Carte esclave gros robot
Dependencies: mbed Herkulex_Library_2019 ident_crac actions_Pr
main.cpp@54:529b24478996, 2022-04-22 (annotated)
- Committer:
- gein
- Date:
- Fri Apr 22 16:14:30 2022 +0000
- Revision:
- 54:529b24478996
- Parent:
- 53:b7d2682fba44
base bras mesure
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
goldmas | 53:b7d2682fba44 | 1 | #include "main.h" |
Artiom | 0:bc74da1c502f | 2 | |
Artiom | 0:bc74da1c502f | 3 | #define SIZE_FIFO 50 |
Artiom | 0:bc74da1c502f | 4 | |
Artiom | 30:d034f469359e | 5 | |
Artiom | 0:bc74da1c502f | 6 | CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN |
Artiom | 0:bc74da1c502f | 7 | |
gein | 54:529b24478996 | 8 | |
gein | 54:529b24478996 | 9 | |
gein | 54:529b24478996 | 10 | Serial pc(USBTX,USBRX,115200); |
Artiom | 0:bc74da1c502f | 11 | |
gein | 54:529b24478996 | 12 | DigitalOut me(PA_4,1); |
gein | 54:529b24478996 | 13 | char data[2]= {0x75}; |
gein | 54:529b24478996 | 14 | CANMessage tx_msg(0x732,data,1,CANData,CANStandard); |
Artiom | 0:bc74da1c502f | 15 | CANMessage msgRxBuffer[SIZE_FIFO]; |
Artiom | 0:bc74da1c502f | 16 | unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN |
Artiom | 0:bc74da1c502f | 17 | signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN |
marwanesaich | 45:11614fc23e53 | 18 | unsigned char EtatGameEnd=0, EtatGameStart = 0, EtatGameRecalage = 0; |
marwanesaich | 45:11614fc23e53 | 19 | unsigned short ackFinAction = 0; |
gein | 54:529b24478996 | 20 | |
gein | 54:529b24478996 | 21 | AnalogIn avant_droit(PB_0);//1 |
gein | 54:529b24478996 | 22 | AnalogIn avant_gauche(PB_1);//A |
gein | 54:529b24478996 | 23 | CANMessage tx_message; |
gein | 54:529b24478996 | 24 | char bidon[8]; |
gein | 54:529b24478996 | 25 | |
gein | 54:529b24478996 | 26 | char bras_choix=0,num_ca=0,msg_carre=0; |
goldmas | 52:c019890fbc59 | 27 | void initialisation_CAN (void) ; |
Artiom | 32:e9947815c4d7 | 28 | |
Artiom | 32:e9947815c4d7 | 29 | |
gein | 54:529b24478996 | 30 | |
kyxstark | 21:edf6d03fdb20 | 31 | void canProcessRx(void); |
Artiom | 12:191486ba5118 | 32 | |
Artiom | 0:bc74da1c502f | 33 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 34 | /* FUNCTION NAME: canRx_ISR */ |
Artiom | 0:bc74da1c502f | 35 | /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */ |
Artiom | 0:bc74da1c502f | 36 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 37 | void canRx_ISR (void) |
Artiom | 0:bc74da1c502f | 38 | { |
gein | 54:529b24478996 | 39 | if (can.read(msgRxBuffer[FIFO_ecriture])) { |
gein | 54:529b24478996 | 40 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 41 | } |
Artiom | 0:bc74da1c502f | 42 | } |
Artiom | 0:bc74da1c502f | 43 | |
Artiom | 0:bc74da1c502f | 44 | int main() |
Artiom | 0:bc74da1c502f | 45 | { |
Artiom | 0:bc74da1c502f | 46 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
goldmas | 52:c019890fbc59 | 47 | SendRawId(ALIVE_ACTIONNEURS_AVANT); |
gein | 54:529b24478996 | 48 | CANMessage tx_message(0x222, bidon, 2, CANData, CANStandard); |
Artiom | 0:bc74da1c502f | 49 | servo_interrupt_en(); //permettre les interuptions |
goldmas | 53:b7d2682fba44 | 50 | wait(1); |
Artiom | 32:e9947815c4d7 | 51 | deverouillage_torque(); |
gein | 54:529b24478996 | 52 | setTorque(101,TORQUE_ON,2); |
gein | 54:529b24478996 | 53 | setTorque(4,TORQUE_ON,2); |
gein | 54:529b24478996 | 54 | setTorque(102,TORQUE_ON,2); |
