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qrobosdk: コミット


コミットメタ情報

リビジョン1918 (tree)
日時2010-09-18 07:27:38
作者satofumi

ログメッセージ

connection_readline() を追加。未テスト

変更サマリ

差分

--- branches/tsukuba_2010/libs/run_drive/communication_handler.c (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/communication_handler.c (nonexistent)
@@ -1,23 +0,0 @@
1-/*!
2- \file
3- \brief 通信モジュールの初期化
4-
5- \author Satofumi KAMIMURA
6-
7- $Id$
8-*/
9-
10-#include "communication_handler.h"
11-#include "sci_read_write.h"
12-#include "interrupt_priority.h"
13-
14-enum {
15- SCI_BAUDRATE = 38400,
16-};
17-
18-
19-void communication_initialize(void)
20-{
21- sci_initialize(INTERRUPT_PRIORITY_COMMUNICATION, SCI_BAUDRATE);
22- // !!!
23-}
Deleted: svn:keywords
## -1 +0,0 ##
-Id
\ No newline at end of property
--- branches/tsukuba_2010/libs/run_drive/communication_handler.h (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/communication_handler.h (nonexistent)
@@ -1,23 +0,0 @@
1-#ifndef QRK_COMMUNICATION_HANDLER_H
2-#define QRK_COMMUNICATION_HANDLER_H
3-
4-/*!
5- \file
6- \brief 通信モジュールの初期化
7-
8- \author Satofumi KAMIMURA
9-
10- $Id$
11-*/
12-
13-
14-//! 初期化
15-extern void communication_initialize(void);
16-
17-// !!! write
18-
19-// !!! flush
20-
21-// !!! read
22-
23-#endif /* !QRK_COMMUNICATION_HANDLER_H */
Deleted: svn:keywords
## -1 +0,0 ##
-Id
\ No newline at end of property
--- branches/tsukuba_2010/libs/run_drive/run_system_t.h (nonexistent)
+++ branches/tsukuba_2010/libs/run_drive/run_system_t.h (revision 1918)
@@ -0,0 +1,28 @@
1+#ifndef QRK_SYSTEM_T_H
2+#define QRK_SYSTEM_T_H
3+
4+/*!
5+ \file
6+ \brief システム
7+
8+ \author Satofumi KAMIMURA
9+
10+ $Id$
11+*/
12+
13+
14+typedef enum {
15+ NORMAL_CONTROL, //!< 通常動作
16+ DIRECT_WHEEL_CONTROL, //!< 車輪速の直接制御
17+} control_mode_t;
18+
19+
20+typedef struct
21+{
22+ short msec;
23+ long sec;
24+
25+ control_mode_t mode;
26+} run_system_t;
27+
28+#endif /* !QRK_SYSTEM_T_H */
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
--- branches/tsukuba_2010/libs/run_drive/std_string.c (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/std_string.c (revision 1918)
@@ -19,3 +19,17 @@
1919 }
2020 return p - s;
2121 }
22+
23+
24+void *memcpy(void *dest, const void *src, size_t n)
25+{
26+ char *p = (char *)dest;
27+ const char *q = (const char *)src;
28+ const char *q_last = q + n;
29+
30+ while (q < q_last) {
31+ *p++ = *q++;
32+ }
33+
34+ return dest;
35+}
--- branches/tsukuba_2010/libs/run_drive/sci_read_write.c (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/sci_read_write.c (revision 1918)
@@ -70,10 +70,10 @@
7070 }
7171
7272
73-int sci_read(char *data, int max_size)
73+int sci_read(char *data, int max_data_size)
7474 {
7575 int i;
76- for (i = 0; i < max_size; ++i) {
76+ for (i = 0; i < max_data_size; ++i) {
7777 while (1) {
7878 // SCSSR の ORER, PER, FER を読み出す
7979 if (SCI1.SCSSR.BYTE & 0x38) {
--- branches/tsukuba_2010/libs/run_drive/std_string.h (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/std_string.h (revision 1918)
@@ -14,5 +14,6 @@
1414
1515
1616 extern size_t strlen(const char *s);
17+extern void *memcpy(void *dest, const void *src, size_t n);
1718
1819 #endif /* !STD_STRING_H */
--- branches/tsukuba_2010/libs/run_drive/sci_read_write.h (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/sci_read_write.h (revision 1918)
@@ -22,6 +22,6 @@
2222
2323 !!! 割り込み版では、受信済みのデータを格納して、即座に戻る。データがなかった場合は 0 を返すようにする
2424 */
25-extern int sci_read(char *data, int max_size);
25+extern int sci_read(char *data, int max_data_size);
2626
2727 #endif /* !QRK_SCI_READ_WRITE_H */
--- branches/tsukuba_2010/libs/run_drive/Makefile (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/Makefile (revision 1918)
