CRAC Team / Mbed 2 deprecated Carte_Pompe_V1_2020

carte esclave pompe 2020 V1

Dependencies:   mbed ident_crac

main.cpp@19:952208276c63, 2020-03-05 (annotated)

Committer:
maximilienlv
Date:
Thu Mar 05 16:32:21 2020 +0000
Revision:
19:952208276c63
Parent:
18:972d29c668a5
Child:
20:677dcf689523
carte esclave pompe 2020

Who changed what in which revision?

UserRevisionLine numberNew contents of line
marwanesaich 4:82c90657da4a 1 #include "extern.h"
kyxstark 8:a25a9c22ba91 2 #define SIZE_FIFO 50
marwanesaich 1:8a55f1d5cb26 3
kyxstark 8:a25a9c22ba91 4
marwanesaich 0:84a8c24e29ae 5 CANMessage msgRxBuffer[SIZE_FIFO];
marwanesaich 0:84a8c24e29ae 6 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
marwanesaich 0:84a8c24e29ae 7 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
kyxstark 8:a25a9c22ba91 8 char end_game = 0;
marwanesaich 0:84a8c24e29ae 9
kyxstark 8:a25a9c22ba91 10 Ventouse* ventouse[NB_VENTOUSES];
kyxstark 8:a25a9c22ba91 11
kyxstark 17:fcfdd7de9039 12 BusIn contacts(PC_11, PC_12, PB_4, PB_5, PC_13, PC_14, PC_2, PC_3);
kyxstark 17:fcfdd7de9039 13 DigitalIn Contact1(PC_11, PullNone);
kyxstark 17:fcfdd7de9039 14 DigitalIn Contact2(PC_12, PullNone);
kyxstark 17:fcfdd7de9039 15 DigitalIn Contact3(PB_4, PullNone);
kyxstark 17:fcfdd7de9039 16 DigitalIn Contact4(PB_5, PullNone);
kyxstark 17:fcfdd7de9039 17 DigitalIn Contact5(PC_13, PullNone);
kyxstark 17:fcfdd7de9039 18 DigitalIn Contact6(PC_14, PullNone);
kyxstark 17:fcfdd7de9039 19 DigitalIn Contact7(PC_2, PullNone);
kyxstark 17:fcfdd7de9039 20 DigitalIn Contact8(PC_3, PullNone);
kyxstark 17:fcfdd7de9039 21
kyxstark 17:fcfdd7de9039 22 void lecture_contacts(void);
kyxstark 17:fcfdd7de9039 23
marwanesaich 0:84a8c24e29ae 24
marwanesaich 0:84a8c24e29ae 25
marwanesaich 0:84a8c24e29ae 26 void get_etat_ventouses();
marwanesaich 0:84a8c24e29ae 27
kyxstark 8:a25a9c22ba91 28
marwanesaich 2:4cc8fa2f64be 29 CAN can(PB_8,PB_9,1000000);
marwanesaich 2:4cc8fa2f64be 30 Serial pc(USBTX,USBRX);
marwanesaich 0:84a8c24e29ae 31
marwanesaich 0:84a8c24e29ae 32 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 33 /* FUNCTION NAME: canRx_ISR */
marwanesaich 0:84a8c24e29ae 34 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
marwanesaich 0:84a8c24e29ae 35 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 36 void canRx_ISR (void)
marwanesaich 0:84a8c24e29ae 37 {
marwanesaich 0:84a8c24e29ae 38 if (can.read(msgRxBuffer[FIFO_ecriture]))
marwanesaich 0:84a8c24e29ae 39 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 40 }
marwanesaich 0:84a8c24e29ae 41
marwanesaich 0:84a8c24e29ae 42
marwanesaich 0:84a8c24e29ae 43 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 44 /* FUNCTION NAME: canProcessRx */
marwanesaich 0:84a8c24e29ae 45 /* DESCRIPTION : Fonction de traitement des messages CAN */
marwanesaich 0:84a8c24e29ae 46 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 47 void canProcessRx(void){
marwanesaich 0:84a8c24e29ae 48 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
marwanesaich 0:84a8c24e29ae 49 CANMessage msgTx=CANMessage();
marwanesaich 0:84a8c24e29ae 50 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
marwanesaich 0:84a8c24e29ae 51 if(FIFO_occupation<0)
marwanesaich 0:84a8c24e29ae 52 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 53 if(FIFO_max_occupation<FIFO_occupation)
marwanesaich 0:84a8c24e29ae 54 FIFO_max_occupation=FIFO_occupation;
marwanesaich 0:84a8c24e29ae 55 if(FIFO_occupation!=0) {
marwanesaich 0:84a8c24e29ae 56 int identifiant=msgRxBuffer[FIFO_lecture].id;
