API リファレンス¶

Warning

本リポジトリで提供されているソフトウェアおよび API リファレンスは、講師・開発者向けの参考実装およびデモ用のものです。ゼミ参加者（受講生）に対してオープンに提供・公開されているものではありません。

C++ (Pico SDK) および Python の API リファレンスです。

C++ 衛星フライトソフトウェア (satelite)¶

衛星側で動作する C++ プログラムの API リファレンスです。Doxygen によりソースコードから自動生成されています。

struct client_state¶

Public Members

char buffer[64]¶

int buf_len¶

class ICM42688¶

#include <icm42688.h>

Subclassed by ICM42688_FIFO

Public Types

enum GyroFS¶

Values:

enumerator dps2000¶

enumerator dps1000¶

enumerator dps500¶

enumerator dps250¶

enumerator dps125¶

enumerator dps62_5¶

enumerator dps31_25¶

enumerator dps15_625¶

enum AccelFS¶

Values:

enumerator gpm16¶

enumerator gpm8¶

enumerator gpm4¶

enumerator gpm2¶

enum ODR¶

Values:

enumerator odr32k¶

enumerator odr16k¶

enumerator odr8k¶

enumerator odr4k¶

enumerator odr2k¶

enumerator odr1k¶

enumerator odr200¶

enumerator odr100¶

enumerator odr50¶

enumerator odr25¶

enumerator odr12_5¶

enumerator odr6a25¶

enumerator odr3a125¶

enumerator odr1a5625¶

enumerator odr500¶

enum GyroNFBWsel¶

Values:

enumerator nfBW1449Hz¶

enumerator nfBW680z¶

enumerator nfBW329Hz¶

enumerator nfBW162Hz¶

enumerator nfBW80Hz¶

enumerator nfBW40Hz¶

enumerator nfBW20Hz¶

enumerator nfBW10Hz¶

enum UIFiltOrd¶

Values:

enumerator first_order¶

enumerator second_order¶

enumerator third_order¶

Public Functions

ICM42688(i2c_inst_t *bus, uint8_t address)¶

Constructor for I2C communication.

Parameters:

bus – I2C bus
address – [in] Address of ICM 42688-p device

ICM42688(i2c_inst_t *bus, uint8_t address, uint8_t sda_pin, uint8_t scl_pin)¶

Constructor for I2C communication using SDA, SCL pins.

Parameters:

bus – I2C bus
address – [in] Address of ICM 42688-p device
sda_pin – [in] GPIO pin to use for I2C SDA signal
scl_pin – [in] GPIO pin to use for I2C SCL signal

int begin()¶

Initialize the device.

Returns:: ret < 0 if error

int setAccelFS(AccelFS fssel)¶

Sets the full scale range for the accelerometer.

Parameters:: fssel – [in] Full scale selection
Returns:: ret < 0 if error

int getAccelFS()¶

int setGyroFS(GyroFS fssel)¶

Sets the full scale range for the gyro.

Parameters:: fssel – [in] Full scale selection
Returns:: ret < 0 if error

int getGyroFS()¶

int setAccelODR(ODR odr)¶

Set the ODR for accelerometer.

Parameters:: odr – [in] Output data rate
Returns:: ret < 0 if error

int getAccelODR()¶

int setGyroODR(ODR odr)¶

Set the ODR for gyro.

Parameters:: odr – [in] Output data rate
Returns:: ret < 0 if error

int getGyroODR()¶

int setFilters(bool gyroFilters, bool accFilters)¶

int enableDataReadyInterrupt()¶

Enables the data ready interrupt.

        - routes UI data ready interrupt to INT1
        - push-pull, pulsed, active HIGH interrupts

Returns:: ret < 0 if error

int disableDataReadyInterrupt()¶

Masks the data ready interrupt.

Returns:: ret < 0 if error

int getAGT()¶

Transfers data from ICM 42688-p to mcu. Must be called to access new measurements.

Returns:: ret < 0 if error

int getRawAGT()¶

inline float accX() const¶

Get accelerometer data, per axis.

Returns:: Acceleration in g’s

inline float accY() const¶

inline float accZ() const¶

inline float gyrX() const¶

Get gyro data, per axis.

Returns:: Angular velocity in dps

inline float gyrY() const¶

inline float gyrZ() const¶

inline float temp() const¶

Get temperature of gyro die.

Returns:: Temperature in Celsius

inline int16_t rawAccX() const¶

Get accelerometer Raw data, per axis.

Returns:: Acceleration in bytes

inline int16_t rawAccY() const¶

inline int16_t rawAccZ() const¶

inline int16_t rawGyrX() const¶

Get gyro raw data, per axis.

Returns:: Angular velocity in bytes

inline int16_t rawGyrY() const¶

inline int16_t rawGyrZ() const¶

inline int16_t rawTemp() const¶

Get raw temperature of gyro die.

Returns:: Temperature in bytes

inline int32_t rawBiasAccX() const¶

Get raw temperature of gyro die.

Returns:: Temperature in bytes

inline int32_t rawBiasAccY() const¶

inline int32_t rawBiasAccZ() const¶

inline int32_t rawBiasGyrX() const¶

inline int32_t rawBiasGyrY() const¶

inline int32_t rawBiasGyrZ() const¶

int computeOffsets()¶

int setAllOffsets()¶

int setGyrXOffset(int16_t gyrXoffset)¶

int setGyrYOffset(int16_t gyrYoffset)¶

int setGyrZOffset(int16_t gyrZoffset)¶

int setAccXOffset(int16_t accXoffset)¶

int setAccYOffset(int16_t accYoffset)¶

int setAccZOffset(int16_t accZoffset)¶

float getAccelRes()¶

float getGyroRes()¶

int setUIFilterBlock(UIFiltOrd gyroUIFiltOrder, UIFiltOrd accelUIFiltOrder)¶

int setGyroNotchFilter(float gyroNFfreq_x, float gyroNFfreq_y, float gyroNFfreq_z, GyroNFBWsel gyro_nf_bw)¶

