AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
debugPC.cpp@4:ad9b7355332e, 2020-07-18 (annotated)
- Committer:
- Nanaud
- Date:
- Sat Jul 18 17:09:08 2020 +0000
- Revision:
- 4:ad9b7355332e
- Parent:
- debug.cpp@3:3ba377aafdfd
- Child:
- 5:34ed652f8c31
Ajout du debug en Bluetooth (Module HC-05)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nanaud | 4:ad9b7355332e | 1 | // Nom du fichier : debugPC.cpp |
Nanaud | 0:dc036b67c87c | 2 | #include "pins.h" |
Nanaud | 0:dc036b67c87c | 3 | |
Nanaud | 4:ad9b7355332e | 4 | // Variables globales & timers |
Nanaud | 1:2fe8c402ee79 | 5 | Serial pc(USBTX, USBRX); |
Nanaud | 1:2fe8c402ee79 | 6 | Ticker ticker_affUS; |
Nanaud | 1:2fe8c402ee79 | 7 | Ticker ticker_affcd; |
Nanaud | 1:2fe8c402ee79 | 8 | bool aff_US[6]; |
Nanaud | 1:2fe8c402ee79 | 9 | bool aff_cd[4]; |
Nanaud | 3:3ba377aafdfd | 10 | int cmdType=0; |
Nanaud | 1:2fe8c402ee79 | 11 | |
Nanaud | 4:ad9b7355332e | 12 | void serialIT() // avec Tera Term |
Nanaud | 3:3ba377aafdfd | 13 | { |
Nanaud | 0:dc036b67c87c | 14 | //pc.printf("\n\rserialIT on\n\r"); |
Nanaud | 0:dc036b67c87c | 15 | static int i=0; |
Nanaud | 0:dc036b67c87c | 16 | static char buffer[10]=""; // Tableau qui contient la chaine de caractère rentrée dans le terminal. |
Nanaud | 0:dc036b67c87c | 17 | static char cmd[Lcmd]=""; // Variable qui retient que les premiers caractères qui représentent la commande. |
Nanaud | 4:ad9b7355332e | 18 | |
Nanaud | 0:dc036b67c87c | 19 | char tampon = pc.getc(); |
Nanaud | 3:3ba377aafdfd | 20 | |
Nanaud | 3:3ba377aafdfd | 21 | if((tampon >= 48 && tampon <=57) || (tampon>=97 && tampon<=122) || tampon==13) { |
Nanaud | 0:dc036b67c87c | 22 | buffer[i]=tampon; // Ajout du caractère dans le tableau buffer |
Nanaud | 0:dc036b67c87c | 23 | pc.putc(buffer[i]); // Réécriture sur le terminal du caractère envoyé |
Nanaud | 0:dc036b67c87c | 24 | i++; |
Nanaud | 0:dc036b67c87c | 25 | } |
Nanaud | 0:dc036b67c87c | 26 | |
Nanaud | 3:3ba377aafdfd | 27 | if(buffer[i-1]=='\r') { // Attente un appui sur la touche entrée |
Nanaud | 0:dc036b67c87c | 28 | i=0; |
Nanaud | 0:dc036b67c87c | 29 | copieTab(buffer,cmd); // Sauvegarde la commande dans le tableau cmd |
Nanaud | 3:3ba377aafdfd | 30 | |
Nanaud | 3:3ba377aafdfd | 31 | switch(cmdType) { |
Nanaud | 3:3ba377aafdfd | 32 | case 1 : // Commande test angle |
Nanaud | 3:3ba377aafdfd | 33 | StringToAngle(cmd); |
Nanaud | 3:3ba377aafdfd | 34 | cmdType=0; |
Nanaud | 3:3ba377aafdfd | 35 | break; |
Nanaud | 3:3ba377aafdfd | 36 | default : // Commande par défaut |
Nanaud | 3:3ba377aafdfd | 37 | cmdChoice(cmd); |
Nanaud | 3:3ba377aafdfd | 38 | } |
Nanaud | 3:3ba377aafdfd | 39 | } |
Nanaud | 0:dc036b67c87c | 40 | } |
Nanaud | 0:dc036b67c87c | 41 | |
Nanaud | 3:3ba377aafdfd | 42 | void copieTab(char *tab1,char *tab2) // Fonction qui recopie un tableau dans un autre |
