lee sanghun / Mbed 2 deprecated 2020_07_28_10_41

test4

Dependencies:   mbed BufferedSerial LS7366LIB2 FastPWM

pc_serial.h@4:bf278ddb8504, 2020-12-08 (annotated)

Committer:
lsh3146
Date:
Tue Dec 08 01:25:06 2020 +0000
Revision:
4:bf278ddb8504
Parent:
2:14b52dee1c35 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
gohgwaja 0:7cff999a7f5c 1 #ifndef _PC_SERIAL_H_
gohgwaja 0:7cff999a7f5c 2 #define _PC_SERIAL_H_
gohgwaja 0:7cff999a7f5c 3
gohgwaja 0:7cff999a7f5c 4 #define debug1 0
gohgwaja 0:7cff999a7f5c 5 #define debug2 0
gohgwaja 0:7cff999a7f5c 6 #define Start_com 1
gohgwaja 0:7cff999a7f5c 7
gohgwaja 0:7cff999a7f5c 8 Serial pc(USBTX, USBRX);
gohgwaja 0:7cff999a7f5c 9
gohgwaja 0:7cff999a7f5c 10 char check_pitch[6];
gohgwaja 0:7cff999a7f5c 11 char rx_buffer[100]={0,};
lsh3146 4:bf278ddb8504 12 char command[100]="Start32768,32768,32768,32768,32768,32768\n";
gohgwaja 0:7cff999a7f5c 13 char tx_buffer[100]="txdat32768,32768,32768,32768,32768,32768\n";
gohgwaja 0:7cff999a7f5c 14 int tx_index = 0;
gohgwaja 0:7cff999a7f5c 15 int rx_index = 0;
gohgwaja 0:7cff999a7f5c 16 bool rx_flag = false;
gohgwaja 0:7cff999a7f5c 17
gohgwaja 0:7cff999a7f5c 18 long data_recive=0;
gohgwaja 0:7cff999a7f5c 19
gohgwaja 0:7cff999a7f5c 20 long bool_cnt=0;
gohgwaja 0:7cff999a7f5c 21
gohgwaja 0:7cff999a7f5c 22 double set_data[100] = {0x00, };
gohgwaja 0:7cff999a7f5c 23
lsh3146 4:bf278ddb8504 24 unsigned int cmd_roll=32768;
lsh3146 4:bf278ddb8504 25 unsigned int cmd_pitch=32768;
lsh3146 4:bf278ddb8504 26 unsigned int cmd_heave=32768;
lsh3146 4:bf278ddb8504 27 unsigned int cmd_sway=32768;
lsh3146 4:bf278ddb8504 28 unsigned int cmd_surge=32768;
lsh3146 4:bf278ddb8504 29 unsigned int cmd_yaw=32768;
lsh3146 4:bf278ddb8504 30
lsh3146 4:bf278ddb8504 31 unsigned int A_ex_cmd_roll=32768;
lsh3146 4:bf278ddb8504 32 unsigned int A_ex_cmd_pitch=32768;
lsh3146 4:bf278ddb8504 33 unsigned int A_ex_cmd_heave=32768;
lsh3146 4:bf278ddb8504 34 unsigned int A_ex_cmd_sway=32768;
lsh3146 4:bf278ddb8504 35 unsigned int A_ex_cmd_surge=32768;
lsh3146 4:bf278ddb8504 36 unsigned int A_ex_cmd_yaw=32768;
gohgwaja 0:7cff999a7f5c 37
gohgwaja 0:7cff999a7f5c 38 void Start_Command();
gohgwaja 0:7cff999a7f5c 39 void Set_Arrangement();
gohgwaja 0:7cff999a7f5c 40
gohgwaja 0:7cff999a7f5c 41 bool data_error_check();
gohgwaja 0:7cff999a7f5c 42 void char_save_arr(char c);
gohgwaja 0:7cff999a7f5c 43 //void Rx_Interrupt();
gohgwaja 0:7cff999a7f5c 44 void READ_and_SAVE();
gohgwaja 0:7cff999a7f5c 45 void Serial_Init();
gohgwaja 0:7cff999a7f5c 46 void Rx_Buffer_Clear();
gohgwaja 0:7cff999a7f5c 47