gein | 54:529b24478996 | 55 | setTorque(5,TORQUE_ON,2); |
maximilienlv | 47:ced7758fb2ce | 56 | pc.printf("\nLAUNCHED\n\r"); |
maximilienlv | 47:ced7758fb2ce | 57 | //on rentre tous les bras dans le robot dans le vagin de sa mere |
gein | 54:529b24478996 | 58 | // gabarit_robot_gauche(); |
gein | 54:529b24478996 | 59 | // wait_ms(300); |
gein | 54:529b24478996 | 60 | // gabarit_robot_droit(); |
gein | 54:529b24478996 | 61 | // wait_ms(300); |
gein | 54:529b24478996 | 62 | // gabarit_robot_manche(); |
gein | 54:529b24478996 | 63 | // wait_ms(300); |
maximilienlv | 49:af201920161a | 64 | //DigitalIn cap2(PC_14); |
gein | 54:529b24478996 | 65 | // SendRawId(CHECK_ACTIONNEURS_AVANT); |
gein | 54:529b24478996 | 66 | while(1) { |
Artiom | 0:bc74da1c502f | 67 | canProcessRx(); |
gein | 54:529b24478996 | 68 | // f_mesure();//dt35 |
gein | 54:529b24478996 | 69 | traitement(); |
gein | 54:529b24478996 | 70 | // selection_bras_attraper(); |
gein | 54:529b24478996 | 71 | // selection_bras_relacher(); |
gein | 54:529b24478996 | 72 | // automate_manche_air_haut(); |
gein | 54:529b24478996 | 73 | // automate_manche_air_bas(); |
gein | 54:529b24478996 | 74 | // automate_manche_air_moy(); |
gein | 54:529b24478996 | 75 | // selection_bras_prepa(); |
gein | 54:529b24478996 | 76 | // selection_bras_poser(); |
goldmas | 52:c019890fbc59 | 77 | /* |
maximilienlv | 49:af201920161a | 78 | automate_bras_attraper_1(); |
maximilienlv | 49:af201920161a | 79 | automate_bras_relacher_1(); |
maximilienlv | 49:af201920161a | 80 | automate_bras_attraper_2(); |
maximilienlv | 49:af201920161a | 81 | automate_bras_relacher_2(); |
maximilienlv | 49:af201920161a | 82 | automate_bras_attraper_3(); |
maximilienlv | 49:af201920161a | 83 | automate_bras_relacher_3(); |
goldmas | 52:c019890fbc59 | 84 | */ |
goldmas | 51:ecbdff4587ce | 85 | //automate_manche_air() ; |
goldmas | 51:ecbdff4587ce | 86 | /*automate_position_lidar();*/ |
gein | 54:529b24478996 | 87 | tx_message.data[1] = avant_droit.read() * 260; |
gein | 54:529b24478996 | 88 | tx_message.data[0] = avant_gauche.read() * 260; |
gein | 54:529b24478996 | 89 | can.write(tx_message); |
gein | 54:529b24478996 | 90 | wait_ms(20); |
maximilienlv | 49:af201920161a | 91 | } |
Artiom | 0:bc74da1c502f | 92 | } |
maximilienlv | 47:ced7758fb2ce | 93 | //fin du main |
Artiom | 0:bc74da1c502f | 94 | |
Artiom | 0:bc74da1c502f | 95 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 96 | /* FUNCTION NAME: canProcessRx */ |
Artiom | 0:bc74da1c502f | 97 | /* DESCRIPTION : Fonction de traitement des messages CAN */ |
Artiom | 0:bc74da1c502f | 98 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 99 | void canProcessRx(void) |
Artiom | 0:bc74da1c502f | 100 | { |
Artiom | 0:bc74da1c502f | 101 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
Artiom | 0:bc74da1c502f | 102 | CANMessage msgTx=CANMessage(); |
maximilienlv | 49:af201920161a | 103 | |
Artiom | 0:bc74da1c502f | 104 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
Artiom | 0:bc74da1c502f | 105 | if(FIFO_occupation<0) |
Artiom | 0:bc74da1c502f | 106 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
maximilienlv | 49:af201920161a | 107 | |
Artiom | 0:bc74da1c502f | 108 | if(FIFO_max_occupation<FIFO_occupation) |
Artiom | 0:bc74da1c502f | 109 | FIFO_max_occupation=FIFO_occupation; |
maximilienlv | 49:af201920161a | 110 | |