Nanaud | 3:3ba377aafdfd | 43 | { |
Nanaud | 0:dc036b67c87c | 44 | //pc.printf("\n\rcopieTab on\n\r"); |
Nanaud | 0:dc036b67c87c | 45 | //pc.printf("\n\r"); |
Nanaud | 3:3ba377aafdfd | 46 | for(int j=0; j<Lcmd; j++) { |
Nanaud | 0:dc036b67c87c | 47 | tab2[j]=tab1[j]; |
Nanaud | 0:dc036b67c87c | 48 | //pc.printf("%c",tab2[j]); |
Nanaud | 0:dc036b67c87c | 49 | } |
Nanaud | 0:dc036b67c87c | 50 | //pc.printf("\n\r"); |
Nanaud | 0:dc036b67c87c | 51 | } |
Nanaud | 0:dc036b67c87c | 52 | |
Nanaud | 3:3ba377aafdfd | 53 | void cmdChoice(char *cmd) // Fonction qui permet de choisir de l'activation d'une commande |
Nanaud | 3:3ba377aafdfd | 54 | { |
Nanaud | 3:3ba377aafdfd | 55 | const char *options[]= { |
Nanaud | 3:3ba377aafdfd | 56 | "help", //0 |
Nanaud | 3:3ba377aafdfd | 57 | "usao", //1 |
Nanaud | 3:3ba377aafdfd | 58 | "us1o", //2 |
Nanaud | 3:3ba377aafdfd | 59 | "us2o", //3 |
Nanaud | 3:3ba377aafdfd | 60 | "us3o", //4 |
Nanaud | 3:3ba377aafdfd | 61 | "us4o", //5 |
Nanaud | 3:3ba377aafdfd | 62 | "us5o", //6 |
Nanaud | 3:3ba377aafdfd | 63 | "us6o", //7 |
Nanaud | 3:3ba377aafdfd | 64 | "tdrv", //8 |
Nanaud | 3:3ba377aafdfd | 65 | "cdon", //9 |
Nanaud | 3:3ba377aafdfd | 66 | "cdga", //10 |
Nanaud | 3:3ba377aafdfd | 67 | "cdgb", //11 |
Nanaud | 3:3ba377aafdfd | 68 | "tagl", //12 |
Nanaud | 3:3ba377aafdfd | 69 | 0 |
Nanaud | 0:dc036b67c87c | 70 | }; |
Nanaud | 3:3ba377aafdfd | 71 | |
Nanaud | 0:dc036b67c87c | 72 | long option=-1; |
Nanaud | 3:3ba377aafdfd | 73 | |
Nanaud | 3:3ba377aafdfd | 74 | for (long a=0; options[a] && option<0; a++) { |
Nanaud | 3:3ba377aafdfd | 75 | if (!strcmp(cmd,options[a]) || strcmp(cmd,options[a])==1) { // strcmp(cmd,options[a])==1 permet de contourner le problème, à revoir !!! |
Nanaud | 0:dc036b67c87c | 76 | option=a; |
Nanaud | 0:dc036b67c87c | 77 | } |
Nanaud | 4:ad9b7355332e | 78 | //pc.printf("res = %d\r\n",strcmp(cmd,options[a])); |
Nanaud | 0:dc036b67c87c | 79 | } |
Nanaud | 3:3ba377aafdfd | 80 | |
Nanaud | 0:dc036b67c87c | 81 | switch (option) { |
Nanaud | 0:dc036b67c87c | 82 | case 0: //help |
Nanaud | 4:ad9b7355332e | 83 | // pc |
Nanaud | 0:dc036b67c87c | 84 | pc.printf("\n\n\r###HELP###\n\r"); |
Nanaud | 0:dc036b67c87c | 85 | pc.printf("usao : Affichage resultats capteurs a ultrasons\n\r"); |
Nanaud | 0:dc036b67c87c | 86 | pc.printf("usxo : Affichage resultat capteur ultrasons x\n\r"); |
Nanaud | 0:dc036b67c87c | 87 | pc.printf("tdrv : Lance la fonction test_drv()\n\r"); |
Nanaud | 0:dc036b67c87c | 88 | pc.printf("cdon : Affichage resultats codeurs\n\r"); |
Nanaud | 0:dc036b67c87c | 89 | pc.printf("cdgx : Affichage resultats codeur gauche phase x (a ou b)\n\r"); |
Nanaud | 3:3ba377aafdfd | 90 | pc.printf("tagl : Tourne le robot sur lui-meme avec un angle a preciser\r\n"); |
Nanaud | 0:dc036b67c87c | 91 | pc.printf("\n\r"); |
