CRAC Team / Mbed 2 deprecated Carte_Pompe_V1_2020

carte esclave pompe 2020 V1

Dependencies:   mbed ident_crac

main.cpp@17:fcfdd7de9039, 2019-05-25 (annotated)

Committer:
kyxstark
Date:
Sat May 25 00:56:34 2019 +0000
Revision:
17:fcfdd7de9039
Parent:
16:5e00af31ae8a
Child:
18:972d29c668a5
dif courrioes

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 CANMessage msgRxBuffer[SIZE_FIFO];
marwanesaich 0:84a8c24e29ae 9 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
marwanesaich 0:84a8c24e29ae 10 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
kyxstark 8:a25a9c22ba91 11 char end_game = 0;
marwanesaich 0:84a8c24e29ae 12
kyxstark 8:a25a9c22ba91 13 Ventouse* ventouse[NB_VENTOUSES];
kyxstark 8:a25a9c22ba91 14
kyxstark 17:fcfdd7de9039 15 BusIn contacts(PC_11, PC_12, PB_4, PB_5, PC_13, PC_14, PC_2, PC_3);
kyxstark 17:fcfdd7de9039 16 DigitalIn Contact1(PC_11, PullNone);
kyxstark 17:fcfdd7de9039 17 DigitalIn Contact2(PC_12, PullNone);
kyxstark 17:fcfdd7de9039 18 DigitalIn Contact3(PB_4, PullNone);
kyxstark 17:fcfdd7de9039 19 DigitalIn Contact4(PB_5, PullNone);
kyxstark 17:fcfdd7de9039 20 DigitalIn Contact5(PC_13, PullNone);
kyxstark 17:fcfdd7de9039 21 DigitalIn Contact6(PC_14, PullNone);
kyxstark 17:fcfdd7de9039 22 DigitalIn Contact7(PC_2, PullNone);
kyxstark 17:fcfdd7de9039 23 DigitalIn Contact8(PC_3, PullNone);
kyxstark 17:fcfdd7de9039 24
kyxstark 17:fcfdd7de9039 25 void lecture_contacts(void);
kyxstark 17:fcfdd7de9039 26
kyxstark 8:a25a9c22ba91 27 #ifdef ROBOT_SMALL
kyxstark 8:a25a9c22ba91 28
kyxstark 8:a25a9c22ba91 29 #endif
kyxstark 8:a25a9c22ba91 30
kyxstark 8:a25a9c22ba91 31 #ifdef ROBOT_BIG
kyxstark 17:fcfdd7de9039 32
kyxstark 8:a25a9c22ba91 33 PwmOut ascenseur[8] = {PC_9, PA_8, PA_9, PA_10, PC_7, PC_8, PB_10 ,PB_2};
kyxstark 8:a25a9c22ba91 34 PwmOut* ascenseur_D;
kyxstark 8:a25a9c22ba91 35 PwmOut* ascenseur_G;
kyxstark 8:a25a9c22ba91 36
kyxstark 17:fcfdd7de9039 37 #define VIT_COURROIE_V 0.6
kyxstark 17:fcfdd7de9039 38 #define VIT_COURROIE_L 0.5
kyxstark 8:a25a9c22ba91 39
kyxstark 8:a25a9c22ba91 40 void set_ascensseur(int allume);
kyxstark 8:a25a9c22ba91 41 #endif
kyxstark 8:a25a9c22ba91 42
marwanesaich 0:84a8c24e29ae 43
marwanesaich 0:84a8c24e29ae 44
marwanesaich 0:84a8c24e29ae 45 void get_etat_ventouses();
marwanesaich 0:84a8c24e29ae 46
kyxstark 8:a25a9c22ba91 47
marwanesaich 2:4cc8fa2f64be 48 CAN can(PB_8,PB_9,1000000);
marwanesaich 2:4cc8fa2f64be 49 Serial pc(USBTX,USBRX);
marwanesaich 0:84a8c24e29ae 50
marwanesaich 0:84a8c24e29ae 51 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 52 /* FUNCTION NAME: canRx_ISR */
marwanesaich 0:84a8c24e29ae 53 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
marwanesaich 0:84a8c24e29ae 54 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 55 void canRx_ISR (void)
