Merge pull request #300 from ut-issl/feature/ss_stt_init_cmd

SS/STTのDS initをコマンド化しEHを更新

database/CMD_DB/AOBC_CMD_DB_CMD_DB.csv

@@ -206,50 +206,54 @@ Comment,,,,,Type,Description,Type,Description,Type,Description,Type,Description,
 ,DI_SAGITTA_SET_PARAMETER,AOBC,0x0090,1,uint8_t,PARAMETER_ID,,,,,,,,,,,,,SAGITTAにパラメータ設定コマンドを送る,
 ,DI_SAGITTA_CHANGE_PARAMETER,AOBC,0x0091,3,uint8_t,PARAMETER_ID,uint8_t,PARAMETER_IDX,float,value,,,,,,,,,SAGITTAドライバ内のパラメータを変更する,
 ,DI_SAGITTA_READ_PARAMETER,AOBC,0x0092,1,uint8_t,PARAMETER_ID,,,,,,,,,,,,,SAGITTAのパラメータを読み取る,
+,DI_SAGITTA_DS_INIT,AOBC,0x0093,0,,,,,,,,,,,,,,,SAGITTAのDriver Superを初期化,
+,DI_SAGITTA_DS_INIT_STREAM_REC_BUFFER,AOBC,0x0094,0,,,,,,,,,,,,,,,SAGITTAのstream_rec_bufferを初期化,
+,DI_NANOSSOC_D60_DS_INIT,AOBC,0x0095,0,,,,,,,,,,,,,,,NANOSSOC_D60のDriver Superを初期化,
+,DI_NANOSSOC_D60_DS_INIT_STREAM_REC_BUFFER,AOBC,0x0096,0,,,,,,,,,,,,,,,NANOSSOC_D60のstream_rec_bufferを初期化,
 **,座標変換,,,,,,,,,,,,,,,,,,,
-,DI_RM3100_SET_FRAME_TRANSFORMATION_QUATERNION_C2B,AOBC,0x0093,5,uint8_t,0=AOBC; 1=EXT,float,q_c2b_vec_0,float,q_c2b_vec_1,float,q_c2b_vec_2,float,q_c2b_scalar,,,,,RM3100の座標変換Quaternion_c2bを設定する,
-,DI_MPU9250_SET_FRAME_TRANSFORMATION_QUATERNION_C2B,AOBC,0x0094,5,uint8_t,0=AOBC,float,q_c2b_vec_0,float,q_c2b_vec_1,float,q_c2b_vec_2,float,q_c2b_scalar,,,,,MPU9250の座標変換Quaternion_c2bを設定する,
-,DI_NANOSSOC_D60_SET_FRAME_TRANSFORMATION_QUATERNION_C2B,AOBC,0x0095,5,uint8_t,IDX = 0 to max 5,float,q_c2b_vec_0,float,q_c2b_vec_1,float,q_c2b_vec_2,float,q_c2b_scalar,,,,,NanoSSOC-D60の座標変換Quaternion_c2bを設定する,
-,DI_STIM210_SET_FRAME_TRANSFORMATION_QUATERNION_C2B,AOBC,0x0096,5,uint8_t,0=IN UNIT,float,q_c2b_vec_0,float,q_c2b_vec_1,float,q_c2b_vec_2,float,q_c2b_scalar,,,,,STIM210の座標変換Quaternion_c2bを設定する,
-,DI_SAGITTA_SET_FRAME_TRANSFORMATION_QUATERNION_C2B,AOBC,0x0097,5,uint8_t,0=IN UNIT,float,q_c2b_vec_0,float,q_c2b_vec_1,float,q_c2b_vec_2,float,q_c2b_scalar,,,,,SAGITTAの座標変換Quaternion_c2bを設定する,
-,DI_RW0003_SET_ROTATION_DIRECTION_VECTOR,AOBC,0x0098,4,uint8_t,RWX=0; RWY; RWZ,float,body_x,float,body_y,float,body_z,,,,,,,RW回転方向ベクトルを設定する,
-,DI_MTQ_SEIREN_SET_MAGNETIC_MOMENT_DIRECTION_VECTOR,AOBC,0x0099,4,uint8_t,MTQ_X=0; MTQ_Y; MTQ_Z,float,body_x,float,body_y,float,body_z,,,,,,,MTQ磁気モーメント方向を設定する,
+,DI_RM3100_SET_FRAME_TRANSFORMATION_QUATERNION_C2B,AOBC,0x0097,5,uint8_t,0=AOBC; 1=EXT,float,q_c2b_vec_0,float,q_c2b_vec_1,float,q_c2b_vec_2,float,q_c2b_scalar,,,,,RM3100の座標変換Quaternion_c2bを設定する,
+,DI_MPU9250_SET_FRAME_TRANSFORMATION_QUATERNION_C2B,AOBC,0x0098,5,uint8_t,0=AOBC,float,q_c2b_vec_0,float,q_c2b_vec_1,float,q_c2b_vec_2,float,q_c2b_scalar,,,,,MPU9250の座標変換Quaternion_c2bを設定する,
