Revision 0:dc036b67c87c, committed 2020-07-08

Comitter:

Nanaud

Date:

Wed Jul 08 19:51:28 2020 +0000

Child:

1:2fe8c402ee79

Commit message:

Code principal du projet

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV8825.lib	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/AresENSEA-CDF2020/code/DRV8825/#41e1779ef9e4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/captUS.cpp	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,28 @@
+#include "pins.h"
+
+void AresUltrasonsInit(){tps.start();}
+
+void AresUltrasons(){
+    tps.reset();
+    trigger=1;
+    wait(0.00002);
+    trigger=0;
+}
+
+void echoRise1(){us_out[0]=tps.read_us();}
+void echoFall1(){us_out[0]=(tps.read_us()-us_out[0])/2;}
+
+void echoRise2(){us_out[1]=tps.read_us();}
+void echoFall2(){us_out[1]=(tps.read_us()-us_out[1])/2;}
+
+void echoRise3(){us_out[2]=tps.read_us();}
+void echoFall3(){us_out[2]=(tps.read_us()-us_out[2])/2;}
+
+void echoRise4(){us_out[3]=tps.read_us();}
+void echoFall4(){us_out[3]=(tps.read_us()-us_out[3])/2;}
+
+void echoRise5(){us_out[4]=tps.read_us();}
+void echoFall5(){us_out[4]=(tps.read_us()-us_out[4])/2;}
+
+void echoRise6(){us_out[5]=tps.read_us();}
+void echoFall6(){us_out[5]=(tps.read_us()-us_out[5])/2;}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/captUS.h	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,17 @@
+
+
+void AresUltrasons();
+void AresUltrasonsInit();
+
+void echoRise1();
+void echoFall1();
+void echoRise2();
+void echoFall2();
+void echoRise3();
+void echoFall3();
+void echoRise4();
+void echoFall4();
+void echoRise5();
+void echoFall5();
+void echoRise6();
+void echoFall6();
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/codeurs.cpp	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,39 @@
+#include "pins.h"
+
+// Rise
+
+void cdgaRise(){
+    if(cdgB) cpt_cdgA++;
+    else cpt_cdgA--;
+}
+
+void cdgbRise(){
+    if(cdgA) cpt_cdgB--;
+    else cpt_cdgB++;    
+}
+
+void cddaRise(){
+    
+}
+
+void cddbRise(){
+    
+}
+
+// Fall
+
+void cdgaall(){
+
+}
+
+void cdgball(){
+    
+}
+
+void cddaall(){
+    
+}
+
+void cddball(){
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/codeurs.h	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,4 @@
+
+
+void cdgaRise();
+void cdgbRise();
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/debug.cpp	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,137 @@
+#include "pins.h"
+
+void serialIT(){
+    //pc.printf("\n\rserialIT on\n\r");
+    static int i=0;
+    static char buffer[10]=""; // Tableau qui contient la chaine de caractère rentrée dans le terminal.
+    static char cmd[Lcmd]=""; // Variable qui retient que les premiers caractères qui représentent la commande.
+    char tampon = pc.getc();
+    
+    if((tampon >= 48 && tampon <=57) || (tampon>=97 && tampon<=122) || tampon==13)
+    {
+        buffer[i]=tampon; // Ajout du caractère dans le tableau buffer
+        pc.putc(buffer[i]); // Réécriture sur le terminal du caractère envoyé
+        i++;
+    }
+
+    if(buffer[i-1]=='\r'){ // Attente un appui sur la touche entrée
+        i=0;
+        copieTab(buffer,cmd); // Sauvegarde la commande dans le tableau cmd
+        cmdChoice(cmd); 
+    }  
+}
+
+void copieTab(char *tab1,char *tab2){ // Fonction qui recopie un tableau dans un autre
+    //pc.printf("\n\rcopieTab on\n\r");
+    //pc.printf("\n\r");
+    for(int j=0;j<Lcmd;j++){
+        tab2[j]=tab1[j];
+        //pc.printf("%c",tab2[j]);
+    }
+    //pc.printf("\n\r");
+}
+
+void cmdChoice(char *cmd){ // Fonction qui permet de choisir de l'activation d'une commande
+    //pc.printf("\n\rcmdChoice on\n\rcmd =");
+    
+    const char *options[]={
+    "help", //0
+    "usao", //1
+    "us1o", //2
+    "us2o", //3
+    "us3o", //4
+    "us4o", //5
+    "us5o", //6
+    "us6o", //7
+    "tdrv", //8
+    "cdon", //9
+    "cdga", //10
+    "cdgb", //11
