imano yuta
skipper_raspi_uart_test
Dependencies: mbed MPU6050_2 HMC5883L_4 SDFileSystem3
Diff: main.cpp
- Revision:
- 12:083662bca47d
- Parent:
- 11:d44d137831b9
- Child:
- 13:b088f0db7158
--- a/main.cpp Sun Feb 10 18:13:37 2019 +0000
+++ b/main.cpp Tue Feb 12 12:56:21 2019 +0000
@@ -1,23 +1,30 @@
#include "mbed.h"
#include "MPU6050_DMP6.h"
#include "HMC5883L.h"
+#include "SDFileSystem.h"
+#include "SkipperSv2.h"
+#include "falfalla.h"
//MPU_check用
#define PI 3.14159265358979
#define servo_NEUTRAL_R 1614
#define servo_NEUTRAL_L 1621
-#define servo_FORWARD_R 1860
-#define servo_FORWARD_L 1860
-#define servo_back_R 1060
-#define servo_back_L 1060
#define servo_slow_FORWARD_R 1560
#define servo_slow_FORWARD_L 1560
-#define servo_slow_back_R 1360
-#define servo_slow_back_L 1360
-#define TurnTable_NEUTRAL 1180 //カメラ台座のサーボ
-#define MatchSpeed 1500 + 100 //カメラと方向を合わせるときの車輪の速度
-#define Focus_NEUTRAL 1455 //焦点合わせ用サーボの最小値
+#define servo_low_FORWARD_R 1560 //RasPi速さ調節用
+#define servo_high_FORWARD_R 1860
+#define servo_low_FORWARD_L 1560
+#define servo_high_FORWARD_L 1860
+#define servo_low_back_R 1360
+#define servo_high_back_R 1160
+#define servo_low_back_L 1360
+#define servo_high_back_L 1160
+#define turntable_NEUTRAL 1180 //カメラ台座のサーボ
+#define matchspeed 1500 + 100 //カメラと方向を合わせるときの車輪の速度
+#define focus_NEUTRAL 1455 //焦点合わせ用サーボ
+#define camera_deg_A 1400 //カメラ角度調整
+#define camera_deg_B 1800
#define MOVE_NEUTRAL 0
#define MOVE_FORWARD 1
@@ -30,6 +37,19 @@
#define MAX_FORWARD 8 //はやい_姿勢修正用
#define MAX_BACK 9
+int Servo_NEUTRAL_R; //SDcard用宣言
+int Servo_NEUTRAL_L;
+int Servo_high_FORWARD_R;
+int Servo_high_FORWARD_L;
+int Servo_back_R;
+int Servo_back_L;
+int Servo_slow_FORWARD_R;
+int Servo_slow_FORWARD_L;
+int Turntable_NEUTRAL;
+int Matchspeed; //機体角度調整
+int Focus_NEUTRAL;//カメラ焦点
+int Camera_deg_A;//カメラ角度調整
+int Camera_deg_B;
void getSF_Serial_jevois();
void getSF_Serial_pi();
@@ -47,6 +67,16 @@
void MatchPosition();
void FocusAdjust();
+//sd設定
+int GetParameter(FILE *fp, const char *paramName,char parameter[]);
+
+int SetOptions(int Servo_NEUTRAL_R,int *Servo_NEUTRAL_L,
+ int *Servo_high_FORWARD_R,int *Servo_high_FORWARD_L,
+ int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
+ int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
+ int *Camera_deg_A, int *Camera_deg_B
+ );
+
static float nowAngle[3] = {0,0,0},nowAngle_HMC=0;
float FirstROLL = 0.0, FirstPITCH = 0.0 ,FirstYAW = 0.0,g_FirstYAW_HMC;
@@ -60,7 +90,7 @@
RawSerial pc(PA_2,PA_3,115200); //uart2
//pa2:UART2_TX,pa3:UART2_RX
-//RawSerial pc2(PB_6,PB_7,115200); //uart1
+RawSerial pc2(PA_11,PA_12,115200); //uart1
//pb6:UART1_TX,pb7:UART1_RX
//PWM pin宣言
@@ -71,7 +101,6 @@
PwmOut servoCameraPinto(PB_6); //TIM4_CH1 カメラピント合わせ
PwmOut servoCameramount(PA_6); //skipperウラ カメラマウント起動
PwmOut servoGetUP(PC_8); //skipperウラ 起き上がり動作
-PwmOut servoParachute(PA_11); //skipper USB端子より パラシュート切り離し