gohgwaja 0:7cff999a7f5c 48
gohgwaja 0:7cff999a7f5c 49
gohgwaja 0:7cff999a7f5c 50 void comunication()
gohgwaja 0:7cff999a7f5c 51 {
gohgwaja 0:7cff999a7f5c 52
gohgwaja 0:7cff999a7f5c 53
gohgwaja 0:7cff999a7f5c 54 for(int i=0;i<6;i++)
gohgwaja 0:7cff999a7f5c 55 {
gohgwaja 0:7cff999a7f5c 56 Speed_Pgain[i]=set_data[(i+1)*10+0];
gohgwaja 0:7cff999a7f5c 57 Speed_Igain[i]=set_data[(i+1)*10+1];
gohgwaja 0:7cff999a7f5c 58 position_Pgain[i]=set_data[(i+1)*10+2];
gohgwaja 0:7cff999a7f5c 59 Position_input_filter[i]=set_data[(i+1)*10+3];
gohgwaja 0:7cff999a7f5c 60 Speed_I_input_filter[i]=set_data[(i+1)*10+4];
gohgwaja 0:7cff999a7f5c 61 offset[i]=set_data[(i+1)*10+5];
gohgwaja 0:7cff999a7f5c 62 }
gohgwaja 0:7cff999a7f5c 63
gohgwaja 0:7cff999a7f5c 64
gohgwaja 0:7cff999a7f5c 65 READ_and_SAVE();
gohgwaja 0:7cff999a7f5c 66 //pc.printf("%s,",command);
gohgwaja 0:7cff999a7f5c 67 Set_Arrangement();
gohgwaja 0:7cff999a7f5c 68 Start_Command();
gohgwaja 0:7cff999a7f5c 69
gohgwaja 0:7cff999a7f5c 70 }
gohgwaja 0:7cff999a7f5c 71
gohgwaja 0:7cff999a7f5c 72 void Start_Command()
gohgwaja 0:7cff999a7f5c 73 {
gohgwaja 0:7cff999a7f5c 74 bool com_error=false;
gohgwaja 0:7cff999a7f5c 75
gohgwaja 0:7cff999a7f5c 76 unsigned int temp=0;
gohgwaja 0:7cff999a7f5c 77
gohgwaja 0:7cff999a7f5c 78 unsigned int data1=32768;
gohgwaja 0:7cff999a7f5c 79 unsigned int data2=32768;
gohgwaja 0:7cff999a7f5c 80 unsigned int data3=32768;
gohgwaja 0:7cff999a7f5c 81 unsigned int data4=32768;
gohgwaja 0:7cff999a7f5c 82 unsigned int data5=32768;
gohgwaja 0:7cff999a7f5c 83 unsigned int data6=32768;
gohgwaja 0:7cff999a7f5c 84
gohgwaja 0:7cff999a7f5c 85 com_error=data_error_check();
gohgwaja 0:7cff999a7f5c 86
gohgwaja 0:7cff999a7f5c 87 if(com_error==false)
gohgwaja 0:7cff999a7f5c 88 if((command[0] == 'S') && (command[1] == 't') && (command[2] == 'a') && (command[3] == 'r') && (command[4] == 't'))
gohgwaja 0:7cff999a7f5c 89 {
gohgwaja 0:7cff999a7f5c 90
gohgwaja 0:7cff999a7f5c 91 int num=0;
gohgwaja 0:7cff999a7f5c 92 for(int i=5; i<100;i++)
gohgwaja 0:7cff999a7f5c 93 {
gohgwaja 0:7cff999a7f5c 94
gohgwaja 0:7cff999a7f5c 95 if(command[i]==',')
gohgwaja 0:7cff999a7f5c 96 {
gohgwaja 0:7cff999a7f5c 97 if(num==0)
gohgwaja 0:7cff999a7f5c 98 data1=temp;
gohgwaja 0:7cff999a7f5c 99 if(num==1)
gohgwaja 0:7cff999a7f5c 100 data2=temp;
gohgwaja 0:7cff999a7f5c 101 if(num==2)
gohgwaja 0:7cff999a7f5c 102 data3=temp;
gohgwaja 0:7cff999a7f5c 103 if(num==3)
gohgwaja 0:7cff999a7f5c 104 data4=temp;
gohgwaja 0:7cff999a7f5c 105 if(num==4)
gohgwaja 0:7cff999a7f5c 106 data5=temp;
gohgwaja 0:7cff999a7f5c 107
