v2019
Dependencies: CRAC-Strat_2019 SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac
Dependents: Codeprincipal_2019 CRAC-Strat_2019
main.cpp@30:a1e37af4bbde, 2018-04-20 (annotated)
- Committer:
- Sitkah
- Date:
- Fri Apr 20 09:16:13 2018 +0000
- Revision:
- 30:a1e37af4bbde
- Parent:
- 29:41e02746041d
- Child:
- 31:833fc481b002
ne pas en prendre compte !;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Sitkah | 29:41e02746041d | 1 | #include "mbed.h" |
antbig | 0:ad97421fb1fb | 2 | #include "global.h" |
Sitkah | 29:41e02746041d | 3 | #include <CAN.h> |
Sitkah | 29:41e02746041d | 4 | |
Sitkah | 29:41e02746041d | 5 | CAN can1(PB_8,PB_9); // Rx&Tx pour le CAN |
Sitkah | 29:41e02746041d | 6 | CAN can2(PB_5, PB_13); |
Sitkah | 30:a1e37af4bbde | 7 | |
Sitkah | 30:a1e37af4bbde | 8 | |
Sitkah | 30:a1e37af4bbde | 9 | DigitalIn choix_robot(PG_12); |
Sitkah | 29:41e02746041d | 10 | CANMessage msgRxBuffer[SIZE_FIFO]; |
Sitkah | 29:41e02746041d | 11 | unsigned char FIFO_ecriture; |
Sitkah | 29:41e02746041d | 12 | char strat_sd[10][SIZE+8]; |
Sitkah | 29:41e02746041d | 13 | char PATH[10][SIZE+8]; |
Sitkah | 29:41e02746041d | 14 | |
Sitkah | 30:a1e37af4bbde | 15 | Serial rn42(PG_14, PG_9); |
Sitkah | 30:a1e37af4bbde | 16 | Serial pc(USBTX,USBRX); |
Sitkah | 30:a1e37af4bbde | 17 | LiaisonBluetooth liaison(&rn42,&pc); |
antbig | 0:ad97421fb1fb | 18 | |
Sitkah | 29:41e02746041d | 19 | char cheminFileStart[SIZE+8]; //Le chemin du fichier de strat, utiliser strcpy(cheminFileStart,"/local/strat.txt"); |
Sitkah | 29:41e02746041d | 20 | struct S_Instruction strat_instructions[SIZE_BUFFER_FILE]; //La liste des instruction chargé en mémoire |
Sitkah | 29:41e02746041d | 21 | unsigned char nb_instructions; //Le nombre d'instruction dans le fichier de strategie |
Sitkah | 29:41e02746041d | 22 | unsigned char actual_instruction;//La ligne de l'instruction en cours d'execution |
Sitkah | 29:41e02746041d | 23 | |
Sitkah | 30:a1e37af4bbde | 24 | |
antbig | 0:ad97421fb1fb | 25 | |
Sitkah | 29:41e02746041d | 26 | unsigned char InversStrat = 1;//Si à 1, indique que l'on part de l'autre cote de la table(inversion des Y) |
Sitkah | 29:41e02746041d | 27 | |
Sitkah | 29:41e02746041d | 28 | |
Sitkah | 29:41e02746041d | 29 | unsigned short waitingAckID=0;//L'id du ack attendu |
Sitkah | 29:41e02746041d | 30 | unsigned short waitingAckFrom=0;//La provenance du ack attendu |
Sitkah | 29:41e02746041d | 31 | char modeTelemetre; // Si à 1, indique que l'on attend une reponse du telemetre |
antbig | 0:ad97421fb1fb | 32 | |
antbig | 0:ad97421fb1fb | 33 | DigitalOut led1(LED1);//Led d'indication de problème, si elle clignote, c'est pas bon |
antbig | 1:116040d14164 | 34 | DigitalOut led2(LED2);//Led d'indication de problème, si elle clignote, c'est pas bon |
antbig | 8:0edc7dfb7f7e | 35 | DigitalOut led3(LED3);//Led d'indication de problème, si elle clignote, c'est pas bon |
antbig | 8:0edc7dfb7f7e | 36 | DigitalOut led4(LED4);//Led d'indication de problème, si elle clignote, c'est pas bon |