int selfTest()¶

int testingFunction()¶

int calibrateGyro()¶

float getGyroBiasX()¶

float getGyroBiasY()¶

float getGyroBiasZ()¶

void setGyroBiasX(float bias)¶

void setGyroBiasY(float bias)¶

void setGyroBiasZ(float bias)¶

int calibrateAccel()¶

float getAccelBiasX_mss()¶

float getAccelScaleFactorX()¶

float getAccelBiasY_mss()¶

float getAccelScaleFactorY()¶

float getAccelBiasZ_mss()¶

float getAccelScaleFactorZ()¶

void setAccelCalX(float bias, float scaleFactor)¶

void setAccelCalY(float bias, float scaleFactor)¶

void setAccelCalZ(float bias, float scaleFactor)¶

Protected Functions

int writeRegister(uint8_t subAddress, uint8_t data)¶

int readRegisters(uint8_t subAddress, uint8_t count, uint8_t *dest)¶

int setBank(uint8_t bank)¶

void reset()¶: Software reset of the device.

uint8_t whoAmI()¶

Read the WHO_AM_I register.

Returns:: Value of WHO_AM_I register

void selfTest(int16_t *accelDiff, int16_t *gyroDiff, float *ratio)¶

Protected Attributes

uint8_t _address = 0¶: I2C Communication.

i2c_inst_t *_i2c = {}¶

size_t _numBytes = 0¶

uint8_t _sda_pin = 0¶

uint8_t _scl_pin = 0¶

uint8_t _buffer[15] = {}¶

float _t = 0.0f¶

float _acc[3] = {}¶

float _gyr[3] = {}¶

int16_t _rawT = 0¶

int16_t _rawAcc[3] = {}¶

int16_t _rawGyr[3] = {}¶

int32_t _rawAccBias[3] = {0, 0, 0}¶: Raw Gyro and Accelerometer Bias.

int32_t _rawGyrBias[3] = {0, 0, 0}¶

int16_t _AccOffset[3] = {0, 0, 0}¶: Raw Gyro and Accelerometer Offsets.

int16_t _GyrOffset[3] = {0, 0, 0}¶

float _accelScale = 0.0f¶: Full scale resolution factors.

float _gyroScale = 0.0f¶

AccelFS _accelFS = gpm16¶: Full scale selections.

GyroFS _gyroFS = dps2000¶

float _accBD[3] = {}¶: Accel calibration.

float _accB[3] = {}¶

float _accS[3] = {1.0f, 1.0f, 1.0f}¶

float _accMax[3] = {}¶

float _accMin[3] = {}¶

float _gyroBD[3] = {}¶: Gyro calibration.

float _gyrB[3] = {}¶

uint8_t _bank = 0¶: current user bank

const uint8_t FIFO_EN = 0x5F¶

const uint8_t FIFO_TEMP_EN = 0x04¶

const uint8_t FIFO_GYRO = 0x02¶

const uint8_t FIFO_ACCEL = 0x01¶

const uint8_t GYRO_NF_ENABLE = 0x00¶

const uint8_t GYRO_NF_DISABLE = 0x01¶

const uint8_t GYRO_AAF_ENABLE = 0x00¶

const uint8_t GYRO_AAF_DISABLE = 0x02¶

const uint8_t ACCEL_AAF_ENABLE = 0x00¶

const uint8_t ACCEL_AAF_DISABLE = 0x01¶

Protected Static Attributes

static uint32_t I2C_CLK = 100'000¶

static uint8_t WHO_AM_I = 0x47¶

Constants.

expected value in UB0_REG_WHO_AM_I reg

static int NUM_CALIB_SAMPLES = 1000¶: for gyro/accel bias calib

static float TEMP_DATA_REG_SCALE = 132.48f¶: Conversion formula to get temperature in Celsius (Sec 4.13).

static float TEMP_OFFSET = 25.0f¶

class ICM42688_FIFO : public ICM42688 ¶

#include <icm42688.h>

Public Functions

int enableFifo(bool accel, bool gyro, bool temp)¶

int streamToFifo()¶

int readFifo()¶

void getFifoAccelX_mss(size_t *size, float *data)¶

void getFifoAccelY_mss(size_t *size, float *data)¶

void getFifoAccelZ_mss(size_t *size, float *data)¶

void getFifoGyroX(size_t *size, float *data)¶

void getFifoGyroY(size_t *size, float *data)¶

void getFifoGyroZ(size_t *size, float *data)¶

void getFifoTemperature_C(size_t *size, float *data)¶

ICM42688(i2c_inst_t *bus, uint8_t address)¶

Constructor for I2C communication.

Parameters:

bus – I2C bus
address – [in] Address of ICM 42688-p device

ICM42688(i2c_inst_t *bus, uint8_t address, uint8_t sda_pin, uint8_t scl_pin)¶

Constructor for I2C communication using SDA, SCL pins.

Parameters:

bus – I2C bus
address – [in] Address of ICM 42688-p device
sda_pin – [in] GPIO pin to use for I2C SDA signal
scl_pin – [in] GPIO pin to use for I2C SCL signal

Protected Attributes

bool _enFifoAccel = false¶

bool _enFifoGyro = false¶

bool _enFifoTemp = false¶

bool _enFifoTimestamp = false¶

bool _enFifoHeader = false¶

size_t _fifoSize = 0¶

size_t _fifoFrameSize = 0¶

float _axFifo[85] = {}¶

float _ayFifo[85] = {}¶

float _azFifo[85] = {}¶

size_t _aSize = 0¶

float _gxFifo[85] = {}¶

float _gyFifo[85] = {}¶

float _gzFifo[85] = {}¶

size_t _gSize = 0¶

float _tFifo[256] = {}¶

size_t _tSize = 0¶

class MCP3008¶

#include <mcp3008.h>

Public Functions

MCP3008(const MCP3008_Config &config)¶

~MCP3008()¶

int adc_read_channel(uint8_t channel)¶

Read single ended ADC channel.

