CRAC Team / Mbed 2 deprecated Bloc_Pompe

Classes et code de la partie pompe du Robot 2021

Dependencies:   mbed ident_crac

main.cpp@6:b06c430a7e14, 2021-01-19 (annotated)

Committer:
goldmas
Date:
Tue Jan 19 10:06:36 2021 +0000
Revision:
6:b06c430a7e14
Parent:
4:4bae30d48662
Child:
7:b7dc6201b520
Code avec CAN fonctionnel et verifie le 19/01/2021

Who changed what in which revision?

UserRevisionLine numberNew contents of line
goldmas 0:253443d82cba 1 #include "bloc_8_pompe.h"
goldmas 4:4bae30d48662 2 #include "ident_crac.h"
goldmas 0:253443d82cba 3
goldmas 1:815ca6061e15 4 //initialisations relatives au Bus CAN
goldmas 4:4bae30d48662 5 CAN bus_CAN(PB_8, PB_9, 1000000) ;
goldmas 4:4bae30d48662 6 CANMessage commande_carte ;
goldmas 6:b06c430a7e14 7 CANMessage envoie ;
goldmas 1:815ca6061e15 8 int flag_reception_CAN = 0 ;
goldmas 2:61ffa6e3eee5 9 void interruption_reception(void) ;
goldmas 4:4bae30d48662 10 void gestion_Message_CAN(void) ;
goldmas 6:b06c430a7e14 11 void Envoi_msg_CAN(char donnee);
goldmas 1:815ca6061e15 12
goldmas 4:4bae30d48662 13 //Fin de jeu
goldmas 4:4bae30d48662 14 char end_game = 0;
goldmas 4:4bae30d48662 15
goldmas 4:4bae30d48662 16 bloc_8_pompe::bloc_8_pompe classe_pompe (PC_9, PA_8, PB_0, //bloc 1
goldmas 0:253443d82cba 17 PA_9, PA_10, PB_1, //bloc 2
goldmas 0:253443d82cba 18 PA_11, PA_15, PC_1, //bloc 3
goldmas 0:253443d82cba 19 PB_7, PB_6, PC_0, //bloc 4
goldmas 0:253443d82cba 20 PC_7, PC_8, PC_5, //bloc 5
goldmas 0:253443d82cba 21 PB_10, PB_2, PC_4, //bloc 6
goldmas 0:253443d82cba 22 PA_6, PA_5, PA_7, //bloc 7
goldmas 0:253443d82cba 23 PA_0, PA_1, PA_4); //bloc 8
goldmas 4:4bae30d48662 24
goldmas 4:4bae30d48662 25 int main()
goldmas 4:4bae30d48662 26 {
goldmas 4:4bae30d48662 27 bus_CAN.attach(&interruption_reception) ;
goldmas 6:b06c430a7e14 28
goldmas 0:253443d82cba 29 while(1)
goldmas 0:253443d82cba 30 {
goldmas 6:b06c430a7e14 31 //bus_CAN(envoie);
goldmas 6:b06c430a7e14 32 if(flag_reception_CAN)
goldmas 6:b06c430a7e14 33 {
goldmas 6:b06c430a7e14 34 gestion_Message_CAN() ;
goldmas 6:b06c430a7e14 35 }
goldmas 0:253443d82cba 36
goldmas 6:b06c430a7e14 37 if(end_game)
goldmas 6:b06c430a7e14 38 {
goldmas 6:b06c430a7e14 39 for (int i=0 ; i<8 ; i++)
goldmas 6:b06c430a7e14 40 {
goldmas 6:b06c430a7e14 41 classe_pompe.stop_pompe(i);
goldmas 6:b06c430a7e14 42 wait_ms(10) ;
goldmas 6:b06c430a7e14 43 }
goldmas 6:b06c430a7e14 44 }
goldmas 6:b06c430a7e14 45 //Envoi_msg_test(); //envoie un msg pour tester la liaison can
goldmas 0:253443d82cba 46 }
goldmas 0:253443d82cba 47
goldmas 4:4bae30d48662 48 }
goldmas 4:4bae30d48662 49
goldmas 4:4bae30d48662 50 void interruption_reception(void)
goldmas 4:4bae30d48662 51 {
goldmas 4:4bae30d48662 52 if (bus_CAN.read(commande_carte))
goldmas 4:4bae30d48662 53 flag_reception_CAN = 1 ;
goldmas 4:4bae30d48662 54 }
goldmas 4:4bae30d48662 55
goldmas 4:4bae30d48662 56 void gestion_Message_CAN(void)
goldmas 4:4bae30d48662 57 {
goldmas 4:4bae30d48662 58 int identifiant = commande_carte.id ;
goldmas 4:4bae30d48662 59 char num_groupe = 1 ;
goldmas 6:b06c430a7e14 60 char etat_groupe = 0 ;
goldmas 4:4bae30d48662 61