Artiom | 0:bc74da1c502f | 111 | if(FIFO_occupation!=0) { |
Artiom | 0:bc74da1c502f | 112 | int identifiant=msgRxBuffer[FIFO_lecture].id; |
Artiom | 0:bc74da1c502f | 113 | |
gein | 54:529b24478996 | 114 | switch(identifiant) { |
marwanesaich | 45:11614fc23e53 | 115 | case GLOBAL_START: |
marwanesaich | 45:11614fc23e53 | 116 | EtatGameStart = 1; |
maximilienlv | 47:ced7758fb2ce | 117 | EtatGameEnd = 0; |
marwanesaich | 45:11614fc23e53 | 118 | break; |
marwanesaich | 45:11614fc23e53 | 119 | case RECALAGE_START : |
marwanesaich | 45:11614fc23e53 | 120 | EtatGameRecalage = 1; |
marwanesaich | 45:11614fc23e53 | 121 | break; |
gein | 54:529b24478996 | 122 | |
marwanesaich | 45:11614fc23e53 | 123 | case INSTRUCTION_END_MOTEUR: |
marwanesaich | 45:11614fc23e53 | 124 | ackFinAction = msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8); |
marwanesaich | 45:11614fc23e53 | 125 | break; |
Artiom | 32:e9947815c4d7 | 126 | |
Artiom | 0:bc74da1c502f | 127 | case GLOBAL_GAME_END: |
Artiom | 0:bc74da1c502f | 128 | EtatGameEnd = 1; |
maximilienlv | 47:ced7758fb2ce | 129 | EtatGameStart = 0; |
Artiom | 0:bc74da1c502f | 130 | break; |
Artiom | 0:bc74da1c502f | 131 | |
Artiom | 0:bc74da1c502f | 132 | case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN |
Artiom | 0:bc74da1c502f | 133 | char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 134 | short distance=lecture_telemetre(numero_telemetre); |
Artiom | 0:bc74da1c502f | 135 | |
Artiom | 0:bc74da1c502f | 136 | |
Artiom | 0:bc74da1c502f | 137 | msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 138 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 139 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 140 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 141 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 142 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 143 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 144 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 145 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA); |
Artiom | 0:bc74da1c502f | 146 | break; |
Artiom | 0:bc74da1c502f | 147 | |
Artiom | 0:bc74da1c502f | 148 | case DATA_RECALAGE: |
Artiom | 0:bc74da1c502f | 149 | short distance1=lecture_telemetre(1); |
Artiom | 0:bc74da1c502f | 150 | short distance2=lecture_telemetre(2); |
Artiom | 0:bc74da1c502f | 151 | short distance3=lecture_telemetre(3); |
Artiom | 0:bc74da1c502f | 152 | short distance4=lecture_telemetre(4); |
Artiom | 0:bc74da1c502f | 153 | |
Artiom | 0:bc74da1c502f | 154 | msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 155 | msgTx.len=8; |
Artiom | 0:bc74da1c502f | 156 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 157 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 158 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 159 | msgTx.data[0]=(unsigned char)distance1; |
Artiom | 0:bc74da1c502f | 160 | msgTx.data[1]=(unsigned char)(distance1>>8); |
Artiom | 0:bc74da1c502f | 161 | msgTx.data[2]=(unsigned char)distance2; |
Artiom | 0:bc74da1c502f | 162 | msgTx.data[3]=(unsigned char)(distance2>>8); |
Artiom | 0:bc74da1c502f | 163 | msgTx.data[4]=(unsigned char)distance3; |
Artiom | 0:bc74da1c502f | 164 | msgTx.data[5]=(unsigned char)(distance3>>8); |
Artiom | 0:bc74da1c502f | 165 | msgTx.data[6]=(unsigned char)distance4; |
Artiom | 0:bc74da1c502f | 166 | msgTx.data[7]=(unsigned char)(distance4>>8); |