/*通信用のpinは
PA_3(UART2_Rx) skipperウラ
@@ -99,7 +128,7 @@
// シリアル通信受信の割り込みイベント登録
pc.attach(getSF_Serial_jevois, Serial::RxIrq);
- //pc2.attach(getSF_Serial_pi, Serial::RxIrq);
+ pc2.attach(getSF_Serial_pi, Serial::RxIrq);
while(1) {
if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn);
@@ -134,28 +163,30 @@
break;
case 'Y': //MOVE_FORWARD
- servoR.pulsewidth_us(servo_FORWARD_R);
- servoL.pulsewidth_us(servo_FORWARD_L);
+ servoR.pulsewidth_us(servo_high_FORWARD_R);
+ servoL.pulsewidth_us(servo_high_FORWARD_L);
//NVIC_EnableIRQ(USART1_IRQn);
//NVIC_EnableIRQ(USART2_IRQn);
break;
- case 'L': //MOVE_LEFT
- servoR.pulsewidth_us(servo_slow_FORWARD_R);
- servoL.pulsewidth_us(servo_slow_back_L);
+ case 'l': //MOVE_LEFT Low Speed
+ servoR.pulsewidth_us(servo_low_FORWARD_R);
+ //NVIC_EnableIRQ(USART1_IRQn);
+ //NVIC_EnableIRQ(USART2_IRQn);
+
+ case 'L': //MOVE_LEFT High Speed
+ servoR.pulsewidth_us(servo_high_FORWARD_R);
//NVIC_EnableIRQ(USART1_IRQn);
//NVIC_EnableIRQ(USART2_IRQn);
- case 'R': //MOVE_RIGHT
- servoR.pulsewidth_us(servo_slow_back_R);
- servoL.pulsewidth_us(servo_slow_FORWARD_L);
+ case 'r': //MOVE_RIGHT Low Speed
+ servoL.pulsewidth_us(servo_low_FORWARD_L);
//NVIC_EnableIRQ(USART1_IRQn);
//NVIC_EnableIRQ(USART2_IRQn);
break;
-
- case 'B': //MOVE_BACK
- servoR.pulsewidth_us(servo_back_R);
- servoL.pulsewidth_us(servo_back_L);
+
+ case 'R': //MOVE_RIGHT High Speed
+ servoL.pulsewidth_us(servo_high_FORWARD_L);
//NVIC_EnableIRQ(USART1_IRQn);
//NVIC_EnableIRQ(USART2_IRQn);
break;
@@ -166,10 +197,50 @@
//NVIC_EnableIRQ(USART1_IRQn);
//NVIC_EnableIRQ(USART2_IRQn);
break;
+
+ case '1': //MOVE_FORWARD Speed Level 1
+ servoR.pulsewidth_us(servo_high_FORWARD_R);
+ servoL.pulsewidth_us(servo_high_FORWARD_L);
+ //NVIC_EnableIRQ(USART1_IRQn);
+ wait(1);
+ do{
+ }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
+ //NVIC_EnableIRQ(USART2_IRQn);
+ break;
+
+ case '2': //MOVE_FORWARD Speed Level 2
+ servoR.pulsewidth_us(servo_high_FORWARD_R);
+ servoL.pulsewidth_us(servo_high_FORWARD_L);
+ //NVIC_EnableIRQ(USART1_IRQn);
+ wait(2);
+ do{
+ }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
+ //NVIC_EnableIRQ(USART2_IRQn);
+ break;
+
+ case '3': //MOVE_FORWARD Speed Level 3
+ servoR.pulsewidth_us(servo_high_FORWARD_R);
+ servoL.pulsewidth_us(servo_high_FORWARD_L);
+ //NVIC_EnableIRQ(USART1_IRQn);
+ wait(3);
+ do{
+ }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
+ //NVIC_EnableIRQ(USART2_IRQn);
+ break;
+
+ case '4': //MOVE_FORWARD Speed Level 4
+ servoR.pulsewidth_us(servo_high_FORWARD_R);
+ servoL.pulsewidth_us(servo_high_FORWARD_L);
+ //NVIC_EnableIRQ(USART1_IRQn);
+ wait(4);
+ do{
+ }while((nowAngle[PITCH]<20&&nowAngle[PITCH]>-20)&&(nowAngle[ROLL]<20&&nowAngle[ROLL]>-20));
+ //NVIC_EnableIRQ(USART2_IRQn);
+ break;
- case 'J': //MOVE_FORWARD Tim
- servoR.pulsewidth_us(servo_FORWARD_R);