antbig | 0:ad97421fb1fb | 37 | |
antbig | 0:ad97421fb1fb | 38 | /****************************************************************************************/ |
antbig | 0:ad97421fb1fb | 39 | /* FUNCTION NAME: canRx_ISR */ |
antbig | 0:ad97421fb1fb | 40 | /* DESCRIPTION : Interruption en réception sur le CAN */ |
antbig | 0:ad97421fb1fb | 41 | /****************************************************************************************/ |
antbig | 0:ad97421fb1fb | 42 | void canRx_ISR (void) |
antbig | 0:ad97421fb1fb | 43 | { |
Sitkah | 30:a1e37af4bbde | 44 | if (can2.read(msgRxBuffer[FIFO_ecriture])) { |
Sitkah | 29:41e02746041d | 45 | //if(msgRxBuffer[FIFO_ecriture].id==RESET_STRAT) mbed_reset(); |
Sitkah | 29:41e02746041d | 46 | /*else*/ FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
antbig | 0:ad97421fb1fb | 47 | } |
antbig | 0:ad97421fb1fb | 48 | } |
antbig | 0:ad97421fb1fb | 49 | |
antbig | 0:ad97421fb1fb | 50 | |
Sitkah | 29:41e02746041d | 51 | |
Sitkah | 29:41e02746041d | 52 | |
antbig | 0:ad97421fb1fb | 53 | /**********************************************************************************/ |
antbig | 0:ad97421fb1fb | 54 | /* FUNCTION NAME: main */ |
antbig | 0:ad97421fb1fb | 55 | /* DESCRIPTION : Fonction principal du programme */ |
antbig | 0:ad97421fb1fb | 56 | /**********************************************************************************/ |
antbig | 0:ad97421fb1fb | 57 | int main() { |
antbig | 0:ad97421fb1fb | 58 | can1.frequency(1000000); // fréquence de travail 1Mbit/s |
Sitkah | 30:a1e37af4bbde | 59 | can2.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN |
Sitkah | 29:41e02746041d | 60 | can2.frequency(1000000); |
antbig | 12:14729d584500 | 61 | #ifdef ROBOT_BIG |
Sitkah | 30:a1e37af4bbde | 62 | lcd.DisplayStringAt(0, 0,(uint8_t *)"Initialisation gros robot", LEFT_MODE); |
antbig | 12:14729d584500 | 63 | #else |
Sitkah | 30:a1e37af4bbde | 64 | lcd.DisplayStringAt(0, 0,(uint8_t *)"Initialisation petit robot", LEFT_MODE); |
antbig | 12:14729d584500 | 65 | #endif |
ClementBreteau | 18:cc5fec34ed9c | 66 | led1 = 1; |
Sitkah | 30:a1e37af4bbde | 67 | rn42.baud(115200); |
Sitkah | 30:a1e37af4bbde | 68 | pc.baud(115200); |
Sitkah | 30:a1e37af4bbde | 69 | //bluetooth_init(); |
Sitkah | 30:a1e37af4bbde | 70 | //initRobot();//Initialisation du robot |
Sitkah | 30:a1e37af4bbde | 71 | //initRobotActionneur(); |
Sitkah | 29:41e02746041d | 72 | lecture_fichier(); |
ClementBreteau | 18:cc5fec34ed9c | 73 | led1 = 0; |
Sitkah | 29:41e02746041d | 74 | //wait_ms(2000);//Attente pour que toutes les cartes se lancent et surtout le CANBlue |
Sitkah | 29:41e02746041d | 75 | |
antbig | 0:ad97421fb1fb | 76 | while(true) { |
Sitkah | 29:41e02746041d | 77 | automate_etat_ihm(); |
antbig | 9:d0042422d95a | 78 | automate_process();//Boucle dans l'automate principal |
Sitkah | 30:a1e37af4bbde | 79 | //canProcessRx(); |
ClementBreteau | 15:c2fc239e85df | 80 | //AX12_doLoop();//Vérification de la position des AX12 |
antbig | 0:ad97421fb1fb | 81 | } |
antbig | 0:ad97421fb1fb | 82 | } |