goldmas 4:4bae30d48662 62 switch (identifiant)
goldmas 4:4bae30d48662 63 {
goldmas 4:4bae30d48662 64 case VENT_AT:
goldmas 4:4bae30d48662 65 num_groupe = commande_carte.data[0];
goldmas 4:4bae30d48662 66 classe_pompe.aspirer(num_groupe) ;
goldmas 4:4bae30d48662 67 break;
goldmas 4:4bae30d48662 68
goldmas 4:4bae30d48662 69 case VENT_RE:
goldmas 4:4bae30d48662 70 num_groupe = commande_carte.data[0];
goldmas 4:4bae30d48662 71 classe_pompe.relacher(num_groupe) ;
goldmas 4:4bae30d48662 72 break;
goldmas 4:4bae30d48662 73
goldmas 4:4bae30d48662 74 case VENT_ETAT:
goldmas 6:b06c430a7e14 75 num_groupe = commande_carte.data[0];
goldmas 6:b06c430a7e14 76 etat_groupe = classe_pompe.etat_actuel(num_groupe) ;
goldmas 6:b06c430a7e14 77
goldmas 6:b06c430a7e14 78 if(etat_groupe == 0x07)
goldmas 6:b06c430a7e14 79 {
goldmas 6:b06c430a7e14 80 classe_pompe.aspirer(num_groupe) ;
goldmas 6:b06c430a7e14 81 etat_groupe = classe_pompe.etat_actuel(num_groupe) ;
goldmas 6:b06c430a7e14 82 }
goldmas 6:b06c430a7e14 83
goldmas 6:b06c430a7e14 84
goldmas 6:b06c430a7e14 85 Envoi_msg_CAN(etat_groupe);
goldmas 6:b06c430a7e14 86
goldmas 4:4bae30d48662 87 break;
goldmas 4:4bae30d48662 88
goldmas 4:4bae30d48662 89 case GLOBAL_GAME_END:
goldmas 4:4bae30d48662 90 end_game = 1;
goldmas 6:b06c430a7e14 91 break;
goldmas 4:4bae30d48662 92
goldmas 6:b06c430a7e14 93
goldmas 4:4bae30d48662 94 /*
goldmas 4:4bae30d48662 95
goldmas 4:4bae30d48662 96 case TEST_VENT_1_ON:
goldmas 4:4bae30d48662 97 classe_pompe[AV_DROIT]->action(1);
goldmas 4:4bae30d48662 98 classe_pompe[AV_CENTRE]->action(1);
goldmas 4:4bae30d48662 99 classe_pompe[AV_GAUCHE]->action(1);
goldmas 4:4bae30d48662 100 classe_pompe[AR_DROIT]->action(1);
goldmas 4:4bae30d48662 101 classe_pompe[AR_CENTRE]->action(1);
goldmas 4:4bae30d48662 102 classe_pompe[AR_GAUCHE]->action(1);
goldmas 4:4bae30d48662 103 break;
goldmas 4:4bae30d48662 104
goldmas 4:4bae30d48662 105 case TEST_VENT_1_OFF:
goldmas 4:4bae30d48662 106 classe_pompe[AV_CENTRE]->action(0);
goldmas 4:4bae30d48662 107 classe_pompe[AV_GAUCHE]->action(0);
goldmas 4:4bae30d48662 108 classe_pompe[AR_DROIT]->action(0);
goldmas 4:4bae30d48662 109 classe_pompe[AR_CENTRE]->action(0);
goldmas 4:4bae30d48662 110 classe_pompe[AR_GAUCHE]->action(0);
goldmas 4:4bae30d48662 111 classe_pompe[AV_DROIT]->action(0);
goldmas 4:4bae30d48662 112 break;*/
goldmas 4:4bae30d48662 113 default:
goldmas 4:4bae30d48662 114 break;
goldmas 6:b06c430a7e14 115 }
goldmas 6:b06c430a7e14 116 flag_reception_CAN = 0 ;
goldmas 4:4bae30d48662 117
goldmas 4:4bae30d48662 118 }
goldmas 4:4bae30d48662 119
goldmas 6:b06c430a7e14 120 void Envoi_msg_CAN(char donnee)
goldmas 4:4bae30d48662 121 {
goldmas 6:b06c430a7e14 122 CANMessage etat_ventouses;
goldmas 6:b06c430a7e14 123 etat_ventouses.id = 0x220;
goldmas 6:b06c430a7e14 124 etat_ventouses.len=1;
goldmas 4:4bae30d48662 125 etat_ventouses.format=CANStandard;
goldmas 4:4bae30d48662 126 etat_ventouses.type=CANData;
goldmas 6:b06c430a7e14 127 etat_ventouses.data[0]=donnee;
goldmas 6:b06c430a7e14 128
goldmas 6:b06c430a7e14 129 bus_CAN.write(etat_ventouses);
goldmas 0:253443d82cba 130 }