Parameters:: channel –
Returns:: -1 if channel < 0 or channel > 7, otherwise ADC (int)

int adc_read_channel_diff(AdcDifferentialMode diffMode)¶

Read differential ADC channel.

Parameters:: diffMode –
Returns:: -1 if channel < 0 or channel > 7, otherwise ADC difference (int)

Public Static Attributes

static const uint8_t NUM_CHANNELS = 8¶

static const uint8_t ADC_RESOLUTION = 10¶

Private Functions

int spiRead(uint8_t channel, bool differential)¶

Private Members

spi_inst_t *spi_port¶

uint8_t spi_cs¶

Private Static Functions

static inline void cs_select(uint pin_cs)¶

static inline void cs_deselect(uint pin_cs)¶

struct MCP3008_Config¶

#include <mcp3008.h>

Public Members

spi_inst_t *spi_port = PICO_DEFAULT_SPI¶

uint spi_baud = 1000000¶

uint spi_sck_gpio = PICO_DEFAULT_SPI_SCK_PIN¶

uint spi_tx_gpio = PICO_DEFAULT_SPI_TX_PIN¶

uint spi_rx_gpio = PICO_DEFAULT_SPI_RX_PIN¶

uint spi_cs_gpio = PICO_DEFAULT_SPI_CSN_PIN¶

struct rcv_data_t¶

Public Members

uint8_t data[128]¶

int len¶

struct regval_list¶

Public Members

uint8_t reg_num¶

uint16_t value¶

namespace ICM42688reg¶

Variables

static uint8_t REG_BANK_SEL = 0x76¶

static uint8_t UB0_REG_DEVICE_CONFIG = 0x11¶

static uint8_t UB0_REG_DRIVE_CONFIG = 0x13¶

static uint8_t UB0_REG_INT_CONFIG = 0x14¶

static uint8_t UB0_REG_FIFO_CONFIG = 0x16¶

static uint8_t UB0_REG_TEMP_DATA1 = 0x1D¶

static uint8_t UB0_REG_TEMP_DATA0 = 0x1E¶

static uint8_t UB0_REG_ACCEL_DATA_X1 = 0x1F¶

static uint8_t UB0_REG_ACCEL_DATA_X0 = 0x20¶

static uint8_t UB0_REG_ACCEL_DATA_Y1 = 0x21¶

static uint8_t UB0_REG_ACCEL_DATA_Y0 = 0x22¶

static uint8_t UB0_REG_ACCEL_DATA_Z1 = 0x23¶

static uint8_t UB0_REG_ACCEL_DATA_Z0 = 0x24¶

static uint8_t UB0_REG_GYRO_DATA_X1 = 0x25¶

static uint8_t UB0_REG_GYRO_DATA_X0 = 0x26¶

static uint8_t UB0_REG_GYRO_DATA_Y1 = 0x27¶

static uint8_t UB0_REG_GYRO_DATA_Y0 = 0x28¶

static uint8_t UB0_REG_GYRO_DATA_Z1 = 0x29¶

static uint8_t UB0_REG_GYRO_DATA_Z0 = 0x2A¶

static uint8_t UB0_REG_TMST_FSYNCH = 0x2B¶

static uint8_t UB0_REG_TMST_FSYNCL = 0x2C¶

static uint8_t UB0_REG_INT_STATUS = 0x2D¶

static uint8_t UB0_REG_FIFO_COUNTH = 0x2E¶

static uint8_t UB0_REG_FIFO_COUNTL = 0x2F¶

static uint8_t UB0_REG_FIFO_DATA = 0x30¶

static uint8_t UB0_REG_APEX_DATA0 = 0x31¶

static uint8_t UB0_REG_APEX_DATA1 = 0x32¶

static uint8_t UB0_REG_APEX_DATA2 = 0x33¶

static uint8_t UB0_REG_APEX_DATA3 = 0x34¶

static uint8_t UB0_REG_APEX_DATA4 = 0x35¶

static uint8_t UB0_REG_APEX_DATA5 = 0x36¶

static uint8_t UB0_REG_INT_STATUS2 = 0x37¶

static uint8_t UB0_REG_INT_STATUS3 = 0x38¶

static uint8_t UB0_REG_SIGNAL_PATH_RESET = 0x4B¶

static uint8_t UB0_REG_INTF_CONFIG0 = 0x4C¶

static uint8_t UB0_REG_INTF_CONFIG1 = 0x4D¶

static uint8_t UB0_REG_PWR_MGMT0 = 0x4E¶

static uint8_t UB0_REG_GYRO_CONFIG0 = 0x4F¶

static uint8_t UB0_REG_ACCEL_CONFIG0 = 0x50¶

static uint8_t UB0_REG_GYRO_CONFIG1 = 0x51¶

static uint8_t UB0_REG_GYRO_ACCEL_CONFIG0 = 0x52¶

static uint8_t UB0_REG_ACCEFL_CONFIG1 = 0x53¶

static uint8_t UB0_REG_TMST_CONFIG = 0x54¶

static uint8_t UB0_REG_APEX_CONFIG0 = 0x56¶

static uint8_t UB0_REG_SMD_CONFIG = 0x57¶

static uint8_t UB0_REG_FIFO_CONFIG1 = 0x5F¶

static uint8_t UB0_REG_FIFO_CONFIG2 = 0x60¶

static uint8_t UB0_REG_FIFO_CONFIG3 = 0x61¶

static uint8_t UB0_REG_FSYNC_CONFIG = 0x62¶

static uint8_t UB0_REG_INT_CONFIG0 = 0x63¶

static uint8_t UB0_REG_INT_CONFIG1 = 0x64¶

static uint8_t UB0_REG_INT_SOURCE0 = 0x65¶

static uint8_t UB0_REG_INT_SOURCE1 = 0x66¶

static uint8_t UB0_REG_INT_SOURCE3 = 0x68¶