marwanesaich 1:8a55f1d5cb26 57 char BRAS = 0;
marwanesaich 1:8a55f1d5cb26 58
marwanesaich 0:84a8c24e29ae 59 switch(identifiant){
marwanesaich 0:84a8c24e29ae 60
maximilienlv 19:952208276c63 61 /*case HACHEUR_GET_ATOM:
marwanesaich 1:8a55f1d5cb26 62 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 2:4cc8fa2f64be 63 ventouse[BRAS]->action(1);
marwanesaich 0:84a8c24e29ae 64 break;
kyxstark 8:a25a9c22ba91 65
marwanesaich 0:84a8c24e29ae 66 case HACHEUR_RELEASE_ATOM:
marwanesaich 1:8a55f1d5cb26 67 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 2:4cc8fa2f64be 68 ventouse[BRAS]->action(0);
kyxstark 8:a25a9c22ba91 69 break;
kyxstark 8:a25a9c22ba91 70
kyxstark 8:a25a9c22ba91 71 case HACHEUR_STATUT_VENTOUSES:
kyxstark 8:a25a9c22ba91 72 get_etat_ventouses();
kyxstark 8:a25a9c22ba91 73 break;
kyxstark 8:a25a9c22ba91 74
kyxstark 8:a25a9c22ba91 75 case GLOBAL_GAME_END:
kyxstark 8:a25a9c22ba91 76 end_game = 1;
kyxstark 8:a25a9c22ba91 77 break;
kyxstark 17:fcfdd7de9039 78
kyxstark 17:fcfdd7de9039 79 case HACHEUR_ETAT_CONTACTS:
kyxstark 17:fcfdd7de9039 80 char contacts_tmp = contacts;
kyxstark 17:fcfdd7de9039 81 can.write(CANMessage(HACHEUR_ETAT_CONTACTS,&contacts_tmp,1));
kyxstark 17:fcfdd7de9039 82 break;
kyxstark 8:a25a9c22ba91 83
marwanesaich 4:82c90657da4a 84 case HACHEUR_GET_PRESENTOIR_AR:
marwanesaich 5:176e7353ba1c 85 ventouse[AR_GAUCHE]->action(1);
marwanesaich 5:176e7353ba1c 86 ventouse[AR_CENTRE]->action(1);
marwanesaich 5:176e7353ba1c 87 ventouse[AR_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 88 break;
marwanesaich 0:84a8c24e29ae 89
marwanesaich 5:176e7353ba1c 90 case HACHEUR_RELEASE_AR:
marwanesaich 5:176e7353ba1c 91 ventouse[AR_GAUCHE]->action(0);
marwanesaich 5:176e7353ba1c 92 ventouse[AR_CENTRE]->action(0);
marwanesaich 5:176e7353ba1c 93 ventouse[AR_DROIT]->action(0);
marwanesaich 5:176e7353ba1c 94 break;
marwanesaich 5:176e7353ba1c 95
marwanesaich 1:8a55f1d5cb26 96 case HACHEUR_GET_PRESENTOIR_AV :
marwanesaich 5:176e7353ba1c 97 ventouse[AV_GAUCHE]->action(1);
marwanesaich 5:176e7353ba1c 98 ventouse[AV_CENTRE]->action(1);
marwanesaich 5:176e7353ba1c 99 ventouse[AV_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 100 break;
marwanesaich 0:84a8c24e29ae 101
marwanesaich 5:176e7353ba1c 102 case HACHEUR_RELEASE_AV :
marwanesaich 5:176e7353ba1c 103 ventouse[AV_GAUCHE]->action(0);
marwanesaich 5:176e7353ba1c 104 ventouse[AV_CENTRE]->action(0);
marwanesaich 5:176e7353ba1c 105 ventouse[AV_DROIT]->action(0);
maximilienlv 19:952208276c63 106 break;*/
marwanesaich 5:176e7353ba1c 107
maximilienlv 19:952208276c63 108 case TEST_ELECTROV_1:
maximilienlv 19:952208276c63 109 ventouse[AR_GAUCHE]->action(1);
maximilienlv 19:952208276c63 110 ventouse[AR_CENTRE]->action(1);
maximilienlv 19:952208276c63 111 ventouse[AR_DROIT]->action(1);
kyxstark 13:178eaf022d60 112 ventouse[AV_GAUCHE]->action(1);
kyxstark 13:178eaf022d60 113 ventouse[AV_CENTRE]->action(1);
kyxstark 13:178eaf022d60 114 ventouse[AV_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 115 break;
maximilienlv 19:952208276c63 116
maximilienlv 19:952208276c63 117 case TEST_ELECTROV_2:
maximilienlv 19:952208276c63 118 ventouse[AR_GAUCHE]->action(0);
maximilienlv 19:952208276c63 119 ventouse[AR_CENTRE]->action(0);
maximilienlv 19:952208276c63 120 ventouse[AR_DROIT]->action(0);
kyxstark 13:178eaf022d60 121 ventouse[AV_GAUCHE]->action(0);
kyxstark 13:178eaf022d60 122 ventouse[AV_CENTRE]->action(0);
kyxstark 13:178eaf022d60 123 ventouse[AV_DROIT]->action(0);