+    0
+    };
+    
+    long option=-1;
+    
+    for (long a=0; options[a] && option<0; a++){
+        if (!strcmp(cmd,options[a]) || strcmp(cmd,options[a])==1){ // strcmp(cmd,options[a])==1 permet de contourner le problème, à revoir !!!
+            option=a;
+        }
+        //pc.printf("res = %d",strcmp(cmd,options[a]));
+    }
+            
+    switch (option) {
+        case 0:     //help
+            pc.printf("\n\n\r###HELP###\n\r");
+            pc.printf("usao : Affichage resultats capteurs a ultrasons\n\r");
+            pc.printf("usxo : Affichage resultat capteur ultrasons x\n\r");
+            pc.printf("tdrv : Lance la fonction test_drv()\n\r");
+            pc.printf("cdon : Affichage resultats codeurs\n\r");
+            pc.printf("cdgx : Affichage resultats codeur gauche phase x (a ou b)\n\r");
+            pc.printf("\n\r");
+            break;
+        case 1:     //usao
+            pc.printf("Capt US ALL ON/OFF\n\r");
+            aff_US[0]=!aff_US[0];aff_US[1]=!aff_US[1];aff_US[2]=!aff_US[2];
+            aff_US[3]=!aff_US[3];aff_US[4]=!aff_US[4];aff_US[5]=!aff_US[5];
+            break;
+        case 2:     //us1o
+            pc.printf("Capt US 1 ON/OFF\n\r");
+            aff_US[0]=!aff_US[0];
+            break;
+        case 3:     //us2o
+            pc.printf("Capt US 2 ON/OFF\n\r");
+            aff_US[1]=!aff_US[1];
+            break;
+        case 4:     //us3o
+            pc.printf("Capt US 3 ON/OFF\n\r");
+            aff_US[2]=!aff_US[2];
+            break;
+        case 5:     //us4o
+            pc.printf("Capt US 4 ON/OFF\n\r");
+            aff_US[3]=!aff_US[3];
+            break;
+        case 6:     //us5o
+            pc.printf("Capt US 5 ON/OFF\n\r");
+            aff_US[4]=!aff_US[4];
+            break;
+        case 7:     //us6o
+            pc.printf("Capt US 6 ON/OFF\n\r");
+            aff_US[5]=!aff_US[5];
+            break;
+        case 8:     //tdrv
+            pc.printf("Fonction test_drv()\n\r");
+            test_drv();
+            break;
+        case 9:     //cdon
+            pc.printf("Results ALL Encoders ON/OFF\n\r");
+            aff_cd[0]=!aff_cd[0];
+            aff_cd[1]=!aff_cd[1];
+            break;
+        case 10:    //cdga
+            pc.printf("Results Encoder Left A ON/OFF\n\r");
+            aff_cd[0]=!aff_cd[0];
+            break;
+        case 11:    //cdgb
+            pc.printf("Results Encoder Left B ON/OFF\n\r");
+            aff_cd[1]=!aff_cd[1];
+            break;
+        default:
+            pc.printf("Commande invalide\n\r");
+    }
+}
+
+void affUltrasons(){
+    if(aff_US[0]) printf("Tps US1 = %5.0f uS\n\r", us_out[0]); 
+    if(aff_US[1]) printf("Tps US2 = %5.0f uS\n\r", us_out[1]); 
+    if(aff_US[2]) printf("Tps US3 = %5.0f uS\n\r", us_out[2]); 
+    if(aff_US[3]) printf("Tps US4 = %5.0f uS\n\r", us_out[3]); 
+    if(aff_US[4]) printf("Tps US5 = %5.0f uS\n\r", us_out[4]); 
+    if(aff_US[5]) printf("Tps US6 = %5.0f uS\n\r", us_out[5]);
+    if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) printf("\n\r"); 
+}
+
+void affCodeurs(){
+    if(aff_cd[0]) printf("CdgA = %d\n\r", cpt_cdgA);   
+    if(aff_cd[1]) printf("CdgB = %d\n\r", cpt_cdgB); 
+}    
+    
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/debug.h	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,7 @@
+
+
+void serialIT();
+void copieTab(char *tab1,char *tab2);
+void cmdChoice(char *cmd);
+void affUltrasons();
+void affCodeurs();
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,36 @@
+#include "pins.h"
+
+int main() {
+    pc.printf("\r\nAresCDFMainCode\r\n");
+    pc.attach(&serialIT); // On met une interruption sur la liaison série avec le PC. Cette interruption lance la fonction serialIT.
+    AresUltrasonsInit();
+    ticker_US.attach(&AresUltrasons,0.2); // On apelle cette fonction toutes 0.2 secondes