@@ -28,45 +28,47 @@
2828
2929 .PHONY : all clean html upload
3030 ######################################################################
31-run_drive.mot : run_drive.o initialize_state.o control_state.o pause_state.o clock_initialize.o imask.o communication_handler.o protocol_handler.o sci_interrupt_read_write.o emergency_io_control.o timer_control.o path_follow.o position_handler.o velocity_handler.o body_handler.o wheel_velocity.o motor_velocity.o motor_pwm.o encoder_reader.o odometry_calculate.o mtu2_initialize.o ring_buffer.o
31+run_drive.mot : run_drive.o initialize_state.o control_state.o pause_state.o clock_initialize.o imask.o run_system.o connection.o connection_utilities.o protocol_handler.o sci_interrupt_read_write.o emergency_io_control.o timer_control.o path_follow.o position_handler.o velocity_handler.o body_handler.o wheel_velocity.o motor_velocity.o motor_pwm.o encoder_reader.o odometry_calculate.o mtu2_initialize.o ring_buffer.o
3232
3333 # DO NOT DELETE
3434
3535 body_handler.o: wheel_t.h encoder_t.h motor_t.h
36-control_state.o: run_t.h controller_config.h odometry_t.h path_t.h wheel_t.h
37-control_state.o: encoder_t.h motor_t.h
36+control_state.o: run_t.h controller_config.h run_system_t.h odometry_t.h
37+control_state.o: path_t.h wheel_t.h encoder_t.h motor_t.h
3838 encoder_reader.o: encoder_t.h
39-initialize_state.o: run_t.h controller_config.h odometry_t.h path_t.h
40-initialize_state.o: wheel_t.h encoder_t.h motor_t.h
39+initialize_state.o: run_t.h controller_config.h run_system_t.h odometry_t.h
40+initialize_state.o: path_t.h wheel_t.h encoder_t.h motor_t.h
4141 motor_velocity.o: motor_t.h
4242 odometry_calculate.o: odometry_t.h
4343 path_follow.o: path_t.h
44-pause_state.o: run_t.h controller_config.h odometry_t.h path_t.h wheel_t.h
45-pause_state.o: encoder_t.h motor_t.h
46-protocol_handler.o: run_t.h controller_config.h odometry_t.h path_t.h
47-protocol_handler.o: wheel_t.h encoder_t.h motor_t.h
48-run_t.o: controller_config.h odometry_t.h path_t.h wheel_t.h encoder_t.h
49-run_t.o: motor_t.h
44+pause_state.o: run_t.h controller_config.h run_system_t.h odometry_t.h
45+pause_state.o: path_t.h wheel_t.h encoder_t.h motor_t.h
46+protocol_handler.o: run_t.h controller_config.h run_system_t.h odometry_t.h
47+protocol_handler.o: path_t.h wheel_t.h encoder_t.h motor_t.h
48+run_system.o: run_system_t.h
49+run_t.o: controller_config.h run_system_t.h odometry_t.h path_t.h wheel_t.h
50+run_t.o: encoder_t.h motor_t.h
5051 wheel_t.o: encoder_t.h motor_t.h
5152 wheel_velocity.o: wheel_t.h encoder_t.h motor_t.h
5253 body_handler.o: body_handler.h wheel_t.h encoder_t.h motor_t.h
5354 body_handler.o: wheel_velocity.h controller_config.h robot_parameter.h
5455 clock_initialize.o: clock_initialize.h
55-communication_handler.o: communication_handler.h sci_read_write.h
56-communication_handler.o: interrupt_priority.h
57-control_state.o: control_state.h run_t.h controller_config.h odometry_t.h
58-control_state.o: path_t.h wheel_t.h encoder_t.h motor_t.h imask.h
59-control_state.o: interrupt_priority.h pause_state.h emergency_io_control.h
60-control_state.o: timer_control.h protocol_handler.h encoder_reader.h
61-control_state.o: odometry_calculate.h path_follow.h wheel_velocity.h
56+connection.o: connection.h sci_read_write.h interrupt_priority.h
57+control_state.o: control_state.h run_t.h controller_config.h run_system_t.h
58+control_state.o: odometry_t.h path_t.h wheel_t.h encoder_t.h motor_t.h
59+control_state.o: imask.h interrupt_priority.h pause_state.h
60+control_state.o: emergency_io_control.h timer_control.h protocol_handler.h
61+control_state.o: encoder_reader.h odometry_calculate.h path_follow.h
