ようせい まえだ / bundle_photo_data_downlink

ユースケース変更後に試験を行いましたが，レビュー後に再び変更する可能性があります

bundle_photo_data_downlink.cpp@0:393297a738c5, 2017-09-03 (annotated)

Committer:
yousei
Date:
Sun Sep 03 01:05:38 2017 +0000
Revision:
0:393297a738c5
?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yousei 0:393297a738c5 1 #include "mbed.h"
yousei 0:393297a738c5 2 #include "type_define.h"
yousei 0:393297a738c5 3 #include "bundle_photo_data_downlink.h"
yousei 0:393297a738c5 4 #include "fm_dd.h"
yousei 0:393297a738c5 5 #include "missionDR.h"
yousei 0:393297a738c5 6
yousei 0:393297a738c5 7 #pragma diag_suppress 870
yousei 0:393297a738c5 8
yousei 0:393297a738c5 9 Timer BPDDtimer;
yousei 0:393297a738c5 10
yousei 0:393297a738c5 11 Fm transmitter;
yousei 0:393297a738c5 12 MissionDR dr;
yousei 0:393297a738c5 13
yousei 0:393297a738c5 14 BPDD::BPDD()//コンストラクタ
yousei 0:393297a738c5 15 {
yousei 0:393297a738c5 16 flag_BPDD=0;
yousei 0:393297a738c5 17 permit[0]=0;
yousei 0:393297a738c5 18 permit[1]=0;
yousei 0:393297a738c5 19 permit[2]=0;
yousei 0:393297a738c5 20 permit[3]=0;
yousei 0:393297a738c5 21 camera_id=0;
yousei 0:393297a738c5 22 downlink_num=1;//最低1回は送信するので
yousei 0:393297a738c5 23 downlink_cnt=0;
yousei 0:393297a738c5 24 com_style=0;
yousei 0:393297a738c5 25 save_data_id=1;
yousei 0:393297a738c5 26 readout_block_num=0;
yousei 0:393297a738c5 27 send_cnt=0;
yousei 0:393297a738c5 28 num_repeat=0;
yousei 0:393297a738c5 29 total_cnt=0;
yousei 0:393297a738c5 30 size=1;//デバッグ
yousei 0:393297a738c5 31 block_num=0;
yousei 0:393297a738c5 32
yousei 0:393297a738c5 33 }
yousei 0:393297a738c5 34
yousei 0:393297a738c5 35 void BPDD::photo_info_sending(void)
yousei 0:393297a738c5 36 {
yousei 0:393297a738c5 37 uint8_t photo_info[512]= {0};
yousei 0:393297a738c5 38 uint8_t first_telemetry[128]= {0};
yousei 0:393297a738c5 39
yousei 0:393297a738c5 40 bpdd_debug_printf("photo info readout process\r\n");
yousei 0:393297a738c5 41 bpdd_debug_printf("save_data_id(in photo info sending func):%d\r\n",save_data_id);
yousei 0:393297a738c5 42 block_num = 1 + save_data_id*321;
yousei 0:393297a738c5 43 bpdd_debug_printf("block num for photo info:%d\r\n",block_num);
yousei 0:393297a738c5 44 //dr.read(photo_info,block_num,1);
yousei 0:393297a738c5 45 bpdd_debug_printf("photo info reading...\r\n");
yousei 0:393297a738c5 46
yousei 0:393297a738c5 47 size = photo_info[4+camera_id];//DRマップ参照のこと
yousei 0:393297a738c5 48 size=2;//SDに0しか書かれていなくて困るので、今だけ
yousei 0:393297a738c5 49
yousei 0:393297a738c5 50 //bpdd_debug_printf("画像サイズ(ブロック):%d\r\n",size);
yousei 0:393297a738c5 51
yousei 0:393297a738c5 52 first_telemetry[0] = 3;//テレメトリID
yousei 0:393297a738c5 53 first_telemetry[1] = camera_id+1;//カメラ番号(1~4)
yousei 0:393297a738c5 54 first_telemetry[2] = save_data_id+1;//画像保存データID(1~10)