Artiom | 0:bc74da1c502f | 167 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 168 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE); |
Artiom | 0:bc74da1c502f | 169 | break; |
Artiom | 44:381ecf63e6ab | 170 | |
Artiom | 44:381ecf63e6ab | 171 | case DATA_TELEMETRE_LOGIQUE: |
Artiom | 43:7fff7f4d79a1 | 172 | msgTx.id=RECEPTION_TELEMETRE_LOGIQUE; // tx Valeur Telemetre1 |
Artiom | 43:7fff7f4d79a1 | 173 | msgTx.len=4; |
Artiom | 43:7fff7f4d79a1 | 174 | msgTx.format=CANStandard; |
Artiom | 43:7fff7f4d79a1 | 175 | msgTx.type=CANData; |
Artiom | 43:7fff7f4d79a1 | 176 | msgTx.data[0]=(unsigned char)DT1_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 177 | msgTx.data[1]=(unsigned char)DT2_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 178 | msgTx.data[2]=(unsigned char)DT3_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 179 | msgTx.data[3]=(unsigned char)DT4_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 180 | can.write(msgTx); |
Artiom | 43:7fff7f4d79a1 | 181 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_TELEMETRE_LOGIQUE); |
Artiom | 43:7fff7f4d79a1 | 182 | break; |
maximilienlv | 49:af201920161a | 183 | |
maximilienlv | 49:af201920161a | 184 | //----------------------------------------------------------------cases test-----------------------------------------------------------------// |
gein | 54:529b24478996 | 185 | |
maximilienlv | 47:ced7758fb2ce | 186 | case TEST_BRAS_A: |
goldmas | 51:ecbdff4587ce | 187 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 51:ecbdff4587ce | 188 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 51:ecbdff4587ce | 189 | aut_bras_av_3_at = 0; |
marwanesaich | 45:11614fc23e53 | 190 | break; |
gein | 54:529b24478996 | 191 | |
maximilienlv | 47:ced7758fb2ce | 192 | case TEST_BRAS_B: |
goldmas | 51:ecbdff4587ce | 193 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 51:ecbdff4587ce | 194 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 51:ecbdff4587ce | 195 | aut_bras_av_3_re = 0; |
maximilienlv | 47:ced7758fb2ce | 196 | break; |
gein | 54:529b24478996 | 197 | |
maximilienlv | 47:ced7758fb2ce | 198 | case TEST_BRAS_C: |
goldmas | 51:ecbdff4587ce | 199 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 51:ecbdff4587ce | 200 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 201 | aut_bras_av_3_at = 1; |
Artiom | 0:bc74da1c502f | 202 | break; |
gein | 54:529b24478996 | 203 | |
maximilienlv | 47:ced7758fb2ce | 204 | case TEST_BRAS_D: |
goldmas | 51:ecbdff4587ce | 205 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 51:ecbdff4587ce | 206 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 207 | aut_bras_av_3_re = 1; |
maximilienlv | 47:ced7758fb2ce | 208 | break; |
gein | 54:529b24478996 | 209 | |
maximilienlv | 49:af201920161a | 210 | case TEST_BRAS_1: |
maximilienlv | 49:af201920161a | 211 | test_BRAS_1(); |
maximilienlv | 47:ced7758fb2ce | 212 | break; |
gein | 54:529b24478996 | 213 | |
maximilienlv | 49:af201920161a | 214 | case TEST_BRAS_2: |
gein | 54:529b24478996 | 215 | test_BRAS_2(); |
Artiom | 2:9e63099cca99 | 216 | break; |
gein | 54:529b24478996 | 217 | |
maximilienlv | 49:af201920161a | 218 | case TEST_BRAS_3: |
gein | 54:529b24478996 | 219 | test_BRAS_3(); |
maximilienlv | 49:af201920161a | 220 | break; |
gein | 54:529b24478996 | 221 | |