- servoL.pulsewidth_us(servo_FORWARD_L);
+ case '5': //MOVE_FORWARD Speed Level 5
+ servoR.pulsewidth_us(servo_high_FORWARD_R);
+ servoL.pulsewidth_us(servo_high_FORWARD_L);
//NVIC_EnableIRQ(USART1_IRQn);
wait(5);
do{
@@ -178,15 +249,19 @@
break;
case 'M': //MatchPosition
- servoR.pulsewidth_us(MatchSpeed);
+ servoR.pulsewidth_us(matchspeed);
//NVIC_EnableIRQ(USART1_IRQn);
//NVIC_EnableIRQ(USART2_IRQn);
break;
- case 'T': //jevoisからraspberry piへの切り替え
+ case 'P': //jevoisからraspberry piへの切り替え
jevoisFlag = false;
//NVIC_EnableIRQ(USART2_IRQn);
break;
+
+ case 'S':
+ /*RasPiからの超音波判定(プログラムスタート部)*/
+ break;
default :
//NVIC_EnableIRQ(USART1_IRQn);
@@ -203,7 +278,7 @@
g_landingcommand='N';
servoTurnTable.pulsewidth_us(1800);
wait_ms(600);
- servoTurnTable.pulsewidth_us(TurnTable_NEUTRAL);
+ servoTurnTable.pulsewidth_us(turntable_NEUTRAL);
if(jevoisFlag == true) FocusAdjust();
else wait(1);
@@ -295,7 +370,7 @@
}
-/*void getSF_Serial_pi(){
+void getSF_Serial_pi(){
//NVIC_DisableIRQ(USART2_IRQn);
@@ -342,11 +417,18 @@
//NVIC_EnableIRQ(USART2_IRQn);
-}*/
+}
void setup(){
+ /*SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L,
+ &Servo_high_FORWARD_R, &Servo_high_FORWARD_L,
+ &Servo_slow_FORWARD_R,&Servo_slow_FORWARD_L,
+ &Turntable_NEUTRAL,&Matchspeed,&Focus_NEUTRAL,
+ &Camera_deg_A, &Camera_deg_B
+ );*/
+
Init_sensors();
//switch2.rise(ResetTrim);
@@ -501,6 +583,138 @@
flg_checkoutlier = false;
}
+
+int SetOptions(int *Servo_NEUTRAL_R, int *Servo_NEUTRAL_L,
+ int *Servo_high_FORWARD_R, int *Servo_high_FORWARD_L,
+ int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L,
+ int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL,
+ int *Camera_deg_A, int *Camera_deg_B
+ ){
+
+ pc.printf("SDsetup start.\r\n");
+
+ FILE *fp;
+ char parameter[20]; //文字列渡す用の配列
+ int SDerrorcount = 0; //取得できなかった数を返す
+ const char *paramNames[] = {
+ "SERVO_NEUTRAL_R",
+ "SERVO_NEUTRAL_L",
+ "SERVO_HIGH_FORWARD_R",
+ "SERVO_HIGH_FORWARD_L",
+ "SERVO_SLOW_FORWARD_R",
+ "SERVO_SLOW_FORWARD_L",
+ "TURNTABLE_NEUTRAL",
+ "MATCH_SPEED",
+ "FOCUS_NEUTRAL",
+ "CAMERA_DEG_A",
+ "CAMERA_DEG_B"
+ };
+
+ fp = fopen("/sd/option.txt","r");
+
+ if(fp != NULL){ //開けたら
+ pc.printf("File was openned.\r\n");
+ if(GetParameter(fp,paramNames[0],parameter)) *Servo_NEUTRAL_R = atof(parameter);
+ else{ *Servo_NEUTRAL_R = servo_NEUTRAL_R;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[1],parameter)) *Servo_NEUTRAL_L = atof(parameter);
+ else{ *Servo_NEUTRAL_L = servo_NEUTRAL_L;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[2],parameter)) *Servo_high_FORWARD_R = atof(parameter);
+ else{ *Servo_high_FORWARD_R = servo_high_FORWARD_R;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[3],parameter)) *Servo_high_FORWARD_L = atof(parameter);
+ else{ *Servo_high_FORWARD_L = servo_high_FORWARD_L;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[4],parameter)) *Servo_slow_FORWARD_R = atof(parameter);