gohgwaja 0:7cff999a7f5c 108 temp=0;
gohgwaja 0:7cff999a7f5c 109 num++;
gohgwaja 0:7cff999a7f5c 110 }
gohgwaja 0:7cff999a7f5c 111 else if(command[i]=='\n')
gohgwaja 0:7cff999a7f5c 112 {
gohgwaja 0:7cff999a7f5c 113 if(num==5)
gohgwaja 0:7cff999a7f5c 114 data6=temp;
gohgwaja 0:7cff999a7f5c 115 }else
gohgwaja 0:7cff999a7f5c 116 temp=temp*10+command[i]-0x30;
gohgwaja 0:7cff999a7f5c 117 }
gohgwaja 0:7cff999a7f5c 118
gohgwaja 0:7cff999a7f5c 119 cmd_roll = data1;
gohgwaja 0:7cff999a7f5c 120 cmd_pitch = data2;
gohgwaja 0:7cff999a7f5c 121 cmd_heave = data3;
gohgwaja 0:7cff999a7f5c 122 cmd_sway = data4;
gohgwaja 0:7cff999a7f5c 123 cmd_surge = data5;
gohgwaja 0:7cff999a7f5c 124 cmd_yaw = data6;
gohgwaja 0:7cff999a7f5c 125
lsh3146 4:bf278ddb8504 126 idle_check(cmd_roll,cmd_pitch,cmd_heave,cmd_sway,cmd_surge,cmd_yaw);
lsh3146 4:bf278ddb8504 127
lsh3146 4:bf278ddb8504 128
gohgwaja 0:7cff999a7f5c 129 /*
gohgwaja 0:7cff999a7f5c 130 pc.printf("%d,",cmd_roll);
gohgwaja 0:7cff999a7f5c 131 pc.printf("%d,",cmd_pitch);
gohgwaja 0:7cff999a7f5c 132 pc.printf("%d,",cmd_heave);
gohgwaja 0:7cff999a7f5c 133 pc.printf("%d,",cmd_sway);
gohgwaja 0:7cff999a7f5c 134 pc.printf("%d,",cmd_surge);
gohgwaja 0:7cff999a7f5c 135 pc.printf("%d,",cmd_yaw);
gohgwaja 0:7cff999a7f5c 136 pc.printf("\n");
gohgwaja 0:7cff999a7f5c 137 */
gohgwaja 0:7cff999a7f5c 138 }
gohgwaja 0:7cff999a7f5c 139
gohgwaja 0:7cff999a7f5c 140 }
gohgwaja 0:7cff999a7f5c 141
gohgwaja 0:7cff999a7f5c 142 bool data_error_check() // ,아스키코드 44 숫자 아스키코드 0x30, 0x39
gohgwaja 0:7cff999a7f5c 143 {
gohgwaja 0:7cff999a7f5c 144 bool error=false;
gohgwaja 0:7cff999a7f5c 145
gohgwaja 0:7cff999a7f5c 146
gohgwaja 0:7cff999a7f5c 147 if(!((command[0] == 'S') && (command[1] == 't') && (command[2] == 'a') && (command[3] == 'r') && (command[4] == 't')))
gohgwaja 0:7cff999a7f5c 148 error=true;
gohgwaja 0:7cff999a7f5c 149
gohgwaja 0:7cff999a7f5c 150 for(int i=5; i<41;i++)
gohgwaja 0:7cff999a7f5c 151 {
gohgwaja 0:7cff999a7f5c 152 if( command[i]>0x39 || command[i]<0x30 )
gohgwaja 0:7cff999a7f5c 153 {
gohgwaja 0:7cff999a7f5c 154 if((command[i]=='\n'))
gohgwaja 0:7cff999a7f5c 155 break;
gohgwaja 0:7cff999a7f5c 156
gohgwaja 0:7cff999a7f5c 157 if(!(command[i]==0x2C))
gohgwaja 0:7cff999a7f5c 158 {
gohgwaja 0:7cff999a7f5c 159 error=true;
gohgwaja 0:7cff999a7f5c 160 break;
gohgwaja 0:7cff999a7f5c 161 }
gohgwaja 0:7cff999a7f5c 162 }
gohgwaja 0:7cff999a7f5c 163 }
gohgwaja 0:7cff999a7f5c 164
gohgwaja 0:7cff999a7f5c 165 for(int i=41;i<100;i++)
gohgwaja 0:7cff999a7f5c 166 {
gohgwaja 0:7cff999a7f5c 167 if(command[i]!=0)
gohgwaja 0:7cff999a7f5c 168 error=true;
