BTS SN Cabanis 2019
/
Robot_a_cables_v3_5
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Dependencies: mbed
main.cpp
- Committer:
- protongamer
- Date:
- 2018-03-02
- Revision:
- 2:1e06fd49ea7b
- Parent:
- 1:4d70e593345f
- Child:
- 3:86e21a36eecb
File content as of revision 2:1e06fd49ea7b:
#include "mbed.h"
// LR 10/02/18
//
// bus CAN generateur de trames
//
// Emission d'une trame parmi 4 selection à l'aide du pot1
// eviter les positions intermédaires du pot1 !
// !! emission sur CAN2 p30Rx p29Tx
// Attention si pas d'ACK faire reset après chaque changement
// J'ai constaté des comportements bizarre dans cette situation
// Des infos sur la liaison série
// La trame est envoyée aussi sur LCD
//
// testé à l'analyseur logique = OK !!
//
//
DigitalOut led1(LED1);
DigitalOut led2(LED2);
CAN can1(p9, p10,1000000);// on definit pin et debit
CAN can2(p30, p29, 1000000);
Serial pc(USBTX, USBRX);
//AnalogIn pot_1(p19); // potard pour selection
void send(int id, char octet_emis[], char RouD, char longueur )
{
int emis_ok = 0 ;
if (RouD == 'D')
{ emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANData, CANStandard )) ;
pc.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
}// c'ets la valeur retournée par la fonction write
else
{ emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANRemote, CANStandard ));
pc.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
}
//lcd.locate(0,10);
//lcd.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
if(emis_ok) {
// ici octet emis n'a pas de sens car trame remote !
pc.printf("j'emets bien !!! \n");
}
led1 = !led1;
}
int main() {
// int choix = 0 ;
int i = 0 ;
char octet_send[9] = "DDDDDDDD"; // valeurs par defaut D=44
int identif = 0x123 ; // par défaut
char RemoteData = 'D' ;
char length = 2 ;
char c;
uint32_t instruction = 0;
uint8_t state_val = 0;
uint8_t state = 0;
int data_rc;
int data_report[100];
bool dejafait = 0;
CANMessage msg;
pc.printf("CAN CONSOLE \r \n");
while(1) {
data_rc = 0;
pc.printf(" Identifier : ");
while(state == 0){
c = pc.getc();
switch(c){
case '0':
pc.printf("0");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0000;
}
if(state_val == 0){
instruction = 0b0000;
state_val++;
}
break;
case '1':
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0001;
}
pc.printf("1");
if(state_val == 0){
instruction = 0b0001;
state_val++;
}
break;
case '2':
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0010;
}
pc.printf("2");
if(state_val == 0){
instruction = 0b0010;
state_val++;
}
break;
case '3':
pc.printf("3");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0011;
}
if(state_val == 0){
instruction = 0b0011;
state_val++;
}
break;
case '4':
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0100;
}
pc.printf("4");
if(state_val == 0){
instruction = 0b0100;
state_val++;
}
break;
case '5':
pc.printf("5");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0101;
}
if(state_val == 0){
instruction = 0b0101;
state_val++;
}
break;
case '6':
pc.printf("6");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0110;
}
if(state_val == 0){
instruction = 0b0110;
state_val++;
}
break;
case '7':
pc.printf("7");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0111;
}
if(state_val == 0){
instruction = 0b0111;
state_val++;
}
break;
case '8':
pc.printf("8");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1000;
}
if(state_val == 0){
instruction = 0b1000;
state_val++;
}
break;
case '9':
pc.printf("9");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1001;
}
if(state_val == 0){
instruction = 0b1001;
state_val++;
}
break;
case 'a':
pc.printf("a");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1010;
}
if(state_val == 0){
instruction = 0b1010;
state_val++;
}
break;
case 'b':
pc.printf("b");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1011;
}
if(state_val == 0){
instruction = 0b1011;
state_val++;
}
break;
case 'c':
pc.printf("c");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1100;
}
if(state_val == 0){
instruction = 0b1100;
state_val++;
}
break;
case 'd':
pc.printf("d");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1101;
}
if(state_val == 0){
instruction = 0b1101;
state_val++;
}
break;
case 'e':
pc.printf("e");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1110;
}
if(state_val == 0){
instruction = 0b1110;
state_val++;
}
break;
case 'f':
pc.printf("f");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1111;
}
if(state_val == 0){
instruction = 0b1111;
state_val++;
}
break;
case 'A':
pc.printf("a");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1010;
}
if(state_val == 0){
instruction = 0b1010;
state_val++;
}
break;
case 'B':
pc.printf("b");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1011;
}
if(state_val == 0){
instruction = 0b1011;
state_val++;
}
break;
