CRAC Team / Mbed 2 deprecated Carte_Pompe_V1_2020

carte esclave pompe 2020 V1

Dependencies:   mbed ident_crac

main.cpp@3:cf33f9d4d6ff, 2019-05-07 (annotated)

Committer:
marwanesaich
Date:
Tue May 07 18:53:22 2019 +0000
Revision:
3:cf33f9d4d6ff
Parent:
2:4cc8fa2f64be 
surcharge constructeur pour declaration sans EV car soucis pwm ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
marwanesaich 0:84a8c24e29ae 1 #include "mbed.h"
marwanesaich 0:84a8c24e29ae 2 #include "class_ventouse.h"
marwanesaich 0:84a8c24e29ae 3 #include "ident_CRAC.h"
marwanesaich 1:8a55f1d5cb26 4
marwanesaich 1:8a55f1d5cb26 5 #define ROBOT_SMALL
marwanesaich 0:84a8c24e29ae 6
marwanesaich 0:84a8c24e29ae 7 #define SIZE_FIFO 50
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
marwanesaich 0:84a8c24e29ae 12
marwanesaich 0:84a8c24e29ae 13 Ventouse* ventouse[8];
marwanesaich 0:84a8c24e29ae 14 char end_game = 0;
marwanesaich 0:84a8c24e29ae 15
marwanesaich 0:84a8c24e29ae 16
marwanesaich 0:84a8c24e29ae 17 void get_etat_ventouses();
marwanesaich 0:84a8c24e29ae 18
marwanesaich 2:4cc8fa2f64be 19 CAN can(PB_8,PB_9,1000000);
marwanesaich 2:4cc8fa2f64be 20 Serial pc(USBTX,USBRX);
marwanesaich 0:84a8c24e29ae 21
marwanesaich 0:84a8c24e29ae 22 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 23 /* FUNCTION NAME: canRx_ISR */
marwanesaich 0:84a8c24e29ae 24 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
marwanesaich 0:84a8c24e29ae 25 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 26 void canRx_ISR (void)
marwanesaich 0:84a8c24e29ae 27 {
marwanesaich 0:84a8c24e29ae 28 if (can.read(msgRxBuffer[FIFO_ecriture]))
marwanesaich 0:84a8c24e29ae 29 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 30 }
marwanesaich 0:84a8c24e29ae 31
marwanesaich 0:84a8c24e29ae 32
marwanesaich 0:84a8c24e29ae 33 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 34 /* FUNCTION NAME: canProcessRx */
marwanesaich 0:84a8c24e29ae 35 /* DESCRIPTION : Fonction de traitement des messages CAN */
marwanesaich 0:84a8c24e29ae 36 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 37 void canProcessRx(void){
marwanesaich 0:84a8c24e29ae 38 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
marwanesaich 0:84a8c24e29ae 39 CANMessage msgTx=CANMessage();
marwanesaich 0:84a8c24e29ae 40 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
marwanesaich 0:84a8c24e29ae 41 if(FIFO_occupation<0)
marwanesaich 0:84a8c24e29ae 42 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 43 if(FIFO_max_occupation<FIFO_occupation)
marwanesaich 0:84a8c24e29ae 44 FIFO_max_occupation=FIFO_occupation;
marwanesaich 0:84a8c24e29ae 45 if(FIFO_occupation!=0) {
marwanesaich 0:84a8c24e29ae 46 int identifiant=msgRxBuffer[FIFO_lecture].id;
marwanesaich 1:8a55f1d5cb26 47 char BRAS = 0;
marwanesaich 1:8a55f1d5cb26 48