gohgwaja 0:7cff999a7f5c 169 break;
gohgwaja 0:7cff999a7f5c 170 }
gohgwaja 0:7cff999a7f5c 171
gohgwaja 0:7cff999a7f5c 172 for(int i=0;i<17;i++)
gohgwaja 0:7cff999a7f5c 173 {
gohgwaja 0:7cff999a7f5c 174 if(command[i]==0)
gohgwaja 0:7cff999a7f5c 175 error=true;
gohgwaja 0:7cff999a7f5c 176 break;
gohgwaja 0:7cff999a7f5c 177 }
gohgwaja 0:7cff999a7f5c 178
gohgwaja 0:7cff999a7f5c 179 return error;
gohgwaja 0:7cff999a7f5c 180 }
gohgwaja 0:7cff999a7f5c 181
gohgwaja 0:7cff999a7f5c 182
gohgwaja 0:7cff999a7f5c 183 // Set arrangement function
gohgwaja 0:7cff999a7f5c 184 void Set_Arrangement()
gohgwaja 0:7cff999a7f5c 185 {
gohgwaja 0:7cff999a7f5c 186 bool set_error = false;
gohgwaja 0:7cff999a7f5c 187 bool set_point = false;
gohgwaja 0:7cff999a7f5c 188 int set_index = 0;
gohgwaja 0:7cff999a7f5c 189 double set_num = 0;
gohgwaja 0:7cff999a7f5c 190 double square_root = 0.1;
gohgwaja 0:7cff999a7f5c 191
gohgwaja 0:7cff999a7f5c 192 if((command[0] == 'S') && (command[1] == 'E') && (command[2] == 'T') && (command[5] == '='))
gohgwaja 0:7cff999a7f5c 193 {
gohgwaja 0:7cff999a7f5c 194 for(int i = 3; i < 5; i++)
gohgwaja 0:7cff999a7f5c 195 {
gohgwaja 0:7cff999a7f5c 196 if(command[i] < '0' || command[i] > '9')
gohgwaja 0:7cff999a7f5c 197 {
gohgwaja 0:7cff999a7f5c 198 set_error = true;
gohgwaja 0:7cff999a7f5c 199 break;
gohgwaja 0:7cff999a7f5c 200 }
gohgwaja 0:7cff999a7f5c 201 }
gohgwaja 0:7cff999a7f5c 202 if(set_error == false)
gohgwaja 0:7cff999a7f5c 203 {
gohgwaja 0:7cff999a7f5c 204 set_index = ((command[3] - 0x30) * 10) + (command[4] - 0x30);
gohgwaja 0:7cff999a7f5c 205
gohgwaja 0:7cff999a7f5c 206 for(int i = 6; i < 100; i++)
gohgwaja 0:7cff999a7f5c 207 {
gohgwaja 0:7cff999a7f5c 208 // Error check
gohgwaja 0:7cff999a7f5c 209 if(command[i] != '.' && (command[i] < '0' || command[i] > '9'))
gohgwaja 0:7cff999a7f5c 210 {
gohgwaja 0:7cff999a7f5c 211 if(command[i] != '\n')
gohgwaja 0:7cff999a7f5c 212 {
gohgwaja 0:7cff999a7f5c 213 set_error = true;
gohgwaja 0:7cff999a7f5c 214 }
gohgwaja 0:7cff999a7f5c 215 break;
gohgwaja 0:7cff999a7f5c 216 }
gohgwaja 0:7cff999a7f5c 217
gohgwaja 0:7cff999a7f5c 218 // Operation source
gohgwaja 0:7cff999a7f5c 219 else if(command[i] == '.' && set_point == false)
gohgwaja 0:7cff999a7f5c 220 {
gohgwaja 0:7cff999a7f5c 221 set_point = true;
gohgwaja 0:7cff999a7f5c 222 }
gohgwaja 0:7cff999a7f5c 223 else if(set_point == false)
gohgwaja 0:7cff999a7f5c 224 {
gohgwaja 0:7cff999a7f5c 225 set_num = (set_num * 10) + (command[i] - 0x30);
gohgwaja 0:7cff999a7f5c 226 }
gohgwaja 0:7cff999a7f5c 227 else if(set_point == true)
