bd753 110 DigitalOut led1(PA_0); //tanakaOK kimuraは動作不良
HARUKIDELTA 23:29b2722bd753 111 DigitalOut led2(PA_1); //tanakaOK kimuraOK
HARUKIDELTA 23:29b2722bd753 112 DigitalOut led3(PB_5); //使ってないよ
HARUKIDELTA 23:29b2722bd753 113 DigitalOut led4(PB_4); //使ってないよ
HARUKIDELTA 17:83db05cab3d1 114
HARUKIDELTA 17:83db05cab3d1 115
HARUKIDELTA 5:8bfe95431ec0 116 //外付けコンパス
taknokolat 24:0ad1725c7849 117 //HMC5883L compass(PB_9, PB_8); //コンパスセンサー TIM4_CH3とCH4
HARUKIDELTA 0:84ddd6d354e1 118
taknokolat 2:f30666d7838b 119 char g_landingcommand='N';
taknokolat 1:290e621741fd 120
Skykon 3:c18342e4fddd 121 //MPU_check用
Skykon 3:c18342e4fddd 122 MPU6050DMP6 mpu6050(PC_0,&pc);
Skykon 3:c18342e4fddd 123
Skykon 3:c18342e4fddd 124
HARUKIDELTA 0:84ddd6d354e1 125 int main() {
taknokolat 1:290e621741fd 126
Skykon 3:c18342e4fddd 127 //MPU_check
Skykon 3:c18342e4fddd 128 setup();
taknokolat 19:949bab1e9451 129 //コンパスチェック用
taknokolat 19:949bab1e9451 130 /*while(1){
taknokolat 22:a19be3b505b7 131 //SensingMPU();
taknokolat 19:949bab1e9451 132 SensingHMC();
taknokolat 22:a19be3b505b7 133 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 19:949bab1e9451 134 pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 19:949bab1e9451 135 pc.printf("\r\n");
taknokolat 19:949bab1e9451 136 wait_ms(30);
taknokolat 19:949bab1e9451 137 }*/
taknokolat 19:949bab1e9451 138
Skykon 3:c18342e4fddd 139
HARUKIDELTA 17:83db05cab3d1 140 servoCameradeg.pulsewidth_us(Camera_deg_A);
taknokolat 11:d44d137831b9 141
taknokolat 1:290e621741fd 142 // シリアル通信受信の割り込みイベント登録
taknokolat 1:290e621741fd 143 pc.attach(getSF_Serial_jevois, Serial::RxIrq);
taknokolat 12:083662bca47d 144 pc2.attach(getSF_Serial_pi, Serial::RxIrq);
HARUKIDELTA 27:f67efcee6509 145 t2.start();
taknokolat 1:290e621741fd 146
HARUKIDELTA 0:84ddd6d354e1 147 while(1) {
taknokolat 7:8989a4b84695 148 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 149 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 20:011977a37394 150 pc.printf("Move Camera Board\r\n");
taknokolat 10:63fe920595a7 151 MoveCameraBoard();
taknokolat 10:63fe920595a7 152
taknokolat 20:011977a37394 153 pc.printf("Position\r\n");
taknokolat 22:a19be3b505b7 154 pc.printf("g_landingcommand=%c\r\n",g_landingcommand);
HARUKIDELTA 25:1f938342d5f9 155
taknokolat 22:a19be3b505b7 156 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 157 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 158 if(g_landingcommand!='N') MatchPosition();
taknokolat 22:a19be3b505b7 159 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 160 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 161
taknokolat 8:d11a59d2a2f1 162 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 8:d11a59d2a2f1 163 else NVIC_DisableIRQ(USART2_IRQn);
taknokolat 8:d11a59d2a2f1 164
taknokolat 20:011977a37394 165 pc.printf("Move Cansat\r\n");
taknokolat 7:8989a4b84695 166 MoveCansat(g_landingcommand);
taknokolat 22:a19be3b505b7 167 if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 168 else NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 169 wait_ms(23);
taknokolat 8:d11a59d2a2f1 170
taknokolat 20:011977a37394 171 pc.printf("finish\r\n");
taknokolat 7:8989a4b84695 172 if(jevoisFlag==true) NVIC_EnableIRQ(USART1_IRQn);
taknokolat 7:8989a4b84695 173 else NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 174 }
HARUKIDELTA 0:84ddd6d354e1 175 }
HARUKIDELTA 0:84ddd6d354e1 176
Skykon 3:c18342e4fddd 177
taknokolat 22:a19be3b505b7 178 void MoveCansat(char a)
HARUKIDELTA 0:84ddd6d354e1 179 {
taknokolat 22:a19be3b505b7 180 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 181 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 22:a19be3b505b7 182 switch(a){
taknokolat 2:f30666d7838b 183 case 'N': //MOVE_NEUTRAL
HARUKIDELTA 17:83db05cab3d1 184 servoR.pulsewidth_us(Servo_NEUTRAL_R);
HARUKIDELTA 17:83db05cab3d1 185 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 22:a19be3b505b7 186 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 187 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 26:ea86e69563b5 188 g_fp = fopen( "/sd/Datalog01.txt" ,"a" );
HARUKIDELTA 27:f67efcee6509 189 fprintf(g_fp, "Time = %d min %d sec : Goal is not found.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 26:ea86e69563b5 190 fclose(g_fp);
HARUKIDELTA 0:84ddd6d354e1 191 break;
taknokolat 1:290e621741fd 192
taknokolat 2:f30666d7838b 193 case 'Y': //MOVE_FORWARD
HARUKIDELTA 17:83db05cab3d1 194 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 195 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 22:a19be3b505b7 196 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 197 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 198 g_fp = fopen( "/sd/Datalog01.txt" ,"a" );
HARUKIDELTA 27:f67efcee6509 199 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward .\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 200 fclose(g_fp);
HARUKIDELTA 0:84ddd6d354e1 201 break;
taknokolat 1:290e621741fd 202
taknokolat 12:083662bca47d 203 case 'l': //MOVE_LEFT Low Speed
HARUKIDELTA 17:83db05cab3d1 204 servoR.pulsewidth_us(Servo_slow_FORWARD_R);
taknokolat 22:a19be3b505b7 205 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 22:a19be3b505b7 206 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 207 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 208 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 209 fprintf(g_fp, "Time = %d min %d sec : Cansat move left low speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 210 fclose(g_fp);
HARUKIDELTA 27:f67efcee6509 211 break;
HARUKIDELTA 27:f67efcee6509 212
taknokolat 12:083662bca47d 213 case 'L': //MOVE_LEFT High Speed
HARUKIDELTA 17:83db05cab3d1 214 servoR.pulsewidth_us(Servo_high_FORWARD_R);