static uint8_t UB0_REG_INT_SOURCE4 = 0x69¶

static uint8_t UB0_REG_FIFO_LOST_PKT0 = 0x6C¶

static uint8_t UB0_REG_FIFO_LOST_PKT1 = 0x6D¶

static uint8_t UB0_REG_SELF_TEST_CONFIG = 0x70¶

static uint8_t UB0_REG_WHO_AM_I = 0x75¶

static uint8_t UB1_REG_SENSOR_CONFIG0 = 0x03¶

static uint8_t UB1_REG_GYRO_CONFIG_STATIC2 = 0x0B¶

static uint8_t UB1_REG_GYRO_CONFIG_STATIC3 = 0x0C¶

static uint8_t UB1_REG_GYRO_CONFIG_STATIC4 = 0x0D¶

static uint8_t UB1_REG_GYRO_CONFIG_STATIC5 = 0x0E¶

static uint8_t UB1_REG_GYRO_CONFIG_STATIC6 = 0x0F¶

static uint8_t UB1_REG_GYRO_CONFIG_STATIC7 = 0x10¶

static uint8_t UB1_REG_GYRO_CONFIG_STATIC8 = 0x11¶

static uint8_t UB1_REG_GYRO_CONFIG_STATIC9 = 0x12¶

static uint8_t UB1_REG_GYRO_CONFIG_STATIC10 = 0x13¶

static uint8_t UB1_REG_XG_ST_DATA = 0x5F¶

static uint8_t UB1_REG_YG_ST_DATA = 0x60¶

static uint8_t UB1_REG_ZG_ST_DATA = 0x61¶

static uint8_t UB1_REG_TMSTVAL0 = 0x62¶

static uint8_t UB1_REG_TMSTVAL1 = 0x63¶

static uint8_t UB1_REG_TMSTVAL2 = 0x64¶

static uint8_t UB1_REG_INTF_CONFIG4 = 0x7A¶

static uint8_t UB1_REG_INTF_CONFIG5 = 0x7B¶

static uint8_t UB1_REG_INTF_CONFIG6 = 0x7C¶

static uint8_t UB2_REG_ACCEL_CONFIG_STATIC2 = 0x03¶

static uint8_t UB2_REG_ACCEL_CONFIG_STATIC3 = 0x04¶

static uint8_t UB2_REG_ACCEL_CONFIG_STATIC4 = 0x05¶

static uint8_t UB2_REG_XA_ST_DATA = 0x3B¶

static uint8_t UB2_REG_YA_ST_DATA = 0x3C¶

static uint8_t UB2_REG_ZA_ST_DATA = 0x3D¶

static uint8_t UB4_REG_APEX_CONFIG1 = 0x40¶

static uint8_t UB4_REG_APEX_CONFIG2 = 0x41¶

static uint8_t UB4_REG_APEX_CONFIG3 = 0x42¶

static uint8_t UB4_REG_APEX_CONFIG4 = 0x43¶

static uint8_t UB4_REG_APEX_CONFIG5 = 0x44¶

static uint8_t UB4_REG_APEX_CONFIG6 = 0x45¶

static uint8_t UB4_REG_APEX_CONFIG7 = 0x46¶

static uint8_t UB4_REG_APEX_CONFIG8 = 0x47¶

static uint8_t UB4_REG_APEX_CONFIG9 = 0x48¶

static uint8_t UB4_REG_ACCEL_WOM_X_THR = 0x4A¶

static uint8_t UB4_REG_ACCEL_WOM_Y_THR = 0x4B¶

static uint8_t UB4_REG_ACCEL_WOM_Z_THR = 0x4C¶

static uint8_t UB4_REG_INT_SOURCE6 = 0x4D¶

static uint8_t UB4_REG_INT_SOURCE7 = 0x4E¶

static uint8_t UB4_REG_INT_SOURCE8 = 0x4F¶

static uint8_t UB4_REG_INT_SOURCE9 = 0x50¶

static uint8_t UB4_REG_INT_SOURCE10 = 0x51¶

static uint8_t UB4_REG_OFFSET_USER0 = 0x77¶

static uint8_t UB4_REG_OFFSET_USER1 = 0x78¶

static uint8_t UB4_REG_OFFSET_USER2 = 0x79¶

static uint8_t UB4_REG_OFFSET_USER3 = 0x7A¶

static uint8_t UB4_REG_OFFSET_USER4 = 0x7B¶

static uint8_t UB4_REG_OFFSET_USER5 = 0x7C¶

static uint8_t UB4_REG_OFFSET_USER6 = 0x7D¶

static uint8_t UB4_REG_OFFSET_USER7 = 0x7E¶

static uint8_t UB4_REG_OFFSET_USER8 = 0x7F¶

file camera_unit.cpp

#include <stdio.h>

#include “math.h”

#include “pico/stdlib.h”

#include “hardware/i2c.h”

#include “hardware/clocks.h”

#include “hardware/uart.h”

#include “hal/ov7675.h”

Defines

PIN_CAM_DATA_START¶

PIN_SERVO¶

PIN_UART_TX¶

PIN_UART_RX¶

PIN_CAM_SDA¶

PIN_CAM_SCL¶

PIN_SPI_MISO¶

PIN_SPI_CS¶

PIN_SPI_CLK¶

PIN_SPI_MOSI¶

PIN_IMU_SDA¶

PIN_IMU_SCL¶

PIN_CAM_PCLK¶

PIN_CAM_HS¶

PIN_CAM_VS¶

PIN_CAM_XCLK¶

Functions

void send_bytes_over_usb(const uint8_t *data, size_t len)¶

int main()¶

file control.cpp

#include “control.h”

#include <cstdint>

#include <cmath>

#include “pico/stdlib.h”

Functions

double angle_diff_rad(double input_rad, double base_rad)¶

void state_transition(ControlState state)¶

void set_control_enabled(bool enabled)¶

bool is_control_enabled()¶

uint16_t update_servo_pulse(double sun_angle_rad, double angular_velocity_rad_per_s, double target_angle_rad)¶