62+control_state.o: wheel_velocity.h
6263 emergency_io_control.o: emergency_io_control.h
6364 encoder_reader.o: encoder_reader.h encoder_t.h mtu2_initialize.h
6465 imask.o: imask.h
6566 initialize_state.o: initialize_state.h run_t.h controller_config.h
66-initialize_state.o: odometry_t.h path_t.h wheel_t.h encoder_t.h motor_t.h
67-initialize_state.o: imask.h clock_initialize.h timer_control.h
68-initialize_state.o: emergency_io_control.h odometry_calculate.h path_follow.h
69-initialize_state.o: wheel_velocity.h protocol_handler.h interrupt_priority.h
67+initialize_state.o: run_system_t.h odometry_t.h path_t.h wheel_t.h
68+initialize_state.o: encoder_t.h motor_t.h imask.h clock_initialize.h
69+initialize_state.o: timer_control.h run_system.h emergency_io_control.h
70+initialize_state.o: odometry_calculate.h path_follow.h wheel_velocity.h
71+initialize_state.o: protocol_handler.h interrupt_priority.h
7072 motor_pwm.o: motor_pwm.h mtu2_initialize.h
7173 motor_velocity.o: motor_velocity.h motor_t.h robot_parameter.h motor_pwm.h
7274 motor_velocity.o: encoder_reader.h encoder_t.h
@@ -73,16 +75,18 @@
7375 mtu2_initialize.o: mtu2_initialize.h
7476 odometry_calculate.o: odometry_calculate.h odometry_t.h
7577 path_follow.o: path_t.h position_handler.h
76-pause_state.o: pause_state.h run_t.h controller_config.h odometry_t.h
77-pause_state.o: path_t.h wheel_t.h encoder_t.h motor_t.h
78+pause_state.o: pause_state.h run_t.h controller_config.h run_system_t.h
79+pause_state.o: odometry_t.h path_t.h wheel_t.h encoder_t.h motor_t.h
7880 pause_state.o: emergency_io_control.h wheel_velocity.h
7981 position_handler.o: position_handler.h velocity_handler.h
8082 protocol_handler.o: protocol_handler.h run_t.h controller_config.h
81-protocol_handler.o: odometry_t.h path_t.h wheel_t.h encoder_t.h motor_t.h
82-protocol_handler.o: communication_handler.h
83+protocol_handler.o: run_system_t.h odometry_t.h path_t.h wheel_t.h
84+protocol_handler.o: encoder_t.h motor_t.h connection.h
8385 ring_buffer.o: ring_buffer.h
84-run_drive.o: initialize_state.h run_t.h controller_config.h odometry_t.h
85-run_drive.o: path_t.h wheel_t.h encoder_t.h motor_t.h control_state.h
86+run_drive.o: initialize_state.h run_t.h controller_config.h run_system_t.h
87+run_drive.o: odometry_t.h path_t.h wheel_t.h encoder_t.h motor_t.h
88+run_drive.o: control_state.h
89+run_system.o: run_system.h run_system_t.h
8690 sci_interrupt_read_write.o: sci_read_write.h imask.h cpu_clock.h
8791 sci_interrupt_read_write.o: ring_buffer.h
8892 sci_read_write.o: sci_read_write.h cpu_clock.h
--- branches/tsukuba_2010/libs/run_drive/dox/Makefile (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/dox/Makefile (revision 1918)
@@ -1,6 +1,6 @@
11 # taiyaki/dox
22
33 all :
4- cd ../../ && $(MAKE) html
4+ cd ../../../ && $(MAKE) html
55
66 clean :
\ No newline at end of file
--- branches/tsukuba_2010/libs/run_drive/run_t.h (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/run_t.h (revision 1918)
@@ -11,6 +11,7 @@
1111 */
1212
1313 #include "controller_config.h"
14+#include "run_system_t.h"
1415 #include "odometry_t.h"
1516 #include "path_t.h"
1617 #include "wheel_t.h"
@@ -18,6 +19,7 @@
1819
1920 //! 走行状態の管理
2021 typedef struct {
22+ run_system_t run_system;
2123 odometry_t odometry;
2224 path_t path;
2325 wheel_t wheel[NUMBER_OF_WHEELS];
--- branches/tsukuba_2010/libs/run_drive/protocol_handler.c (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/protocol_handler.c (revision 1918)
@@ -8,12 +8,34 @@
88 */
99
1010 #include "protocol_handler.h"
11-#include "communication_handler.h"
11+#include "connection.h"
1212
1313
14+typedef enum {
15+ // !!!