+ else{ *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[5],parameter)) *Servo_slow_FORWARD_L = atof(parameter);
+ else{ *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
+ SDerrorcount++;
+ }
+
+ if(GetParameter(fp,paramNames[6],parameter)) *Turntable_NEUTRAL = atof(parameter);
+ else{ *Turntable_NEUTRAL = turntable_NEUTRAL;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[7],parameter)) *Matchspeed = atof(parameter);
+ else{ *Matchspeed = matchspeed;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[8],parameter)) *Focus_NEUTRAL = atof(parameter);
+ else{ *Focus_NEUTRAL = focus_NEUTRAL;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[9],parameter)) *Camera_deg_A = atof(parameter);
+ else{ *Camera_deg_A = camera_deg_A;
+ SDerrorcount++;
+ }
+ if(GetParameter(fp,paramNames[10],parameter)) *Camera_deg_B = atof(parameter);
+ else{ *Camera_deg_B = camera_deg_B;
+ SDerrorcount++;
+ }
+
+ fclose(fp);
+
+ }else{ //ファイルがなかったら
+ pc.printf("fp was null.\r\n");
+
+ *Servo_NEUTRAL_R = servo_NEUTRAL_R;
+ *Servo_NEUTRAL_L = servo_NEUTRAL_L;
+ *Servo_high_FORWARD_R = servo_high_FORWARD_R;
+ *Servo_high_FORWARD_L = servo_high_FORWARD_L;
+ *Servo_slow_FORWARD_R = servo_slow_FORWARD_R;
+ *Servo_slow_FORWARD_L = servo_slow_FORWARD_L;
+ *Turntable_NEUTRAL = turntable_NEUTRAL;
+ *Matchspeed = matchspeed;
+ *Focus_NEUTRAL = focus_NEUTRAL;
+ *Camera_deg_A = camera_deg_A;
+ *Camera_deg_B = camera_deg_B;
+ SDerrorcount = -1;
+ }
+ pc.printf("SDsetup finished.\r\n");
+ if(SDerrorcount == 0) pc.printf("setting option is success\r\n");
+ else if(SDerrorcount == -1) pc.printf("ERROR 1. cannot open option\r\n");
+ else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount);
+
+ pc.printf("Servo_NEUTRAL_R = %d, Servo_NEUTRAL_L = %d\r\n", *Servo_NEUTRAL_R, *Servo_NEUTRAL_L);
+ pc.printf("Servo_high_FORWARD_R = %d, Servo_high_FORWARD_L = %d, kdRUD = %f\r\n", *Servo_high_FORWARD_R, *Servo_high_FORWARD_L);
+ pc.printf("Servo_slow_FORWARD_R = %f, Servo_slow_FORWARD_L = %f\r\n", *Servo_slow_FORWARD_R, *Servo_slow_FORWARD_L);
+ pc.printf("Turntable_NEUTRAL = %f, Matchspeed = %f\r\n", *Turntable_NEUTRAL, *Matchspeed);
+ pc.printf("Focus_NEUTRAL = %fr\n", *Focus_NEUTRAL);
+ pc.printf("Camera_deg_A = %f, Camera_deg_B = %f\r\n", *Camera_deg_A, *Camera_deg_B);
+
+ return SDerrorcount;
+}
+
+int GetParameter(FILE *fp, const char *paramName,char parameter[]){
+ int i=0, j=0;
+ int strmax = 200;
+ char str[strmax];
+
+ rewind(fp); //ファイル位置を先頭に
+ while(1){
+ if (fgets(str, strmax, fp) == NULL) {
+ return 0;
+ }
+ if (!strncmp(str, paramName, strlen(paramName))) {
+ while (str[i++] != '=') {}
+ while (str[i] != '\n') {
+ parameter[j++] = str[i++];
+ }
+ parameter[j] = '\0';
+ return 1;
+ }
+ }
+}
+
+
void DebugPrint(){
//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