taknokolat 22:a19be3b505b7 215 servoL.pulsewidth_us(Servo_NEUTRAL_L);
taknokolat 22:a19be3b505b7 216 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 217 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 218 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 219 fprintf(g_fp, "Time = %d min %d sec : Cansat move left high speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 220 fclose(g_fp);
HARUKIDELTA 27:f67efcee6509 221 break;
taknokolat 1:290e621741fd 222
taknokolat 12:083662bca47d 223 case 'r': //MOVE_RIGHT Low Speed
taknokolat 22:a19be3b505b7 224 servoR.pulsewidth_us(Servo_NEUTRAL_R);
HARUKIDELTA 17:83db05cab3d1 225 servoL.pulsewidth_us(Servo_slow_FORWARD_L);
taknokolat 22:a19be3b505b7 226 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 227 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 228 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 229 fprintf(g_fp, "Time = %d min %d sec : Cansat move right low speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 230 fclose(g_fp);
HARUKIDELTA 0:84ddd6d354e1 231 break;
taknokolat 12:083662bca47d 232
taknokolat 12:083662bca47d 233 case 'R': //MOVE_RIGHT High Speed
taknokolat 22:a19be3b505b7 234 servoR.pulsewidth_us(Servo_NEUTRAL_R);
HARUKIDELTA 17:83db05cab3d1 235 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 22:a19be3b505b7 236 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 237 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 238 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 239 fprintf(g_fp, "Time = %d min %d sec : Cansat move left high speed.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 240 fclose(g_fp);
HARUKIDELTA 0:84ddd6d354e1 241 break;
taknokolat 1:290e621741fd 242
taknokolat 1:290e621741fd 243 case 'G': //GOAL_FORWARD
HARUKIDELTA 17:83db05cab3d1 244 servoR.pulsewidth_us(Servo_slow_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 245 servoL.pulsewidth_us(Servo_slow_FORWARD_L);
taknokolat 22:a19be3b505b7 246 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 247 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 248 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 249 fprintf(g_fp, "Time = %d min %d sec : Cansat move goal forward mode.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 250 fclose(g_fp);
taknokolat 7:8989a4b84695 251 break;
taknokolat 12:083662bca47d 252
taknokolat 12:083662bca47d 253 case '1': //MOVE_FORWARD Speed Level 1
HARUKIDELTA 17:83db05cab3d1 254 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 255 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 256 wait(1);
taknokolat 12:083662bca47d 257 do{
taknokolat 22:a19be3b505b7 258 SensingMPU();
taknokolat 22:a19be3b505b7 259 wait_ms(30);
taknokolat 22:a19be3b505b7 260 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
taknokolat 22:a19be3b505b7 261 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 262 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 263 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 264 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 1sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 265 fclose(g_fp);
taknokolat 12:083662bca47d 266 break;
taknokolat 12:083662bca47d 267
taknokolat 12:083662bca47d 268 case '2': //MOVE_FORWARD Speed Level 2
HARUKIDELTA 17:83db05cab3d1 269 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 270 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 271 wait(2);
taknokolat 12:083662bca47d 272 do{
taknokolat 22:a19be3b505b7 273 SensingMPU();
taknokolat 22:a19be3b505b7 274 wait_ms(30);
taknokolat 22:a19be3b505b7 275 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
taknokolat 22:a19be3b505b7 276 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 277 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 278 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 279 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 2sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 280 fclose(g_fp);
taknokolat 12:083662bca47d 281 break;
taknokolat 12:083662bca47d 282
taknokolat 12:083662bca47d 283 case '3': //MOVE_FORWARD Speed Level 3
HARUKIDELTA 17:83db05cab3d1 284 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 285 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 286 wait(3);
taknokolat 12:083662bca47d 287 do{
taknokolat 22:a19be3b505b7 288 SensingMPU();
taknokolat 22:a19be3b505b7 289 wait_ms(30);
taknokolat 22:a19be3b505b7 290 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
taknokolat 22:a19be3b505b7 291 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 292 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 293 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 294 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 3sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 295 fclose(g_fp);
taknokolat 12:083662bca47d 296 break;
taknokolat 12:083662bca47d 297
taknokolat 12:083662bca47d 298 case '4': //MOVE_FORWARD Speed Level 4
HARUKIDELTA 17:83db05cab3d1 299 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 300 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 12:083662bca47d 301 wait(4);
taknokolat 12:083662bca47d 302 do{
taknokolat 22:a19be3b505b7 303 SensingMPU();
taknokolat 22:a19be3b505b7 304 wait_ms(30);
taknokolat 22:a19be3b505b7 305 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)||(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
taknokolat 22:a19be3b505b7 306 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 307 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 308 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 309 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 4sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 310 fclose(g_fp);
