Revision 0:393297a738c5, committed 2017-09-03

Comitter:

yousei

Date:

Sun Sep 03 01:05:38 2017 +0000

Commit message:

?????

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bundle_photo_data_downlink.cpp	Sun Sep 03 01:05:38 2017 +0000
@@ -0,0 +1,215 @@
+#include "mbed.h"
+#include "type_define.h"
+#include "bundle_photo_data_downlink.h"
+#include "fm_dd.h"
+#include "missionDR.h"
+
+#pragma diag_suppress 870
+
+Timer BPDDtimer;
+
+Fm transmitter;
+MissionDR dr;
+
+BPDD::BPDD()//コンストラクタ
+{
+    flag_BPDD=0;
+    permit[0]=0;
+    permit[1]=0;
+    permit[2]=0;
+    permit[3]=0;
+    camera_id=0;
+    downlink_num=1;//最低1回は送信するので
+    downlink_cnt=0;
+    com_style=0;
+    save_data_id=1;
+    readout_block_num=0;
+    send_cnt=0;
+    num_repeat=0;
+    total_cnt=0;
+    size=1;//デバッグ
+    block_num=0;
+
+}
+
+void BPDD::photo_info_sending(void)
+{
+    uint8_t photo_info[512]= {0};
+    uint8_t first_telemetry[128]= {0};
+
+    bpdd_debug_printf("photo info readout process\r\n");
+    bpdd_debug_printf("save_data_id(in photo info sending func):%d\r\n",save_data_id);
+    block_num = 1 + save_data_id*321;
+    bpdd_debug_printf("block num for photo info:%d\r\n",block_num);
+    //dr.read(photo_info,block_num,1);
+    bpdd_debug_printf("photo info reading...\r\n");
+
+    size = photo_info[4+camera_id];//DRマップ参照のこと
+    size=2;//SDに0しか書かれていなくて困るので、今だけ
+
+    //bpdd_debug_printf("画像サイズ(ブロック):%d\r\n",size);
+
+    first_telemetry[0] = 3;//テレメトリID
+    first_telemetry[1] = camera_id+1;//カメラ番号(1~4)
+    first_telemetry[2] = save_data_id+1;//画像保存データID(1~10)
+    for(int i=3; i<34; i++) {
+        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
+    }
+    bpdd_debug_printf("first telemetly has formed\r\n");
+
+    /*printf("first telemetry of photo data\r\n");
+    for(int i=0;i<128;i++){
+     printf("%d,",first_telemetry[i]);
+     }*/
+
+    transmitter.baud(com_style);
+    //transmitter.send(first_telemetry,128);
+    printf("first telemetly sended\r\n");
+    block_num=block_num+1+80*camera_id;//画像データ保存先へ移動
+    printf("block_num:%d\r\n",block_num);
+    num_repeat++;
+    //printf("photo info processing time:%d\r\n",BPDDtimer.read_ms());
+}
+
+void BPDD::photo_data_AFSK_sending(void)
+{
+    bpdd_debug_printf("send_cnt:%d\r\n",send_cnt);
+    uint8_t photo_data_AFSK[512]= {0};
+    uint8_t photo_packet_afsk[128]= {0};
+    printf("block_num : %d\r\n",block_num);
+    if(send_cnt<=4) {
+        if(send_cnt==0) {
+            //dr.read(photo_data_AFSK,block_num,1);
+            bpdd_debug_printf("photo data reading...\r\n");
+        }
+        /*printf("photo data\r\n");
+        for(int i=0;i<512;i++){
+            printf("%d,",photo_data[i]);
+        }*/
+        for(int i=0; i<128; i++) {
+            photo_packet_afsk[i]=photo_data_AFSK[i+128*send_cnt];
+        }
+        //transmitter.baud(com_style);
+        //transmitter.send(photo_packet_afsk,128);
+        bpdd_debug_printf("photo data sending...\r\n");
+        send_cnt++;
+        //printf("%dブロック目、%dパケット目送信完了\r\n",block_num,send_cnt);
+        num_repeat++;
+        //printf("AFSK photo data send processing time:%d\r\n",BPDDtimer.read_ms());
+        if(send_cnt>=4) {
+            printf("%dblock sended\r\n",block_num);
+            send_cnt=0;
+            readout_block_num++;
+            block_num++;
+            //printf("block number send processing time:%d\r\n",BPDDtimer.read_ms());
+
+            //bpdd_debug_printf("readout_block_num:%d\r\n",readout_block_num);
+            //printf("num_repeat:%d\r\n",num_repeat);
+        }
+    }
+}
+
+void BPDD::photo_data_GFSK_sending(void)
+{
+    bpdd_debug_printf("GMSK or rapid communication process\r\n");
+
+    uint8_t photo_data_GFSK[512]= {0};
+    uint8_t photo_packet1[256]= {0};
+    uint8_t photo_packet2[256]= {0};
+    ///dr.read(photo_data_GFSK,block_num,1);
+    for(int i = 0; i<256; i++) {
+        photo_packet1[i] = photo_data_GFSK[i];
+        photo_packet2[i] = photo_data_GFSK[i+256];
+    }