ControlState get_control_state()¶

bool is_control_finished()¶

Variables

static ControlState control_state = UNLOAD_TIME¶

static uint32_t state_start_time_us = 0¶

static uint16_t current_servo_pulse_us = 0¶

static bool control_enabled = true¶

static uint16_t target_torque_delta_us = 0¶

static const uint16_t servo_pulse_center_us = 1520¶

static const uint16_t pulse_delta_us = 1000¶

static const uint32_t unload_min_duration_us = 300000¶

static const uint32_t rotate_duration_us = 200000¶

static const double angle_tolerance = 10 / 180.0 * M_PI¶

static const double angle_velocity_tolerance_rad_per_s = (0.5 / 180.0 * M_PI)¶

bool is_target_in_angle = false¶

file control.h

#include <cstdint>

Enums

enum ControlState¶

Values:

enumerator UNLOAD_TIME¶

enumerator UNLOAD_ROTATE¶

enumerator STABLE¶

enumerator LOTATE¶

Functions

uint16_t update_servo_pulse(double sun_angle_rad, double angular_velocity_rad_per_s, double target_angle_rad)

void set_control_enabled(bool enabled)

bool is_control_enabled()

ControlState get_control_state()

bool is_control_finished()

file icm42688.cpp: #include “icm42688.h”

#include “icm42688_registers.h”

#include “pico/stdlib.h”

#include “hardware/i2c.h”

#include <string.h>

#include <math.h>

#include <stdio.h>

file icm42688.h: #include “hardware/i2c.h”

file icm42688_registers.h: #include <stdint.h>

file mcp3008.cpp: #include “mcp3008.h”

#include “pico/binary_info.h”

file mcp3008.h

#include “hardware/spi.h”

#include “hardware/gpio.h”

Enums

enum AdcDifferentialMode¶

Values:

enumerator CH_0_MINUS_1¶

enumerator CH_1_MINUS_0¶

enumerator CH_2_MINUS_3¶

enumerator CH_3_MINUS_2¶

enumerator CH_4_MINUS_5¶

enumerator CH_5_MINUS_4¶

enumerator CH_6_MINUS_7¶

enumerator CH_7_MINUS_6¶

file ov7675.cpp

#include <stdio.h>

#include “pico/stdlib.h”

#include “hardware/i2c.h”

#include “hardware/pwm.h”

#include “hardware/gpio.h”

#include “hardware/clocks.h”