+,DI_NANOSSOC_D60_SET_FRAME_TRANSFORMATION_QUATERNION_C2B,AOBC,0x0099,5,uint8_t,IDX = 0 to max 5,float,q_c2b_vec_0,float,q_c2b_vec_1,float,q_c2b_vec_2,float,q_c2b_scalar,,,,,NanoSSOC-D60の座標変換Quaternion_c2bを設定する,
+,DI_STIM210_SET_FRAME_TRANSFORMATION_QUATERNION_C2B,AOBC,0x009A,5,uint8_t,0=IN UNIT,float,q_c2b_vec_0,float,q_c2b_vec_1,float,q_c2b_vec_2,float,q_c2b_scalar,,,,,STIM210の座標変換Quaternion_c2bを設定する,
+,DI_SAGITTA_SET_FRAME_TRANSFORMATION_QUATERNION_C2B,AOBC,0x009B,5,uint8_t,0=IN UNIT,float,q_c2b_vec_0,float,q_c2b_vec_1,float,q_c2b_vec_2,float,q_c2b_scalar,,,,,SAGITTAの座標変換Quaternion_c2bを設定する,
+,DI_RW0003_SET_ROTATION_DIRECTION_VECTOR,AOBC,0x009C,4,uint8_t,RWX=0; RWY; RWZ,float,body_x,float,body_y,float,body_z,,,,,,,RW回転方向ベクトルを設定する,
+,DI_MTQ_SEIREN_SET_MAGNETIC_MOMENT_DIRECTION_VECTOR,AOBC,0x009D,4,uint8_t,MTQ_X=0; MTQ_Y; MTQ_Z,float,body_x,float,body_y,float,body_z,,,,,,,MTQ磁気モーメント方向を設定する,
 **,バイアス補正,,,,,,,,,,,,,,,,,,,
-,DI_MPU9250_SET_ANG_VEL_BIAS_COMPO_RAD_S,AOBC,0x009A,4,uint8_t,0=AOBC,float,compo_x_rad_s,float,compo_y_rad_s,float,compo_z_rad_s,,,,,,,MPU9250角速度バイアス誤差を設定する,
-,DI_MPU9250_SET_MAG_BIAS_COMPO_NT,AOBC,0x009B,5,uint8_t,0=AOBC,float,compo_x_nT,float,compo_y_nT,float,compo_z_nT,uint8_t,0=set; 1=add,,,,,MPU9250磁場バイアス誤差を設定する,
-,DI_RM3100_SET_MAG_BIAS_COMPO_NT,AOBC,0x009C,5,uint8_t,0=AOBC; 1=EXT,float,compo_x_nT,float,compo_y_nT,float,compo_z_nT,uint8_t,0=set; 1=add; 2=default,,,,,RM3100磁場バイアス誤差を設定する,
-,DI_STIM210_SET_ANG_VEL_BIAS_COMPO_RAD_S,AOBC,0x009D,4,uint8_t,0=IN UNIT,float,compo_x_rad_s,float,compo_y_rad_s,float,compo_z_rad_s,,,,,,,STIM210角速度バイアス誤差を設定する,
+,DI_MPU9250_SET_ANG_VEL_BIAS_COMPO_RAD_S,AOBC,0x009E,4,uint8_t,0=AOBC,float,compo_x_rad_s,float,compo_y_rad_s,float,compo_z_rad_s,,,,,,,MPU9250角速度バイアス誤差を設定する,
+,DI_MPU9250_SET_MAG_BIAS_COMPO_NT,AOBC,0x009F,5,uint8_t,0=AOBC,float,compo_x_nT,float,compo_y_nT,float,compo_z_nT,uint8_t,0=set; 1=add,,,,,MPU9250磁場バイアス誤差を設定する,
+,DI_RM3100_SET_MAG_BIAS_COMPO_NT,AOBC,0x00A0,5,uint8_t,0=AOBC; 1=EXT,float,compo_x_nT,float,compo_y_nT,float,compo_z_nT,uint8_t,0=set; 1=add; 2=default,,,,,RM3100磁場バイアス誤差を設定する,
+,DI_STIM210_SET_ANG_VEL_BIAS_COMPO_RAD_S,AOBC,0x00A1,4,uint8_t,0=IN UNIT,float,compo_x_rad_s,float,compo_y_rad_s,float,compo_z_rad_s,,,,,,,STIM210角速度バイアス誤差を設定する,
 **,温度補正,,,,,,,,,,,,,,,,,,,
-,DI_MPU9250_SET_ANG_VEL_BIAS_TEMP_CALIB,AOBC,0x009E,5,uint8_t,X=0; Y; Z,float,range_low_degC,float,range_high_degC,float,coeff_0,float,coeff_1,,,,,MPU角速度バイアス温度補正値の設定,