+    transmitter.baud(com_style);
+    transmitter.send(photo_packet1,256);
+    transmitter.send(photo_packet2,256);
+
+    printf("%d sending complete\r\n",block_num);
+    num_repeat++;
+    readout_block_num++;
+    block_num++;
+    //printf("GFSK photo data send processing time:%d\r\n",BPDDtimer.read_ms());
+}
+
+
+bool BPDD::bundle_photo_data_downlink(u8* uart_data)
+{
+    BPDDtimer.reset();
+    BPDDtimer.start();
+
+    //printf("%dループ目\r\n",num_repeat+1);
+
+    if(total_cnt==0) {
+        uint8_t p=0;
+        for(int i=0; i<4; i++) {
+            p=uart_data[6]<<(7-i);
+            permit[i]=p>>7;
+        }
+
+        save_data_id = uart_data[3];
+        com_style = uart_data[4]<<5;
+        com_style = com_style>>5;
+        downlink_num = uart_data[4]>>6;
+
+        printf("%d,%d,%d,%d\r\n",permit[0],permit[1],permit[2],permit[3]);//test
+        printf("save_data_ID：%d\r\n",save_data_id);//test
+        printf("com_style%d\r\n",com_style);//test
+        printf("downlink_num：%d\r\n",downlink_num);//test
+    }
+
+    total_cnt++;
+
+    for(int i=0; i<4; i++) {
+        if(permit[3-i]==1) {
+            camera_id=3-i;
+        }
+    }
+    bpdd_debug_printf("camera_id is %d\r\n",camera_id);
+    //printf("カメラID:%d\r\n",camera_id);//test
+    bpdd_debug_printf("num_repeat is %d\r\n",num_repeat);
+    if(num_repeat == 0) {
+        bpdd_debug_printf("photo info sending process\r\n");
+        photo_info_sending();
+    } else {
+        bpdd_debug_printf("photo data sending process\r\n");
+        printf("downlink_cnt :%d,downlink_num :%d\r\n",downlink_cnt,downlink_num);
+        printf("com_style is %d\r\n",com_style);
+        if(downlink_cnt<downlink_num) { //分割データ送信回数回データを送る
+            if(com_style == 0) {
+                printf("AFSK sending process\r\n");
+                photo_data_AFSK_sending();
+            } else {
+                photo_data_GFSK_sending();
+            }
+        }else{
+            printf("downlink count is not inputed\r\n");
+            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
+            }
+    }
+
+    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
+        downlink_cnt++;
+        readout_block_num=0;
+        //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）}
+        if(downlink_cnt>=downlink_num) {
+            permit[camera_id]=0;
+            downlink_cnt=0;
+            num_repeat=0;
+            if((permit[0]|permit[1]|permit[2]|permit[3])==0) {
+                printf("permit=%d\r\n",permit[0]|permit[1]|permit[2]|permit[3]);
+                total_cnt=0;
+                printf("mission complete!\r\n");
+                flag_BPDD = 1;
+            } else {
+                flag_BPDD = 0;
+            }
+        } else {
+            flag_BPDD = 0;
+        }
+    } else {
+        flag_BPDD = 0;
+    }
+
+    return flag_BPDD;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bundle_photo_data_downlink.h	Sun Sep 03 01:05:38 2017 +0000
@@ -0,0 +1,47 @@
+#include "type_define.h"
+#include "mbed.h"
+
+#define DEBUG
+#ifdef DEBUG
+#define bpdd_debug_printf(...) printf(__VA_ARGS__)
+#else
+#define bpdd_debug_printf(...) (void)0
+#endif
+
+class BPDD
+{
+    public:
+    bool bundle_photo_data_downlink(u8* uart_data);
+    void photo_info_sending(void);
+    void photo_data_AFSK_sending(void);
+    void photo_data_GFSK_sending(void);
+    
+    BPDD();
+    
+    private:
+    bool flag_BPDD;
+    //フラグ,この処理の中で１度送信を行っているか判断するためのフラグ,block数,SDが異常かのフラグ
+    bool permit[4];
+    //カメラ許可/不許可
+    uint8_t camera_id;
+    //ダウンリンクするカメラ番号(0~3)
+    uint8_t downlink_num;
+    //コマンドで指定された送信回数
+    uint8_t downlink_cnt;
+    //実際の送信回数
+    uint8_t com_style;
+    //通信方式
+    uint8_t save_data_id;
+    //画像保存データID(0~9)
+    int readout_block_num;
+    //読み出しが完了したブロック数
+    int send_cnt;
+    //パケット
+    int num_repeat;
+    //画像データを何回送信したか
+    int total_cnt;
+    //1コマンドで行う全てのループ回数
+    uint8_t size;
+    //目的の画像の容量
+    int block_num;
+};
\ No newline at end of file