Defines

vga¶

qvga¶

qqvga¶

yuv422¶

rgb565¶

bayerRGB¶

camAddr_WR¶

camAddr_RD¶

REG_GAIN¶

REG_BLUE¶

REG_RED¶

REG_VREF¶

REG_COM1¶

COM1_CCIR656¶

REG_BAVE¶

REG_GbAVE¶

REG_AECHH¶

REG_RAVE¶

REG_COM2¶

COM2_SSLEEP¶

REG_PID¶

REG_VER¶

REG_COM3¶

COM3_SWAP¶

COM3_SCALEEN¶

COM3_DCWEN¶

REG_COM4¶

REG_COM5¶

REG_COM6¶

REG_AECH¶

REG_CLKRC¶

CLK_EXT¶

CLK_SCALE¶

REG_COM7¶

COM7_RESET¶

COM7_FMT_MASK¶

COM7_FMT_VGA¶

COM7_FMT_CIF¶

COM7_FMT_QVGA¶

COM7_FMT_QCIF¶

COM7_RGB¶

COM7_YUV¶

COM7_BAYER¶

COM7_PBAYER¶

REG_COM8¶

COM8_FASTAEC¶

COM8_AECSTEP¶

COM8_BFILT¶

COM8_AGC¶

COM8_AWB¶

COM8_AEC¶

REG_COM9¶

REG_COM10¶

COM10_HSYNC¶

COM10_PCLK_HB¶

COM10_HREF_REV¶

COM10_VS_LEAD¶

COM10_VS_NEG¶

COM10_HS_NEG¶

REG_HSTART¶

REG_HSTOP¶

REG_VSTART¶

REG_VSTOP¶

REG_PSHFT¶

REG_MIDH¶

REG_MIDL¶

REG_MVFP¶

MVFP_MIRROR¶

MVFP_FLIP¶

REG_AEW¶

REG_AEB¶

REG_VPT¶

REG_HSYST¶

REG_HSYEN¶

REG_HREF¶

REG_TSLB¶

TSLB_YLAST¶

REG_COM11¶

COM11_NIGHT¶

COM11_NMFR¶

COM11_HZAUTO¶

COM11_50HZ¶

COM11_EXP¶

REG_COM12¶

COM12_HREF¶

REG_COM13¶

COM13_GAMMA¶

COM13_UVSAT¶

COM13_UVSWAP¶

REG_COM14¶

COM14_DCWEN¶

REG_EDGE¶

REG_COM15¶

COM15_R10F0¶

COM15_R01FE¶

COM15_R00FF¶

COM15_RGB565¶

COM15_RGB555¶

REG_COM16¶

COM16_AWBGAIN¶

REG_COM17¶

COM17_AECWIN¶

COM17_CBAR¶

REG_CMATRIX_BASE¶

CMATRIX_LEN¶

REG_CMATRIX_SIGN¶

REG_BRIGHT¶

REG_CONTRAS¶

REG_GFIX¶

REG_REG76¶

R76_BLKPCOR¶

R76_WHTPCOR¶

REG_RGB444¶

R444_ENABLE¶

R444_RGBX¶

REG_HAECC1¶

REG_HAECC2¶

REG_BD50MAX¶

REG_HAECC3¶

REG_HAECC4¶

REG_HAECC5¶

REG_HAECC6¶

REG_HAECC7¶

REG_BD60MAX¶

REG_GAIN

REG_BLUE

REG_RED

REG_VREF

REG_COM1

COM1_CCIR656

REG_BAVE

REG_GbAVE

REG_AECHH

REG_RAVE

REG_COM2

COM2_SSLEEP

REG_PID

REG_VER

REG_COM3

COM3_SWAP

COM3_SCALEEN

COM3_DCWEN

REG_COM4

REG_COM5

REG_COM6

REG_AECH

REG_CLKRC

CLK_EXT

CLK_SCALE

REG_COM7

COM7_RESET

COM7_FMT_MASK

COM7_FMT_VGA

COM7_FMT_CIF

COM7_FMT_QVGA

COM7_FMT_QCIF

COM7_RGB

COM7_YUV

COM7_BAYER

COM7_PBAYER

REG_COM8

COM8_FASTAEC

COM8_AECSTEP

COM8_BFILT

COM8_AGC

COM8_AWB

COM8_AEC

REG_COM9

REG_COM10

COM10_HSYNC

COM10_PCLK_HB

COM10_HREF_REV

COM10_VS_LEAD

COM10_VS_NEG

COM10_HS_NEG

REG_HSTART

REG_HSTOP

REG_VSTART

REG_VSTOP

REG_PSHFT

REG_MIDH

REG_MIDL

REG_MVFP

MVFP_MIRROR

MVFP_FLIP

REG_AEW

REG_AEB

REG_VPT

REG_HSYST

REG_HSYEN

REG_HREF

REG_TSLB

TSLB_YLAST

REG_COM11

COM11_NIGHT

COM11_NMFR

COM11_HZAUTO

COM11_50HZ

COM11_EXP

REG_COM12

COM12_HREF

REG_COM13

COM13_GAMMA

COM13_UVSAT

COM13_UVSWAP

REG_COM14

COM14_DCWEN

REG_EDGE

REG_COM15

COM15_R10F0

COM15_R01FE

COM15_R00FF

COM15_RGB565

COM15_RGB555

REG_COM16

COM16_AWBGAIN

REG_COM17

COM17_AECWIN

COM17_CBAR

CMATRIX_LEN

REG_BRIGHT

REG_REG76

R76_BLKPCOR

R76_WHTPCOR

REG_RGB444

R444_ENABLE

R444_RGBX

REG_HAECC1

REG_HAECC2

REG_BD50MAX

REG_HAECC3

REG_HAECC4

REG_HAECC5

REG_HAECC6

REG_HAECC7

REG_BD60MAX

MTX1¶

MTX2¶

MTX3¶

MTX4¶

MTX5¶

MTX6¶

REG_CONTRAS

MTXS¶

AWBC7¶

AWBC8¶

AWBC9¶

AWBC10¶

AWBC11¶

AWBC12¶

REG_GFI¶

GGAIN¶

DBLV¶

AWBCTR3¶

AWBCTR2¶

AWBCTR1¶

AWBCTR0¶

OV7675_I2C_ADDR¶

Functions

void xclk_init()¶

int camera_write_reg(uint8_t reg, uint8_t value)¶

uint8_t camera_read_reg(uint8_t reg)¶

void wrReg(uint8_t reg, uint8_t dat)¶

void wrSensorRegs8_8(const struct regval_list reglist[])¶

void setColor(void)¶

void setColorRGB565(void)¶

void camera_set_yuv422(void)¶

void camera_set_rgb565(void)¶

void setRes(void)¶

void ov7675_setup(void)¶

void camera_init(i2c_inst_t *i2c_port, uint8_t i2c_sda_pin, uint8_t i2c_scl_pin, uint8_t pin_xclk, uint8_t pin_vsync, uint8_t pin_href, uint8_t pin_pclk, uint8_t data_pin_start)¶

void capture_frame(uint8_t *buffer, int width, int height)¶

void capture_frame_rgb(uint8_t *buffer, int width, int height)¶

Variables

const struct regval_list qvga_ov7670[] = {{REG_COM7, COM7_FMT_QVGA}, {REG_COM3, COM3_SCALEEN | COM3_DCWEN}, {REG_COM14, 0x19}, {0x70, 0x3a}, {0x71, 0x3a}, {0x72, 0x11}, {0x73, 0xf1}, {REG_HSTART, 0x16}, {REG_HSTOP, 0x04}, {REG_HREF, 0xa4}, {REG_VSTART, 0x02}, {REG_VSTOP, 0x7a}, {REG_VREF, 0x0a}, {0xff, 0xff},}¶

const struct regval_list yuv422_ov7670[] = {{REG_COM7, COM7_FMT_QVGA | COM7_YUV}, {REG_RGB444, 0}, {REG_COM1, 0}, {REG_COM15, COM15_R00FF}, {REG_COM9, 0x6A}, {0x4f, 0x80}, {0x50, 0x80}, {0x51, 0}, {0x52, 0x22}, {0x53, 0x5e}, {0x54, 0x80}, {REG_COM13, COM13_UVSAT}, {0xff, 0xff},}¶

const struct regval_list rgb565_ov7670[] = {{REG_COM7, COM7_FMT_QVGA | COM7_RGB}, {REG_RGB444, 0}, {REG_COM1, 0}, {REG_COM15, COM15_R00FF | COM15_RGB565}, {REG_COM9, 0x6A}, {0x4f, 0xb3}, {0x50, 0xb3}, {0x51, 0x00}, {0x52, 0x3d}, {0x53, 0xa7}, {0x54, 0xe4}, {REG_COM13, COM13_GAMMA | COM13_UVSAT}, {0xff, 0xff},}¶

const struct regval_list ov7670_default_regs[]¶

static i2c_inst_t *I2C_PORT¶

uint DATA_PIN_START = 0¶

uint NUM_DATA_PINS = 8¶

uint PIN_HREF = 0¶

uint PIN_VSYNC = 0¶

uint PIN_XCLK = 0¶

uint PIN_PCLK = 0¶

const int IMG_WIDTH = 320¶

const int IMG_HEIGHT = 240¶

file ov7675.h

Functions

void camera_init(i2c_inst_t *i2c_port, uint8_t i2c_sda_pin, uint8_t i2c_scl_pin, uint8_t pin_xclk, uint8_t pin_vsync, uint8_t pin_href, uint8_t pin_pclk, uint8_t data_pin_start)

void capture_frame(uint8_t *buffer, int width, int height)

void capture_frame_rgb(uint8_t *buffer, int width, int height)

void camera_set_yuv422(void)

void camera_set_rgb565(void)

file servo.cpp

#include “servo.h”

