Carte esclave gros robot
Dependencies: mbed Herkulex_Library_2019 ident_crac actions_Pr
main.cpp@50:85b7a7c57d21, 2020-07-17 (annotated)
- Committer:
- maximilienlv
- Date:
- Fri Jul 17 14:33:58 2020 +0000
- Revision:
- 50:85b7a7c57d21
- Parent:
- 49:af201920161a
- Child:
- 51:ecbdff4587ce
modif ACK; fonctionnel en start
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maximilienlv | 50:85b7a7c57d21 | 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 | |
kyxstark | 22:9e92a2b941ba | 8 | Serial pc(USBTX,USBRX); |
Artiom | 0:bc74da1c502f | 9 | |
Artiom | 0:bc74da1c502f | 10 | CANMessage msgRxBuffer[SIZE_FIFO]; |
Artiom | 0:bc74da1c502f | 11 | unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN |
Artiom | 0:bc74da1c502f | 12 | signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN |
marwanesaich | 45:11614fc23e53 | 13 | unsigned char EtatGameEnd=0, EtatGameStart = 0, EtatGameRecalage = 0; |
marwanesaich | 45:11614fc23e53 | 14 | unsigned short ackFinAction = 0; |
maximilienlv | 47:ced7758fb2ce | 15 | char bras_choix=0; |
Artiom | 32:e9947815c4d7 | 16 | |
Artiom | 32:e9947815c4d7 | 17 | |
kyxstark | 21:edf6d03fdb20 | 18 | void canProcessRx(void); |
Artiom | 12:191486ba5118 | 19 | |
Artiom | 0:bc74da1c502f | 20 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 21 | /* FUNCTION NAME: canRx_ISR */ |
Artiom | 0:bc74da1c502f | 22 | /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */ |
Artiom | 0:bc74da1c502f | 23 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 24 | void canRx_ISR (void) |
Artiom | 0:bc74da1c502f | 25 | { |
maximilienlv | 47:ced7758fb2ce | 26 | if (can.read(msgRxBuffer[FIFO_ecriture])) |
maximilienlv | 47:ced7758fb2ce | 27 | { |
maximilienlv | 47:ced7758fb2ce | 28 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 29 | } |
Artiom | 0:bc74da1c502f | 30 | } |
Artiom | 0:bc74da1c502f | 31 | |
Artiom | 0:bc74da1c502f | 32 | int main() |
Artiom | 0:bc74da1c502f | 33 | { |
Artiom | 0:bc74da1c502f | 34 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
Artiom | 0:bc74da1c502f | 35 | servo_interrupt_en(); //permettre les interuptions |
maximilienlv | 47:ced7758fb2ce | 36 | wait_ms(200); |
Artiom | 32:e9947815c4d7 | 37 | deverouillage_torque(); |
maximilienlv | 47:ced7758fb2ce | 38 | pc.printf("\nLAUNCHED\n\r"); |
maximilienlv | 47:ced7758fb2ce | 39 | //on rentre tous les bras dans le robot dans le vagin de sa mere |
maximilienlv | 48:ef0dc0df8c77 | 40 | gabarit_robot_droit(); |
maximilienlv | 48:ef0dc0df8c77 | 41 | wait(1); |
maximilienlv | 48:ef0dc0df8c77 | 42 | gabarit_robot_gauche(); |
maximilienlv | 48:ef0dc0df8c77 | 43 | wait(1); |
maximilienlv | 49:af201920161a | 44 | //DigitalIn cap2(PC_14); |
maximilienlv | 47:ced7758fb2ce | 45 | while(1) |
maximilienlv | 50:85b7a7c57d21 | 46 | { |
Artiom | 0:bc74da1c502f | 47 | canProcessRx(); |
Artiom | 10:48c0d1b8aed9 | 48 | f_mesure();//dt35 |
maximilienlv | 48:ef0dc0df8c77 | 49 | |
maximilienlv | 49:af201920161a | 50 | automate_bras_attraper_1(); |
maximilienlv | 49:af201920161a | 51 | automate_bras_relacher_1(); |
maximilienlv | 49:af201920161a | 52 | automate_bras_attraper_2(); |
maximilienlv | 49:af201920161a | 53 | automate_bras_relacher_2(); |
maximilienlv | 49:af201920161a | 54 | automate_bras_attraper_3(); |
maximilienlv | 49:af201920161a | 55 | automate_bras_relacher_3(); |
maximilienlv | 50:85b7a7c57d21 | 56 | /*automate_manche_air_descendre(); |
maximilienlv | 50:85b7a7c57d21 | 57 | automate_manche_air_remonter(); |
maximilienlv | 50:85b7a7c57d21 | 58 | automate_position_lidar();*/ |
maximilienlv | 49:af201920161a | 59 | } |
Artiom | 0:bc74da1c502f | 60 | } |