gein | 54:529b24478996 | 222 | case TEST_BRAS_4: |
gein | 54:529b24478996 | 223 | test_BRAS_4(); |
Artiom | 31:29500874c1cc | 224 | break; |
gein | 54:529b24478996 | 225 | |
gein | 54:529b24478996 | 226 | case TEST_BRAS_5: |
Artiom | 2:9e63099cca99 | 227 | break; |
gein | 54:529b24478996 | 228 | |
gein | 54:529b24478996 | 229 | case TEST_BRAS_6: |
Artiom | 2:9e63099cca99 | 230 | break; |
gein | 54:529b24478996 | 231 | ////////////////////////////////////////////CASE DE canPETITIONS///////////////////////////////////////////// |
goldmas | 52:c019890fbc59 | 232 | case BRAS_AT: |
goldmas | 52:c019890fbc59 | 233 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 52:c019890fbc59 | 234 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
gein | 54:529b24478996 | 235 | aut_bras_av_at = 1; |
goldmas | 52:c019890fbc59 | 236 | break; |
gein | 54:529b24478996 | 237 | |
goldmas | 52:c019890fbc59 | 238 | case BRAS_RE: |
goldmas | 52:c019890fbc59 | 239 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 52:c019890fbc59 | 240 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 52:c019890fbc59 | 241 | aut_bras_av_re = 1; |
goldmas | 52:c019890fbc59 | 242 | break; |
gein | 54:529b24478996 | 243 | |
goldmas | 53:b7d2682fba44 | 244 | case BRAS_PREPA: |
maximilienlv | 49:af201920161a | 245 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 49:af201920161a | 246 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
gein | 54:529b24478996 | 247 | aut_bras_av_prepa = 1; |
Artiom | 0:bc74da1c502f | 248 | break; |
gein | 54:529b24478996 | 249 | |
goldmas | 53:b7d2682fba44 | 250 | case BRAS_POSE: |
maximilienlv | 49:af201920161a | 251 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 49:af201920161a | 252 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 53:b7d2682fba44 | 253 | aut_bras_av_pose = 1; |
maximilienlv | 49:af201920161a | 254 | break; |
gein | 54:529b24478996 | 255 | |
maximilienlv | 47:ced7758fb2ce | 256 | case GABARIT_ROBOT: |
maximilienlv | 49:af201920161a | 257 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 48:ef0dc0df8c77 | 258 | gabarit_robot_droit(); |
maximilienlv | 48:ef0dc0df8c77 | 259 | gabarit_robot_gauche(); |
Artiom | 20:42f8ec726ac8 | 260 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 20:42f8ec726ac8 | 261 | break; |
gein | 54:529b24478996 | 262 | |
goldmas | 52:c019890fbc59 | 263 | case AUTOMATE_MANCHE_HAUT: |
goldmas | 51:ecbdff4587ce | 264 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 52:c019890fbc59 | 265 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 52:c019890fbc59 | 266 | aut_manche_haut = 1; |
gein | 54:529b24478996 | 267 | break; |
gein | 54:529b24478996 | 268 | |
goldmas | 52:c019890fbc59 | 269 | case AUTOMATE_MANCHE_BAS: |
goldmas | 51:ecbdff4587ce | 270 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 52:c019890fbc59 | 271 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 52:c019890fbc59 | 272 | aut_manche_bas = 1; |
goldmas | 51:ecbdff4587ce | 273 | break; |
gein | 54:529b24478996 | 274 | |
goldmas | 53:b7d2682fba44 | 275 | case AUTOMATE_MANCHE_MOY : |
goldmas | 53:b7d2682fba44 | 276 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 53:b7d2682fba44 | 277 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 53:b7d2682fba44 | 278 | aut_manche_moy = 1; |
goldmas | 53:b7d2682fba44 | 279 | break ; |
gein | 54:529b24478996 | 280 | |
