Diff: main.cpp

Revision:

0:3b683da943e6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Apr 12 08:54:49 2018 +0000
@@ -0,0 +1,104 @@
+#include "mbed.h"
+#include "ident_crac.h"
+#include "lib.h"
+
+#define SIZE_FIFO               50 //Taille du buffer pour le bus CAN
+ 
+AnalogIn analog_value(A0);
+ 
+DigitalOut led(LED1);
+
+void canProcessRx(void);
+unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
+signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
+
+CAN can1(PB_8,PB_9); // Rx&Tx pour le CAN
+CANMessage msgRxBuffer[SIZE_FIFO]; // buffer en r�ception pour le CAN
+
+void canRx_ISR (void)
+{
+    if (can1.read(msgRxBuffer[FIFO_ecriture])) {
+        //if(msgRxBuffer[FIFO_ecriture].id==RESET_STRAT) mbed_reset();
+        /*else*/ FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
+    }
+}
+
+int Combinaison_cube = 0;
+
+int main() {
+    
+    can1.frequency(1000000); // fr�quence de travail 1Mbit/s
+    can1.attach(&canRx_ISR); // cr�ation de l'interrupt attach�e � la r�ception sur le CAN
+    
+    wait_ms(500);
+    
+    while(1) {
+        canProcessRx();
+    }
+}
+
+void canProcessRx(void)
+{           
+    static signed char FIFO_occupation=0,FIFO_max_occupation=0;
+    CANMessage msgTx=CANMessage();
+    FIFO_occupation=FIFO_ecriture-FIFO_lecture;
+    if(FIFO_occupation<0)
+        FIFO_occupation=FIFO_occupation+SIZE_FIFO;
+    if(FIFO_max_occupation<FIFO_occupation)
+        FIFO_max_occupation=FIFO_occupation;
+    if(FIFO_occupation!=0) {
+        
+        switch(msgRxBuffer[FIFO_lecture].id) {
+            case DEBUG_FAKE_JAKE://Permet de lancer le match � distance
+            case GLOBAL_JACK:
+            break;
+            case ALIVE_BALISE:
+            case ALIVE_MOTEUR:
+            case ALIVE_IHM:
+            case ALIVE_ACTIONNEURS_AVANT:
+            case ALIVE_ACTIONNEURS_ARRIERE:
+            case ALIVE_AX12:
+            case ECRAN_ALL_CHECK:
+            break; 
+            case ACKNOWLEDGE_BALISE:
+            case ACKNOWLEDGE_MOTEUR:
+            case ACKNOWLEDGE_IHM:
+            case ACKNOWLEDGE_TELEMETRE:
+            case ACKNOWLEDGE_AX12:
+            case INSTRUCTION_END_BALISE:
+            case INSTRUCTION_END_MOTEUR:
+            case INSTRUCTION_END_IHM:
+            case INSTRUCTION_END_AX12:
+            break;
+            case ECRAN_START_MATCH:
+            break;
+            case SERVO_AX12_PROCESS:
+            break;
+            case SERVO_AX12_DONE:
+            break;
+            case ECRAN_CHOICE_COLOR:
+            break;
+            case ECRAN_CHOICE_STRAT:
+            break;
+            case BALISE_DANGER :
+            break;
+            case BALISE_STOP:
+            break;
+            case BALISE_END_DANGER:
+            break;
+            
+            case ECRAN_CHOICE_START_ACTION:
+            break;
+            case OBJET_SUR_TABLE:
+            break;
+            case Monter_immeuble:
+                unsigned char Combinaison_cube_1 = msgRxBuffer[FIFO_lecture].data[0];
+                unsigned char Combinaison_cube_2 = msgRxBuffer[FIFO_lecture].data[1];
+                unsigned char Combinaison_cube_3 = msgRxBuffer[FIFO_lecture].data[2];
+                monter_immeble(1,Combinaison_cube_1,Combinaison_cube_2,Combinaison_cube_3);
+            break;
+        }        
+        
+        FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
+    }
+}
\ No newline at end of file