maximilienlv | 47:ced7758fb2ce | 61 | //fin du main |
Artiom | 0:bc74da1c502f | 62 | |
Artiom | 0:bc74da1c502f | 63 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 64 | /* FUNCTION NAME: canProcessRx */ |
Artiom | 0:bc74da1c502f | 65 | /* DESCRIPTION : Fonction de traitement des messages CAN */ |
Artiom | 0:bc74da1c502f | 66 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 67 | void canProcessRx(void) |
Artiom | 0:bc74da1c502f | 68 | { |
Artiom | 0:bc74da1c502f | 69 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
Artiom | 0:bc74da1c502f | 70 | CANMessage msgTx=CANMessage(); |
maximilienlv | 49:af201920161a | 71 | |
Artiom | 0:bc74da1c502f | 72 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
Artiom | 0:bc74da1c502f | 73 | if(FIFO_occupation<0) |
Artiom | 0:bc74da1c502f | 74 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
maximilienlv | 49:af201920161a | 75 | |
Artiom | 0:bc74da1c502f | 76 | if(FIFO_max_occupation<FIFO_occupation) |
Artiom | 0:bc74da1c502f | 77 | FIFO_max_occupation=FIFO_occupation; |
maximilienlv | 49:af201920161a | 78 | |
Artiom | 0:bc74da1c502f | 79 | if(FIFO_occupation!=0) { |
Artiom | 0:bc74da1c502f | 80 | int identifiant=msgRxBuffer[FIFO_lecture].id; |
Artiom | 0:bc74da1c502f | 81 | |
maximilienlv | 47:ced7758fb2ce | 82 | switch(identifiant) |
maximilienlv | 47:ced7758fb2ce | 83 | { |
marwanesaich | 45:11614fc23e53 | 84 | case GLOBAL_START: |
marwanesaich | 45:11614fc23e53 | 85 | EtatGameStart = 1; |
maximilienlv | 47:ced7758fb2ce | 86 | EtatGameEnd = 0; |
marwanesaich | 45:11614fc23e53 | 87 | break; |
marwanesaich | 45:11614fc23e53 | 88 | case RECALAGE_START : |
marwanesaich | 45:11614fc23e53 | 89 | EtatGameRecalage = 1; |
marwanesaich | 45:11614fc23e53 | 90 | break; |
marwanesaich | 45:11614fc23e53 | 91 | |
marwanesaich | 45:11614fc23e53 | 92 | case INSTRUCTION_END_MOTEUR: |
marwanesaich | 45:11614fc23e53 | 93 | ackFinAction = msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8); |
marwanesaich | 45:11614fc23e53 | 94 | break; |
Artiom | 32:e9947815c4d7 | 95 | |
Artiom | 0:bc74da1c502f | 96 | case GLOBAL_GAME_END: |
Artiom | 0:bc74da1c502f | 97 | EtatGameEnd = 1; |
maximilienlv | 47:ced7758fb2ce | 98 | EtatGameStart = 0; |
Artiom | 0:bc74da1c502f | 99 | break; |
Artiom | 0:bc74da1c502f | 100 | |
Artiom | 0:bc74da1c502f | 101 | case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN |
Artiom | 0:bc74da1c502f | 102 | char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 103 | short distance=lecture_telemetre(numero_telemetre); |
Artiom | 0:bc74da1c502f | 104 | |
Artiom | 0:bc74da1c502f | 105 | |
Artiom | 0:bc74da1c502f | 106 | msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 107 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 108 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 109 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 110 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 111 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 112 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 113 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 114 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA); |
Artiom | 0:bc74da1c502f | 115 | break; |
Artiom | 0:bc74da1c502f | 116 | |
Artiom | 0:bc74da1c502f | 117 | case DATA_RECALAGE: |
Artiom | 0:bc74da1c502f | 118 | short distance1=lecture_telemetre(1); |
Artiom | 0:bc74da1c502f | 119 | short distance2=lecture_telemetre(2); |
Artiom | 0:bc74da1c502f | 120 | short distance3=lecture_telemetre(3); |
Artiom | 0:bc74da1c502f | 121 | short distance4=lecture_telemetre(4); |
Artiom | 0:bc74da1c502f | 122 | |