+    ticker_affUS.attach(&affUltrasons,1.0); // On apelle cette fonction toutes les secondes
+    echo1.rise(&echoRise1);
+    echo1.fall(&echoFall1);
+    echo2.rise(&echoRise2);
+    echo2.fall(&echoFall2);
+    echo3.rise(&echoRise3);
+    echo3.fall(&echoFall3);
+    echo4.rise(&echoRise4);
+    echo4.fall(&echoFall4);
+    echo5.rise(&echoRise5);
+    echo5.fall(&echoFall5);
+    echo6.rise(&echoRise6);
+    echo6.fall(&echoFall6);
+    
+    drv_init();
+
+    ticker_affcd.attach(&affCodeurs,1.0); // On apelle cette fonction toutes les secondes
+    cdgA.rise(&cdgaRise);
+    cdgB.rise(&cdgbRise);
+    cdgA.mode(PullUp);
+    cdgB.mode(PullUp);
+    
+    aff_cd[0]=!aff_cd[0];
+    aff_cd[1]=!aff_cd[1];
+    
+    while(1) {
+
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors.cpp	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,44 @@
+#include "pins.h"
+
+void drv_init(){
+    mot_dis();
+}
+
+void test_drv(){
+    mot_en();
+    motGauche_fwd();
+    drvGauche.move(1);  
+    wait(2);
+    motGauche_bck();
+    wait(2);
+    mot_dis();
+}
+
+// ENABLE/DISABLE // Les deux modules ont le même enable
+void mot_en(){
+    drvGauche.setEnable(START);
+    //drvDroite.setEnable(START);
+}
+
+void mot_dis(){
+    drvGauche.setEnable(STOP);
+    //drvDroite.setEnable(STOP);
+}
+
+// FORWARD
+void motGauche_fwd(){
+    drvGauche.setDir(FORWARD);
+}
+
+void motDroite_fwd(){
+    drvDroite.setDir(FORWARD);
+}
+
+// BACKWARD
+void motGauche_bck(){
+    drvGauche.setDir(BACKWARD);
+}
+
+void motDroite_bck(){
+    drvDroite.setDir(BACKWARD);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors.h	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,11 @@
+
+
+void drv_init();
+void test_drv();
+
+void mot_en();
+void mot_dis();
+void motGauche_fwd();
+void motDroite_fwd();
+void motGauche_bck();
+void motDroite_bck();
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pins.cpp	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,44 @@
+#include "pins.h"
+
+// Debug
+Serial pc(USBTX, USBRX);
+Ticker ticker_affUS;
+Ticker ticker_affcd;
+bool aff_US[6];
+bool aff_cd[4];
+
+
+// Capteurs à ultrasons
+float us_out[6];
+Timer tps;
+Ticker ticker_US;
+DigitalOut trigger(PB_9);
+InterruptIn echo1(PA_11);
+InterruptIn echo2(PB_12);
+InterruptIn echo3(PB_2);
+InterruptIn echo4(PB_1);
+InterruptIn echo5(PB_15);
+InterruptIn echo6(PB_14);
+
+
+// Drivers DRV8825 
+            //LSB       //MSB
+BusOut MODE(PB_0, PC_1, PC_0);
+#define STEP1 PA_6
+#define STEP2 PB_6
+#define DIR1 PC_2
+#define DIR2 PH_1
+#define EN PC_3
+DRV8825 drvGauche(EN,DIR1,STEP1); 
+DRV8825 drvDroite(EN,DIR2,STEP2); 
+
+
+// Codeurs LPJ3806-1000BM-G5-24E
+long cpt_cdgA=0;
+long cpt_cdgB=0;
+InterruptIn cdgA(PA_8);
+InterruptIn cdgB(PA_9);
+long cpt_cddA=0;
+long cpt_cddB=0;
+InterruptIn cddA(PA_0);
+InterruptIn cddB(PA_1);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pins.h	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,44 @@
+#include "mbed.h"
+#include "DRV8825.h"
+
+#include "debug.h"
+#include "captUS.h"
+#include "motors.h"
+#include "codeurs.h"
+#include <string.h>      
+
+#define Lcmd 4
+
+// Debug
+extern Serial pc;
+extern Ticker ticker_affUS;
+extern Ticker ticker_affcd;
+extern bool aff_US[6];
+extern bool aff_cd[4];
+
+//Capteurs à ultrasons
+extern float us_out[6];
+extern Timer tps;
+extern Ticker ticker_US;
+extern DigitalOut trigger;
+extern InterruptIn echo1;
+extern InterruptIn echo2;
+extern InterruptIn echo3;
+extern InterruptIn echo4;
+extern InterruptIn echo5;
+extern InterruptIn echo6;
+
+// Drivers DRV8825 
+extern BusOut MODE;
+extern DRV8825 drvGauche; 
+extern DRV8825 drvDroite; 
+
+// Codeurs
+extern long cpt_cdgA;
+extern long cpt_cdgB;
+extern InterruptIn cdgA;
+extern InterruptIn cdgB;
+extern long cpt_cddA;
+extern long cpt_cddB;
+extern InterruptIn cddA;
+extern InterruptIn cddB;
\ No newline at end of file