16+ WV_Command, //!< 車輪速の制御
17+} command_type_t;
18+
19+
20+typedef struct
21+{
22+ command_type_t type;
23+ const char *tag;
24+ char tag_size;
25+ char packet_size;
26+} command_packet_t;
27+
28+
29+static command_packet_t command_packets[] = {
30+ // !!!
31+ { WV_Command, "WV", 2, 5, },
32+};
33+
34+
1435 void protocol_initialize(void)
1536 {
16- communication_initialize();
37+ connection_initialize();
38+
1739 // !!!
1840 }
1941
@@ -20,6 +42,18 @@
2042
2143 void protocol_update(run_t *run)
2244 {
45+ int packets_size = sizeof(command_packets) / sizeof(command_packets[0]);
46+ int i;
47+
48+ for (i = 0; i < packets_size; ++i) {
49+ // !!!
50+ }
51+
2352 (void)run;
2453 // !!!
54+
55+ (void)command_packets;
56+
57+ // 車輪速の制御を受け付けるようにする
58+ // !!!
2559 }
--- branches/tsukuba_2010/libs/run_drive/initialize_state.c (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/initialize_state.c (revision 1918)
@@ -11,6 +11,7 @@
1111 #include "imask.h"
1212 #include "clock_initialize.h"
1313 #include "timer_control.h"
14+#include "run_system.h"
1415 #include "emergency_io_control.h"
1516 #include "odometry_calculate.h"
1617 #include "path_follow.h"
@@ -27,9 +28,9 @@
2728 imask_initialize();
2829 clock_initialize();
2930 timer_initialize(INTERRUPT_PRIORITY_TIMER);
30- // !!!
3131
3232 // 走行モジュール
33+ run_system_initialize(&run->run_system);
3334 emergency_io_initialize();
3435 odometry_initialize(&run->odometry);
3536 path_follow_initialize(&run->path);
--- branches/tsukuba_2010/libs/run_drive/run_system.c (nonexistent)
+++ branches/tsukuba_2010/libs/run_drive/run_system.c (revision 1918)
@@ -0,0 +1,18 @@
1+/*!
2+ \file
3+ \brief 走行制御のシステム管理
4+
5+ \author Satofumi KAMIMURA
6+
7+ $Id$
8+*/
9+
10+#include "run_system.h"
11+
12+
13+void run_system_initialize(run_system_t *run_system)
14+{
15+ run_system->msec = 0;
16+ run_system->sec = 0;
17+ run_system->mode = NORMAL_CONTROL;
18+}
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
--- branches/tsukuba_2010/libs/run_drive/run_system.h (nonexistent)
+++ branches/tsukuba_2010/libs/run_drive/run_system.h (revision 1918)
@@ -0,0 +1,19 @@
1+#ifndef QRK_RUN_SYSTEM_H
2+#define QRK_RUN_SYSTEM_H
3+
4+/*!
5+ \file
6+ \brief 走行制御のシステム管理
7+
8+ \author Satofumi KAMIMURA
9+
10+ $Id$
11+*/
12+
13+#include "run_system_t.h"
14+
15+
16+extern void run_system_initialize(run_system_t *run_system);
17+// !!!
