Diff: main.cpp

Revision:

0:84a8c24e29ae

Child:

1:8a55f1d5cb26

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 06 07:53:34 2019 +0000
@@ -0,0 +1,182 @@
+#include "mbed.h"
+#include "class_ventouse.h"
+#include "ident_CRAC.h"
+#include "def.h"
+
+#define SIZE_FIFO 50
+
+CAN can(PB_8,PB_9,1000000);
+Serial pc(USBTX,USBRX);
+Ticker tick;
+
+CANMessage msgRxBuffer[SIZE_FIFO];
+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
+
+Ventouse* ventouse[8];
+char end_game = 0;
+
+
+void get_etat_ventouses();
+void isr_pression();
+
+//ajouter ticker pour isr_presison
+
+/*********************************************************************************************************/
+/* FUNCTION NAME: canRx_ISR                                                                              */
+/* DESCRIPTION  : lit les messages sur le can et les stocke dans la FIFO                                 */
+/*********************************************************************************************************/
+void canRx_ISR (void)
+{
+    if (can.read(msgRxBuffer[FIFO_ecriture]))
+        FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
+}
+
+
+/*********************************************************************************************************/
+/* FUNCTION NAME: canProcessRx                                                                           */
+/* DESCRIPTION  : Fonction de traitement des messages CAN                                                */
+/*********************************************************************************************************/
+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) {
+    int identifiant=msgRxBuffer[FIFO_lecture].id;
+    int BRAS = msgRxBuffer[FIFO_lecture].data[0];
+        switch(identifiant){
+            
+            #ifdef ROBOT_SMALL
+            case HACHEUR_GET_ATOM:
+                pc.printf("HACHEUR_GET_ATOM bras %d\n", int(BRAS));
+                ventouse[BRAS]->attraper();
+                break;
+            
+            case HACHEUR_RELEASE_ATOM:
+                pc.printf("HACHEUR_RELEASE_ATOM\n");
+                ventouse[BRAS]->relacher(); 
+                break;              
+            
+            case HACHEUR_GET_DISTRIB_AR:
+                pc.printf("HACHEUR_GET_DISTRIB_AR\n");            
+                ventouse[AR_GAUCHE]->attraper();
+                ventouse[AR_CENTRE]->attraper();
+                ventouse[AR_DROIT]->attraper();
+                break;
+            
+            case HACHEUR_GET_DISTRIB_AV:
+                //SendAck();
+                pc.printf("HACHEUR_GET_DISTRIB_AV\n"); 
+                ventouse[AV_GAUCHE]->relacher();
+                ventouse[AV_CENTRE]->relacher();
+                ventouse[AV_DROIT]->relacher();
+                break;
+            
+            case HACHEUR_STATUT_VENTOUSES:
+                pc.printf("HACHEUR_GET_STATUS\n");
+                get_etat_ventouses();
+                break;
+            
+            case GLOBAL_GAME_END:
+                end_game = 1;
+                break;
+            #endif
+
+            #ifdef ROBOT_BIG
+            
+            #endif
+        }
+        FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
+    }
+}
+
+int main() {
+    
+    char i =0;
+
+    pc.printf("Hello World");
+    can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
+    //tick.attach(&isr_pression, 0.5);
+    wait(1);
+   // #ifdef ROBOT_SMALL
+    //DEFINITION DES VENTOUSES
+    ventouse[AV_GAUCHE] = new Ventouse(PC_9, PA_8, PB_0);
+    ventouse[AV_CENTRE] = new Ventouse(PA_9, PA_10,  PB_1);
+    ventouse[AV_DROIT]  = new Ventouse(PA_11, PA_15, PC_1);
+    ventouse[AV_BAS]    = new Ventouse(PB_7, PB_6, PC_0);
+    
+    ventouse[AR_GAUCHE] = new Ventouse(PC_7,PC_8 , PC_5);
+    ventouse[AR_CENTRE] = new Ventouse(PB_10, PB_2, PC_4);
+    ventouse[AR_DROIT]  = new Ventouse(PA_6, PA_5, PA_7);
+    ventouse[AR_BAS]    = new Ventouse(PA_0, PA_1, PA_4);
+    
+
+   // #endif
+    
+    while(1) {
+        canProcessRx();
+        pc.printf("%d\n",i);
+        i++;
+        wait_ms(10);
+        //isr_pression();
+        if(end_game){
+            for(int i=0; i<8;i++){
+                ventouse[i]->setPompe(0.0);
+                ventouse[i]->setElectrovanne(0.0);
+            }
+            while(1){;}
+        }
+    }
+}
+
+
+
+
+void get_etat_ventouses()
+{   
+    CANMessage etat_ventouses = CANMessage();
+    etat_ventouses.id=HACHEUR_STATUT_VENTOUSES;      
+    etat_ventouses.len=2;
+    etat_ventouses.format=CANStandard;
+    etat_ventouses.type=CANData;
+    for(int i=7; i>=0; i--){
+        etat_ventouses.data[0] = (etat_ventouses.data[0]<<1) + ventouse[i]->getPompe();
+        etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression();       
+    }
+    can.write(etat_ventouses);
+
+}
+
+void isr_pression()
+{   
+    static char i = 1;
+    can.write(CANMessage(100,&i,1));
+    i++;
+    /*
+    static char new_pression = 0;
+    static char old_pression = 0;
+    
+    for(int i=7; i>=0; i--){
+        new_pression = (new_pression<<1) + ventouse[i]->getPression();
+    }
+    
+    if(old_pression^new_pression){
+        CANMessage chgt_pression = CANMessage();
+        chgt_pression.id=HACHEUR_ISR_PRESSION ;      
+        chgt_pression.len=2;
+        chgt_pression.format=CANStandard;
+        chgt_pression.type=CANData;
+        chgt_pression.data[0] = old_pression^new_pression ;
+        chgt_pression.data[1] = new_pression;
+        can.write(chgt_pression);
+    }
+    
+    new_pression = old_pression; 
+    */
+    
+
+}
\ No newline at end of file