Artiom | 0:bc74da1c502f | 123 | msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 124 | msgTx.len=8; |
Artiom | 0:bc74da1c502f | 125 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 126 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 127 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 128 | msgTx.data[0]=(unsigned char)distance1; |
Artiom | 0:bc74da1c502f | 129 | msgTx.data[1]=(unsigned char)(distance1>>8); |
Artiom | 0:bc74da1c502f | 130 | msgTx.data[2]=(unsigned char)distance2; |
Artiom | 0:bc74da1c502f | 131 | msgTx.data[3]=(unsigned char)(distance2>>8); |
Artiom | 0:bc74da1c502f | 132 | msgTx.data[4]=(unsigned char)distance3; |
Artiom | 0:bc74da1c502f | 133 | msgTx.data[5]=(unsigned char)(distance3>>8); |
Artiom | 0:bc74da1c502f | 134 | msgTx.data[6]=(unsigned char)distance4; |
Artiom | 0:bc74da1c502f | 135 | msgTx.data[7]=(unsigned char)(distance4>>8); |
Artiom | 0:bc74da1c502f | 136 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 137 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE); |
Artiom | 0:bc74da1c502f | 138 | break; |
Artiom | 44:381ecf63e6ab | 139 | |
Artiom | 44:381ecf63e6ab | 140 | case DATA_TELEMETRE_LOGIQUE: |
Artiom | 43:7fff7f4d79a1 | 141 | msgTx.id=RECEPTION_TELEMETRE_LOGIQUE; // tx Valeur Telemetre1 |
Artiom | 43:7fff7f4d79a1 | 142 | msgTx.len=4; |
Artiom | 43:7fff7f4d79a1 | 143 | msgTx.format=CANStandard; |
Artiom | 43:7fff7f4d79a1 | 144 | msgTx.type=CANData; |
Artiom | 43:7fff7f4d79a1 | 145 | msgTx.data[0]=(unsigned char)DT1_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 146 | msgTx.data[1]=(unsigned char)DT2_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 147 | msgTx.data[2]=(unsigned char)DT3_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 148 | msgTx.data[3]=(unsigned char)DT4_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 149 | can.write(msgTx); |
Artiom | 43:7fff7f4d79a1 | 150 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_TELEMETRE_LOGIQUE); |
Artiom | 43:7fff7f4d79a1 | 151 | break; |
maximilienlv | 49:af201920161a | 152 | |
maximilienlv | 49:af201920161a | 153 | //----------------------------------------------------------------cases test-----------------------------------------------------------------// |
maximilienlv | 47:ced7758fb2ce | 154 | |
maximilienlv | 47:ced7758fb2ce | 155 | case TEST_BRAS_A: |
maximilienlv | 49:af201920161a | 156 | aut_bras_av_3_at = 1; |
maximilienlv | 49:af201920161a | 157 | bras_choix = 0; |
marwanesaich | 45:11614fc23e53 | 158 | break; |
maximilienlv | 47:ced7758fb2ce | 159 | |
maximilienlv | 47:ced7758fb2ce | 160 | case TEST_BRAS_B: |
maximilienlv | 49:af201920161a | 161 | aut_bras_av_3_re = 1; |
maximilienlv | 49:af201920161a | 162 | bras_choix = 0; |
maximilienlv | 47:ced7758fb2ce | 163 | break; |
maximilienlv | 47:ced7758fb2ce | 164 | |
maximilienlv | 47:ced7758fb2ce | 165 | case TEST_BRAS_C: |
maximilienlv | 49:af201920161a | 166 | aut_bras_av_3_at = 1; |
maximilienlv | 49:af201920161a | 167 | bras_choix = 1; |
Artiom | 0:bc74da1c502f | 168 | break; |
maximilienlv | 47:ced7758fb2ce | 169 | |
maximilienlv | 47:ced7758fb2ce | 170 | case TEST_BRAS_D: |
maximilienlv | 49:af201920161a | 171 | aut_bras_av_3_re = 1; |
maximilienlv | 49:af201920161a | 172 | bras_choix = 1; |
maximilienlv | 47:ced7758fb2ce | 173 | break; |
maximilienlv | 49:af201920161a | 174 | |
maximilienlv | 49:af201920161a | 175 | case TEST_BRAS_1: |
maximilienlv | 49:af201920161a | 176 | test_BRAS_1(); |
maximilienlv | 47:ced7758fb2ce | 177 | break; |
maximilienlv | 47:ced7758fb2ce | 178 | |
maximilienlv | 49:af201920161a | 179 | case TEST_BRAS_2: |
maximilienlv | 49:af201920161a | 180 | test_BRAS_2(); |