18+
19+#endif /* !QRK_RUN_SYSTEM_H */
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
--- branches/tsukuba_2010/libs/run_drive/connection_utilities.c (nonexistent)
+++ branches/tsukuba_2010/libs/run_drive/connection_utilities.c (revision 1918)
@@ -0,0 +1,55 @@
1+/*!
2+ \file
3+ \brief 通信モジュールの補助関数
4+
5+ \author Satofumi KAMIMURA
6+
7+ $Id$
8+*/
9+
10+#include "connection_utilities.h"
11+#include "connection.h"
12+#include "std_string.h"
13+
14+
15+int connection_readline(char *data, int max_data_size)
16+{
17+ enum {
18+ LINE_BUFFER_SIZE = 128,
19+ };
20+ static char line_buffer_[LINE_BUFFER_SIZE];
21+ static int line_buffer_filled_ = 0;
22+ char ch;
23+ int n;
24+
25+ while (1) {
26+ n = connection_read(&ch, 1);
27+ if (n <= 0) {
28+ return -1;
29+ }
30+
31+ if (ch == '\n') {
32+ if (line_buffer_filled_ <= 0) {
33+ line_buffer_filled_ = 0;
34+ return 0;
35+ } else {
36+ int ret_value = line_buffer_filled_;
37+ memcpy(data, line_buffer_, line_buffer_filled_);
38+ data[line_buffer_filled_] = '\n';
39+ line_buffer_filled_ = 0;
40+ return ret_value;
41+ }
42+ }
43+
44+ // 格納
45+ line_buffer_[line_buffer_filled_++] = ch;
46+
47+ // 最大サイズまでデータを格納したら戻る
48+ if (line_buffer_filled_ >= max_data_size) {
49+ int ret_value = line_buffer_filled_;
50+ memcpy(data, line_buffer_, line_buffer_filled_);
51+ line_buffer_filled_ = 0;
52+ return ret_value;
53+ }
54+ }
55+}
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
--- branches/tsukuba_2010/libs/run_drive/connection_utilities.h (nonexistent)
+++ branches/tsukuba_2010/libs/run_drive/connection_utilities.h (revision 1918)
@@ -0,0 +1,16 @@
1+#ifndef QRK_CONNECTION_UTILITIES_H
2+#define QRK_CONNECTION_UTILITIES_H
3+
4+/*!
5+ \file
6+ \brief 通信モジュールの補助関数
7+
8+ \author Satofumi KAMIMURA
9+
10+ $Id$
11+*/
12+
13+
14+extern int connection_readline(char *data, int max_data_size);
15+
16+#endif /* !QRK_CONNECTION_UTILITIES_H */
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
--- branches/tsukuba_2010/libs/run_drive/connection.c (nonexistent)
+++ branches/tsukuba_2010/libs/run_drive/connection.c (revision 1918)
@@ -0,0 +1,40 @@
1+/*!
2+ \file
3+ \brief 通信モジュール
4+
5+ \author Satofumi KAMIMURA
6+
7+ $Id$
8+*/
9+
10+#include "connection.h"
11+#include "sci_read_write.h"
12+#include "interrupt_priority.h"
13+
14+enum {
15+ SCI_BAUDRATE = 38400,
16+};
17+
18+
19+void connection_initialize(void)
20+{
21+ sci_initialize(INTERRUPT_PRIORITY_COMMUNICATION, SCI_BAUDRATE);
22+}
23+
24+
25+int connection_write(const char *data, int data_size)
26+{
27+ return sci_write(data, data_size);
28+}
29+
30+
31+void connection_write_flush(void)
32+{
33+ // !!! 未実装
34+}
35+
36+
37+int connection_read(char *data, int max_data_size)
38+{
39+ return sci_read(data, max_data_size);
40+}
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
--- branches/tsukuba_2010/libs/run_drive/sci_interrupt_read_write.c (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/sci_interrupt_read_write.c (revision 1918)
@@ -96,13 +96,13 @@
9696 }
9797
9898
99-int sci_read(char *data, int max_size)
99+int sci_read(char *data, int max_data_size)
100100 {
101101 int current_level = get_imask_exr();
102102 int read_size;
103103
104104 set_imask_exr(interrupt_priority_);
105- read_size = ring_read(&read_ring_, data, max_size);
105+ read_size = ring_read(&read_ring_, data, max_data_size);
106106 set_imask_exr(current_level);
107107
108108 return read_size;
--- branches/tsukuba_2010/libs/run_drive/connection.h (nonexistent)
+++ branches/tsukuba_2010/libs/run_drive/connection.h (revision 1918)
@@ -0,0 +1,29 @@
1+#ifndef QRK_COMMUNICATION_HANDLER_H
2+#define QRK_COMMUNICATION_HANDLER_H
3+
4+/*!