-,DI_MPU9250_SET_ANG_VEL_SF_TEMP_CALIB,AOBC,0x009F,5,uint8_t,X=0; Y; Z,float,range_low_degC,float,range_high_degC,float,coeff_0,float,coeff_1,,,,,MPU角速度SF温度補正値の設定,
-,DI_STIM210_SET_ANG_VEL_BIAS_TEMP_CALIB,AOBC,0x00A0,5,uint8_t,X=0; Y; Z,float,range_low_degC,float,range_high_degC,float,coeff_0,float,coeff_1,,,,,STIM角速度バイアス温度補正値の設定,
-,DI_STIM210_SET_ANG_VEL_SF_TEMP_CALIB,AOBC,0x00A1,5,uint8_t,X=0; Y; Z,float,range_low_degC,float,range_high_degC,float,coeff_0,float,coeff_1,,,,,STIM角速度SF温度補正値の設定,
+,DI_MPU9250_SET_ANG_VEL_BIAS_TEMP_CALIB,AOBC,0x00A2,5,uint8_t,X=0; Y; Z,float,range_low_degC,float,range_high_degC,float,coeff_0,float,coeff_1,,,,,MPU角速度バイアス温度補正値の設定,
+,DI_MPU9250_SET_ANG_VEL_SF_TEMP_CALIB,AOBC,0x00A3,5,uint8_t,X=0; Y; Z,float,range_low_degC,float,range_high_degC,float,coeff_0,float,coeff_1,,,,,MPU角速度SF温度補正値の設定,
+,DI_STIM210_SET_ANG_VEL_BIAS_TEMP_CALIB,AOBC,0x00A4,5,uint8_t,X=0; Y; Z,float,range_low_degC,float,range_high_degC,float,coeff_0,float,coeff_1,,,,,STIM角速度バイアス温度補正値の設定,
+,DI_STIM210_SET_ANG_VEL_SF_TEMP_CALIB,AOBC,0x00A5,5,uint8_t,X=0; Y; Z,float,range_low_degC,float,range_high_degC,float,coeff_0,float,coeff_1,,,,,STIM角速度SF温度補正値の設定,
 **,セレクター,,,,,,,,,,,,,,,,,,,
-,APP_MAG_SELECTOR_SET_STATE,AOBC,0x00A2,1,uint8_t,RM_AOBC=0; RM_EXT; MPU; FUSION,,,,,,,,,,,,,使う磁気センサを選択する,
-,APP_GYRO_SELECTOR_SET_STATE,AOBC,0x00A3,1,uint8_t,MPU=0; STIM; FUSION,,,,,,,,,,,,,使うジャイロセンサを選択する,
-,SUN_SENSOR_SELECTOR_SET_INTENSITY_THRESHOLD,AOBC,0x00A4,2,float,lower_threshold_percent,float,upper_threshold_percent,,,,,,,,,,,サンセンサが使用可能であると判定する太陽強度閾値設定,
+,APP_MAG_SELECTOR_SET_STATE,AOBC,0x00A6,1,uint8_t,RM_AOBC=0; RM_EXT; MPU; FUSION,,,,,,,,,,,,,使う磁気センサを選択する,
+,APP_GYRO_SELECTOR_SET_STATE,AOBC,0x00A7,1,uint8_t,MPU=0; STIM; FUSION,,,,,,,,,,,,,使うジャイロセンサを選択する,
+,SUN_SENSOR_SELECTOR_SET_INTENSITY_THRESHOLD,AOBC,0x00A8,2,float,lower_threshold_percent,float,upper_threshold_percent,,,,,,,,,,,サンセンサが使用可能であると判定する太陽強度閾値設定,
 **,アノマリー,,,,,,,,,,,,,,,,,,,
-,APP_TEMPERATURE_ANOMALY_SET_THRESHOLD,AOBC,0x00A5,3,uint8_t,0=PIC; RW_DCDC; ROUGH_GYRO; FINE_GYRO_X; Y; Z; STT_MCU; STT_CMOS; RW_X; Y; Z; GPSR,float,upper_degC,float,lower_degC,,,,,,,,,温度アノマリ閾値設定,
+,APP_TEMPERATURE_ANOMALY_SET_THRESHOLD,AOBC,0x00A9,3,uint8_t,0=PIC; RW_DCDC; ROUGH_GYRO; FINE_GYRO_X; Y; Z; STT_MCU; STT_CMOS; RW_X; Y; Z; GPSR,float,upper_degC,float,lower_degC,,,,,,,,,温度アノマリ閾値設定,
 **,磁気排他制御,,,,,,,,,,,,,,,,,,,
-,APP_MAGNETIC_EXCLUSIVE_CONTROL_TIMER_SET_ENABLE,AOBC,0x00A6,1,uint8_t,is_enable,,,,,,,,,,,,,磁気排他制御の有効・無効設定（0=無効・1＝有効）,
-,APP_MAGNETIC_EXCLUSIVE_CONTROL_TIMER_SET_DURATION,AOBC,0x00A7,3,uint16_t,observe_duration[ms],uint16_t,control_duration[ms],uint16_t,standby_duration[ms],,,,,,,,,磁気排他制御に関する時間コンフィグ設定,