Nanaud | 4:ad9b7355332e | 92 | // bt |
Nanaud | 4:ad9b7355332e | 93 | bt.printf("\n\n\r###HELP###\n\r"); |
Nanaud | 4:ad9b7355332e | 94 | bt.printf("usao : Affichage resultats capteurs a ultrasons\n\r"); |
Nanaud | 4:ad9b7355332e | 95 | bt.printf("usxo : Affichage resultat capteur ultrasons x\n\r"); |
Nanaud | 4:ad9b7355332e | 96 | bt.printf("tdrv : Lance la fonction test_drv()\n\r"); |
Nanaud | 4:ad9b7355332e | 97 | bt.printf("cdon : Affichage resultats codeurs\n\r"); |
Nanaud | 4:ad9b7355332e | 98 | bt.printf("cdgx : Affichage resultats codeur gauche phase x (a ou b)\n\r"); |
Nanaud | 4:ad9b7355332e | 99 | bt.printf("tagl : Tourne le robot sur lui-meme avec un angle a preciser\r\n"); |
Nanaud | 4:ad9b7355332e | 100 | bt.printf("\n\r"); |
Nanaud | 0:dc036b67c87c | 101 | break; |
Nanaud | 0:dc036b67c87c | 102 | case 1: //usao |
Nanaud | 0:dc036b67c87c | 103 | pc.printf("Capt US ALL ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 104 | bt.printf("Capt US ALL ON/OFF\n\r"); |
Nanaud | 3:3ba377aafdfd | 105 | aff_US[0]=!aff_US[0]; |
Nanaud | 3:3ba377aafdfd | 106 | aff_US[1]=!aff_US[1]; |
Nanaud | 3:3ba377aafdfd | 107 | aff_US[2]=!aff_US[2]; |
Nanaud | 3:3ba377aafdfd | 108 | aff_US[3]=!aff_US[3]; |
Nanaud | 3:3ba377aafdfd | 109 | aff_US[4]=!aff_US[4]; |
Nanaud | 3:3ba377aafdfd | 110 | aff_US[5]=!aff_US[5]; |
Nanaud | 0:dc036b67c87c | 111 | break; |
Nanaud | 0:dc036b67c87c | 112 | case 2: //us1o |
Nanaud | 0:dc036b67c87c | 113 | pc.printf("Capt US 1 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 114 | bt.printf("Capt US 1 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 115 | aff_US[0]=!aff_US[0]; |
Nanaud | 0:dc036b67c87c | 116 | break; |
Nanaud | 0:dc036b67c87c | 117 | case 3: //us2o |
Nanaud | 0:dc036b67c87c | 118 | pc.printf("Capt US 2 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 119 | bt.printf("Capt US 2 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 120 | aff_US[1]=!aff_US[1]; |
Nanaud | 0:dc036b67c87c | 121 | break; |
Nanaud | 0:dc036b67c87c | 122 | case 4: //us3o |
Nanaud | 0:dc036b67c87c | 123 | pc.printf("Capt US 3 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 124 | bt.printf("Capt US 3 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 125 | aff_US[2]=!aff_US[2]; |
Nanaud | 0:dc036b67c87c | 126 | break; |
Nanaud | 0:dc036b67c87c | 127 | case 5: //us4o |
Nanaud | 0:dc036b67c87c | 128 | pc.printf("Capt US 4 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 129 | bt.printf("Capt US 4 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 130 | aff_US[3]=!aff_US[3]; |
Nanaud | 0:dc036b67c87c | 131 | break; |
Nanaud | 0:dc036b67c87c | 132 | case 6: //us5o |
Nanaud | 0:dc036b67c87c | 133 | pc.printf("Capt US 5 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 134 | bt.printf("Capt US 5 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 135 | aff_US[4]=!aff_US[4]; |