yousei 0:393297a738c5 55 for(int i=3; i<34; i++) {
yousei 0:393297a738c5 56 first_telemetry[i]=photo_info[i-3];//RTC時刻(4byte)画像容量(4byte),姿勢データ(24byte)を保存
yousei 0:393297a738c5 57 }
yousei 0:393297a738c5 58 bpdd_debug_printf("first telemetly has formed\r\n");
yousei 0:393297a738c5 59
yousei 0:393297a738c5 60 /*printf("first telemetry of photo data\r\n");
yousei 0:393297a738c5 61 for(int i=0;i<128;i++){
yousei 0:393297a738c5 62 printf("%d,",first_telemetry[i]);
yousei 0:393297a738c5 63 }*/
yousei 0:393297a738c5 64
yousei 0:393297a738c5 65 transmitter.baud(com_style);
yousei 0:393297a738c5 66 //transmitter.send(first_telemetry,128);
yousei 0:393297a738c5 67 printf("first telemetly sended\r\n");
yousei 0:393297a738c5 68 block_num=block_num+1+80*camera_id;//画像データ保存先へ移動
yousei 0:393297a738c5 69 printf("block_num:%d\r\n",block_num);
yousei 0:393297a738c5 70 num_repeat++;
yousei 0:393297a738c5 71 //printf("photo info processing time:%d\r\n",BPDDtimer.read_ms());
yousei 0:393297a738c5 72 }
yousei 0:393297a738c5 73
yousei 0:393297a738c5 74 void BPDD::photo_data_AFSK_sending(void)
yousei 0:393297a738c5 75 {
yousei 0:393297a738c5 76 bpdd_debug_printf("send_cnt:%d\r\n",send_cnt);
yousei 0:393297a738c5 77 uint8_t photo_data_AFSK[512]= {0};
yousei 0:393297a738c5 78 uint8_t photo_packet_afsk[128]= {0};
yousei 0:393297a738c5 79 printf("block_num : %d\r\n",block_num);
yousei 0:393297a738c5 80 if(send_cnt<=4) {
yousei 0:393297a738c5 81 if(send_cnt==0) {
yousei 0:393297a738c5 82 //dr.read(photo_data_AFSK,block_num,1);
yousei 0:393297a738c5 83 bpdd_debug_printf("photo data reading...\r\n");
yousei 0:393297a738c5 84 }
yousei 0:393297a738c5 85 /*printf("photo data\r\n");
yousei 0:393297a738c5 86 for(int i=0;i<512;i++){
yousei 0:393297a738c5 87 printf("%d,",photo_data[i]);
yousei 0:393297a738c5 88 }*/
yousei 0:393297a738c5 89 for(int i=0; i<128; i++) {
yousei 0:393297a738c5 90 photo_packet_afsk[i]=photo_data_AFSK[i+128*send_cnt];
yousei 0:393297a738c5 91 }
yousei 0:393297a738c5 92 //transmitter.baud(com_style);
yousei 0:393297a738c5 93 //transmitter.send(photo_packet_afsk,128);
yousei 0:393297a738c5 94 bpdd_debug_printf("photo data sending...\r\n");
yousei 0:393297a738c5 95 send_cnt++;
yousei 0:393297a738c5 96 //printf("%dブロック目、%dパケット目送信完了\r\n",block_num,send_cnt);
yousei 0:393297a738c5 97 num_repeat++;
yousei 0:393297a738c5 98 //printf("AFSK photo data send processing time:%d\r\n",BPDDtimer.read_ms());
yousei 0:393297a738c5 99 if(send_cnt>=4) {
yousei 0:393297a738c5 100 printf("%dblock sended\r\n",block_num);
yousei 0:393297a738c5 101 send_cnt=0;
yousei 0:393297a738c5 102 readout_block_num++;
yousei 0:393297a738c5 103 block_num++;
yousei 0:393297a738c5 104 //printf("block number send processing time:%d\r\n",BPDDtimer.read_ms());
yousei 0:393297a738c5 105