-,APP_MTQ_SEIREN_CONTROLLER_SET_OUTPUT_RATIO,AOBC,0x00A8,2,uint8_t,X=0; Y; Z,int8_t,output ratio,,,,,,,,,,,MTQの出力時間比を[-100@@ +100]（単位：％）の範囲で手動で設定する,
+,APP_MAGNETIC_EXCLUSIVE_CONTROL_TIMER_SET_ENABLE,AOBC,0x00AA,1,uint8_t,is_enable,,,,,,,,,,,,,磁気排他制御の有効・無効設定（0=無効・1＝有効）,
+,APP_MAGNETIC_EXCLUSIVE_CONTROL_TIMER_SET_DURATION,AOBC,0x00AB,3,uint16_t,observe_duration[ms],uint16_t,control_duration[ms],uint16_t,standby_duration[ms],,,,,,,,,磁気排他制御に関する時間コンフィグ設定,
+,APP_MTQ_SEIREN_CONTROLLER_SET_OUTPUT_RATIO,AOBC,0x00AC,2,uint8_t,X=0; Y; Z,int8_t,output ratio,,,,,,,,,,,MTQの出力時間比を[-100@@ +100]（単位：％）の範囲で手動で設定する,
 * FILTER,センサフィルター関連,,,,,,,,,,,,,,,,,,,
-,APP_MPU9250_FILTER_SET_ZFILTER_PARAM,AOBC,0x00A8,4,uint8_t,MAG=0; GYRO=1,uint8_t,X=0; Y; Z,float,sampling_freq_Hz,float,cut_off_feq_Hz,,,,,,,MPU9250のSW-LPF設定,
+,APP_MPU9250_FILTER_SET_ZFILTER_PARAM,AOBC,0x00AD,4,uint8_t,MAG=0; GYRO=1,uint8_t,X=0; Y; Z,float,sampling_freq_Hz,float,cut_off_feq_Hz,,,,,,,MPU9250のSW-LPF設定,
 *,APP_MPU9250_FILTER_RESET_ZFILTER,AOBC,,2,uint8_t,MAG=0; GYRO=1,uint8_t,X=0; Y; Z,,,,,,,,,,,MPU9250のSW-LPFリセット,
-,APP_MPU9250_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00A9,6,uint8_t,MAG=0; GYRO=1,uint8_t,X=0; Y; Z,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,MPU9250のSpike除去フィルタ設定,
+,APP_MPU9250_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00AE,6,uint8_t,MAG=0; GYRO=1,uint8_t,X=0; Y; Z,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,MPU9250のSpike除去フィルタ設定,
 *,APP_MPU9250_FILTER_RESET_SPIKE_FILTER,AOBC,,2,uint8_t,MAG=0; GYRO=1,uint8_t,X=0; Y; Z,,,,,,,,,,,MPU9250のSpike除去フィルタリセット,
-,APP_STIM210_FILTER_SET_ZFILTER_PARAM,AOBC,0x00AA,4,uint8_t,0=IN UNIT,uint8_t,X=0; Y; Z,float,sampling_freq_Hz,float,cut_off_feq_Hz,,,,,,,STIM210のSW-LPF設定,
+,APP_STIM210_FILTER_SET_ZFILTER_PARAM,AOBC,0x00AF,4,uint8_t,0=IN UNIT,uint8_t,X=0; Y; Z,float,sampling_freq_Hz,float,cut_off_feq_Hz,,,,,,,STIM210のSW-LPF設定,
 *,APP_STIM210_FILTER_RESET_ZFILTER,AOBC,,2,uint8_t,0=IN UNIT,uint8_t,X=0; Y; Z,,,,,,,,,,,STIM210のSW-LPFリセット,
-,APP_STIM210_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00AB,6,uint8_t,0=IN UNIT,uint8_t,X=0; Y; Z,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,STIM210のSpike除去フィルタ設定,
+,APP_STIM210_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00B0,6,uint8_t,0=IN UNIT,uint8_t,X=0; Y; Z,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,STIM210のSpike除去フィルタ設定,
 *,APP_STIM210_FILTER_RESET_SPIKE_FILTER,AOBC,,2,uint8_t,0=IN UNIT,uint8_t,X=0; Y; Z,,,,,,,,,,,STIM210のSpike除去フィルタリセット,