taknokolat 12:083662bca47d 311 break;
taknokolat 7:8989a4b84695 312
taknokolat 12:083662bca47d 313 case '5': //MOVE_FORWARD Speed Level 5
HARUKIDELTA 17:83db05cab3d1 314 servoR.pulsewidth_us(Servo_high_FORWARD_R);
HARUKIDELTA 17:83db05cab3d1 315 servoL.pulsewidth_us(Servo_high_FORWARD_L);
taknokolat 7:8989a4b84695 316 wait(5);
taknokolat 10:63fe920595a7 317 do{
taknokolat 22:a19be3b505b7 318 SensingMPU();
taknokolat 22:a19be3b505b7 319 wait_ms(30);
taknokolat 22:a19be3b505b7 320 }while((nowAngle[PITCH]>20||nowAngle[PITCH]<-20)&&(nowAngle[ROLL]>20||nowAngle[ROLL]<-20));
taknokolat 22:a19be3b505b7 321 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 322 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 27:f67efcee6509 323 g_fp = fopen( "/sd/Datalog01.txt","a" );
HARUKIDELTA 27:f67efcee6509 324 fprintf(g_fp, "Time = %d min %d sec : Cansat move forward 5sec!.\r\n",(int)t2.read()/60,(int)t2.read()%60);
HARUKIDELTA 27:f67efcee6509 325 fclose(g_fp);
taknokolat 7:8989a4b84695 326 break;
taknokolat 7:8989a4b84695 327
taknokolat 7:8989a4b84695 328 case 'M': //MatchPosition
HARUKIDELTA 17:83db05cab3d1 329 servoR.pulsewidth_us(Matchspeed);
taknokolat 22:a19be3b505b7 330 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 331 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 7:8989a4b84695 332 break;
taknokolat 7:8989a4b84695 333
taknokolat 12:083662bca47d 334 case 'P': //jevoisからraspberry piへの切り替え
taknokolat 7:8989a4b84695 335 jevoisFlag = false;
taknokolat 28:887df143fa9c 336 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL + Turntable_speed);
taknokolat 28:887df143fa9c 337 wait_ms((float)Time360/(float)2);
taknokolat 28:887df143fa9c 338 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 22:a19be3b505b7 339 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 340 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 341 break;
taknokolat 12:083662bca47d 342
taknokolat 28:887df143fa9c 343 case 'B':
taknokolat 12:083662bca47d 344 /*RasPiからの超音波判定(プログラムスタート部)*/
taknokolat 22:a19be3b505b7 345 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 346 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 12:083662bca47d 347 break;
taknokolat 1:290e621741fd 348
taknokolat 1:290e621741fd 349 default :
taknokolat 22:a19be3b505b7 350 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 22:a19be3b505b7 351 NVIC_EnableIRQ(USART2_IRQn);
HARUKIDELTA 0:84ddd6d354e1 352 break;
taknokolat 1:290e621741fd 353
HARUKIDELTA 0:84ddd6d354e1 354 }
taknokolat 7:8989a4b84695 355
HARUKIDELTA 0:84ddd6d354e1 356 return;
taknokolat 1:290e621741fd 357 }
taknokolat 1:290e621741fd 358
taknokolat 7:8989a4b84695 359 void MoveCameraBoard(){
taknokolat 22:a19be3b505b7 360 //pc.printf("start\r\n");
taknokolat 7:8989a4b84695 361 MoveCansat('N');
taknokolat 22:a19be3b505b7 362 //pc.printf("ok\r\n");
taknokolat 10:63fe920595a7 363 g_landingcommand='N';
taknokolat 24:0ad1725c7849 364 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL - Turntable_speed);
taknokolat 20:011977a37394 365 wait_ms(Camera_board_wait);
taknokolat 24:0ad1725c7849 366 g_CameraDegCounter++;
HARUKIDELTA 17:83db05cab3d1 367 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 22:a19be3b505b7 368 //pc.printf("zoom1\r\n");
taknokolat 7:8989a4b84695 369 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 370 else wait(1);
taknokolat 7:8989a4b84695 371 if(g_landingcommand!='N') return;
taknokolat 7:8989a4b84695 372 if(!CameraDegFlag){
taknokolat 18:4566d1f5fc60 373 for(int i=30; i<Camera_deg_B-Camera_deg_A;i=i+30){
taknokolat 18:4566d1f5fc60 374 servoCameradeg.pulsewidth_us(Camera_deg_A+i);
taknokolat 22:a19be3b505b7 375 //pc.printf("%d\r\n",i);
taknokolat 15:1519fccfcae3 376 wait_ms(20);
taknokolat 15:1519fccfcae3 377 }
taknokolat 7:8989a4b84695 378 CameraDegFlag=!CameraDegFlag;
taknokolat 7:8989a4b84695 379 }else{
taknokolat 18:4566d1f5fc60 380 for(int i=30; i<Camera_deg_B-Camera_deg_A;i=i+30){
taknokolat 18:4566d1f5fc60 381 servoCameradeg.pulsewidth_us(Camera_deg_B-i);
taknokolat 22:a19be3b505b7 382 //pc.printf("%d\r\n",i);
taknokolat 18:4566d1f5fc60 383 wait_ms(20);
taknokolat 15:1519fccfcae3 384 }
taknokolat 7:8989a4b84695 385 CameraDegFlag = !CameraDegFlag;
taknokolat 7:8989a4b84695 386 }
taknokolat 22:a19be3b505b7 387 if(g_landingcommand!='N') return;
taknokolat 22:a19be3b505b7 388 //pc.printf("zoom2\r\n");
taknokolat 7:8989a4b84695 389 if(jevoisFlag == true) FocusAdjust();
taknokolat 7:8989a4b84695 390 else wait(1);
taknokolat 7:8989a4b84695 391
taknokolat 20:011977a37394 392
taknokolat 22:a19be3b505b7 393 //pc.printf("Move Board Finish\r\n");
taknokolat 7:8989a4b84695 394 return;
taknokolat 7:8989a4b84695 395 }
taknokolat 7:8989a4b84695 396
taknokolat 7:8989a4b84695 397 void MatchPosition(){
taknokolat 22:a19be3b505b7 398 pc.printf("MatchPosition\r\n");
taknokolat 24:0ad1725c7849 399
taknokolat 24:0ad1725c7849 400 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL + Turntable_speed);
taknokolat 24:0ad1725c7849 401 wait_ms(Camera_board_wait*g_CameraDegCounter);
taknokolat 24:0ad1725c7849 402 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
taknokolat 24:0ad1725c7849 403
taknokolat 22:a19be3b505b7 404 int SetLoop=0;
taknokolat 22:a19be3b505b7 405
taknokolat 22:a19be3b505b7 406 while(SetLoop<30){
taknokolat 7:8989a4b84695 407 SensingMPU();
taknokolat 22:a19be3b505b7 408 wait_ms(20);
taknokolat 24:0ad1725c7849 409 //SensingHMC();
taknokolat 24:0ad1725c7849 410 //wait_ms(20);
taknokolat 22:a19be3b505b7 411 //DebugPrint();
taknokolat 22:a19be3b505b7 412 SetLoop++;
taknokolat 22:a19be3b505b7 413 //pc.printf("nowAngle_HMC=%f\tMPU=%f\r\n",nowAngle_HMC,nowAngle[YAW]);