5+ \file
6+ \brief 通信モジュール
7+
8+ \author Satofumi KAMIMURA
9+
10+ $Id$
11+*/
12+
13+
14+//! 初期化
15+extern void connection_initialize(void);
16+
17+
18+// !!! write
19+extern int connection_write(const char *data, int data_size);
20+
21+
22+// !!! flush
23+extern void connection_write_flush(void);
24+
25+
26+// !!! read
27+extern int connection_read(char *data, int max_data_size);
28+
29+#endif /* !QRK_COMMUNICATION_HANDLER_H */
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
--- branches/tsukuba_2010/libs/run_drive/control_state.c (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/control_state.c (revision 1918)
@@ -10,6 +10,7 @@
1010 #include "control_state.h"
1111 #include "imask.h"
1212 #include "interrupt_priority.h"
13+#include "robot_parameter.h"
1314 #include "pause_state.h"
1415 #include "emergency_io_control.h"
1516 #include "timer_control.h"
@@ -26,11 +27,24 @@
2627
2728 static void control_task(void)
2829 {
30+ static int msec = 0;
2931 int left_encoder_count;
3032 int right_encoder_count;
3133 int i;
3234 unsigned char current_interrupt_priority = get_imask_exr();
3335
36+ // CONTROL_CYCLE_MSEC 毎に処理を行う
37+ if (++msec >= CONTROL_CYCLE_MSEC) {
38+ msec = 0;
39+ } else {
40+ return;
41+ }
42+
43+ // タイムスタンプの更新
44+ // !!!
45+ // !!! 関数化する
46+ //++run_->system.msec;
47+
3448 // エンコーダ値の更新
3549 set_imask_exr(INTERRUPT_PRIORITY_ALL_MASK);
3650 for (i = 0; i < NUMBER_OF_WHEELS; ++i) {
@@ -43,9 +57,17 @@
4357 right_encoder_count = encoder_difference(&run_->wheel[RIGHT_WHEEL].encoder);
4458 odometry_update(&run_->odometry, left_encoder_count, right_encoder_count);
4559
46- // 経路制御
47- path_follow_update(&run_->path);
60+ // 走行経路の指示
61+ switch (run_->run_system.mode) {
62+ case NORMAL_CONTROL:
63+ path_follow_update(&run_->path);
64+ break;
4865
66+ case DIRECT_WHEEL_CONTROL:
67+ // 何もしない
68+ break;
69+ }
70+
4971 // 設定された車輪速になるように制御する
5072 for (i = 0; i < NUMBER_OF_WHEELS; ++i) {
5173 wheel_velocity_control(&run_->wheel[i]);
--- branches/tsukuba_2010/libs/run_drive/samples/Makefile (revision 1917)
+++ branches/tsukuba_2010/libs/run_drive/samples/Makefile (revision 1918)
@@ -61,6 +61,9 @@
6161 motor_velocity_run.o: ../encoder_t.h
6262 sci_echoback.o: ../clock_initialize.h ../imask.h ../sci_read_write.h
6363 sci_echoback.o: ../interrupt_priority.h
64+sci_interrupt_echoback.o: ../clock_initialize.h ../imask.h
65+sci_interrupt_echoback.o: ../sci_interrupt_read_write.h
66+sci_interrupt_echoback.o: ../interrupt_priority.h
6467 sci_interrupt_write.o: ../clock_initialize.h ../imask.h
6568 sci_interrupt_write.o: ../sci_interrupt_read_write.h ../sci_utilities.h
6669 sci_interrupt_write.o: ../interrupt_priority.h
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