CRAC Team / Mbed 2 deprecated Carte_Pompe_V1_2020

carte esclave pompe 2020 V1

Dependencies:   mbed ident_crac

main.cpp@16:5e00af31ae8a, 2019-05-23 (annotated)

Committer:
marwanesaich
Date:
Thu May 23 10:36:35 2019 +0000
Revision:
16:5e00af31ae8a
Parent:
13:178eaf022d60
Child:
17:fcfdd7de9039
reglage delay et seuil release atome

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kyxstark 12:2491a5b0f90b 1
marwanesaich 4:82c90657da4a 2 #include "extern.h"
kyxstark 8:a25a9c22ba91 3 #define SIZE_FIFO 50
marwanesaich 1:8a55f1d5cb26 4
kyxstark 8:a25a9c22ba91 5
marwanesaich 0:84a8c24e29ae 6
kyxstark 8:a25a9c22ba91 7
marwanesaich 0:84a8c24e29ae 8
marwanesaich 0:84a8c24e29ae 9 CANMessage msgRxBuffer[SIZE_FIFO];
marwanesaich 0:84a8c24e29ae 10 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
marwanesaich 0:84a8c24e29ae 11 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
kyxstark 8:a25a9c22ba91 12 char end_game = 0;
marwanesaich 0:84a8c24e29ae 13
kyxstark 8:a25a9c22ba91 14 Ventouse* ventouse[NB_VENTOUSES];
kyxstark 8:a25a9c22ba91 15
kyxstark 8:a25a9c22ba91 16 #ifdef ROBOT_SMALL
kyxstark 8:a25a9c22ba91 17
kyxstark 8:a25a9c22ba91 18 #endif
kyxstark 8:a25a9c22ba91 19
kyxstark 8:a25a9c22ba91 20 #ifdef ROBOT_BIG
kyxstark 8:a25a9c22ba91 21 PwmOut ascenseur[8] = {PC_9, PA_8, PA_9, PA_10, PC_7, PC_8, PB_10 ,PB_2};
kyxstark 8:a25a9c22ba91 22 PwmOut* ascenseur_D;
kyxstark 8:a25a9c22ba91 23 PwmOut* ascenseur_G;
kyxstark 8:a25a9c22ba91 24
kyxstark 8:a25a9c22ba91 25 #define VIT_G 0.7
kyxstark 8:a25a9c22ba91 26 #define VIT_D 0.65
kyxstark 8:a25a9c22ba91 27
kyxstark 8:a25a9c22ba91 28 void set_ascensseur(int allume);
kyxstark 8:a25a9c22ba91 29 #endif
kyxstark 8:a25a9c22ba91 30
marwanesaich 0:84a8c24e29ae 31
marwanesaich 0:84a8c24e29ae 32
marwanesaich 0:84a8c24e29ae 33 void get_etat_ventouses();
marwanesaich 0:84a8c24e29ae 34
kyxstark 8:a25a9c22ba91 35
marwanesaich 2:4cc8fa2f64be 36 CAN can(PB_8,PB_9,1000000);
marwanesaich 2:4cc8fa2f64be 37 Serial pc(USBTX,USBRX);
marwanesaich 0:84a8c24e29ae 38
marwanesaich 0:84a8c24e29ae 39 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 40 /* FUNCTION NAME: canRx_ISR */
marwanesaich 0:84a8c24e29ae 41 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
marwanesaich 0:84a8c24e29ae 42 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 43 void canRx_ISR (void)
marwanesaich 0:84a8c24e29ae 44 {
marwanesaich 0:84a8c24e29ae 45 if (can.read(msgRxBuffer[FIFO_ecriture]))
marwanesaich 0:84a8c24e29ae 46 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 47 }
marwanesaich 0:84a8c24e29ae 48
marwanesaich 0:84a8c24e29ae 49
marwanesaich 0:84a8c24e29ae 50 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 51 /* FUNCTION NAME: canProcessRx */
marwanesaich 0:84a8c24e29ae 52 /* DESCRIPTION : Fonction de traitement des messages CAN */
marwanesaich 0:84a8c24e29ae 53 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 54 void canProcessRx(void){
marwanesaich 0:84a8c24e29ae 55 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
