Carte esclave gros robot
Dependencies: mbed Herkulex_Library_2019 ident_crac actions_Pr
main.cpp@52:c019890fbc59, 2021-05-18 (annotated)
- Committer:
- goldmas
- Date:
- Tue May 18 10:05:06 2021 +0000
- Revision:
- 52:c019890fbc59
- Parent:
- 51:ecbdff4587ce
- Child:
- 53:b7d2682fba44
code avec manche a air et new identifiants fct
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
goldmas | 51:ecbdff4587ce | 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; |
goldmas | 52:c019890fbc59 | 16 | void initialisation_CAN (void) ; |
Artiom | 32:e9947815c4d7 | 17 | |
Artiom | 32:e9947815c4d7 | 18 | |
kyxstark | 21:edf6d03fdb20 | 19 | void canProcessRx(void); |
Artiom | 12:191486ba5118 | 20 | |
Artiom | 0:bc74da1c502f | 21 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 22 | /* FUNCTION NAME: canRx_ISR */ |
Artiom | 0:bc74da1c502f | 23 | /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */ |
Artiom | 0:bc74da1c502f | 24 | /*********************************************************************************************/ |
Artiom | 0:bc74da1c502f | 25 | void canRx_ISR (void) |
Artiom | 0:bc74da1c502f | 26 | { |
maximilienlv | 47:ced7758fb2ce | 27 | if (can.read(msgRxBuffer[FIFO_ecriture])) |
maximilienlv | 47:ced7758fb2ce | 28 | { |
maximilienlv | 47:ced7758fb2ce | 29 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 30 | } |
Artiom | 0:bc74da1c502f | 31 | } |
Artiom | 0:bc74da1c502f | 32 | |
Artiom | 0:bc74da1c502f | 33 | int main() |
Artiom | 0:bc74da1c502f | 34 | { |
Artiom | 0:bc74da1c502f | 35 | can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
goldmas | 52:c019890fbc59 | 36 | SendRawId(ALIVE_ACTIONNEURS_AVANT); |
Artiom | 0:bc74da1c502f | 37 | servo_interrupt_en(); //permettre les interuptions |
maximilienlv | 47:ced7758fb2ce | 38 | wait_ms(200); |
Artiom | 32:e9947815c4d7 | 39 | deverouillage_torque(); |
maximilienlv | 47:ced7758fb2ce | 40 | pc.printf("\nLAUNCHED\n\r"); |
maximilienlv | 47:ced7758fb2ce | 41 | //on rentre tous les bras dans le robot dans le vagin de sa mere |
goldmas | 51:ecbdff4587ce | 42 | gabarit_robot_gauche(); |
goldmas | 51:ecbdff4587ce | 43 | wait(1); |
maximilienlv | 48:ef0dc0df8c77 | 44 | gabarit_robot_droit(); |
maximilienlv | 48:ef0dc0df8c77 | 45 | wait(1); |
goldmas | 51:ecbdff4587ce | 46 | gabarit_robot_manche(); |
maximilienlv | 48:ef0dc0df8c77 | 47 | wait(1); |
maximilienlv | 49:af201920161a | 48 | //DigitalIn cap2(PC_14); |
goldmas | 52:c019890fbc59 | 49 | SendRawId(CHECK_ACTIONNEURS_AVANT); |
maximilienlv | 47:ced7758fb2ce | 50 | while(1) |
maximilienlv | 50:85b7a7c57d21 | 51 | { |
Artiom | 0:bc74da1c502f | 52 | canProcessRx(); |
Artiom | 10:48c0d1b8aed9 | 53 | f_mesure();//dt35 |
maximilienlv | 48:ef0dc0df8c77 | 54 | |
goldmas | 52:c019890fbc59 | 55 | selection_bras_attraper(); |
goldmas | 52:c019890fbc59 | 56 | selection_bras_relacher(); |
goldmas | 52:c019890fbc59 | 57 | automate_manche_air_haut() ; |
goldmas | 52:c019890fbc59 | 58 | automate_manche_air_bas() ; |
goldmas | 52:c019890fbc59 | 59 | /* |
maximilienlv | 49:af201920161a | 60 | automate_bras_attraper_1(); |
maximilienlv | 49:af201920161a | 61 | automate_bras_relacher_1(); |
maximilienlv | 49:af201920161a | 62 | automate_bras_attraper_2(); |
maximilienlv | 49:af201920161a | 63 | automate_bras_relacher_2(); |
maximilienlv | 49:af201920161a | 64 | automate_bras_attraper_3(); |
maximilienlv | 49:af201920161a | 65 | automate_bras_relacher_3(); |
goldmas | 52:c019890fbc59 | 66 | */ |