yousei 0:393297a738c5 106 //bpdd_debug_printf("readout_block_num:%d\r\n",readout_block_num);
yousei 0:393297a738c5 107 //printf("num_repeat:%d\r\n",num_repeat);
yousei 0:393297a738c5 108 }
yousei 0:393297a738c5 109 }
yousei 0:393297a738c5 110 }
yousei 0:393297a738c5 111
yousei 0:393297a738c5 112 void BPDD::photo_data_GFSK_sending(void)
yousei 0:393297a738c5 113 {
yousei 0:393297a738c5 114 bpdd_debug_printf("GMSK or rapid communication process\r\n");
yousei 0:393297a738c5 115
yousei 0:393297a738c5 116 uint8_t photo_data_GFSK[512]= {0};
yousei 0:393297a738c5 117 uint8_t photo_packet1[256]= {0};
yousei 0:393297a738c5 118 uint8_t photo_packet2[256]= {0};
yousei 0:393297a738c5 119 ///dr.read(photo_data_GFSK,block_num,1);
yousei 0:393297a738c5 120 for(int i = 0; i<256; i++) {
yousei 0:393297a738c5 121 photo_packet1[i] = photo_data_GFSK[i];
yousei 0:393297a738c5 122 photo_packet2[i] = photo_data_GFSK[i+256];
yousei 0:393297a738c5 123 }
yousei 0:393297a738c5 124 transmitter.baud(com_style);
yousei 0:393297a738c5 125 transmitter.send(photo_packet1,256);
yousei 0:393297a738c5 126 transmitter.send(photo_packet2,256);
yousei 0:393297a738c5 127
yousei 0:393297a738c5 128 printf("%d sending complete\r\n",block_num);
yousei 0:393297a738c5 129 num_repeat++;
yousei 0:393297a738c5 130 readout_block_num++;
yousei 0:393297a738c5 131 block_num++;
yousei 0:393297a738c5 132 //printf("GFSK photo data send processing time:%d\r\n",BPDDtimer.read_ms());
yousei 0:393297a738c5 133 }
yousei 0:393297a738c5 134
yousei 0:393297a738c5 135
yousei 0:393297a738c5 136 bool BPDD::bundle_photo_data_downlink(u8* uart_data)
yousei 0:393297a738c5 137 {
yousei 0:393297a738c5 138 BPDDtimer.reset();
yousei 0:393297a738c5 139 BPDDtimer.start();
yousei 0:393297a738c5 140
yousei 0:393297a738c5 141 //printf("%dループ目\r\n",num_repeat+1);
yousei 0:393297a738c5 142
yousei 0:393297a738c5 143 if(total_cnt==0) {
yousei 0:393297a738c5 144 uint8_t p=0;
yousei 0:393297a738c5 145 for(int i=0; i<4; i++) {
yousei 0:393297a738c5 146 p=uart_data[6]<<(7-i);
yousei 0:393297a738c5 147 permit[i]=p>>7;
yousei 0:393297a738c5 148 }
yousei 0:393297a738c5 149
yousei 0:393297a738c5 150 save_data_id = uart_data[3];
yousei 0:393297a738c5 151 com_style = uart_data[4]<<5;
yousei 0:393297a738c5 152 com_style = com_style>>5;
yousei 0:393297a738c5 153 downlink_num = uart_data[4]>>6;
yousei 0:393297a738c5 154
yousei 0:393297a738c5 155 printf("%d,%d,%d,%d\r\n",permit[0],permit[1],permit[2],permit[3]);//test
yousei 0:393297a738c5 156 printf("save_data_ID：%d\r\n",save_data_id);//test
yousei 0:393297a738c5 157 printf("com_style%d\r\n",com_style);//test
yousei 0:393297a738c5 158 printf("downlink_num：%d\r\n",downlink_num);//test
yousei 0:393297a738c5 159 }
yousei 0:393297a738c5 160
yousei 0:393297a738c5 161 total_cnt++;