taknokolat 22:a19be3b505b7 414
taknokolat 22:a19be3b505b7 415 }
taknokolat 7:8989a4b84695 416
taknokolat 24:0ad1725c7849 417 static float TargetDeg = 0;
taknokolat 24:0ad1725c7849 418
taknokolat 24:0ad1725c7849 419 TargetDeg = 360*(float)Camera_board_wait*(float)g_CameraDegCounter/(float)Time360;
taknokolat 24:0ad1725c7849 420
taknokolat 24:0ad1725c7849 421 float HighTargetYaw = TargetDeg + Match_wid;
taknokolat 24:0ad1725c7849 422 float LowTargetYaw = TargetDeg - Match_wid;
taknokolat 21:ca8f35e24e66 423
taknokolat 22:a19be3b505b7 424
taknokolat 21:ca8f35e24e66 425 if(HighTargetYaw >= 360.0) HighTargetYaw = HighTargetYaw - 360.0;
taknokolat 22:a19be3b505b7 426
taknokolat 21:ca8f35e24e66 427 if(LowTargetYaw < 0) LowTargetYaw = LowTargetYaw + 360.0;
taknokolat 21:ca8f35e24e66 428
taknokolat 22:a19be3b505b7 429 pc.printf("\r\nnow=%f\t,high=%f\t,low=%f\r\n",nowAngle[YAW],HighTargetYaw,LowTargetYaw);
taknokolat 22:a19be3b505b7 430
taknokolat 24:0ad1725c7849 431 MoveCansat('r');
taknokolat 22:a19be3b505b7 432
taknokolat 22:a19be3b505b7 433 if(HighTargetYaw-LowTargetYaw<0){
taknokolat 22:a19be3b505b7 434 while(nowAngle[YAW] > HighTargetYaw && nowAngle[YAW] < LowTargetYaw){
taknokolat 22:a19be3b505b7 435 //MoveCansat('r');
taknokolat 22:a19be3b505b7 436 SensingMPU();
taknokolat 22:a19be3b505b7 437 wait_ms(30);
taknokolat 22:a19be3b505b7 438 pc.printf("nowAngle_MPU=%f\r\n",nowAngle[YAW]);
taknokolat 22:a19be3b505b7 439 }
taknokolat 22:a19be3b505b7 440 }else{
taknokolat 22:a19be3b505b7 441 while(nowAngle[YAW] > HighTargetYaw || nowAngle[YAW] < LowTargetYaw){
taknokolat 22:a19be3b505b7 442 //MoveCansat('r');
taknokolat 22:a19be3b505b7 443 SensingMPU();
taknokolat 22:a19be3b505b7 444 wait_ms(30);
taknokolat 22:a19be3b505b7 445 pc.printf("nowAngle_MPU=%f\r\n",nowAngle[YAW]);
taknokolat 22:a19be3b505b7 446 }
taknokolat 7:8989a4b84695 447 }
taknokolat 24:0ad1725c7849 448 g_CameraDegCounter = 0;
taknokolat 7:8989a4b84695 449 return;
taknokolat 7:8989a4b84695 450 }
taknokolat 7:8989a4b84695 451
taknokolat 7:8989a4b84695 452 void FocusAdjust(){
HARUKIDELTA 17:83db05cab3d1 453 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL-200);
taknokolat 20:011977a37394 454 pc.printf("set\r\n");
taknokolat 11:d44d137831b9 455 wait(1);
taknokolat 20:011977a37394 456 pc.printf("set2\r\n");
HARUKIDELTA 17:83db05cab3d1 457 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL+Pint_speed);
taknokolat 20:011977a37394 458 pc.printf("check\r\n");
taknokolat 20:011977a37394 459 wait(Pint_wait);
HARUKIDELTA 17:83db05cab3d1 460 servoCameraPinto.pulsewidth_us(Focus_NEUTRAL);
taknokolat 11:d44d137831b9 461
taknokolat 7:8989a4b84695 462 return;
taknokolat 15:1519fccfcae3 463 }
taknokolat 7:8989a4b84695 464
taknokolat 1:290e621741fd 465 void getSF_Serial_jevois(){
taknokolat 22:a19be3b505b7 466
taknokolat 22:a19be3b505b7 467 //pc.printf("jevois\r\n");
taknokolat 1:290e621741fd 468
taknokolat 1:290e621741fd 469
taknokolat 1:290e621741fd 470 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 471
taknokolat 1:290e621741fd 472 static int bufcounter=0;
taknokolat 1:290e621741fd 473
taknokolat 1:290e621741fd 474
taknokolat 1:290e621741fd 475
taknokolat 1:290e621741fd 476 if(pc.readable()) { // 受信確認
taknokolat 1:290e621741fd 477
taknokolat 1:290e621741fd 478 SFbuf[bufcounter] = pc.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 479 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 480 //pc.printf("x");
taknokolat 1:290e621741fd 481 return;
taknokolat 1:290e621741fd 482 }
taknokolat 1:290e621741fd 483
taknokolat 1:290e621741fd 484
taknokolat 1:290e621741fd 485
taknokolat 22:a19be3b505b7 486 pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 487
Skykon 3:c18342e4fddd 488 if(SFbuf[0]=='S' && bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 489
taknokolat 1:290e621741fd 490 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 491
taknokolat 1:290e621741fd 492 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 493 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 494 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 495 //wait_ms(20);
taknokolat 1:290e621741fd 496 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 497 bufcounter = 0;
taknokolat 1:290e621741fd 498 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 499 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 500 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 501 }
taknokolat 1:290e621741fd 502
taknokolat 1:290e621741fd 503 else if(bufcounter>=5){
taknokolat 1:290e621741fd 504 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 505 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 506 bufcounter = 0;
taknokolat 1:290e621741fd 507 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 508 }
taknokolat 1:290e621741fd 509 }
taknokolat 1:290e621741fd 510
taknokolat 1:290e621741fd 511
taknokolat 1:290e621741fd 512 }
taknokolat 1:290e621741fd 513
taknokolat 1:290e621741fd 514
taknokolat 12:083662bca47d 515 void getSF_Serial_pi(){
taknokolat 2:f30666d7838b 516
taknokolat 7:8989a4b84695 517 //NVIC_DisableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 518
taknokolat 1:290e621741fd 519 static char SFbuf[16]={'Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q','Q'};
taknokolat 1:290e621741fd 520
taknokolat 1:290e621741fd 521 static int bufcounter=0;
taknokolat 1:290e621741fd 522
taknokolat 1:290e621741fd 523
taknokolat 1:290e621741fd 524
taknokolat 1:290e621741fd 525 if(pc2.readable()) { // 受信確認
taknokolat 1:290e621741fd 526
taknokolat 1:290e621741fd 527 SFbuf[bufcounter] = pc2.getc(); // 1文字取り出し
taknokolat 1:290e621741fd 528 if(SFbuf[0]!='S'){