goldmas | 51:ecbdff4587ce | 67 | //automate_manche_air() ; |
goldmas | 51:ecbdff4587ce | 68 | /*automate_position_lidar();*/ |
maximilienlv | 49:af201920161a | 69 | } |
Artiom | 0:bc74da1c502f | 70 | } |
maximilienlv | 47:ced7758fb2ce | 71 | //fin du main |
Artiom | 0:bc74da1c502f | 72 | |
Artiom | 0:bc74da1c502f | 73 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 74 | /* FUNCTION NAME: canProcessRx */ |
Artiom | 0:bc74da1c502f | 75 | /* DESCRIPTION : Fonction de traitement des messages CAN */ |
Artiom | 0:bc74da1c502f | 76 | /****************************************************************************************/ |
Artiom | 0:bc74da1c502f | 77 | void canProcessRx(void) |
Artiom | 0:bc74da1c502f | 78 | { |
Artiom | 0:bc74da1c502f | 79 | static signed char FIFO_occupation=0,FIFO_max_occupation=0; |
Artiom | 0:bc74da1c502f | 80 | CANMessage msgTx=CANMessage(); |
maximilienlv | 49:af201920161a | 81 | |
Artiom | 0:bc74da1c502f | 82 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
Artiom | 0:bc74da1c502f | 83 | if(FIFO_occupation<0) |
Artiom | 0:bc74da1c502f | 84 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
maximilienlv | 49:af201920161a | 85 | |
Artiom | 0:bc74da1c502f | 86 | if(FIFO_max_occupation<FIFO_occupation) |
Artiom | 0:bc74da1c502f | 87 | FIFO_max_occupation=FIFO_occupation; |
maximilienlv | 49:af201920161a | 88 | |
Artiom | 0:bc74da1c502f | 89 | if(FIFO_occupation!=0) { |
Artiom | 0:bc74da1c502f | 90 | int identifiant=msgRxBuffer[FIFO_lecture].id; |
Artiom | 0:bc74da1c502f | 91 | |
maximilienlv | 47:ced7758fb2ce | 92 | switch(identifiant) |
maximilienlv | 47:ced7758fb2ce | 93 | { |
marwanesaich | 45:11614fc23e53 | 94 | case GLOBAL_START: |
marwanesaich | 45:11614fc23e53 | 95 | EtatGameStart = 1; |
maximilienlv | 47:ced7758fb2ce | 96 | EtatGameEnd = 0; |
marwanesaich | 45:11614fc23e53 | 97 | break; |
marwanesaich | 45:11614fc23e53 | 98 | case RECALAGE_START : |
marwanesaich | 45:11614fc23e53 | 99 | EtatGameRecalage = 1; |
marwanesaich | 45:11614fc23e53 | 100 | break; |
marwanesaich | 45:11614fc23e53 | 101 | |
marwanesaich | 45:11614fc23e53 | 102 | case INSTRUCTION_END_MOTEUR: |
marwanesaich | 45:11614fc23e53 | 103 | ackFinAction = msgRxBuffer[FIFO_lecture].data[0]|((unsigned short)(msgRxBuffer[FIFO_lecture].data[1])<<8); |
marwanesaich | 45:11614fc23e53 | 104 | break; |
Artiom | 32:e9947815c4d7 | 105 | |
Artiom | 0:bc74da1c502f | 106 | case GLOBAL_GAME_END: |
Artiom | 0:bc74da1c502f | 107 | EtatGameEnd = 1; |
maximilienlv | 47:ced7758fb2ce | 108 | EtatGameStart = 0; |
Artiom | 0:bc74da1c502f | 109 | break; |
Artiom | 0:bc74da1c502f | 110 | |
Artiom | 0:bc74da1c502f | 111 | case DATA_TELEMETRE: //Lit le telemetre N°X suivant la data dans le CAN |
Artiom | 0:bc74da1c502f | 112 | char numero_telemetre=msgRxBuffer[FIFO_lecture].data[0]; |
Artiom | 0:bc74da1c502f | 113 | short distance=lecture_telemetre(numero_telemetre); |
Artiom | 0:bc74da1c502f | 114 | |
Artiom | 0:bc74da1c502f | 115 | |
Artiom | 0:bc74da1c502f | 116 | msgTx.id=RECEPTION_DATA; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 117 | msgTx.len=2; |
Artiom | 0:bc74da1c502f | 118 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 119 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 120 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 121 | msgTx.data[0]=(unsigned char)distance; |
Artiom | 0:bc74da1c502f | 122 | msgTx.data[1]=(unsigned char)(distance>>8); |
