CRAC Team / Mbed 2 deprecated Carte_Pompe_V1_2020

carte esclave pompe 2020 V1

Dependencies:   mbed ident_crac

main.cpp@1:8a55f1d5cb26, 2019-05-07 (annotated)

Committer:
marwanesaich
Date:
Tue May 07 08:33:42 2019 +0000
Revision:
1:8a55f1d5cb26
Parent:
0:84a8c24e29ae
Child:
2:4cc8fa2f64be
PINOUT a jour, CAN ok

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 CAN can(PB_8,PB_9,1000000);
marwanesaich 0:84a8c24e29ae 10 Serial pc(USBTX,USBRX);
marwanesaich 1:8a55f1d5cb26 11
marwanesaich 0:84a8c24e29ae 12
marwanesaich 0:84a8c24e29ae 13 CANMessage msgRxBuffer[SIZE_FIFO];
marwanesaich 0:84a8c24e29ae 14 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
marwanesaich 0:84a8c24e29ae 15 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
marwanesaich 0:84a8c24e29ae 16
marwanesaich 0:84a8c24e29ae 17 Ventouse* ventouse[8];
marwanesaich 0:84a8c24e29ae 18 char end_game = 0;
marwanesaich 0:84a8c24e29ae 19
marwanesaich 0:84a8c24e29ae 20
marwanesaich 0:84a8c24e29ae 21 void get_etat_ventouses();
marwanesaich 0:84a8c24e29ae 22
marwanesaich 0:84a8c24e29ae 23
marwanesaich 0:84a8c24e29ae 24 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 25 /* FUNCTION NAME: canRx_ISR */
marwanesaich 0:84a8c24e29ae 26 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
marwanesaich 0:84a8c24e29ae 27 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 28 void canRx_ISR (void)
marwanesaich 0:84a8c24e29ae 29 {
marwanesaich 0:84a8c24e29ae 30 if (can.read(msgRxBuffer[FIFO_ecriture]))
marwanesaich 0:84a8c24e29ae 31 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 32 }
marwanesaich 0:84a8c24e29ae 33
marwanesaich 0:84a8c24e29ae 34
marwanesaich 0:84a8c24e29ae 35 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 36 /* FUNCTION NAME: canProcessRx */
marwanesaich 0:84a8c24e29ae 37 /* DESCRIPTION : Fonction de traitement des messages CAN */
marwanesaich 0:84a8c24e29ae 38 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 39 void canProcessRx(void){
marwanesaich 0:84a8c24e29ae 40 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
marwanesaich 0:84a8c24e29ae 41 CANMessage msgTx=CANMessage();
marwanesaich 0:84a8c24e29ae 42 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
marwanesaich 0:84a8c24e29ae 43 if(FIFO_occupation<0)
marwanesaich 0:84a8c24e29ae 44 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 45 if(FIFO_max_occupation<FIFO_occupation)
marwanesaich 0:84a8c24e29ae 46 FIFO_max_occupation=FIFO_occupation;
marwanesaich 0:84a8c24e29ae 47 if(FIFO_occupation!=0) {
marwanesaich 0:84a8c24e29ae 48 int identifiant=msgRxBuffer[FIFO_lecture].id;
marwanesaich 1:8a55f1d5cb26 49 char BRAS = 0;
marwanesaich 1:8a55f1d5cb26 50
marwanesaich 0:84a8c24e29ae 51 switch(identifiant){
marwanesaich 0:84a8c24e29ae 52
marwanesaich 0:84a8c24e29ae 53 #ifdef ROBOT_SMALL
marwanesaich 0:84a8c24e29ae 54 case HACHEUR_GET_ATOM:
marwanesaich 1:8a55f1d5cb26 55 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 1:8a55f1d5cb26 56 pc.printf("HACHEUR_GET_ATOM bras %d\n", BRAS);
marwanesaich 0:84a8c24e29ae 57 ventouse[BRAS]->attraper();
marwanesaich 0:84a8c24e29ae 58 break;