taknokolat 1:290e621741fd 529 //pc.printf("x");
taknokolat 1:290e621741fd 530 return;
taknokolat 1:290e621741fd 531 }
taknokolat 1:290e621741fd 532
taknokolat 1:290e621741fd 533
taknokolat 1:290e621741fd 534
taknokolat 1:290e621741fd 535 //pc.printf("%c",SFbuf[bufcounter]);
taknokolat 1:290e621741fd 536
taknokolat 1:290e621741fd 537 if(SFbuf[0]=='S'&&bufcounter<5)bufcounter++;
taknokolat 1:290e621741fd 538
taknokolat 1:290e621741fd 539 if(bufcounter==5 && SFbuf[4]=='F'){
taknokolat 1:290e621741fd 540
taknokolat 1:290e621741fd 541 g_landingcommand = SFbuf[1];
taknokolat 2:f30666d7838b 542 wait_ms(31);//信号が速すぎることによる割り込み防止
taknokolat 1:290e621741fd 543 //pc.printf("%c",g_landingcommand);
taknokolat 1:290e621741fd 544 //wait_ms(20);
taknokolat 1:290e621741fd 545 //if(g_landingcommand=='Y')g_SerialTargetYAW = ConvertByteintoFloat(SFbuf[2], SFbuf[3]);
taknokolat 1:290e621741fd 546 bufcounter = 0;
taknokolat 1:290e621741fd 547 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 548 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 549 //pc.printf("command = %c, commandYAW = %f\r\n", g_landingcommand, g_SerialTargetYAW);
taknokolat 1:290e621741fd 550 }
taknokolat 1:290e621741fd 551
taknokolat 1:290e621741fd 552 else if(bufcounter>=5){
taknokolat 1:290e621741fd 553 //pc.printf("Communication Falsed.\r\n");
taknokolat 1:290e621741fd 554 memset(SFbuf, 0, sizeof(SFbuf));
taknokolat 1:290e621741fd 555 bufcounter = 0;
taknokolat 1:290e621741fd 556 NVIC_ClearPendingIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 557 }
taknokolat 1:290e621741fd 558 }
taknokolat 2:f30666d7838b 559
taknokolat 7:8989a4b84695 560 //NVIC_EnableIRQ(USART2_IRQn);
taknokolat 1:290e621741fd 561
taknokolat 12:083662bca47d 562 }
taknokolat 1:290e621741fd 563
Skykon 3:c18342e4fddd 564
Skykon 3:c18342e4fddd 565 void setup(){
HARUKIDELTA 23:29b2722bd753 566
HARUKIDELTA 23:29b2722bd753 567 led1 = 1;
HARUKIDELTA 23:29b2722bd753 568 led2 = 1;
HARUKIDELTA 23:29b2722bd753 569 led3 = 1;
HARUKIDELTA 23:29b2722bd753 570 led4 = 1;
HARUKIDELTA 26:ea86e69563b5 571
HARUKIDELTA 26:ea86e69563b5 572 servoR.pulsewidth_us(Servo_NEUTRAL_R); //servo initialize
HARUKIDELTA 26:ea86e69563b5 573 servoL.pulsewidth_us(Servo_NEUTRAL_L);
HARUKIDELTA 26:ea86e69563b5 574 servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
HARUKIDELTA 26:ea86e69563b5 575 servoCameradeg.pulsewidth_us(Camera_deg_A);
HARUKIDELTA 26:ea86e69563b5 576 servoCameraPinto.pulsewidth_us(focus_NEUTRAL);
Skykon 3:c18342e4fddd 577
taknokolat 13:b088f0db7158 578 SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 579 &Servo_high_FORWARD_R, &Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 580 &Servo_slow_FORWARD_R,&Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 581 &Turntable_NEUTRAL,&Matchspeed,&Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 582 &Camera_deg_A, &Camera_deg_B,
HARUKIDELTA 17:83db05cab3d1 583 &Pint_speed,&Pint_wait,
taknokolat 19:949bab1e9451 584 &Turntable_speed,
taknokolat 24:0ad1725c7849 585 &Time360, &Match_wid,
taknokolat 20:011977a37394 586 &Camera_board_wait
taknokolat 13:b088f0db7158 587 );
taknokolat 12:083662bca47d 588
Skykon 3:c18342e4fddd 589 Init_sensors();
Skykon 3:c18342e4fddd 590 //switch2.rise(ResetTrim);
Skykon 3:c18342e4fddd 591
taknokolat 7:8989a4b84695 592 //NVIC_SetPriority(USART1_IRQn,0);
taknokolat 7:8989a4b84695 593 //NVIC_SetPriority(EXTI0_IRQn,1);
taknokolat 7:8989a4b84695 594 //NVIC_SetPriority(TIM5_IRQn,2);
taknokolat 7:8989a4b84695 595 //NVIC_SetPriority(EXTI9_5_IRQn,3);
taknokolat 7:8989a4b84695 596 //NVIC_SetPriority(USART2_IRQn,4);
taknokolat 7:8989a4b84695 597
taknokolat 7:8989a4b84695 598 NVIC_SetPriority(USART1_IRQn,0);//割り込み優先度
taknokolat 7:8989a4b84695 599 NVIC_SetPriority(USART2_IRQn,1);
taknokolat 7:8989a4b84695 600
Skykon 3:c18342e4fddd 601 DisplayClock();
Skykon 3:c18342e4fddd 602 t.start();
Skykon 3:c18342e4fddd 603
Skykon 3:c18342e4fddd 604 pc.printf("MPU calibration start\r\n");
taknokolat 24:0ad1725c7849 605 //pc.printf("HMC calibration start\r\n");
Skykon 3:c18342e4fddd 606
Skykon 3:c18342e4fddd 607 float offsetstart = t.read();
Skykon 3:c18342e4fddd 608 while(t.read() - offsetstart < 26){
Skykon 3:c18342e4fddd 609 SensingMPU();
taknokolat 24:0ad1725c7849 610 //SensingHMC();
Skykon 3:c18342e4fddd 611 for(uint8_t i=0; i<3; i++) pc.printf("%3.2f\t",nowAngle[i]);
taknokolat 24:0ad1725c7849 612 //pc.printf("\t%3.2f\t",nowAngle_HMC);
Skykon 3:c18342e4fddd 613 pc.printf("\r\n");
HARUKIDELTA 23:29b2722bd753 614 led1 = !led1;
HARUKIDELTA 23:29b2722bd753 615 led2 = !led2;
HARUKIDELTA 23:29b2722bd753 616 led3 = !led3;
HARUKIDELTA 23:29b2722bd753 617 led4 = !led4;
Skykon 3:c18342e4fddd 618 }
Skykon 3:c18342e4fddd 619
Skykon 3:c18342e4fddd 620 FirstROLL = nowAngle[ROLL];
Skykon 3:c18342e4fddd 621 FirstPITCH = nowAngle[PITCH];
Skykon 3:c18342e4fddd 622 nowAngle[ROLL] -=FirstROLL;
Skykon 3:c18342e4fddd 623 nowAngle[PITCH] -=FirstPITCH;
taknokolat 6:166746820555 624 FirstYAW = nowAngle[YAW];
taknokolat 6:166746820555 625 nowAngle[YAW] -= FirstYAW;
taknokolat 6:166746820555 626
taknokolat 24:0ad1725c7849 627 //g_FirstYAW_HMC = nowAngle_HMC;
taknokolat 24:0ad1725c7849 628 //nowAngle_HMC -=g_FirstYAW_HMC;
taknokolat 24:0ad1725c7849 629 //if(nowAngle_HMC<0)nowAngle_HMC+=360;
Skykon 3:c18342e4fddd 630
HARUKIDELTA 23:29b2722bd753 631 led1 = 0;
HARUKIDELTA 23:29b2722bd753 632 led2 = 0;
HARUKIDELTA 23:29b2722bd753 633 led3 = 0;
HARUKIDELTA 23:29b2722bd753 634 led4 = 0;
HARUKIDELTA 23:29b2722bd753 635
Skykon 3:c18342e4fddd 636 wait(0.2);
Skykon 3:c18342e4fddd 637
HARUKIDELTA 26:ea86e69563b5 638
HARUKIDELTA 26:ea86e69563b5 639 g_fp = fopen( "/sd/Datalog01.txt" ,"a" );
HARUKIDELTA 26:ea86e69563b5 640 if( g_fp == NULL ) {