Artiom | 0:bc74da1c502f | 123 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 124 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_DATA); |
Artiom | 0:bc74da1c502f | 125 | break; |
Artiom | 0:bc74da1c502f | 126 | |
Artiom | 0:bc74da1c502f | 127 | case DATA_RECALAGE: |
Artiom | 0:bc74da1c502f | 128 | short distance1=lecture_telemetre(1); |
Artiom | 0:bc74da1c502f | 129 | short distance2=lecture_telemetre(2); |
Artiom | 0:bc74da1c502f | 130 | short distance3=lecture_telemetre(3); |
Artiom | 0:bc74da1c502f | 131 | short distance4=lecture_telemetre(4); |
Artiom | 0:bc74da1c502f | 132 | |
Artiom | 0:bc74da1c502f | 133 | msgTx.id=RECEPTION_RECALAGE; // tx Valeur Telemetre1 |
Artiom | 0:bc74da1c502f | 134 | msgTx.len=8; |
Artiom | 0:bc74da1c502f | 135 | msgTx.format=CANStandard; |
Artiom | 0:bc74da1c502f | 136 | msgTx.type=CANData; |
Artiom | 0:bc74da1c502f | 137 | // Rayon sur 2 octets |
Artiom | 0:bc74da1c502f | 138 | msgTx.data[0]=(unsigned char)distance1; |
Artiom | 0:bc74da1c502f | 139 | msgTx.data[1]=(unsigned char)(distance1>>8); |
Artiom | 0:bc74da1c502f | 140 | msgTx.data[2]=(unsigned char)distance2; |
Artiom | 0:bc74da1c502f | 141 | msgTx.data[3]=(unsigned char)(distance2>>8); |
Artiom | 0:bc74da1c502f | 142 | msgTx.data[4]=(unsigned char)distance3; |
Artiom | 0:bc74da1c502f | 143 | msgTx.data[5]=(unsigned char)(distance3>>8); |
Artiom | 0:bc74da1c502f | 144 | msgTx.data[6]=(unsigned char)distance4; |
Artiom | 0:bc74da1c502f | 145 | msgTx.data[7]=(unsigned char)(distance4>>8); |
Artiom | 0:bc74da1c502f | 146 | can.write(msgTx); |
Artiom | 0:bc74da1c502f | 147 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_RECALAGE); |
Artiom | 0:bc74da1c502f | 148 | break; |
Artiom | 44:381ecf63e6ab | 149 | |
Artiom | 44:381ecf63e6ab | 150 | case DATA_TELEMETRE_LOGIQUE: |
Artiom | 43:7fff7f4d79a1 | 151 | msgTx.id=RECEPTION_TELEMETRE_LOGIQUE; // tx Valeur Telemetre1 |
Artiom | 43:7fff7f4d79a1 | 152 | msgTx.len=4; |
Artiom | 43:7fff7f4d79a1 | 153 | msgTx.format=CANStandard; |
Artiom | 43:7fff7f4d79a1 | 154 | msgTx.type=CANData; |
Artiom | 43:7fff7f4d79a1 | 155 | msgTx.data[0]=(unsigned char)DT1_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 156 | msgTx.data[1]=(unsigned char)DT2_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 157 | msgTx.data[2]=(unsigned char)DT3_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 158 | msgTx.data[3]=(unsigned char)DT4_interrupt_Ex; |
Artiom | 43:7fff7f4d79a1 | 159 | can.write(msgTx); |
Artiom | 43:7fff7f4d79a1 | 160 | SendAck(ACKNOWLEDGE_TELEMETRE,RECEPTION_TELEMETRE_LOGIQUE); |
Artiom | 43:7fff7f4d79a1 | 161 | break; |
maximilienlv | 49:af201920161a | 162 | |
maximilienlv | 49:af201920161a | 163 | //----------------------------------------------------------------cases test-----------------------------------------------------------------// |
maximilienlv | 47:ced7758fb2ce | 164 | |
maximilienlv | 47:ced7758fb2ce | 165 | case TEST_BRAS_A: |
goldmas | 51:ecbdff4587ce | 166 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 51:ecbdff4587ce | 167 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 51:ecbdff4587ce | 168 | aut_bras_av_3_at = 0; |
marwanesaich | 45:11614fc23e53 | 169 | break; |
maximilienlv | 47:ced7758fb2ce | 170 | |
maximilienlv | 47:ced7758fb2ce | 171 | case TEST_BRAS_B: |
goldmas | 51:ecbdff4587ce | 172 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 51:ecbdff4587ce | 173 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 51:ecbdff4587ce | 174 | aut_bras_av_3_re = 0; |