goldmas | 53:b7d2682fba44 | 281 | case PAVILLON_DEPLOYE : |
goldmas | 53:b7d2682fba44 | 282 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 53:b7d2682fba44 | 283 | pavilon_deploye(); |
goldmas | 53:b7d2682fba44 | 284 | break ; |
gein | 54:529b24478996 | 285 | |
goldmas | 53:b7d2682fba44 | 286 | case LECTURE_GIROUETTE : |
goldmas | 53:b7d2682fba44 | 287 | unsigned char port_final ; |
goldmas | 53:b7d2682fba44 | 288 | port_final = lecture_girouette() ; |
goldmas | 53:b7d2682fba44 | 289 | //if( port_final != 2) |
gein | 54:529b24478996 | 290 | SendMsgCan(VALEUR_GIROUETTE, &port_final, sizeof(char)) ; |
goldmas | 53:b7d2682fba44 | 291 | break ; |
gein | 54:529b24478996 | 292 | |
goldmas | 53:b7d2682fba44 | 293 | case TEST_LECTURE_GIROUETTE : |
goldmas | 53:b7d2682fba44 | 294 | test_lecture_girou() ; |
goldmas | 53:b7d2682fba44 | 295 | break ; |
gein | 54:529b24478996 | 296 | case BF_RANGER: |
gein | 54:529b24478996 | 297 | msg_carre=1; |
gein | 54:529b24478996 | 298 | |
gein | 54:529b24478996 | 299 | pc.printf(" ok recu "); |
gein | 54:529b24478996 | 300 | break; |
gein | 54:529b24478996 | 301 | |
gein | 54:529b24478996 | 302 | case BF_PRETEST: |
gein | 54:529b24478996 | 303 | msg_carre=3; |
gein | 54:529b24478996 | 304 | |
gein | 54:529b24478996 | 305 | |
gein | 54:529b24478996 | 306 | break; |
gein | 54:529b24478996 | 307 | |
gein | 54:529b24478996 | 308 | case BF_MESURE: |
gein | 54:529b24478996 | 309 | msg_carre=2; |
gein | 54:529b24478996 | 310 | num_ca=msgRxBuffer[FIFO_lecture].data[0]; |
gein | 54:529b24478996 | 311 | |
gein | 54:529b24478996 | 312 | break; |
gein | 54:529b24478996 | 313 | |
gein | 54:529b24478996 | 314 | case BF_COLOR: |
gein | 54:529b24478996 | 315 | set_color(msgRxBuffer[FIFO_lecture].data[0] & 0x1); |
gein | 54:529b24478996 | 316 | break; |
gein | 54:529b24478996 | 317 | |
gein | 54:529b24478996 | 318 | case BF_TEST: |
gein | 54:529b24478996 | 319 | BF_test_mesure(msgRxBuffer[FIFO_lecture].data[0] & 0x1); |
gein | 54:529b24478996 | 320 | |
gein | 54:529b24478996 | 321 | break; |
gein | 54:529b24478996 | 322 | case BF_POS: |
gein | 54:529b24478996 | 323 | Interrupt2_en(); |
gein | 54:529b24478996 | 324 | pc.printf(" haut: %d ",getPos(ID_HAUT,2)); |
gein | 54:529b24478996 | 325 | Interrupt2_en(); |
gein | 54:529b24478996 | 326 | pc.printf(" MILLIEU: %d ",getPos(ID_MILLIEU,2)); |
gein | 54:529b24478996 | 327 | |
gein | 54:529b24478996 | 328 | break; |
gein | 54:529b24478996 | 329 | |
maximilienlv | 47:ced7758fb2ce | 330 | default: |
marwanesaich | 45:11614fc23e53 | 331 | break; |
Artiom | 0:bc74da1c502f | 332 | } |
Artiom | 0:bc74da1c502f | 333 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 334 | } |
goldmas | 52:c019890fbc59 | 335 | } |
goldmas | 52:c019890fbc59 | 336 | |
gein | 54:529b24478996 | 337 | void initialisation_CAN(void) |
goldmas | 52:c019890fbc59 | 338 | { |
goldmas | 52:c019890fbc59 | 339 | CANMessage msg_init; |
gein | 54:529b24478996 | 340 | msg_init.id = CHECK_ACTIONNEURS_AVANT; |
goldmas | 52:c019890fbc59 | 341 | msg_init.len=1; |
goldmas | 52:c019890fbc59 | 342 | msg_init.format=CANStandard; |
goldmas | 52:c019890fbc59 | 343 | msg_init.type=CANData; |
goldmas | 52:c019890fbc59 | 344 | msg_init.data[0]= 0 ; |
goldmas | 52:c019890fbc59 | 345 | |
goldmas | 52:c019890fbc59 | 346 | can.write(msg_init); |
maximilienlv | 47:ced7758fb2ce | 347 | } |