HARUKIDELTA 26:ea86e69563b5 641 pc.printf( "ファイルオープンエラー\r\n" );
HARUKIDELTA 26:ea86e69563b5 642 }
HARUKIDELTA 27:f67efcee6509 643 fprintf(g_fp,"\r\n-------------------------\r\n");
HARUKIDELTA 26:ea86e69563b5 644 fprintf(g_fp,"All initialized.\r\n");
HARUKIDELTA 26:ea86e69563b5 645 fclose( g_fp );
HARUKIDELTA 26:ea86e69563b5 646
HARUKIDELTA 26:ea86e69563b5 647
Skykon 3:c18342e4fddd 648 pc.printf("All initialized\r\n");
taknokolat 4:67f705d42f1e 649 setupFlag=true;
taknokolat 1:290e621741fd 650 }
taknokolat 1:290e621741fd 651
Skykon 3:c18342e4fddd 652
Skykon 3:c18342e4fddd 653 void SensingMPU(){
Skykon 3:c18342e4fddd 654 //static int16_t deltaT = 0, t_start = 0;
Skykon 3:c18342e4fddd 655 //t_start = t.read_us();
Skykon 3:c18342e4fddd 656
taknokolat 7:8989a4b84695 657 float rpy[3] = {0};
Skykon 3:c18342e4fddd 658 static uint16_t count_changeRPY = 0;
Skykon 3:c18342e4fddd 659 static bool flg_checkoutlier = false;
Skykon 3:c18342e4fddd 660 NVIC_DisableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 661 NVIC_DisableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 662 NVIC_DisableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 663 NVIC_DisableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 664 NVIC_DisableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 665
Skykon 3:c18342e4fddd 666 mpu6050.getRollPitchYaw_Skipper(rpy);
Skykon 3:c18342e4fddd 667
Skykon 3:c18342e4fddd 668 NVIC_EnableIRQ(USART1_IRQn);
Skykon 3:c18342e4fddd 669 NVIC_EnableIRQ(USART2_IRQn);
Skykon 3:c18342e4fddd 670 NVIC_EnableIRQ(TIM5_IRQn);
Skykon 3:c18342e4fddd 671 NVIC_EnableIRQ(EXTI0_IRQn);
Skykon 3:c18342e4fddd 672 NVIC_EnableIRQ(EXTI9_5_IRQn);
Skykon 3:c18342e4fddd 673
Skykon 3:c18342e4fddd 674
Skykon 3:c18342e4fddd 675 //外れ値対策
Skykon 3:c18342e4fddd 676 for(uint8_t i=0; i<3; i++) rpy[i] *= 180.0f/PI;
Skykon 3:c18342e4fddd 677 rpy[ROLL] -= FirstROLL;
Skykon 3:c18342e4fddd 678 rpy[PITCH] -= FirstPITCH;
taknokolat 4:67f705d42f1e 679 if(!setupFlag){
taknokolat 4:67f705d42f1e 680 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 681 }else{
taknokolat 4:67f705d42f1e 682 if(rpy[YAW] >= FirstYAW){
taknokolat 4:67f705d42f1e 683 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 684 }else{
taknokolat 4:67f705d42f1e 685 rpy[YAW] += 360.0f;
taknokolat 4:67f705d42f1e 686 rpy[YAW] -= FirstYAW;
taknokolat 4:67f705d42f1e 687 }
taknokolat 4:67f705d42f1e 688 }
Skykon 3:c18342e4fddd 689
Skykon 3:c18342e4fddd 690 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 691 if(!flg_checkoutlier || count_changeRPY >= 2){
Skykon 3:c18342e4fddd 692 for(uint8_t i=0; i<3; i++){
Skykon 3:c18342e4fddd 693 nowAngle[i] = (rpy[i] + nowAngle[i])/2.0f; //2つの移動平均
Skykon 3:c18342e4fddd 694 }
Skykon 3:c18342e4fddd 695 count_changeRPY = 0;
Skykon 3:c18342e4fddd 696 }else count_changeRPY++;
Skykon 3:c18342e4fddd 697 flg_checkoutlier = false;
Skykon 3:c18342e4fddd 698
Skykon 3:c18342e4fddd 699 }
Skykon 3:c18342e4fddd 700
Skykon 3:c18342e4fddd 701
Skykon 3:c18342e4fddd 702 void Init_sensors(){
Skykon 3:c18342e4fddd 703 if(mpu6050.setup() == -1){
Skykon 3:c18342e4fddd 704 pc.printf("failed initialize\r\n");
Skykon 3:c18342e4fddd 705 }
Skykon 3:c18342e4fddd 706 }
Skykon 3:c18342e4fddd 707
Skykon 3:c18342e4fddd 708
Skykon 3:c18342e4fddd 709 void DisplayClock(){
Skykon 3:c18342e4fddd 710 pc.printf("System Clock = %d[MHz]\r\n", HAL_RCC_GetSysClockFreq()/1000000);
Skykon 3:c18342e4fddd 711 pc.printf("HCLK Clock = %d[MHz]\r\n", HAL_RCC_GetHCLKFreq()/1000000);
Skykon 3:c18342e4fddd 712 pc.printf("PCLK1 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK1Freq()/1000000);
Skykon 3:c18342e4fddd 713 pc.printf("PCLK2 Clock = %d[MHz]\r\n", HAL_RCC_GetPCLK2Freq()/1000000);
Skykon 3:c18342e4fddd 714 pc.printf("\r\n");
taknokolat 4:67f705d42f1e 715 }
taknokolat 6:166746820555 716
taknokolat 24:0ad1725c7849 717 /*void SensingHMC(){
taknokolat 6:166746820555 718 //static int16_t deltaT = 0, t_start = 0;
taknokolat 6:166746820555 719 //t_start = t.read_us();
taknokolat 6:166746820555 720
taknokolat 7:8989a4b84695 721 float rpy=0;
taknokolat 6:166746820555 722 static uint16_t count_changeRPY = 0;
taknokolat 6:166746820555 723 static bool flg_checkoutlier = false;
taknokolat 6:166746820555 724 NVIC_DisableIRQ(USART1_IRQn);
taknokolat 6:166746820555 725 NVIC_DisableIRQ(USART2_IRQn);
taknokolat 19:949bab1e9451 726 //NVIC_DisableIRQ(TIM5_IRQn);
taknokolat 19:949bab1e9451 727 //NVIC_DisableIRQ(EXTI0_IRQn);
taknokolat 19:949bab1e9451 728 //NVIC_DisableIRQ(EXTI9_5_IRQn);
taknokolat 4:67f705d42f1e 729
taknokolat 24:0ad1725c7849 730 rpy= compass.getHeadingXYDeg(Time360,Match_wid);
taknokolat 6:166746820555 731
taknokolat 6:166746820555 732 NVIC_EnableIRQ(USART1_IRQn);
taknokolat 6:166746820555 733 NVIC_EnableIRQ(USART2_IRQn);
taknokolat 19:949bab1e9451 734 //NVIC_EnableIRQ(TIM5_IRQn);
taknokolat 19:949bab1e9451 735 //NVIC_EnableIRQ(EXTI0_IRQn);
taknokolat 19:949bab1e9451 736 //NVIC_EnableIRQ(EXTI9_5_IRQn);
taknokolat 6:166746820555 737
taknokolat 6:166746820555 738
taknokolat 6:166746820555 739 //外れ値対策
taknokolat 6:166746820555 740 //rpy*= 180.0f/PI;
taknokolat 6:166746820555 741 if(!setupFlag){
taknokolat 6:166746820555 742 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 743 }else{
taknokolat 6:166746820555 744 if(rpy >= g_FirstYAW_HMC){
taknokolat 6:166746820555 745 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 746 }else{
taknokolat 6:166746820555 747 rpy += 360.0f;
taknokolat 6:166746820555 748 rpy -= g_FirstYAW_HMC;
taknokolat 6:166746820555 749 }
taknokolat 6:166746820555 750 }
taknokolat 6:166746820555 751
taknokolat 6:166746820555 752 if(rpy < nowAngle_HMC-10 || rpy > nowAngle_HMC+10) {flg_checkoutlier = true;}