#include “pico/stdlib.h”

#include “hardware/pwm.h”

#include “hardware/clocks.h”

#include “stdio.h”

Defines

TARGET_FREQ¶

SERVO_PERIOD_US¶

Functions

void servo_init(uint8_t servo_pin)¶

void servo_set_pulse(uint8_t servo_pin, uint16_t pulse_us)¶

Variables

static uint slice_num¶

file servo.h

#include <stdint.h>

Functions

void servo_init(uint8_t pin)

void servo_set_pulse(uint8_t servo_pin, uint16_t pulse_us)

file wifi.cpp

#include “wifi.h”

#include <stdio.h>

#include <stdlib.h>

#include <string.h>

#include “pico/stdlib.h”

#include “pico/cyw43_arch.h”

#include “lwip/tcp.h”

#include “lwip/ip_addr.h”

#include “lwip/dhcp.h”

#include “lwip/netif.h”

Defines

TCP_PORT¶

TCP_PORT_TLM¶

Functions

static err_t recv_callback(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, err_t err)¶

static err_t accept_callback(void *arg, struct tcp_pcb *newpcb, err_t err)¶

static void tlm_error_callback(void *arg, err_t err)¶

static err_t tlm_accept_callback(void *arg, struct tcp_pcb *newpcb, err_t err)¶

int wifi_init(const char *ssid, const char *password)¶

int wifi_deinit()¶

int wifi_read(uint8_t *data, int len)¶

int wifi_write(const uint8_t *data, int len)¶

Variables

struct rcv_data_t rcv_data¶

static struct tcp_pcb *tlm_pcb = NULL¶

file wifi.h

#include <stdint.h>

#include <stdbool.h>

Functions

int wifi_init(const char *ssid, const char *password)

int wifi_deinit()

int wifi_read(uint8_t *data, int len)

int wifi_write(const uint8_t *data, int len)

file lwipopts.h

Defines

NO_SYS¶

LWIP_SOCKET¶

MEM_LIBC_MALLOC¶

MEM_ALIGNMENT¶

MEM_SIZE¶

MEMP_NUM_TCP_SEG¶

MEMP_NUM_ARP_QUEUE¶

PBUF_POOL_SIZE¶

LWIP_ARP¶

LWIP_ETHERNET¶

LWIP_ICMP¶

LWIP_RAW¶

TCP_WND¶

TCP_MSS¶

TCP_SND_BUF¶

TCP_SND_QUEUELEN¶

LWIP_NETIF_STATUS_CALLBACK¶

LWIP_NETIF_LINK_CALLBACK¶

LWIP_NETIF_HOSTNAME¶

LWIP_NETCONN¶

MEM_STATS¶

SYS_STATS¶

MEMP_STATS¶

LINK_STATS¶

LWIP_CHKSUM_ALGORITHM¶

LWIP_DHCP¶

LWIP_IPV4¶

LWIP_TCP¶

LWIP_UDP¶

LWIP_DNS¶

LWIP_TCP_KEEPALIVE¶

LWIP_NETIF_TX_SINGLE_PBUF¶

DHCP_DOES_ARP_CHECK¶

LWIP_DHCP_DOES_ACD_CHECK¶

LWIP_DEBUG¶

LWIP_STATS¶

LWIP_STATS_DISPLAY¶

ETHARP_DEBUG¶

NETIF_DEBUG¶

PBUF_DEBUG¶

API_LIB_DEBUG¶

API_MSG_DEBUG¶

SOCKETS_DEBUG¶

ICMP_DEBUG¶

INET_DEBUG¶

IP_DEBUG¶

IP_REASS_DEBUG¶

RAW_DEBUG¶

MEM_DEBUG¶

MEMP_DEBUG¶

SYS_DEBUG¶

TCP_DEBUG¶

TCP_INPUT_DEBUG¶

TCP_OUTPUT_DEBUG¶

TCP_RTO_DEBUG¶

TCP_CWND_DEBUG¶

TCP_WND_DEBUG¶

TCP_FR_DEBUG¶

TCP_QLEN_DEBUG¶

TCP_RST_DEBUG¶

UDP_DEBUG¶

TCPIP_DEBUG¶

PPP_DEBUG¶

SLIP_DEBUG¶

DHCP_DEBUG¶

file main.cpp

#include <stdio.h>

#include “math.h”

#include “pico/stdlib.h”

#include “hardware/spi.h”

#include “hardware/i2c.h”

#include “hardware/clocks.h”

#include “pico/cyw43_arch.h”

#include “hardware/uart.h”

#include “hardware/watchdog.h”

#include “hardware/vreg.h”

#include “control.h”

#include “hal/icm42688.h”

#include “hal/mcp3008.h”

#include “hal/ov7675.h”

#include “hal/servo.h”

#include “hal/wifi.h”

Defines

PIN_CAM_DATA_START

PIN_SERVO

PIN_UART_TX

PIN_UART_RX

PIN_CAM_SDA

PIN_CAM_SCL

PIN_SPI_MISO

PIN_SPI_CS

PIN_SPI_CLK

PIN_SPI_MOSI

PIN_IMU_SDA

PIN_IMU_SCL

PIN_CAM_PCLK

PIN_CAM_HS

PIN_CAM_VS

PIN_CAM_XCLK

Functions

int main()

dir hal

Python 地上局ソフトウェア (ground)¶

地上局側で動作する Python モジュールの API リファレンスです。

Backend¶

地上局のバックエンドサーバーおよび通信ブリッジです。

FastAPI 地上局バックエンド

MQTT からテレメトリ/画像を受信し、WebSocket でフロントエンドへリアルタイム配信。 InfluxDB クエリ API とコマンド送信 API を提供。

class server.CommandRequest(*, command: str)[source]¶

Bases: BaseModel

command: str¶

model_config = {}¶: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class server.ConnectionManager[source]¶