marwanesaich 0:84a8c24e29ae 56 CANMessage msgTx=CANMessage();
marwanesaich 0:84a8c24e29ae 57 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
marwanesaich 0:84a8c24e29ae 58 if(FIFO_occupation<0)
marwanesaich 0:84a8c24e29ae 59 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 60 if(FIFO_max_occupation<FIFO_occupation)
marwanesaich 0:84a8c24e29ae 61 FIFO_max_occupation=FIFO_occupation;
marwanesaich 0:84a8c24e29ae 62 if(FIFO_occupation!=0) {
marwanesaich 0:84a8c24e29ae 63 int identifiant=msgRxBuffer[FIFO_lecture].id;
marwanesaich 1:8a55f1d5cb26 64 char BRAS = 0;
marwanesaich 1:8a55f1d5cb26 65
marwanesaich 0:84a8c24e29ae 66 switch(identifiant){
marwanesaich 0:84a8c24e29ae 67
marwanesaich 0:84a8c24e29ae 68 case HACHEUR_GET_ATOM:
marwanesaich 1:8a55f1d5cb26 69 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 2:4cc8fa2f64be 70 ventouse[BRAS]->action(1);
marwanesaich 0:84a8c24e29ae 71 break;
kyxstark 8:a25a9c22ba91 72
marwanesaich 0:84a8c24e29ae 73 case HACHEUR_RELEASE_ATOM:
marwanesaich 1:8a55f1d5cb26 74 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 2:4cc8fa2f64be 75 ventouse[BRAS]->action(0);
kyxstark 8:a25a9c22ba91 76 break;
kyxstark 8:a25a9c22ba91 77
kyxstark 8:a25a9c22ba91 78 case HACHEUR_STATUT_VENTOUSES:
kyxstark 8:a25a9c22ba91 79 get_etat_ventouses();
kyxstark 8:a25a9c22ba91 80 break;
kyxstark 8:a25a9c22ba91 81
kyxstark 8:a25a9c22ba91 82 case GLOBAL_GAME_END:
kyxstark 8:a25a9c22ba91 83 end_game = 1;
kyxstark 8:a25a9c22ba91 84 break;
kyxstark 8:a25a9c22ba91 85
kyxstark 8:a25a9c22ba91 86 #ifdef ROBOT_SMALL
kyxstark 8:a25a9c22ba91 87
marwanesaich 0:84a8c24e29ae 88
marwanesaich 4:82c90657da4a 89 case HACHEUR_GET_PRESENTOIR_AR:
marwanesaich 5:176e7353ba1c 90 ventouse[AR_GAUCHE]->action(1);
marwanesaich 5:176e7353ba1c 91 ventouse[AR_CENTRE]->action(1);
marwanesaich 5:176e7353ba1c 92 ventouse[AR_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 93 break;
marwanesaich 0:84a8c24e29ae 94
marwanesaich 5:176e7353ba1c 95 case HACHEUR_RELEASE_AR:
marwanesaich 5:176e7353ba1c 96 ventouse[AR_GAUCHE]->action(0);
marwanesaich 5:176e7353ba1c 97 ventouse[AR_CENTRE]->action(0);
marwanesaich 5:176e7353ba1c 98 ventouse[AR_DROIT]->action(0);
marwanesaich 5:176e7353ba1c 99 break;
marwanesaich 5:176e7353ba1c 100
marwanesaich 1:8a55f1d5cb26 101 case HACHEUR_GET_PRESENTOIR_AV :
marwanesaich 5:176e7353ba1c 102 ventouse[AV_GAUCHE]->action(1);
marwanesaich 5:176e7353ba1c 103 ventouse[AV_CENTRE]->action(1);
marwanesaich 5:176e7353ba1c 104 ventouse[AV_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 105 break;
marwanesaich 0:84a8c24e29ae 106
marwanesaich 5:176e7353ba1c 107 case HACHEUR_RELEASE_AV :
marwanesaich 5:176e7353ba1c 108 ventouse[AV_GAUCHE]->action(0);
marwanesaich 5:176e7353ba1c 109 ventouse[AV_CENTRE]->action(0);
marwanesaich 5:176e7353ba1c 110 ventouse[AV_DROIT]->action(0);
marwanesaich 5:176e7353ba1c 111 break;
marwanesaich 5:176e7353ba1c 112
kyxstark 8:a25a9c22ba91 113
kyxstark 8:a25a9c22ba91 114
kyxstark 8:a25a9c22ba91 115