-,APP_RM3100_FILTER_SET_ZFILTER_PARAM,AOBC,0x00AC,4,uint8_t,ON AOBC=0; EXTERNAL=1,uint8_t,X=0; Y; Z,float,sampling_freq_Hz,float,cut_off_feq_Hz,,,,,,,RM3100のSW-LPF設定,
-,APP_RM3100_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00AD,6,uint8_t,ON AOBC=0; EXTERNAL=1,uint8_t,X=0; Y; Z,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,RM3100のSpike除去フィルタ設定,
-,APP_RW0003_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00AE,5,uint8_t,X=0; Y; Z,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,,,RW0003のSpike除去フィルタ設定,
+,APP_RM3100_FILTER_SET_ZFILTER_PARAM,AOBC,0x00B1,4,uint8_t,ON AOBC=0; EXTERNAL=1,uint8_t,X=0; Y; Z,float,sampling_freq_Hz,float,cut_off_feq_Hz,,,,,,,RM3100のSW-LPF設定,
+,APP_RM3100_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00B2,6,uint8_t,ON AOBC=0; EXTERNAL=1,uint8_t,X=0; Y; Z,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,RM3100のSpike除去フィルタ設定,
+,APP_RW0003_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00B3,5,uint8_t,X=0; Y; Z,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,,,RW0003のSpike除去フィルタ設定,
 *,APP_RW0003_FILTER_RESET_SPIKE_FILTER,AOBC,,1,uint8_t,uint8_t,,,,,,,,,,,,,RW0003のSpike除去フィルタリセット,
-,APP_OEM7600_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00AF,6,uint8_t,oem_id,uint8_t,Xp=0; Yp; Zp; Xv; Yv; Zv,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,OEM7600のSpike除去フィルタ設定,第2引数の値は位置XYZ~速度XYZが0~5に対応
-,APP_SAGITTA_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00B0,5,uint8_t,sagitta_id,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,,,SagittaのSpike除去フィルタ設定,
-,APP_NANOSSOC_D60_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00B1,4,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,,,,,太陽センサのSpike除去フィルタ設定,
+,APP_OEM7600_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00B4,6,uint8_t,oem_id,uint8_t,Xp=0; Yp; Zp; Xv; Yv; Zv,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,OEM7600のSpike除去フィルタ設定,第2引数の値は位置XYZ~速度XYZが0~5に対応
+,APP_SAGITTA_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00B5,5,uint8_t,sagitta_id,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,,,SagittaのSpike除去フィルタ設定,
+,APP_NANOSSOC_D60_FILTER_SET_SPIKE_FILTER_PARAM,AOBC,0x00B6,4,uint8_t,count_limit_to_accept,uint8_t,count_limit_to_reject_continued_warning,float,reject_threshold,float,amplitude_limit_to_accept_as_step,,,,,,,太陽センサのSpike除去フィルタ設定,
 * ALGORITHM,姿勢制御アルゴリズム関連,,,,,,,,,,,,,,,,,,,
 **,自動モード遷移,,,,,,,,,,,,,,,,,,,
 ,APP_AOCS_MM_SET_AUTO_MODE_TRANSITION,AOBC,0x00B7,1,uint8_t,0=disable; 1=enable,,,,,,,,,,,,,自動モード遷移 Enable/Disable設定,