Nanaud | 0:dc036b67c87c | 136 | break; |
Nanaud | 0:dc036b67c87c | 137 | case 7: //us6o |
Nanaud | 0:dc036b67c87c | 138 | pc.printf("Capt US 6 ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 139 | bt.printf("Capt US 6 ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 140 | aff_US[5]=!aff_US[5]; |
Nanaud | 0:dc036b67c87c | 141 | break; |
Nanaud | 0:dc036b67c87c | 142 | case 8: //tdrv |
Nanaud | 0:dc036b67c87c | 143 | pc.printf("Fonction test_drv()\n\r"); |
Nanaud | 4:ad9b7355332e | 144 | bt.printf("Fonction test_drv()\n\r"); |
Nanaud | 0:dc036b67c87c | 145 | test_drv(); |
Nanaud | 0:dc036b67c87c | 146 | break; |
Nanaud | 0:dc036b67c87c | 147 | case 9: //cdon |
Nanaud | 0:dc036b67c87c | 148 | pc.printf("Results ALL Encoders ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 149 | bt.printf("Results ALL Encoders ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 150 | aff_cd[0]=!aff_cd[0]; |
Nanaud | 0:dc036b67c87c | 151 | aff_cd[1]=!aff_cd[1]; |
Nanaud | 0:dc036b67c87c | 152 | break; |
Nanaud | 0:dc036b67c87c | 153 | case 10: //cdga |
Nanaud | 0:dc036b67c87c | 154 | pc.printf("Results Encoder Left A ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 155 | bt.printf("Results Encoder Left A ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 156 | aff_cd[0]=!aff_cd[0]; |
Nanaud | 0:dc036b67c87c | 157 | break; |
Nanaud | 0:dc036b67c87c | 158 | case 11: //cdgb |
Nanaud | 0:dc036b67c87c | 159 | pc.printf("Results Encoder Left B ON/OFF\n\r"); |
Nanaud | 4:ad9b7355332e | 160 | bt.printf("Results Encoder Left B ON/OFF\n\r"); |
Nanaud | 0:dc036b67c87c | 161 | aff_cd[1]=!aff_cd[1]; |
Nanaud | 0:dc036b67c87c | 162 | break; |
Nanaud | 3:3ba377aafdfd | 163 | case 12: //tagl |
Nanaud | 3:3ba377aafdfd | 164 | pc.printf("Cmd Angle robot\r\n"); |
Nanaud | 3:3ba377aafdfd | 165 | pc.printf("Angle (entre 0 et 360 degres sous la forme xxx): "); |
Nanaud | 4:ad9b7355332e | 166 | bt.printf("Cmd Angle robot\r\n"); |
Nanaud | 4:ad9b7355332e | 167 | bt.printf("Angle (entre 0 et 360 degres sous la forme xxx): "); |
Nanaud | 3:3ba377aafdfd | 168 | cmdType=1; |
Nanaud | 3:3ba377aafdfd | 169 | break; |
Nanaud | 0:dc036b67c87c | 170 | default: |
Nanaud | 0:dc036b67c87c | 171 | pc.printf("Commande invalide\n\r"); |
Nanaud | 4:ad9b7355332e | 172 | bt.printf("Commande invalide\n\r"); |
Nanaud | 0:dc036b67c87c | 173 | } |
Nanaud | 0:dc036b67c87c | 174 | } |
Nanaud | 0:dc036b67c87c | 175 | |
Nanaud | 3:3ba377aafdfd | 176 | void StringToAngle(char *cmd) |
Nanaud | 3:3ba377aafdfd | 177 | { |
Nanaud | 3:3ba377aafdfd | 178 | int cmd2 = 0; |
Nanaud | 3:3ba377aafdfd | 179 | cmd2 += (cmd[0]-48)*100; |
Nanaud | 3:3ba377aafdfd | 180 | cmd2 += (cmd[1]-48)*10; |
Nanaud | 3:3ba377aafdfd | 181 | cmd2 += (cmd[2]-48)*1; |