marwanesaich 0:84a8c24e29ae 49 switch(identifiant){
marwanesaich 0:84a8c24e29ae 50
marwanesaich 0:84a8c24e29ae 51 #ifdef ROBOT_SMALL
marwanesaich 0:84a8c24e29ae 52 case HACHEUR_GET_ATOM:
marwanesaich 1:8a55f1d5cb26 53 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 1:8a55f1d5cb26 54 pc.printf("HACHEUR_GET_ATOM bras %d\n", BRAS);
marwanesaich 3:cf33f9d4d6ff 55 //ventouse[BRAS]->action(1);
marwanesaich 3:cf33f9d4d6ff 56 ventouse[BRAS]->setPompe(0.5);
marwanesaich 0:84a8c24e29ae 57 break;
marwanesaich 0:84a8c24e29ae 58
marwanesaich 0:84a8c24e29ae 59 case HACHEUR_RELEASE_ATOM:
marwanesaich 1:8a55f1d5cb26 60 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 1:8a55f1d5cb26 61 pc.printf("HACHEUR_RELEASE_ATOM bras %d\n", BRAS);
marwanesaich 3:cf33f9d4d6ff 62 //ventouse[BRAS]->action(0);
marwanesaich 3:cf33f9d4d6ff 63 ventouse[BRAS]->setPompe(0.0);
marwanesaich 0:84a8c24e29ae 64 break;
marwanesaich 0:84a8c24e29ae 65
marwanesaich 1:8a55f1d5cb26 66 case HACHEUR_GET_PRESENTOIR_AR:
marwanesaich 0:84a8c24e29ae 67 pc.printf("HACHEUR_GET_DISTRIB_AR\n");
marwanesaich 2:4cc8fa2f64be 68 ventouse[AR_GAUCHE]->action(1);;
marwanesaich 2:4cc8fa2f64be 69 ventouse[AR_CENTRE]->action(1);;
marwanesaich 2:4cc8fa2f64be 70 ventouse[AR_DROIT]->action(1);;
marwanesaich 0:84a8c24e29ae 71 break;
marwanesaich 0:84a8c24e29ae 72
marwanesaich 1:8a55f1d5cb26 73 case HACHEUR_GET_PRESENTOIR_AV :
marwanesaich 0:84a8c24e29ae 74 pc.printf("HACHEUR_GET_DISTRIB_AV\n");
marwanesaich 2:4cc8fa2f64be 75 ventouse[AV_GAUCHE]->action(1);;
marwanesaich 2:4cc8fa2f64be 76 ventouse[AV_CENTRE]->action(1);;
marwanesaich 2:4cc8fa2f64be 77 ventouse[AV_DROIT]->action(1);;
marwanesaich 0:84a8c24e29ae 78 break;
marwanesaich 0:84a8c24e29ae 79
marwanesaich 0:84a8c24e29ae 80 case HACHEUR_STATUT_VENTOUSES:
marwanesaich 0:84a8c24e29ae 81 pc.printf("HACHEUR_GET_STATUS\n");
marwanesaich 0:84a8c24e29ae 82 get_etat_ventouses();
marwanesaich 0:84a8c24e29ae 83 break;
marwanesaich 0:84a8c24e29ae 84
marwanesaich 0:84a8c24e29ae 85 case GLOBAL_GAME_END:
marwanesaich 0:84a8c24e29ae 86 end_game = 1;
marwanesaich 0:84a8c24e29ae 87 break;
marwanesaich 0:84a8c24e29ae 88 #endif
marwanesaich 0:84a8c24e29ae 89
marwanesaich 0:84a8c24e29ae 90 #ifdef ROBOT_BIG
marwanesaich 0:84a8c24e29ae 91
marwanesaich 0:84a8c24e29ae 92 #endif
marwanesaich 0:84a8c24e29ae 93 }
marwanesaich 0:84a8c24e29ae 94 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 95 }
marwanesaich 0:84a8c24e29ae 96 }
marwanesaich 0:84a8c24e29ae 97
marwanesaich 0:84a8c24e29ae 98 int main() {
marwanesaich 0:84a8c24e29ae 99
marwanesaich 0:84a8c24e29ae 100 can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
marwanesaich 0:84a8c24e29ae 101 wait(1);
marwanesaich 1:8a55f1d5cb26 102 #ifdef ROBOT_SMALL
marwanesaich 3:cf33f9d4d6ff 103