taknokolat 6:166746820555 753 if(!flg_checkoutlier || count_changeRPY >= 2){
taknokolat 6:166746820555 754
taknokolat 6:166746820555 755 nowAngle_HMC = (rpy + nowAngle_HMC)/2.0f; //2つの移動平均
taknokolat 6:166746820555 756
taknokolat 6:166746820555 757 count_changeRPY = 0;
taknokolat 6:166746820555 758 }else count_changeRPY++;
taknokolat 6:166746820555 759 flg_checkoutlier = false;
taknokolat 6:166746820555 760
taknokolat 24:0ad1725c7849 761 }*/
taknokolat 12:083662bca47d 762
taknokolat 12:083662bca47d 763 int SetOptions(int *Servo_NEUTRAL_R, int *Servo_NEUTRAL_L,
taknokolat 12:083662bca47d 764 int *Servo_high_FORWARD_R, int *Servo_high_FORWARD_L,
taknokolat 12:083662bca47d 765 int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
taknokolat 12:083662bca47d 766 int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
taknokolat 16:26cee2aaf61d 767 int *Camera_deg_A, int *Camera_deg_B,
HARUKIDELTA 17:83db05cab3d1 768 int *Pint_speed, float *Pint_wait,
taknokolat 19:949bab1e9451 769 int *Turntable_speed,
taknokolat 24:0ad1725c7849 770 int *Time360, int *Match_wid,
taknokolat 20:011977a37394 771 int *Camera_board_wait
taknokolat 12:083662bca47d 772 ){
taknokolat 12:083662bca47d 773
taknokolat 12:083662bca47d 774 pc.printf("SDsetup start.\r\n");
taknokolat 12:083662bca47d 775
taknokolat 12:083662bca47d 776 FILE *fp;
taknokolat 12:083662bca47d 777 char parameter[20]; //文字列渡す用の配列
taknokolat 12:083662bca47d 778 int SDerrorcount = 0; //取得できなかった数を返す
taknokolat 12:083662bca47d 779 const char *paramNames[] = {
taknokolat 12:083662bca47d 780 "SERVO_NEUTRAL_R",
taknokolat 12:083662bca47d 781 "SERVO_NEUTRAL_L",
taknokolat 12:083662bca47d 782 "SERVO_HIGH_FORWARD_R",
taknokolat 12:083662bca47d 783 "SERVO_HIGH_FORWARD_L",
taknokolat 12:083662bca47d 784 "SERVO_SLOW_FORWARD_R",
taknokolat 12:083662bca47d 785 "SERVO_SLOW_FORWARD_L",
taknokolat 12:083662bca47d 786 "TURNTABLE_NEUTRAL",
taknokolat 12:083662bca47d 787 "MATCH_SPEED",
taknokolat 12:083662bca47d 788 "FOCUS_NEUTRAL",
taknokolat 12:083662bca47d 789 "CAMERA_DEG_A",
taknokolat 16:26cee2aaf61d 790 "CAMERA_DEG_B",
taknokolat 16:26cee2aaf61d 791 "PINT_SPEED",
HARUKIDELTA 17:83db05cab3d1 792 "PINT_WAIT",
taknokolat 19:949bab1e9451 793 "TURNTABLE_SPEED",
taknokolat 24:0ad1725c7849 794 "TIME360",
taknokolat 24:0ad1725c7849 795 "MATCH_WID",
taknokolat 20:011977a37394 796 "CAMERA_BOARD_WAIT"
taknokolat 12:083662bca47d 797 };
taknokolat 12:083662bca47d 798
taknokolat 12:083662bca47d 799 fp = fopen("/sd/option.txt","r");
taknokolat 12:083662bca47d 800
taknokolat 12:083662bca47d 801 if(fp != NULL){ //開けたら
taknokolat 12:083662bca47d 802 pc.printf("File was openned.\r\n");
taknokolat 12:083662bca47d 803 if(GetParameter(fp,paramNames[0],parameter)) *Servo_NEUTRAL_R = atof(parameter);
taknokolat 12:083662bca47d 804 else{ *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 805 SDerrorcount++;
taknokolat 12:083662bca47d 806 }
taknokolat 12:083662bca47d 807 if(GetParameter(fp,paramNames[1],parameter)) *Servo_NEUTRAL_L = atof(parameter);
taknokolat 12:083662bca47d 808 else{ *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 809 SDerrorcount++;
taknokolat 12:083662bca47d 810 }
taknokolat 12:083662bca47d 811 if(GetParameter(fp,paramNames[2],parameter)) *Servo_high_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 812 else{ *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 813 SDerrorcount++;
taknokolat 12:083662bca47d 814 }
taknokolat 12:083662bca47d 815 if(GetParameter(fp,paramNames[3],parameter)) *Servo_high_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 816 else{ *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 817 SDerrorcount++;
taknokolat 12:083662bca47d 818 }
taknokolat 12:083662bca47d 819 if(GetParameter(fp,paramNames[4],parameter)) *Servo_slow_FORWARD_R = atof(parameter);
taknokolat 12:083662bca47d 820 else{ *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 821 SDerrorcount++;
taknokolat 12:083662bca47d 822 }
taknokolat 12:083662bca47d 823 if(GetParameter(fp,paramNames[5],parameter)) *Servo_slow_FORWARD_L = atof(parameter);
taknokolat 12:083662bca47d 824 else{ *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 825 SDerrorcount++;
taknokolat 12:083662bca47d 826 }
taknokolat 12:083662bca47d 827
taknokolat 12:083662bca47d 828 if(GetParameter(fp,paramNames[6],parameter)) *Turntable_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 829 else{ *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 830 SDerrorcount++;
taknokolat 12:083662bca47d 831 }
taknokolat 12:083662bca47d 832 if(GetParameter(fp,paramNames[7],parameter)) *Matchspeed = atof(parameter);
taknokolat 12:083662bca47d 833 else{ *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 834 SDerrorcount++;
taknokolat 12:083662bca47d 835 }
taknokolat 12:083662bca47d 836 if(GetParameter(fp,paramNames[8],parameter)) *Focus_NEUTRAL = atof(parameter);
taknokolat 12:083662bca47d 837 else{ *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 838 SDerrorcount++;
taknokolat 12:083662bca47d 839 }
taknokolat 19:949bab1e9451 840 if(GetParameter(fp,paramNames[9],parameter)) *Camera_deg_A = atof(parameter);
taknokolat 12:083662bca47d 841 else{ *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 842 SDerrorcount++;
taknokolat 12:083662bca47d 843 }
taknokolat 19:949bab1e9451 844 if(GetParameter(fp,paramNames[10],parameter)) *Camera_deg_B = atof(parameter);
taknokolat 12:083662bca47d 845 else{ *Camera_deg_B = camera_deg_B;
taknokolat 12:083662bca47d 846 SDerrorcount++;
taknokolat 12:083662bca47d 847 }
taknokolat 19:949bab1e9451 848 if(GetParameter(fp,paramNames[11],parameter)) *Pint_speed = atof(parameter);