maximilienlv | 47:ced7758fb2ce | 175 | break; |
maximilienlv | 47:ced7758fb2ce | 176 | |
maximilienlv | 47:ced7758fb2ce | 177 | case TEST_BRAS_C: |
goldmas | 51:ecbdff4587ce | 178 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 51:ecbdff4587ce | 179 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 180 | aut_bras_av_3_at = 1; |
Artiom | 0:bc74da1c502f | 181 | break; |
maximilienlv | 47:ced7758fb2ce | 182 | |
maximilienlv | 47:ced7758fb2ce | 183 | case TEST_BRAS_D: |
goldmas | 51:ecbdff4587ce | 184 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 51:ecbdff4587ce | 185 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 186 | aut_bras_av_3_re = 1; |
maximilienlv | 47:ced7758fb2ce | 187 | break; |
maximilienlv | 49:af201920161a | 188 | |
maximilienlv | 49:af201920161a | 189 | case TEST_BRAS_1: |
maximilienlv | 49:af201920161a | 190 | test_BRAS_1(); |
maximilienlv | 47:ced7758fb2ce | 191 | break; |
maximilienlv | 47:ced7758fb2ce | 192 | |
maximilienlv | 49:af201920161a | 193 | case TEST_BRAS_2: |
maximilienlv | 49:af201920161a | 194 | test_BRAS_2(); |
Artiom | 2:9e63099cca99 | 195 | break; |
maximilienlv | 47:ced7758fb2ce | 196 | |
maximilienlv | 49:af201920161a | 197 | case TEST_BRAS_3: |
maximilienlv | 49:af201920161a | 198 | test_BRAS_3(); |
maximilienlv | 49:af201920161a | 199 | break; |
maximilienlv | 49:af201920161a | 200 | |
maximilienlv | 49:af201920161a | 201 | case TEST_BRAS_4: |
maximilienlv | 49:af201920161a | 202 | test_BRAS_4(); |
Artiom | 31:29500874c1cc | 203 | break; |
maximilienlv | 47:ced7758fb2ce | 204 | |
maximilienlv | 48:ef0dc0df8c77 | 205 | case TEST_BRAS_5: |
Artiom | 2:9e63099cca99 | 206 | break; |
maximilienlv | 47:ced7758fb2ce | 207 | |
maximilienlv | 48:ef0dc0df8c77 | 208 | case TEST_BRAS_6: |
Artiom | 2:9e63099cca99 | 209 | break; |
maximilienlv | 49:af201920161a | 210 | ////////////////////////////////////////////CASE DE COMPETITIONS///////////////////////////////////////////// |
goldmas | 52:c019890fbc59 | 211 | case BRAS_AT: |
goldmas | 52:c019890fbc59 | 212 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 52:c019890fbc59 | 213 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 52:c019890fbc59 | 214 | aut_bras_av_at = 1; |
goldmas | 52:c019890fbc59 | 215 | break; |
goldmas | 52:c019890fbc59 | 216 | |
goldmas | 52:c019890fbc59 | 217 | case BRAS_RE: |
goldmas | 52:c019890fbc59 | 218 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 52:c019890fbc59 | 219 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 52:c019890fbc59 | 220 | aut_bras_av_re = 1; |
goldmas | 52:c019890fbc59 | 221 | break; |
goldmas | 52:c019890fbc59 | 222 | /* |
maximilienlv | 49:af201920161a | 223 | case BRAS_AT_1: |
maximilienlv | 47:ced7758fb2ce | 224 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 47:ced7758fb2ce | 225 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 50:85b7a7c57d21 | 226 | aut_bras_av_1_at = 1; |
maximilienlv | 49:af201920161a | 227 | break; |
maximilienlv | 49:af201920161a | 228 | |
maximilienlv | 49:af201920161a | 229 | case BRAS_RE_1: |
maximilienlv | 49:af201920161a | 230 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 49:af201920161a | 231 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 232 | aut_bras_av_1_re = 1; |
maximilienlv | 49:af201920161a | 233 | break; |
maximilienlv | 49:af201920161a | 234 | |
maximilienlv | 49:af201920161a | 235 | case BRAS_AT_2: |