kyxstark 8:a25a9c22ba91 116 #endif
kyxstark 8:a25a9c22ba91 117
kyxstark 8:a25a9c22ba91 118 #ifdef ROBOT_BIG
kyxstark 8:a25a9c22ba91 119
kyxstark 8:a25a9c22ba91 120 case HACHEUR_GET_PRESENTOIR_AV :
kyxstark 13:178eaf022d60 121 ventouse[AV_GAUCHE]->action(1);
kyxstark 13:178eaf022d60 122 ventouse[AV_CENTRE]->action(1);
kyxstark 13:178eaf022d60 123 ventouse[AV_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 124 break;
marwanesaich 0:84a8c24e29ae 125
kyxstark 8:a25a9c22ba91 126 case HACHEUR_RELEASE_AV :
kyxstark 13:178eaf022d60 127 ventouse[AV_GAUCHE]->action(0);
kyxstark 13:178eaf022d60 128 ventouse[AV_CENTRE]->action(0);
kyxstark 13:178eaf022d60 129 ventouse[AV_DROIT]->action(0);
marwanesaich 0:84a8c24e29ae 130 break;
kyxstark 8:a25a9c22ba91 131
kyxstark 9:8193c05bd0a0 132 case HACHEUR_ID_COUROIES :
kyxstark 8:a25a9c22ba91 133 set_ascensseur(msgRxBuffer[FIFO_lecture].data[0]);
kyxstark 8:a25a9c22ba91 134 break;
marwanesaich 0:84a8c24e29ae 135
marwanesaich 0:84a8c24e29ae 136 #endif
marwanesaich 0:84a8c24e29ae 137 }
marwanesaich 0:84a8c24e29ae 138 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 139 }
marwanesaich 0:84a8c24e29ae 140 }
marwanesaich 0:84a8c24e29ae 141
marwanesaich 0:84a8c24e29ae 142 int main() {
marwanesaich 0:84a8c24e29ae 143
marwanesaich 0:84a8c24e29ae 144 can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
marwanesaich 0:84a8c24e29ae 145 wait(1);
marwanesaich 1:8a55f1d5cb26 146 #ifdef ROBOT_SMALL
kyxstark 10:765b4ff6d721 147 pc.printf("\nPetit robot\n\n");
marwanesaich 16:5e00af31ae8a 148 ventouse[AV_GAUCHE] = new Ventouse(PB_7, PB_6, PC_0, AV_GAUCHE);
marwanesaich 2:4cc8fa2f64be 149 ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0, AR_CENTRE);
marwanesaich 2:4cc8fa2f64be 150 ventouse[AR_DROIT] = new Ventouse(PA_9, PA_10, PB_1, AR_DROIT);
marwanesaich 5:176e7353ba1c 151 //ventouse[AR_BAS] = new Ventouse(PA_11, PA_15, PC_1, AR_BAS);
marwanesaich 5:176e7353ba1c 152 ventouse[AR_BAS] = new Ventouse(PA_11, PC_1, AR_BAS);
marwanesaich 0:84a8c24e29ae 153
marwanesaich 16:5e00af31ae8a 154 ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4, AV_DROIT);
marwanesaich 2:4cc8fa2f64be 155 ventouse[AV_CENTRE] = new Ventouse(PC_7,PC_8 , PC_5, AV_CENTRE);
marwanesaich 4:82c90657da4a 156 ventouse[AR_GAUCHE] = new Ventouse(PB_10, PB_2, PC_4, AR_GAUCHE);
marwanesaich 5:176e7353ba1c 157 //ventouse[AV_BAS] = new Ventouse(PA_6, PA_5, PA_7, AV_BAS);
marwanesaich 5:176e7353ba1c 158 ventouse[AV_BAS] = new Ventouse(PA_6, PA_7, AV_BAS);
kyxstark 8:a25a9c22ba91 159
marwanesaich 4:82c90657da4a 160
kyxstark 8:a25a9c22ba91 161 #endif
kyxstark 8:a25a9c22ba91 162
kyxstark 8:a25a9c22ba91 163 #ifdef ROBOT_BIG
kyxstark 10:765b4ff6d721 164 pc.printf("\nGros robot\n\n");
kyxstark 13:178eaf022d60 165 ventouse[AV_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7, AV_GAUCHE);
kyxstark 13:178eaf022d60 166 ventouse[AV_CENTRE] = new Ventouse(PA_0, PA_1, PA_4, AV_CENTRE);
kyxstark 13:178eaf022d60 167 ventouse[AV_DROIT] = new Ventouse(PA_11, PA_15, PC_1, AV_DROIT);