gohgwaja 0:7cff999a7f5c 228 {
gohgwaja 0:7cff999a7f5c 229 set_num = set_num + ((command[i] - 0x30) * square_root);
gohgwaja 0:7cff999a7f5c 230 square_root = square_root * 0.1;
gohgwaja 0:7cff999a7f5c 231 }
gohgwaja 0:7cff999a7f5c 232 }
gohgwaja 0:7cff999a7f5c 233 }
gohgwaja 0:7cff999a7f5c 234 if((set_error == false) && (set_data[set_index] != set_num))
gohgwaja 0:7cff999a7f5c 235 {
gohgwaja 0:7cff999a7f5c 236 set_data[set_index] = set_num;
gohgwaja 0:7cff999a7f5c 237 Erase_Flash();
gohgwaja 0:7cff999a7f5c 238 Write_Flash('F');
gohgwaja 0:7cff999a7f5c 239 Write_Flash('L');
gohgwaja 0:7cff999a7f5c 240 Write_Flash('A');
gohgwaja 0:7cff999a7f5c 241 Write_Flash('S');
gohgwaja 0:7cff999a7f5c 242 Write_Flash('H');
gohgwaja 0:7cff999a7f5c 243 for(int i = 0; i < 100; i++)
gohgwaja 0:7cff999a7f5c 244 {
gohgwaja 0:7cff999a7f5c 245 Write_Flash((uint32_t)set_data[i]);
gohgwaja 0:7cff999a7f5c 246 }
gohgwaja 0:7cff999a7f5c 247 pc.printf("SET%02d=%10.5f\n",set_index,set_data[set_index]);
gohgwaja 0:7cff999a7f5c 248 }
gohgwaja 0:7cff999a7f5c 249 }
gohgwaja 0:7cff999a7f5c 250
gohgwaja 0:7cff999a7f5c 251 }
gohgwaja 0:7cff999a7f5c 252
gohgwaja 0:7cff999a7f5c 253
gohgwaja 0:7cff999a7f5c 254 bool tx_done=false;
gohgwaja 0:7cff999a7f5c 255 void READ_and_SAVE()
gohgwaja 0:7cff999a7f5c 256 {
gohgwaja 0:7cff999a7f5c 257
gohgwaja 0:7cff999a7f5c 258 at_spi_cs = 1;
gohgwaja 0:7cff999a7f5c 259 char c;
gohgwaja 0:7cff999a7f5c 260 tx_done=false;
gohgwaja 0:7cff999a7f5c 261 for(int i=0; i<64; i++)
gohgwaja 0:7cff999a7f5c 262 {
gohgwaja 0:7cff999a7f5c 263 wait_us(20);
gohgwaja 0:7cff999a7f5c 264 c = spi1.write(255);
gohgwaja 0:7cff999a7f5c 265
gohgwaja 0:7cff999a7f5c 266 if(c==255)
gohgwaja 0:7cff999a7f5c 267 {
gohgwaja 0:7cff999a7f5c 268 break;
gohgwaja 0:7cff999a7f5c 269 }
gohgwaja 0:7cff999a7f5c 270 else
gohgwaja 0:7cff999a7f5c 271 {
gohgwaja 0:7cff999a7f5c 272 //pc.printf("%d\r\n",c);
gohgwaja 0:7cff999a7f5c 273 char_save_arr(c);
gohgwaja 0:7cff999a7f5c 274 }
gohgwaja 0:7cff999a7f5c 275 }
gohgwaja 0:7cff999a7f5c 276 at_spi_cs = 0;
gohgwaja 0:7cff999a7f5c 277
gohgwaja 0:7cff999a7f5c 278 }
gohgwaja 0:7cff999a7f5c 279
gohgwaja 0:7cff999a7f5c 280
gohgwaja 0:7cff999a7f5c 281 void char_save_arr(char c)
gohgwaja 0:7cff999a7f5c 282 {
gohgwaja 0:7cff999a7f5c 283 rx_buffer[rx_index]=c;
gohgwaja 0:7cff999a7f5c 284 rx_index++;
gohgwaja 0:7cff999a7f5c 285 if(rx_index>99)
gohgwaja 0:7cff999a7f5c 286 rx_index=99;
gohgwaja 0:7cff999a7f5c 287 if(c=='\n')
gohgwaja 0:7cff999a7f5c 288 {
gohgwaja 0:7cff999a7f5c 289 data_recive++;
gohgwaja 0:7cff999a7f5c 290 for(int i =0; i<100;i++)