maximilienlv | 49:af201920161a | 236 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 49:af201920161a | 237 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 50:85b7a7c57d21 | 238 | aut_bras_av_2_at = 1; |
Artiom | 0:bc74da1c502f | 239 | break; |
maximilienlv | 47:ced7758fb2ce | 240 | |
maximilienlv | 49:af201920161a | 241 | case BRAS_RE_2: |
maximilienlv | 49:af201920161a | 242 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 49:af201920161a | 243 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 244 | aut_bras_av_2_re = 1; |
maximilienlv | 49:af201920161a | 245 | break; |
maximilienlv | 49:af201920161a | 246 | |
maximilienlv | 49:af201920161a | 247 | case BRAS_AT_3: |
Artiom | 14:b1abd2f6df75 | 248 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 47:ced7758fb2ce | 249 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 250 | aut_bras_av_3_at = 1; |
maximilienlv | 49:af201920161a | 251 | break; |
maximilienlv | 49:af201920161a | 252 | |
maximilienlv | 49:af201920161a | 253 | case BRAS_RE_3: |
maximilienlv | 49:af201920161a | 254 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 49:af201920161a | 255 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
maximilienlv | 49:af201920161a | 256 | aut_bras_av_3_re = 1; |
Artiom | 14:b1abd2f6df75 | 257 | break; |
goldmas | 52:c019890fbc59 | 258 | */ |
maximilienlv | 47:ced7758fb2ce | 259 | case GABARIT_ROBOT: |
maximilienlv | 49:af201920161a | 260 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
maximilienlv | 48:ef0dc0df8c77 | 261 | gabarit_robot_droit(); |
maximilienlv | 48:ef0dc0df8c77 | 262 | gabarit_robot_gauche(); |
Artiom | 20:42f8ec726ac8 | 263 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_FIN_ACTION); |
Artiom | 20:42f8ec726ac8 | 264 | break; |
goldmas | 51:ecbdff4587ce | 265 | |
goldmas | 52:c019890fbc59 | 266 | case AUTOMATE_MANCHE_HAUT: |
goldmas | 51:ecbdff4587ce | 267 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 52:c019890fbc59 | 268 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 52:c019890fbc59 | 269 | aut_manche_haut = 1; |
goldmas | 51:ecbdff4587ce | 270 | break; |
goldmas | 51:ecbdff4587ce | 271 | |
goldmas | 52:c019890fbc59 | 272 | case AUTOMATE_MANCHE_BAS: |
goldmas | 51:ecbdff4587ce | 273 | SendAck(ACKNOWLEDGE_HERKULEX, ACK_ACTION); |
goldmas | 52:c019890fbc59 | 274 | bras_choix = msgRxBuffer[FIFO_lecture].data[0]; |
goldmas | 52:c019890fbc59 | 275 | aut_manche_bas = 1; |
goldmas | 51:ecbdff4587ce | 276 | break; |
goldmas | 51:ecbdff4587ce | 277 | |
maximilienlv | 47:ced7758fb2ce | 278 | default: |
marwanesaich | 45:11614fc23e53 | 279 | break; |
Artiom | 0:bc74da1c502f | 280 | } |
Artiom | 0:bc74da1c502f | 281 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
Artiom | 0:bc74da1c502f | 282 | } |
goldmas | 52:c019890fbc59 | 283 | } |
goldmas | 52:c019890fbc59 | 284 | |
goldmas | 52:c019890fbc59 | 285 | void initialisation_CAN(void) |
goldmas | 52:c019890fbc59 | 286 | { |
goldmas | 52:c019890fbc59 | 287 | CANMessage msg_init; |
goldmas | 52:c019890fbc59 | 288 | msg_init.id = CHECK_ACTIONNEURS_AVANT; |
goldmas | 52:c019890fbc59 | 289 | msg_init.len=1; |
goldmas | 52:c019890fbc59 | 290 | msg_init.format=CANStandard; |
goldmas | 52:c019890fbc59 | 291 | msg_init.type=CANData; |
goldmas | 52:c019890fbc59 | 292 | msg_init.data[0]= 0 ; |
goldmas | 52:c019890fbc59 | 293 | |
goldmas | 52:c019890fbc59 | 294 | can.write(msg_init); |
maximilienlv | 47:ced7758fb2ce | 295 | } |