Nanaud | 3:3ba377aafdfd | 182 | |
Nanaud | 3:3ba377aafdfd | 183 | if (cmd2>=0 && cmd2<=360) { |
Nanaud | 3:3ba377aafdfd | 184 | pc.printf("\r\nCommande envoyee au robot : %d\r\n",cmd2); |
Nanaud | 4:ad9b7355332e | 185 | bt.printf("\r\nCommande envoyee au robot : %d\r\n",cmd2); |
Nanaud | 3:3ba377aafdfd | 186 | testAngle(cmd2); |
Nanaud | 3:3ba377aafdfd | 187 | } else { |
Nanaud | 3:3ba377aafdfd | 188 | pc.printf("\r\nAngle incorrect\r\n\n"); |
Nanaud | 4:ad9b7355332e | 189 | bt.printf("\r\nAngle incorrect\r\n\n"); |
Nanaud | 3:3ba377aafdfd | 190 | cmd2 = 0; |
Nanaud | 3:3ba377aafdfd | 191 | } |
Nanaud | 0:dc036b67c87c | 192 | } |
Nanaud | 0:dc036b67c87c | 193 | |
Nanaud | 3:3ba377aafdfd | 194 | void affUltrasons() |
Nanaud | 3:3ba377aafdfd | 195 | { |
Nanaud | 4:ad9b7355332e | 196 | // pc |
Nanaud | 4:ad9b7355332e | 197 | if(aff_US[0]) pc.printf("Tps US1 = %5.0f uS\n\r", us_out[0]); |
Nanaud | 4:ad9b7355332e | 198 | if(aff_US[1]) pc.printf("Tps US2 = %5.0f uS\n\r", us_out[1]); |
Nanaud | 4:ad9b7355332e | 199 | if(aff_US[2]) pc.printf("Tps US3 = %5.0f uS\n\r", us_out[2]); |
Nanaud | 4:ad9b7355332e | 200 | if(aff_US[3]) pc.printf("Tps US4 = %5.0f uS\n\r", us_out[3]); |
Nanaud | 4:ad9b7355332e | 201 | if(aff_US[4]) pc.printf("Tps US5 = %5.0f uS\n\r", us_out[4]); |
Nanaud | 4:ad9b7355332e | 202 | if(aff_US[5]) pc.printf("Tps US6 = %5.0f uS\n\r", us_out[5]); |
Nanaud | 4:ad9b7355332e | 203 | if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) pc.printf("\n\r"); |
Nanaud | 4:ad9b7355332e | 204 | |
Nanaud | 4:ad9b7355332e | 205 | // bt |
Nanaud | 4:ad9b7355332e | 206 | if(aff_US[0]) bt.printf("Tps US1 = %5.0f uS\n\r", us_out[0]); |
Nanaud | 4:ad9b7355332e | 207 | if(aff_US[1]) bt.printf("Tps US2 = %5.0f uS\n\r", us_out[1]); |
Nanaud | 4:ad9b7355332e | 208 | if(aff_US[2]) bt.printf("Tps US3 = %5.0f uS\n\r", us_out[2]); |
Nanaud | 4:ad9b7355332e | 209 | if(aff_US[3]) bt.printf("Tps US4 = %5.0f uS\n\r", us_out[3]); |
Nanaud | 4:ad9b7355332e | 210 | if(aff_US[4]) bt.printf("Tps US5 = %5.0f uS\n\r", us_out[4]); |
Nanaud | 4:ad9b7355332e | 211 | if(aff_US[5]) bt.printf("Tps US6 = %5.0f uS\n\r", us_out[5]); |
Nanaud | 4:ad9b7355332e | 212 | if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) bt.printf("\n\r"); |
Nanaud | 3:3ba377aafdfd | 213 | } |
Nanaud | 3:3ba377aafdfd | 214 | |
Nanaud | 3:3ba377aafdfd | 215 | void affCodeurs() |
Nanaud | 3:3ba377aafdfd | 216 | { |
Nanaud | 4:ad9b7355332e | 217 | if(aff_cd[0]) pc.printf("CdgA = %d\n\r", cpt_cdgA); |
Nanaud | 4:ad9b7355332e | 218 | //if(aff_cd[1]) pc.printf("CdgB = %d\n\r", cpt_cdgB); |
Nanaud | 4:ad9b7355332e | 219 | |
Nanaud | 4:ad9b7355332e | 220 | if(aff_cd[0]) bt.printf("CdgA = %d\n\r", cpt_cdgA); |
Nanaud | 4:ad9b7355332e | 221 | //if(aff_cd[1]) bt.printf("CdgB = %d\n\r", cpt_cdgB); |
Nanaud | 3:3ba377aafdfd | 222 | } |