marwanesaich 3:cf33f9d4d6ff 104
marwanesaich 3:cf33f9d4d6ff 105 ventouse[AR_BAS] = new Ventouse(PA_11, PC_1, AR_BAS);
marwanesaich 3:cf33f9d4d6ff 106 ventouse[AR_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7, AR_GAUCHE);
marwanesaich 2:4cc8fa2f64be 107 ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0, AR_CENTRE);
marwanesaich 2:4cc8fa2f64be 108 ventouse[AR_DROIT] = new Ventouse(PA_9, PA_10, PB_1, AR_DROIT);
marwanesaich 3:cf33f9d4d6ff 109
marwanesaich 3:cf33f9d4d6ff 110
marwanesaich 3:cf33f9d4d6ff 111 ventouse[AV_BAS] = new Ventouse(PB_10, PC_4, AV_BAS);
marwanesaich 2:4cc8fa2f64be 112 ventouse[AV_GAUCHE] = new Ventouse(PB_7, PB_6, PC_0, AV_GAUCHE);
marwanesaich 2:4cc8fa2f64be 113 ventouse[AV_CENTRE] = new Ventouse(PC_7,PC_8 , PC_5, AV_CENTRE);
marwanesaich 2:4cc8fa2f64be 114 ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4, AV_DROIT);
marwanesaich 3:cf33f9d4d6ff 115
marwanesaich 3:cf33f9d4d6ff 116
marwanesaich 0:84a8c24e29ae 117
marwanesaich 1:8a55f1d5cb26 118 #endif
marwanesaich 1:8a55f1d5cb26 119 pc.printf("LAUNCHED");
marwanesaich 3:cf33f9d4d6ff 120
marwanesaich 0:84a8c24e29ae 121 while(1) {
marwanesaich 0:84a8c24e29ae 122 canProcessRx();
marwanesaich 2:4cc8fa2f64be 123 for(int i=0; i<8; i++){
marwanesaich 2:4cc8fa2f64be 124 ventouse[i]->automate();
marwanesaich 2:4cc8fa2f64be 125 }
marwanesaich 0:84a8c24e29ae 126 if(end_game){
marwanesaich 0:84a8c24e29ae 127 for(int i=0; i<8;i++){
marwanesaich 0:84a8c24e29ae 128 ventouse[i]->setPompe(0.0);
marwanesaich 0:84a8c24e29ae 129 ventouse[i]->setElectrovanne(0.0);
marwanesaich 0:84a8c24e29ae 130 }
marwanesaich 0:84a8c24e29ae 131 while(1){;}
marwanesaich 0:84a8c24e29ae 132 }
marwanesaich 0:84a8c24e29ae 133 }
marwanesaich 0:84a8c24e29ae 134 }
marwanesaich 0:84a8c24e29ae 135
marwanesaich 0:84a8c24e29ae 136
marwanesaich 0:84a8c24e29ae 137 void get_etat_ventouses()
marwanesaich 0:84a8c24e29ae 138 {
marwanesaich 0:84a8c24e29ae 139 CANMessage etat_ventouses = CANMessage();
marwanesaich 0:84a8c24e29ae 140 etat_ventouses.id=HACHEUR_STATUT_VENTOUSES;
marwanesaich 0:84a8c24e29ae 141 etat_ventouses.len=2;
marwanesaich 0:84a8c24e29ae 142 etat_ventouses.format=CANStandard;
marwanesaich 0:84a8c24e29ae 143 etat_ventouses.type=CANData;
marwanesaich 2:4cc8fa2f64be 144 etat_ventouses.data[0]=0;
marwanesaich 2:4cc8fa2f64be 145 etat_ventouses.data[0]=1;
marwanesaich 0:84a8c24e29ae 146 for(int i=7; i>=0; i--){
marwanesaich 0:84a8c24e29ae 147 etat_ventouses.data[0] = (etat_ventouses.data[0]<<1) + ventouse[i]->getPompe();
marwanesaich 0:84a8c24e29ae 148 etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression();
marwanesaich 0:84a8c24e29ae 149 }
marwanesaich 0:84a8c24e29ae 150 can.write(etat_ventouses);
marwanesaich 0:84a8c24e29ae 151
marwanesaich 0:84a8c24e29ae 152 }