yousei 0:393297a738c5 162
yousei 0:393297a738c5 163 for(int i=0; i<4; i++) {
yousei 0:393297a738c5 164 if(permit[3-i]==1) {
yousei 0:393297a738c5 165 camera_id=3-i;
yousei 0:393297a738c5 166 }
yousei 0:393297a738c5 167 }
yousei 0:393297a738c5 168 bpdd_debug_printf("camera_id is %d\r\n",camera_id);
yousei 0:393297a738c5 169 //printf("カメラID:%d\r\n",camera_id);//test
yousei 0:393297a738c5 170 bpdd_debug_printf("num_repeat is %d\r\n",num_repeat);
yousei 0:393297a738c5 171 if(num_repeat == 0) {
yousei 0:393297a738c5 172 bpdd_debug_printf("photo info sending process\r\n");
yousei 0:393297a738c5 173 photo_info_sending();
yousei 0:393297a738c5 174 } else {
yousei 0:393297a738c5 175 bpdd_debug_printf("photo data sending process\r\n");
yousei 0:393297a738c5 176 printf("downlink_cnt :%d,downlink_num :%d\r\n",downlink_cnt,downlink_num);
yousei 0:393297a738c5 177 printf("com_style is %d\r\n",com_style);
yousei 0:393297a738c5 178 if(downlink_cnt<downlink_num) { //分割データ送信回数回データを送る
yousei 0:393297a738c5 179 if(com_style == 0) {
yousei 0:393297a738c5 180 printf("AFSK sending process\r\n");
yousei 0:393297a738c5 181 photo_data_AFSK_sending();
yousei 0:393297a738c5 182 } else {
yousei 0:393297a738c5 183 photo_data_GFSK_sending();
yousei 0:393297a738c5 184 }
yousei 0:393297a738c5 185 }else{
yousei 0:393297a738c5 186 printf("downlink count is not inputed\r\n");
yousei 0:393297a738c5 187 return 1;//ダウンリンクする回数が指定されていなかったとき用の例外処理
yousei 0:393297a738c5 188 }
yousei 0:393297a738c5 189 }
yousei 0:393297a738c5 190
yousei 0:393297a738c5 191 if(readout_block_num == size) { //読み出したブロックの数と画像のブロックサイズが一致している
yousei 0:393297a738c5 192 downlink_cnt++;
yousei 0:393297a738c5 193 readout_block_num=0;
yousei 0:393297a738c5 194 //if(num_repeat-1==downlink_num*4*readout_block_num||downlink_num*readout_block_num == num_repeat-1) { //画像を実際送信した回数と指定した送信回数が一致している（cnt実装前）}
yousei 0:393297a738c5 195 if(downlink_cnt>=downlink_num) {
yousei 0:393297a738c5 196 permit[camera_id]=0;
yousei 0:393297a738c5 197 downlink_cnt=0;
yousei 0:393297a738c5 198 num_repeat=0;
yousei 0:393297a738c5 199 if((permit[0]|permit[1]|permit[2]|permit[3])==0) {
yousei 0:393297a738c5 200 printf("permit=%d\r\n",permit[0]|permit[1]|permit[2]|permit[3]);
yousei 0:393297a738c5 201 total_cnt=0;
yousei 0:393297a738c5 202 printf("mission complete!\r\n");
yousei 0:393297a738c5 203 flag_BPDD = 1;
yousei 0:393297a738c5 204 } else {
yousei 0:393297a738c5 205 flag_BPDD = 0;
yousei 0:393297a738c5 206 }
yousei 0:393297a738c5 207 } else {
yousei 0:393297a738c5 208 flag_BPDD = 0;
yousei 0:393297a738c5 209 }
yousei 0:393297a738c5 210 } else {
yousei 0:393297a738c5 211 flag_BPDD = 0;
yousei 0:393297a738c5 212 }
yousei 0:393297a738c5 213
yousei 0:393297a738c5 214 return flag_BPDD;
yousei 0:393297a738c5 215 }