src/src_user/Applications/DriverInstances/di_nanossoc_d60.c

@@ -163,4 +163,46 @@ CCP_CmdRet Cmd_DI_NANOSSOC_D60_SET_FRAME_TRANSFORMATION_QUATERNION_C2B(const Com
   return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
 }
 
+CCP_CmdRet Cmd_DI_NANOSSOC_D60_DS_INIT(const CommonCmdPacket* packet)
+{
+  (void)packet;
+  uint8_t i;
+  DS_ERR_CODE ret;
+  uint8_t is_ok = 1;
+
+  for (i = 0; i < NANOSSOC_D60_PARAMETERS_NUMBER_OF_MOUNTED_SENSOR; ++i)
+  {
+    ret = NANOSSOC_D60_DS_init(&nanossoc_d60_driver_[i], &DI_NANOSSOC_D60_rx_buffer_[i]);
+    is_ok &= (ret == DS_INIT_OK);
+  }
+
+  if (!is_ok)
+  {
+    return CCP_make_cmd_ret_without_err_code(CCP_EXEC_ILLEGAL_CONTEXT);
+  }
+  return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
+}
+
+CCP_CmdRet Cmd_DI_NANOSSOC_D60_DS_INIT_STREAM_REC_BUFFER(const CommonCmdPacket* packet)
+{
+  (void)packet;
+  uint8_t i;
+  DS_ERR_CODE ret;
+  uint8_t is_ok = 1;
+
+  for (i = 0; i < NANOSSOC_D60_PARAMETERS_NUMBER_OF_MOUNTED_SENSOR; ++i)
+  {
+    ret = DS_init_stream_rec_buffer(&DI_NANOSSOC_D60_rx_buffer_[i],
+                                     DI_NANOSSOC_D60_rx_buffer_allocation_[i],
+                                     sizeof(DI_NANOSSOC_D60_rx_buffer_allocation_[i]));
+    is_ok &= (ret == DS_ERR_CODE_OK);
+  }
+
+  if (!is_ok)
+  {
+    return CCP_make_cmd_ret_without_err_code(CCP_EXEC_ILLEGAL_CONTEXT);
+  }
+  return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
+}
+
 #pragma section

src/src_user/Applications/DriverInstances/di_nanossoc_d60.h

@@ -49,4 +49,8 @@ AppInfo DI_NANOSSOC_D60_update(void);
 
 CCP_CmdRet Cmd_DI_NANOSSOC_D60_SET_FRAME_TRANSFORMATION_QUATERNION_C2B(const CommonCmdPacket* packet);
 