marwanesaich 0:84a8c24e29ae 59
marwanesaich 0:84a8c24e29ae 60 case HACHEUR_RELEASE_ATOM:
marwanesaich 1:8a55f1d5cb26 61 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 1:8a55f1d5cb26 62 pc.printf("HACHEUR_RELEASE_ATOM bras %d\n", BRAS);
marwanesaich 0:84a8c24e29ae 63 ventouse[BRAS]->relacher();
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 0:84a8c24e29ae 68 ventouse[AR_GAUCHE]->attraper();
marwanesaich 0:84a8c24e29ae 69 ventouse[AR_CENTRE]->attraper();
marwanesaich 0:84a8c24e29ae 70 ventouse[AR_DROIT]->attraper();
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 0:84a8c24e29ae 75 ventouse[AV_GAUCHE]->relacher();
marwanesaich 0:84a8c24e29ae 76 ventouse[AV_CENTRE]->relacher();
marwanesaich 0:84a8c24e29ae 77 ventouse[AV_DROIT]->relacher();
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 1:8a55f1d5cb26 103 ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0);
marwanesaich 1:8a55f1d5cb26 104 ventouse[AR_DROIT] = new Ventouse(PA_9, PA_10, PB_1);
marwanesaich 1:8a55f1d5cb26 105 ventouse[AR_BAS] = new Ventouse(PA_11, PA_15, PC_1);
marwanesaich 1:8a55f1d5cb26 106 ventouse[AV_GAUCHE] = new Ventouse(PB_7, PB_6, PC_0);
marwanesaich 0:84a8c24e29ae 107
marwanesaich 1:8a55f1d5cb26 108 ventouse[AV_CENTRE] = new Ventouse(PC_7,PC_8 , PC_5);
marwanesaich 1:8a55f1d5cb26 109 ventouse[AV_BAS] = new Ventouse(PB_10, PB_2, PC_4);
marwanesaich 1:8a55f1d5cb26 110 ventouse[AR_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7);
marwanesaich 1:8a55f1d5cb26 111 ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4);
marwanesaich 0:84a8c24e29ae 112
marwanesaich 1:8a55f1d5cb26 113 #endif
marwanesaich 1:8a55f1d5cb26 114 pc.printf("LAUNCHED");
marwanesaich 0:84a8c24e29ae 115 while(1) {
marwanesaich 0:84a8c24e29ae 116 canProcessRx();
marwanesaich 0:84a8c24e29ae 117 if(end_game){
marwanesaich 0:84a8c24e29ae 118 for(int i=0; i<8;i++){
marwanesaich 0:84a8c24e29ae 119 ventouse[i]->setPompe(0.0);
marwanesaich 0:84a8c24e29ae 120 ventouse[i]->setElectrovanne(0.0);
marwanesaich 0:84a8c24e29ae 121 }
marwanesaich 0:84a8c24e29ae 122 while(1){;}
marwanesaich 0:84a8c24e29ae 123 }
marwanesaich 0:84a8c24e29ae 124 }
marwanesaich 0:84a8c24e29ae 125 }
marwanesaich 0:84a8c24e29ae 126
marwanesaich 0:84a8c24e29ae 127
marwanesaich 0:84a8c24e29ae 128 void get_etat_ventouses()
marwanesaich 0:84a8c24e29ae 129 {
marwanesaich 0:84a8c24e29ae 130 CANMessage etat_ventouses = CANMessage();
marwanesaich 0:84a8c24e29ae 131 etat_ventouses.id=HACHEUR_STATUT_VENTOUSES;
marwanesaich 0:84a8c24e29ae 132 etat_ventouses.len=2;
marwanesaich 0:84a8c24e29ae 133 etat_ventouses.format=CANStandard;
marwanesaich 0:84a8c24e29ae 134 etat_ventouses.type=CANData;
marwanesaich 0:84a8c24e29ae 135 for(int i=7; i>=0; i--){
marwanesaich 0:84a8c24e29ae 136 etat_ventouses.data[0] = (etat_ventouses.data[0]<<1) + ventouse[i]->getPompe();
marwanesaich 0:84a8c24e29ae 137 etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression();
marwanesaich 0:84a8c24e29ae 138 }
marwanesaich 0:84a8c24e29ae 139 can.write(etat_ventouses);
marwanesaich 0:84a8c24e29ae 140
marwanesaich 0:84a8c24e29ae 141 }