marwanesaich 0:84a8c24e29ae 124 break;
marwanesaich 0:84a8c24e29ae 125 }
marwanesaich 0:84a8c24e29ae 126 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 127 }
marwanesaich 0:84a8c24e29ae 128 }
marwanesaich 0:84a8c24e29ae 129
marwanesaich 0:84a8c24e29ae 130 int main() {
marwanesaich 0:84a8c24e29ae 131
marwanesaich 0:84a8c24e29ae 132 can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
marwanesaich 0:84a8c24e29ae 133 wait(1);
maximilienlv 19:952208276c63 134
kyxstark 10:765b4ff6d721 135 pc.printf("\nPetit robot\n\n");
marwanesaich 16:5e00af31ae8a 136 ventouse[AV_GAUCHE] = new Ventouse(PB_7, PB_6, PC_0, AV_GAUCHE);
marwanesaich 2:4cc8fa2f64be 137 ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0, AR_CENTRE);
marwanesaich 2:4cc8fa2f64be 138 ventouse[AR_DROIT] = new Ventouse(PA_9, PA_10, PB_1, AR_DROIT);
marwanesaich 0:84a8c24e29ae 139
marwanesaich 16:5e00af31ae8a 140 ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4, AV_DROIT);
marwanesaich 2:4cc8fa2f64be 141 ventouse[AV_CENTRE] = new Ventouse(PC_7,PC_8 , PC_5, AV_CENTRE);
marwanesaich 4:82c90657da4a 142 ventouse[AR_GAUCHE] = new Ventouse(PB_10, PB_2, PC_4, AR_GAUCHE);
kyxstark 8:a25a9c22ba91 143
marwanesaich 1:8a55f1d5cb26 144 pc.printf("LAUNCHED");
marwanesaich 0:84a8c24e29ae 145 while(1) {
marwanesaich 0:84a8c24e29ae 146 canProcessRx();
kyxstark 8:a25a9c22ba91 147 for(int i=0; i<NB_VENTOUSES; i++){
marwanesaich 2:4cc8fa2f64be 148 ventouse[i]->automate();
kyxstark 17:fcfdd7de9039 149 }
kyxstark 17:fcfdd7de9039 150 lecture_contacts();
kyxstark 17:fcfdd7de9039 151
kyxstark 17:fcfdd7de9039 152
marwanesaich 0:84a8c24e29ae 153 if(end_game){
kyxstark 8:a25a9c22ba91 154 for(int i=0; i<NB_VENTOUSES;i++){
marwanesaich 0:84a8c24e29ae 155 ventouse[i]->setPompe(0.0);
kyxstark 8:a25a9c22ba91 156 ventouse[i]->setElectrovanne(0);
marwanesaich 0:84a8c24e29ae 157 }
marwanesaich 0:84a8c24e29ae 158 while(1){;}
marwanesaich 0:84a8c24e29ae 159 }
marwanesaich 0:84a8c24e29ae 160 }
marwanesaich 0:84a8c24e29ae 161 }
marwanesaich 0:84a8c24e29ae 162
kyxstark 17:fcfdd7de9039 163 void lecture_contacts(void)
kyxstark 17:fcfdd7de9039 164 {
kyxstark 17:fcfdd7de9039 165 static char prev_contacts = contacts;
kyxstark 17:fcfdd7de9039 166
kyxstark 17:fcfdd7de9039 167 if(contacts != prev_contacts)
kyxstark 17:fcfdd7de9039 168 {
kyxstark 17:fcfdd7de9039 169 prev_contacts = contacts;
kyxstark 17:fcfdd7de9039 170 can.write(CANMessage(HACHEUR_ETAT_CONTACTS,&prev_contacts,1));
kyxstark 17:fcfdd7de9039 171 }
kyxstark 17:fcfdd7de9039 172 }
kyxstark 8:a25a9c22ba91 173
marwanesaich 0:84a8c24e29ae 174 void get_etat_ventouses()
marwanesaich 0:84a8c24e29ae 175 {
marwanesaich 0:84a8c24e29ae 176 CANMessage etat_ventouses = CANMessage();
marwanesaich 0:84a8c24e29ae 177 etat_ventouses.id=HACHEUR_STATUT_VENTOUSES;
marwanesaich 0:84a8c24e29ae 178 etat_ventouses.len=2;
marwanesaich 0:84a8c24e29ae 179 etat_ventouses.format=CANStandard;
marwanesaich 0:84a8c24e29ae 180 etat_ventouses.type=CANData;
marwanesaich 2:4cc8fa2f64be 181 etat_ventouses.data[0]=0;
marwanesaich 2:4cc8fa2f64be 182 etat_ventouses.data[0]=1;
kyxstark 10:765b4ff6d721 183 for(int i = (NB_VENTOUSES - 1); i >= 0; i--){
marwanesaich 0:84a8c24e29ae 184 etat_ventouses.data[0] = (etat_ventouses.data[0]<<1) + ventouse[i]->getPompe();
marwanesaich 0:84a8c24e29ae 185 etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression();
marwanesaich 0:84a8c24e29ae 186 }
marwanesaich 0:84a8c24e29ae 187 can.write(etat_ventouses);
marwanesaich 0:84a8c24e29ae 188
marwanesaich 0:84a8c24e29ae 189 }