taknokolat 16:26cee2aaf61d 849 else{ *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 850 SDerrorcount++;
taknokolat 16:26cee2aaf61d 851 }
taknokolat 20:011977a37394 852 if(GetParameter(fp,paramNames[12],parameter)) *Pint_wait = atof(parameter);
taknokolat 20:011977a37394 853 else{ *Pint_wait = pint_wait;
taknokolat 16:26cee2aaf61d 854 SDerrorcount++;
taknokolat 16:26cee2aaf61d 855 }
taknokolat 19:949bab1e9451 856 if(GetParameter(fp,paramNames[13],parameter)) *Turntable_speed = atof(parameter);
HARUKIDELTA 17:83db05cab3d1 857 else{ *Turntable_speed = turntable_speed;
HARUKIDELTA 17:83db05cab3d1 858 SDerrorcount++;
HARUKIDELTA 17:83db05cab3d1 859 }
taknokolat 24:0ad1725c7849 860 if(GetParameter(fp,paramNames[14],parameter)) *Time360 = atof(parameter);
taknokolat 24:0ad1725c7849 861 else{ *Time360 = time360;
taknokolat 19:949bab1e9451 862 SDerrorcount++;
taknokolat 19:949bab1e9451 863 }
taknokolat 24:0ad1725c7849 864 if(GetParameter(fp,paramNames[15],parameter)) *Match_wid = atof(parameter);
taknokolat 24:0ad1725c7849 865 else{ *Match_wid = match_wid;
taknokolat 19:949bab1e9451 866 SDerrorcount++;
taknokolat 19:949bab1e9451 867 }
taknokolat 20:011977a37394 868 if(GetParameter(fp,paramNames[16],parameter)) *Camera_board_wait = atof(parameter);
taknokolat 20:011977a37394 869 else{ *Camera_board_wait = camera_board_wait;
taknokolat 20:011977a37394 870 SDerrorcount++;
taknokolat 20:011977a37394 871 }
taknokolat 12:083662bca47d 872 fclose(fp);
taknokolat 12:083662bca47d 873
taknokolat 12:083662bca47d 874 }else{ //ファイルがなかったら
taknokolat 12:083662bca47d 875 pc.printf("fp was null.\r\n");
taknokolat 12:083662bca47d 876
taknokolat 12:083662bca47d 877 *Servo_NEUTRAL_R = servo_NEUTRAL_R;
taknokolat 12:083662bca47d 878 *Servo_NEUTRAL_L = servo_NEUTRAL_L;
taknokolat 12:083662bca47d 879 *Servo_high_FORWARD_R = servo_high_FORWARD_R;
taknokolat 12:083662bca47d 880 *Servo_high_FORWARD_L = servo_high_FORWARD_L;
taknokolat 12:083662bca47d 881 *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
taknokolat 12:083662bca47d 882 *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
taknokolat 12:083662bca47d 883 *Turntable_NEUTRAL = turntable_NEUTRAL;
taknokolat 12:083662bca47d 884 *Matchspeed = matchspeed;
taknokolat 12:083662bca47d 885 *Focus_NEUTRAL = focus_NEUTRAL;
taknokolat 12:083662bca47d 886 *Camera_deg_A = camera_deg_A;
taknokolat 12:083662bca47d 887 *Camera_deg_B = camera_deg_B;
taknokolat 16:26cee2aaf61d 888 *Pint_speed = pint_speed;
taknokolat 16:26cee2aaf61d 889 *Pint_wait = pint_wait;
HARUKIDELTA 17:83db05cab3d1 890 *Turntable_speed = turntable_speed;
taknokolat 24:0ad1725c7849 891 *Time360 = time360;
taknokolat 24:0ad1725c7849 892 *Match_wid = match_wid;
taknokolat 22:a19be3b505b7 893 *Camera_board_wait = camera_board_wait;
taknokolat 12:083662bca47d 894 SDerrorcount = -1;
taknokolat 12:083662bca47d 895 }
taknokolat 12:083662bca47d 896 pc.printf("SDsetup finished.\r\n");
taknokolat 12:083662bca47d 897 if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
taknokolat 12:083662bca47d 898 else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
taknokolat 12:083662bca47d 899 else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
taknokolat 12:083662bca47d 900
taknokolat 12:083662bca47d 901 pc.printf("Servo_NEUTRAL_R = %d, Servo_NEUTRAL_L = %d\r\n", *Servo_NEUTRAL_R, *Servo_NEUTRAL_L);
taknokolat 13:b088f0db7158 902 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 903 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 904 pc.printf("Turntable_NEUTRAL = %d, Matchspeed = %d\r\n", *Turntable_NEUTRAL, *Matchspeed);
taknokolat 13:b088f0db7158 905 pc.printf("Focus_NEUTRAL = %d\r\n", *Focus_NEUTRAL);
taknokolat 13:b088f0db7158 906 pc.printf("Camera_deg_A = %d, Camera_deg_B = %d\r\n", *Camera_deg_A, *Camera_deg_B);
taknokolat 16:26cee2aaf61d 907 pc.printf("Pint_speed = %d, Pint_wait = %f\r\n", *Pint_speed, *Pint_wait);
HARUKIDELTA 17:83db05cab3d1 908 pc.printf("Turntable_speed = %d\r\n",*Turntable_speed);
taknokolat 24:0ad1725c7849 909 pc.printf("Time360 = %d, Match_wid = %d\r\n", *Time360, *Match_wid);
taknokolat 20:011977a37394 910 pc.printf("Camera_board_wait = %d\r\n", *Camera_board_wait);
taknokolat 12:083662bca47d 911
taknokolat 12:083662bca47d 912 return SDerrorcount;
taknokolat 12:083662bca47d 913 }
taknokolat 12:083662bca47d 914 int GetParameter(FILE *fp, const char *paramName,char parameter[]){
taknokolat 12:083662bca47d 915 int i=0, j=0;
taknokolat 12:083662bca47d 916 int strmax = 200;
taknokolat 12:083662bca47d 917 char str[strmax];
taknokolat 12:083662bca47d 918
taknokolat 12:083662bca47d 919 rewind(fp); //ファイル位置を先頭に
taknokolat 12:083662bca47d 920 while(1){
taknokolat 12:083662bca47d 921 if (fgets(str, strmax, fp) == NULL) {
taknokolat 12:083662bca47d 922 return 0;
taknokolat 12:083662bca47d 923 }
taknokolat 12:083662bca47d 924 if (!strncmp(str, paramName, strlen(paramName))) {
taknokolat 12:083662bca47d 925 while (str[i++] != '=') {}
taknokolat 12:083662bca47d 926 while (str[i] != '\n') {
taknokolat 12:083662bca47d 927 parameter[j++] = str[i++];
taknokolat 12:083662bca47d 928 }
taknokolat 12:083662bca47d 929 parameter[j] = '\0';
taknokolat 12:083662bca47d 930 return 1;
taknokolat 12:083662bca47d 931 }
taknokolat 12:083662bca47d 932 }
taknokolat 12:083662bca47d 933 }
taknokolat 12:083662bca47d 934
taknokolat 12:083662bca47d 935
taknokolat 6:166746820555 936
taknokolat 4:67f705d42f1e 937 void DebugPrint(){
taknokolat 4:67f705d42f1e 938 //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 939 //pc.printf("%3.2f\t",nowAngle[2]);
taknokolat 7:8989a4b84695 940 //pc.printf("%3.2f\t",nowAngle_HMC); //HMC
taknokolat 7:8989a4b84695 941 //pc.printf("\r\n");
taknokolat 6:166746820555 942 }