gohgwaja 0:7cff999a7f5c 291 command[i]=rx_buffer[i];
gohgwaja 0:7cff999a7f5c 292
gohgwaja 0:7cff999a7f5c 293 Rx_Buffer_Clear();
gohgwaja 0:7cff999a7f5c 294 }
gohgwaja 0:7cff999a7f5c 295 }
gohgwaja 0:7cff999a7f5c 296
gohgwaja 0:7cff999a7f5c 297
gohgwaja 0:7cff999a7f5c 298
gohgwaja 0:7cff999a7f5c 299
gohgwaja 0:7cff999a7f5c 300 // Interrupt functions
gohgwaja 0:7cff999a7f5c 301 /*
gohgwaja 0:7cff999a7f5c 302 void Rx_Interrupt()
gohgwaja 0:7cff999a7f5c 303 {
gohgwaja 0:7cff999a7f5c 304 if(pc.readable())
gohgwaja 0:7cff999a7f5c 305 {
gohgwaja 0:7cff999a7f5c 306 char c = pc.getc();
gohgwaja 0:7cff999a7f5c 307 rx_buffer[rx_index] = c;
gohgwaja 0:7cff999a7f5c 308 if(rx_buffer[rx_index] == '\n')
gohgwaja 0:7cff999a7f5c 309 {
gohgwaja 0:7cff999a7f5c 310 rx_flag = true;
gohgwaja 0:7cff999a7f5c 311 }
gohgwaja 0:7cff999a7f5c 312 rx_index++;
gohgwaja 0:7cff999a7f5c 313 if(rx_index > 99)
gohgwaja 0:7cff999a7f5c 314 {
gohgwaja 0:7cff999a7f5c 315 rx_index = 99;
gohgwaja 0:7cff999a7f5c 316 }
gohgwaja 0:7cff999a7f5c 317 }
gohgwaja 0:7cff999a7f5c 318 return;
gohgwaja 0:7cff999a7f5c 319 }
gohgwaja 0:7cff999a7f5c 320 */
gohgwaja 0:7cff999a7f5c 321 // Basic serial communication functions
gohgwaja 0:7cff999a7f5c 322
gohgwaja 0:7cff999a7f5c 323 void Serial_Init()
gohgwaja 0:7cff999a7f5c 324 {
gohgwaja 0:7cff999a7f5c 325 pc.format(8, Serial::None, 1);
gohgwaja 0:7cff999a7f5c 326 pc.baud(500000);
gohgwaja 0:7cff999a7f5c 327
gohgwaja 0:7cff999a7f5c 328 //pc2.format(8, Serial::None, 1);
gohgwaja 0:7cff999a7f5c 329 //pc2.baud(115200);
gohgwaja 0:7cff999a7f5c 330 //pc.attach(&Rx_Interrupt, Serial::RxIrq);
gohgwaja 0:7cff999a7f5c 331 }
gohgwaja 0:7cff999a7f5c 332
gohgwaja 0:7cff999a7f5c 333
gohgwaja 0:7cff999a7f5c 334 void Rx_Buffer_Clear()
gohgwaja 0:7cff999a7f5c 335 {
gohgwaja 0:7cff999a7f5c 336 for(int i = 0; i < 100; i++)
gohgwaja 0:7cff999a7f5c 337 {
gohgwaja 0:7cff999a7f5c 338 rx_buffer[i] = 0x00;
gohgwaja 0:7cff999a7f5c 339 }
gohgwaja 0:7cff999a7f5c 340 rx_index=0;
gohgwaja 0:7cff999a7f5c 341 }
gohgwaja 0:7cff999a7f5c 342
gohgwaja 0:7cff999a7f5c 343
gohgwaja 0:7cff999a7f5c 344 /*
gohgwaja 0:7cff999a7f5c 345 if(com_error==false)
gohgwaja 0:7cff999a7f5c 346 {
gohgwaja 0:7cff999a7f5c 347 cmd_roll = data1;
gohgwaja 0:7cff999a7f5c 348 cmd_pitch = data2;
gohgwaja 0:7cff999a7f5c 349 cmd_heave = data3;
gohgwaja 0:7cff999a7f5c 350 cmd_sway = data4;
gohgwaja 0:7cff999a7f5c 351 cmd_surge = data5;
gohgwaja 0:7cff999a7f5c 352 cmd_yaw = data6;
gohgwaja 0:7cff999a7f5c 353 }
gohgwaja 0:7cff999a7f5c 354 */
gohgwaja 0:7cff999a7f5c 355
gohgwaja 0:7cff999a7f5c 356 #endif