Artiom | 2:9e63099cca99 | 181 | break; |
maximilienlv | 47:ced7758fb2ce | 182 | |
maximilienlv | 49:af201920161a | 183 | case TEST_BRAS_3: |
maximilienlv | 49:af201920161a | 184 | test_BRAS_3(); |
maximilienlv | 49:af201920161a | 185 | break; |
maximilienlv | 49:af201920161a | 186 | |
maximilienlv | 49:af201920161a | 187 | case TEST_BRAS_4: |
maximilienlv | 49:af201920161a | 188 | test_BRAS_4(); |
Artiom | 31:29500874c1cc | 189 | break; |
maximilienlv | 47:ced7758fb2ce | 190 | |
maximilienlv | 48:ef0dc0df8c77 | 191 | case TEST_BRAS_5: |
Artiom | 2:9e63099cca99 | 192 | break; |
maximilienlv | 47:ced7758fb2ce | 193 | |
maximilienlv | 48:ef0dc0df8c77 | 194 | case TEST_BRAS_6: |
Artiom | 2:9e63099cca99 | 195 | break; |
maximilienlv | 49:af201920161a | 196 | ////////////////////////////////////////////CASE DE COMPETITIONS///////////////////////////////////////////// |
maximilienlv | 49:af201920161a | 197 | case BRAS_AT_1: |
maximilienlv | 47:ced7758fb2ce | 198 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 47:ced7758fb2ce | 199 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 50:85b7a7c57d21 | 200 | aut_bras_av_1_at = 1; |
maximilienlv | 49:af201920161a | 201 | break; |
maximilienlv | 49:af201920161a | 202 | |
maximilienlv | 49:af201920161a | 203 | case BRAS_RE_1: |
maximilienlv | 49:af201920161a | 204 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 49:af201920161a | 205 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 206 | aut_bras_av_1_re = 1; |
maximilienlv | 49:af201920161a | 207 | break; |
maximilienlv | 49:af201920161a | 208 | |
maximilienlv | 49:af201920161a | 209 | case BRAS_AT_2: |
maximilienlv | 49:af201920161a | 210 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 49:af201920161a | 211 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 50:85b7a7c57d21 | 212 | aut_bras_av_2_at = 1; |
Artiom | 0:bc74da1c502f | 213 | break; |
maximilienlv | 47:ced7758fb2ce | 214 | |
maximilienlv | 49:af201920161a | 215 | case BRAS_RE_2: |
maximilienlv | 49:af201920161a | 216 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 49:af201920161a | 217 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 218 | aut_bras_av_2_re = 1; |
maximilienlv | 49:af201920161a | 219 | break; |
maximilienlv | 49:af201920161a | 220 | |
maximilienlv | 49:af201920161a | 221 | case BRAS_AT_3: |
Artiom | 14:b1abd2f6df75 | 222 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 47:ced7758fb2ce | 223 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 224 | aut_bras_av_3_at = 1; |
maximilienlv | 49:af201920161a | 225 | break; |
maximilienlv | 49:af201920161a | 226 | |
maximilienlv | 49:af201920161a | 227 | case BRAS_RE_3: |
maximilienlv | 49:af201920161a | 228 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 49:af201920161a | 229 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 230 | aut_bras_av_3_re = 1; |
Artiom | 14:b1abd2f6df75 | 231 | break; |
maximilienlv | 47:ced7758fb2ce | 232 | |
maximilienlv | 47:ced7758fb2ce | 233 | case GABARIT_ROBOT: |
maximilienlv | 49:af201920161a | 234 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 48:ef0dc0df8c77 | 235 | gabarit_robot_droit(); |
maximilienlv | 48:ef0dc0df8c77 | 236 | gabarit_robot_gauche(); |
Artiom | 20:42f8ec726ac8 | 237 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 20:42f8ec726ac8 | 238 | break; |
maximilienlv | 47:ced7758fb2ce | 239 | |
maximilienlv | 47:ced7758fb2ce | 240 | default: |
marwanesaich | 45:11614fc23e53 | 241 | break; |
Artiom | 0:bc74da1c502f | 242 | } |
Artiom | 0:bc74da1c502f | 243 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 244 | } |
maximilienlv | 47:ced7758fb2ce | 245 | } |