case 'C':
pc.printf("c");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1100;
}
if(state_val == 0){
instruction = 0b1100;
state_val++;
}
break;
case 'D':
pc.printf("d");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1101;
}
if(state_val == 0){
instruction = 0b1101;
state_val++;
}
break;
case 'E':
pc.printf("e");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1110;
}
if(state_val == 0){
instruction = 0b1110;
state_val++;
}
break;
case 'F':
pc.printf("f");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1111;
}
if(state_val == 0){
instruction = 0b1111;
state_val++;
}
break;
case '\r':
pc.printf("\r\nOk\r\n");
identif = instruction;
state++;
break;
}
}
pc.printf("\r\n Number of octets : ");
c = pc.getc();
instruction = 0;
state_val = 0;
switch(c){
case '0':
pc.printf("0");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0000;
}
if(state_val == 0){
instruction = 0b0000;
state_val++;
}
break;
case '1':
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0001;
}
pc.printf("1");
if(state_val == 0){
instruction = 0b0001;
state_val++;
}
break;
case '2':
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0010;
}
pc.printf("2");
if(state_val == 0){
instruction = 0b0010;
state_val++;
}
break;
case '3':
pc.printf("3");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0011;
}
if(state_val == 0){
instruction = 0b0011;
state_val++;
}
break;
case '4':
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0100;
}
pc.printf("4");
if(state_val == 0){
instruction = 0b0100;
state_val++;
}
break;
case '5':
pc.printf("5");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0101;
}
if(state_val == 0){
instruction = 0b0101;
state_val++;
}
break;
case '6':
pc.printf("6");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0110;
}
if(state_val == 0){
instruction = 0b0110;
state_val++;
}
break;
case '7':
pc.printf("7");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0111;
}
if(state_val == 0){
instruction = 0b0111;
state_val++;
}
break;
case '8':
pc.printf("8");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1000;
}
if(state_val == 0){
instruction = 0b1000;
state_val++;
}
break;
case '9':
pc.printf("9");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1001;
}
if(state_val == 0){
instruction = 0b1001;
state_val++;
}
break;
case 'a':
pc.printf("a");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1010;
}
if(state_val == 0){
instruction = 0b1010;
state_val++;
}
break;
case 'b':
pc.printf("b");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1011;
}
if(state_val == 0){
instruction = 0b1011;
state_val++;
}
break;
case 'c':
pc.printf("c");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1100;
}
if(state_val == 0){
instruction = 0b1100;
state_val++;
}
break;
case 'd':
pc.printf("d");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1101;
}
if(state_val == 0){
instruction = 0b1101;
state_val++;
}
break;
case 'e':
pc.printf("e");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1110;
}
if(state_val == 0){
instruction = 0b1110;
state_val++;
}
break;
case 'f':
pc.printf("f");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1111;
}
if(state_val == 0){
instruction = 0b1111;
state_val++;
}
break;
case 'A':
pc.printf("a");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1010;
}
if(state_val == 0){
instruction = 0b1010;
state_val++;
}
break;
case 'B':
pc.printf("b");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1011;
}
if(state_val == 0){
instruction = 0b1011;
state_val++;
}
break;
case 'C':
pc.printf("c");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1100;
}
if(state_val == 0){
instruction = 0b1100;
state_val++;
}
break;
case 'D':
pc.printf("d");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1101;
}
if(state_val == 0){
instruction = 0b1101;
state_val++;
}
break;
case 'E':
pc.printf("e");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1110;
}
if(state_val == 0){
instruction = 0b1110;
state_val++;
}
break;
case 'F':
pc.printf("f");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1111;
}
if(state_val == 0){
instruction = 0b1111;
state_val++;
}
break;
}
length = instruction;
pc.printf("\r\n");
if(length > 0){
pc.printf("Send octets in hexa\r\n");
i = 0;
pc.printf("\r\n Octet[%d] : ", i);
while(i <= length - 1){
c = pc.getc();
switch(c){
case '0':
pc.printf("0");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0000;
}
if(state_val == 0){
instruction = 0b0000;
state_val++;
}
break;
case '1':
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0001;
}
pc.printf("1");
if(state_val == 0){
instruction = 0b0001;
state_val++;
}
break;
case '2':
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0010;
}
pc.printf("2");
if(state_val == 0){
instruction = 0b0010;
state_val++;
}
break;
case '3':