+CCP_CmdRet Cmd_DI_NANOSSOC_D60_DS_INIT(const CommonCmdPacket* packet);
+
+CCP_CmdRet Cmd_DI_NANOSSOC_D60_DS_INIT_STREAM_REC_BUFFER(const CommonCmdPacket* packet);
+
 #endif

src/src_user/Applications/DriverInstances/di_sagitta.c

@@ -302,4 +302,31 @@ CCP_CmdRet Cmd_DI_SAGITTA_SET_FRAME_TRANSFORMATION_QUATERNION_C2B(const CommonCm
   return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
 }
 
+CCP_CmdRet Cmd_DI_SAGITTA_DS_INIT(const CommonCmdPacket* packet)
+{
+  (void)packet;
+  DS_ERR_CODE ret;
+  ret = SAGITTA_DS_init(&sagitta_driver_[SAGITTA_IDX_IN_UNIT], &DI_SAGITTA_rx_buffer_);
+
+  if (ret != DS_INIT_OK)
+  {
+    return CCP_make_cmd_ret_without_err_code(CCP_EXEC_ILLEGAL_CONTEXT);
+  }
+  return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
+}
+
+CCP_CmdRet Cmd_DI_SAGITTA_DS_INIT_STREAM_REC_BUFFER(const CommonCmdPacket* packet)
+{
+  (void)packet;
+  DS_ERR_CODE ret;
+  ret = DS_init_stream_rec_buffer(&DI_SAGITTA_rx_buffer_,
+                                   DI_SAGITTA_rx_buffer_allocation_,
+                                   sizeof(DI_SAGITTA_rx_buffer_allocation_));
+  if (ret != DS_ERR_CODE_OK)
+  {
+    return CCP_make_cmd_ret_without_err_code(CCP_EXEC_ILLEGAL_CONTEXT);
+  }
+  return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
+}
+
 #pragma section

src/src_user/Applications/DriverInstances/di_sagitta.h

@@ -56,4 +56,8 @@ CCP_CmdRet Cmd_DI_SAGITTA_REQUEST_SYNCHRONOUS_TELEMETRY(const CommonCmdPacket* p
 
 CCP_CmdRet Cmd_DI_SAGITTA_SET_FRAME_TRANSFORMATION_QUATERNION_C2B(const CommonCmdPacket* packet);
 
+CCP_CmdRet Cmd_DI_SAGITTA_DS_INIT(const CommonCmdPacket* packet);
+
+CCP_CmdRet Cmd_DI_SAGITTA_DS_INIT_STREAM_REC_BUFFER(const CommonCmdPacket* packet);
+
 #endif

src/src_user/Drivers/Aocs/nanossoc_d60.c

@@ -54,6 +54,18 @@ DS_INIT_ERR_CODE NANOSSOC_D60_init(NANOSSOC_D60_Driver* nanossoc_d60_driver, uin
   return DS_INIT_OK;
 }
 
+DS_ERR_CODE NANOSSOC_D60_DS_init(NANOSSOC_D60_Driver* nanossoc_d60_driver, DS_StreamRecBuffer* rx_buffer)
+{
+  DS_ERR_CODE ret;
+
+  ret = DS_init(&(nanossoc_d60_driver->driver.super),
+                &(nanossoc_d60_driver->driver.i2c_config),
+                rx_buffer,
+                NANOSSOC_D60_load_driver_super_init_settings_);
+
+  return ret;
+}
+
 static DS_ERR_CODE NANOSSOC_D60_load_driver_super_init_settings_(DriverSuper* super)
 {
   DS_StreamConfig* stream_config;

src/src_user/Drivers/Aocs/nanossoc_d60.h

@@ -94,6 +94,14 @@ typedef struct
  */
 DS_INIT_ERR_CODE NANOSSOC_D60_init(NANOSSOC_D60_Driver* nanossoc_d60_driver, uint8_t ch, uint8_t i2c_address, DS_StreamRecBuffer* rx_buffer);
 
+/**
+ * @brief  NANOSSOC_D60のDriver_Super初期化
+ * @param  nanossoc_d60_driver : 初期化するNANOSSOC_D60_Driver構造体へのポインタ
+ * @param  rx_buffer: 受信バッファ
+ * @return DS_INIT_ERR_CODE
+ */
+DS_ERR_CODE NANOSSOC_D60_DS_init(NANOSSOC_D60_Driver* nanossoc_d60_driver, DS_StreamRecBuffer* rx_buffer);
+
 /**
  * @brief  NANOSSOC_D60観測
  *