Bases: object

active_connections: list[WebSocket]¶

async broadcast(message: str)[source]¶

async connect(websocket: WebSocket)[source]¶

disconnect(websocket: WebSocket)[source]¶

server.broadcast_threadsafe(message: dict) → None[source]¶: MQTT スレッド等イベントループ外からも安全に WebSocket ブロードキャストする。

async server.get_commands(limit: int = 100, pass_id: str = '')[source]¶: 送信済みコマンドの履歴を取得（古い順）

async server.get_history(field: str = 'battery_volt', duration: str = '-5m', session: str = '')[source]¶: InfluxDB から過去のテレメトリを取得

async server.get_passes()[source]¶: InfluxDB に記録されたパス一覧を取得（新しい順）

async server.get_sessions()[source]¶: InfluxDB に保存されたセッション一覧を取得

async server.get_status()[source]¶: バックエンド各レイヤーの接続状態と現在のパスを返す

async server.get_telemetry_history(limit: int = 0, pass_id: str = '', max_points: int = 0)[source]¶

InfluxDB からテレメトリ全フィールドを取得。

用途別の使い分け:

ライブ初期ロード: pass_id + limit（直近 limit 点のみ）/ もしくは pass 未指定で直近 limit 点
リプレイ: pass_id のみ（パス全体）+ max_points（多すぎる場合はサーバ側で間引き）

max_points を指定すると、返却点数がそれを超える場合に等間隔で間引いて軽量化する。

server.lifespan(app: FastAPI)[source]¶

async server.list_images()[source]¶: 保存済み画像一覧を返す（新しい順）

async server.new_pass()[source]¶: 手動で新しいパスを開始する（運用者操作）

server.on_connect(client, userdata, flags, rc, properties)[source]¶

server.on_disconnect(client, userdata, flags, rc, properties)[source]¶

server.on_image_msg(client, userdata, msg)[source]¶: 画像受信 → JPG 保存 → WebSocket 通知

server.on_telemetry_msg(client, userdata, msg)[source]¶: テレメトリ受信 → InfluxDB 保存 & WebSocket ブロードキャスト

async server.send_command(req: CommandRequest)[source]¶: コマンドを MQTT トピックに publish し、履歴を InfluxDB に記録する

server.start_mqtt()[source]¶: MQTT クライアントを別スレッドで起動

server.start_new_pass(reason: str, ts: float | None = None) → str[source]¶

新しいパスを開始してフロントへ通知する。

Parameters:

reason – 区切りの理由 (“init”=初回 / “gap”=通信途絶検出 / “manual”=手動)
ts – パス開始時刻 (Unix 秒)。省略時は現在時刻。

Returns:

新しい pass_id（開始時刻ベースの文字列）

async server.websocket_endpoint(websocket: WebSocket)[source]¶

server.write_command(command: str, status: str, ts: float) → None[source]¶: 送信コマンドを InfluxDB に記録する（後から履歴として参照可能）。

Simulator (SILS)¶

模擬衛星プログラムです。

連続時間物理環境モデル (Plant)

衛星の力学系・センサ応答をシミュレートする。制御ロジックとは独立し、外部から与えられたサーボパルス指令に応じて状態を更新する。

class simulator.plant.SatellitePlant[source]¶

Bases: object

衛星の物理モデル

FRICTION = 0.008¶

MOMENT_OF_INERTIA = 0.002¶

RW_INERTIA = 0.0002¶

SERVO_CENTER = 1520¶

SERVO_TORQUE_GAIN = 5e-06¶

get_sensor_readings() → dict[source]¶: 現在の状態からセンサ値を生成（ADCノイズ含む）

reset()[source]¶: 状態を初期化する

step(dt: float, servo_pulse_us: int)[source]¶

物理モデルを dt [s] だけ進める

Parameters:

dt – タイムステップ [s]
servo_pulse_us – サーボパルス指令 [μs]

property sun_angle: float¶: 太陽方向に対する衛星の角度 [rad] (Environmentから計算)

離散時間制御ロジック (Controller)

satelite/control.cpp の Python 移植。衛星のメインループ（~200Hz）ごとに呼ばれ、サーボパルス指令を返す。

class sils.controller.ControlState[source]¶

Bases: object

LOTATE = 3¶

STABLE = 2¶

UNLOAD_ROTATE = 1¶

UNLOAD_TIME = 0¶

class sils.controller.SatelliteController[source]¶

Bases: object

衛星の姿勢制御ステートマシン (control.cpp の移植)

ANGLE_TOLERANCE_RAD = 0.17453292519943295¶

ANGULAR_VELOCITY_TOLERANCE_RAD_PER_S = 0.008726646259971648¶

PULSE_DELTA_US = 1000¶

ROTATE_DURATION_US = 200000¶

SERVO_CENTER_US = 1520¶

UNLOAD_MIN_DURATION_US = 300000¶

control_enabled: bool¶

current_servo_pulse_us: int¶

get_control_state() → int[source]¶

is_control_enabled() → bool[source]¶

is_control_finished() → bool[source]¶

is_target_in_angle: bool¶

reset()[source]¶: 状態を初期化する

set_control_enabled(enabled: bool)[source]¶

set_target(angle_rad: float)[source]¶: 目標角度を設定

state_start_time_us: int¶

target_angle_rad: float¶

update(dt_us: int, sun_angle_rad: float, angular_velocity_rad_per_s: float) → int[source]¶

制御ループ1ステップ（衛星メインループ相当）

Parameters:

dt_us – 経過時間 [μs]
sun_angle_rad – 太陽センサから推定した角度 [rad]
angular_velocity_rad_per_s – IMU角速度 [rad/s]

Returns:

サーボパルス指令 [μs]