kyxstark 8:a25a9c22ba91 168
kyxstark 8:a25a9c22ba91 169 for (int i=0; i<8; i++){
kyxstark 8:a25a9c22ba91 170 ascenseur[i].period_us(50);
kyxstark 8:a25a9c22ba91 171 }
kyxstark 8:a25a9c22ba91 172
kyxstark 8:a25a9c22ba91 173 ascenseur_D = ascenseur;
kyxstark 8:a25a9c22ba91 174 ascenseur_G = ascenseur + 4;
kyxstark 8:a25a9c22ba91 175
kyxstark 8:a25a9c22ba91 176
kyxstark 8:a25a9c22ba91 177 set_ascensseur(0);
kyxstark 8:a25a9c22ba91 178 wait(1);
marwanesaich 1:8a55f1d5cb26 179 #endif
kyxstark 8:a25a9c22ba91 180
marwanesaich 1:8a55f1d5cb26 181 pc.printf("LAUNCHED");
marwanesaich 0:84a8c24e29ae 182 while(1) {
marwanesaich 0:84a8c24e29ae 183 canProcessRx();
kyxstark 8:a25a9c22ba91 184 for(int i=0; i<NB_VENTOUSES; i++){
marwanesaich 2:4cc8fa2f64be 185 ventouse[i]->automate();
marwanesaich 2:4cc8fa2f64be 186 }
marwanesaich 0:84a8c24e29ae 187 if(end_game){
kyxstark 8:a25a9c22ba91 188 for(int i=0; i<NB_VENTOUSES;i++){
marwanesaich 0:84a8c24e29ae 189 ventouse[i]->setPompe(0.0);
kyxstark 8:a25a9c22ba91 190 ventouse[i]->setElectrovanne(0);
marwanesaich 0:84a8c24e29ae 191 }
marwanesaich 11:98dfe1a61df5 192 #ifdef ROBOT_BIG
marwanesaich 11:98dfe1a61df5 193 set_ascensseur(0);
marwanesaich 11:98dfe1a61df5 194 #endif
marwanesaich 0:84a8c24e29ae 195 while(1){;}
marwanesaich 0:84a8c24e29ae 196 }
marwanesaich 0:84a8c24e29ae 197 }
marwanesaich 0:84a8c24e29ae 198 }
marwanesaich 0:84a8c24e29ae 199
marwanesaich 0:84a8c24e29ae 200
kyxstark 8:a25a9c22ba91 201
kyxstark 8:a25a9c22ba91 202 #ifdef ROBOT_BIG
kyxstark 8:a25a9c22ba91 203 void set_ascensseur(int allume){
kyxstark 8:a25a9c22ba91 204 float vit = VIT_D*allume;
kyxstark 8:a25a9c22ba91 205 for (int i=0; i<4; i++){
kyxstark 8:a25a9c22ba91 206 ascenseur_D[i] = vit;
kyxstark 8:a25a9c22ba91 207 }
kyxstark 8:a25a9c22ba91 208 vit = VIT_G*allume;
kyxstark 8:a25a9c22ba91 209 for (int i=0; i<4; i++){
kyxstark 8:a25a9c22ba91 210 ascenseur_G[i] = vit;
kyxstark 8:a25a9c22ba91 211 }
kyxstark 8:a25a9c22ba91 212 }
kyxstark 8:a25a9c22ba91 213 #endif
kyxstark 8:a25a9c22ba91 214
marwanesaich 0:84a8c24e29ae 215 void get_etat_ventouses()
marwanesaich 0:84a8c24e29ae 216 {
marwanesaich 0:84a8c24e29ae 217 CANMessage etat_ventouses = CANMessage();
marwanesaich 0:84a8c24e29ae 218 etat_ventouses.id=HACHEUR_STATUT_VENTOUSES;
marwanesaich 0:84a8c24e29ae 219 etat_ventouses.len=2;
marwanesaich 0:84a8c24e29ae 220 etat_ventouses.format=CANStandard;
marwanesaich 0:84a8c24e29ae 221 etat_ventouses.type=CANData;
marwanesaich 2:4cc8fa2f64be 222 etat_ventouses.data[0]=0;
marwanesaich 2:4cc8fa2f64be 223 etat_ventouses.data[0]=1;
kyxstark 10:765b4ff6d721 224 for(int i = (NB_VENTOUSES - 1); i >= 0; i--){
marwanesaich 0:84a8c24e29ae 225 etat_ventouses.data[0] = (etat_ventouses.data[0]<<1) + ventouse[i]->getPompe();
marwanesaich 0:84a8c24e29ae 226 etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression();
marwanesaich 0:84a8c24e29ae 227 }
marwanesaich 0:84a8c24e29ae 228 can.write(etat_ventouses);
marwanesaich 0:84a8c24e29ae 229
marwanesaich 0:84a8c24e29ae 230 }