pc.printf("3");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0011;
}
if(state_val == 0){
instruction = 0b0011;
state_val++;
}
break;
case '4':
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0100;
}
pc.printf("4");
if(state_val == 0){
instruction = 0b0100;
state_val++;
}
break;
case '5':
pc.printf("5");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0101;
}
if(state_val == 0){
instruction = 0b0101;
state_val++;
}
break;
case '6':
pc.printf("6");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0110;
}
if(state_val == 0){
instruction = 0b0110;
state_val++;
}
break;
case '7':
pc.printf("7");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b0111;
}
if(state_val == 0){
instruction = 0b0111;
state_val++;
}
break;
case '8':
pc.printf("8");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1000;
}
if(state_val == 0){
instruction = 0b1000;
state_val++;
}
break;
case '9':
pc.printf("9");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1001;
}
if(state_val == 0){
instruction = 0b1001;
state_val++;
}
break;
case 'a':
pc.printf("a");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1010;
}
if(state_val == 0){
instruction = 0b1010;
state_val++;
}
break;
case 'b':
pc.printf("b");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1011;
}
if(state_val == 0){
instruction = 0b1011;
state_val++;
}
break;
case 'c':
pc.printf("c");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1100;
}
if(state_val == 0){
instruction = 0b1100;
state_val++;
}
break;
case 'd':
pc.printf("d");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1101;
}
if(state_val == 0){
instruction = 0b1101;
state_val++;
}
break;
case 'e':
pc.printf("e");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1110;
}
if(state_val == 0){
instruction = 0b1110;
state_val++;
}
break;
case 'f':
pc.printf("f");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1111;
}
if(state_val == 0){
instruction = 0b1111;
state_val++;
}
break;
case 'A':
pc.printf("a");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1010;
}
if(state_val == 0){
instruction = 0b1010;
state_val++;
}
break;
case 'B':
pc.printf("b");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1011;
}
if(state_val == 0){
instruction = 0b1011;
state_val++;
}
break;
case 'C':
pc.printf("c");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1100;
}
if(state_val == 0){
instruction = 0b1100;
state_val++;
}
break;
case 'D':
pc.printf("d");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1101;
}
if(state_val == 0){
instruction = 0b1101;
state_val++;
}
break;
case 'E':
pc.printf("e");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1110;
}
if(state_val == 0){
instruction = 0b1110;
state_val++;
}
break;
case 'F':
pc.printf("f");
if(state_val > 0){
instruction = instruction << 4;
instruction |= 0b1111;
}
if(state_val == 0){
instruction = 0b1111;
state_val++;
}
break;
case '\r':
octet_send[i] = instruction;
instruction = 0;
state_val = 0;
i++;
if(i <= length - 1){
pc.printf("\r\n Octet[%d] : ", i);}
break;
}
}//end of while
}
pc.printf("Set RTR (1 or 0): ");
c = pc.getc();
if(c == '0'){
RemoteData = 'D';
}
if(c == '1'){
RemoteData = 'R';
}
pc.printf("%c \r\n",c);
wait(2);
for(i = 0; i < 25; i++){
if(dejafait == 0){
send(identif, octet_send, RemoteData, length );
data_rc = 0;
dejafait = 1;
}
pc.printf("Awaiting Data... \r\n");
if(can2.read(msg)) {
pc.printf("Message received\r\n");
pc.printf("Number of octet: %d \r\n", msg.len);
}
}//end of for
for(i = 0; i < msg.len; i++){
pc.printf("Data captured %d : 0x%x \r\n", i, msg.data[i]);
}
data_rc = 0;
dejafait = 0;
i = 0;
state = 0;
pc.printf("\r\n");
//end of for
}// fin while(1)
} // fin main
/*
printf("loop()\n");
if(can2.read(msg)) {
printf("Message received: %d\n", msg.data[0]);
led2 = !led2;
}
wait(0.2);
}
} */
//choix= 5*pot_1.read();
// lcd.locate(0,0);
// lcd. printf("Trame %d \n", choix);
/* switch (choix)
{ // debut sw
case (0): // Trame qui passe le noeud 15 en Operationnal state
{ identif = 0x00 ;
octet_send[0] = 0x01 ;
octet_send[1] = 0x15 ;
RemoteData = 'D';
length = 2 ;
break ;
} // fin case 0
case (1): // Trame qui passe le noeud 20 en Operationnal state
{ identif = 0x00 ;
octet_send[0] = 0x01 ;
octet_send[1] = 0x20 ;
RemoteData = 'D';
length = 2 ;
break ;
} // fin case 1
case (2): // trame qui ping le noeud 15
{ identif = 0x715 ;
for(i=0;i<9;i++)
{ octet_send[i]='D';} // 44 en hexa par defaut
RemoteData = 'R';
length = 0 ;
break ;
} // fin case 2
case (3): // trame qui ping le noeud 20
{ identif = 0x720 ;
for(i=0;i<9;i++)
{ octet_send[i]='D';} // 44 en hexa par defaut
RemoteData = 'R';
length = 0 ;
break ;
} // fin case 3
default : // 4 ou 5
{ identif = 0x123 ;
for(i=0;i<9;i++)
{ octet_send[i]='D';} // 44 en hexa par defaut
RemoteData = 'D';
length = 8 ;
break ;
} // fin default
} // fin switch
*/