marwanesaich 0:84a8c24e29ae 56 {
marwanesaich 0:84a8c24e29ae 57 if (can.read(msgRxBuffer[FIFO_ecriture]))
marwanesaich 0:84a8c24e29ae 58 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 59 }
marwanesaich 0:84a8c24e29ae 60
marwanesaich 0:84a8c24e29ae 61
marwanesaich 0:84a8c24e29ae 62 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 63 /* FUNCTION NAME: canProcessRx */
marwanesaich 0:84a8c24e29ae 64 /* DESCRIPTION : Fonction de traitement des messages CAN */
marwanesaich 0:84a8c24e29ae 65 /*********************************************************************************************************/
marwanesaich 0:84a8c24e29ae 66 void canProcessRx(void){
marwanesaich 0:84a8c24e29ae 67 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
marwanesaich 0:84a8c24e29ae 68 CANMessage msgTx=CANMessage();
marwanesaich 0:84a8c24e29ae 69 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
marwanesaich 0:84a8c24e29ae 70 if(FIFO_occupation<0)
marwanesaich 0:84a8c24e29ae 71 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 72 if(FIFO_max_occupation<FIFO_occupation)
marwanesaich 0:84a8c24e29ae 73 FIFO_max_occupation=FIFO_occupation;
marwanesaich 0:84a8c24e29ae 74 if(FIFO_occupation!=0) {
marwanesaich 0:84a8c24e29ae 75 int identifiant=msgRxBuffer[FIFO_lecture].id;
marwanesaich 1:8a55f1d5cb26 76 char BRAS = 0;
marwanesaich 1:8a55f1d5cb26 77
marwanesaich 0:84a8c24e29ae 78 switch(identifiant){
marwanesaich 0:84a8c24e29ae 79
marwanesaich 0:84a8c24e29ae 80 case HACHEUR_GET_ATOM:
marwanesaich 1:8a55f1d5cb26 81 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 2:4cc8fa2f64be 82 ventouse[BRAS]->action(1);
marwanesaich 0:84a8c24e29ae 83 break;
kyxstark 8:a25a9c22ba91 84
marwanesaich 0:84a8c24e29ae 85 case HACHEUR_RELEASE_ATOM:
marwanesaich 1:8a55f1d5cb26 86 BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich 2:4cc8fa2f64be 87 ventouse[BRAS]->action(0);
kyxstark 8:a25a9c22ba91 88 break;
kyxstark 8:a25a9c22ba91 89
kyxstark 8:a25a9c22ba91 90 case HACHEUR_STATUT_VENTOUSES:
kyxstark 8:a25a9c22ba91 91 get_etat_ventouses();
kyxstark 8:a25a9c22ba91 92 break;
kyxstark 8:a25a9c22ba91 93
kyxstark 8:a25a9c22ba91 94 case GLOBAL_GAME_END:
kyxstark 8:a25a9c22ba91 95 end_game = 1;
kyxstark 8:a25a9c22ba91 96 break;
kyxstark 17:fcfdd7de9039 97
kyxstark 17:fcfdd7de9039 98 case HACHEUR_ETAT_CONTACTS:
kyxstark 17:fcfdd7de9039 99 char contacts_tmp = contacts;
kyxstark 17:fcfdd7de9039 100 can.write(CANMessage(HACHEUR_ETAT_CONTACTS,&contacts_tmp,1));
kyxstark 17:fcfdd7de9039 101 break;
kyxstark 8:a25a9c22ba91 102
kyxstark 8:a25a9c22ba91 103 #ifdef ROBOT_SMALL
kyxstark 8:a25a9c22ba91 104
marwanesaich 0:84a8c24e29ae 105
marwanesaich 4:82c90657da4a 106 case HACHEUR_GET_PRESENTOIR_AR:
marwanesaich 5:176e7353ba1c 107 ventouse[AR_GAUCHE]->action(1);
marwanesaich 5:176e7353ba1c 108 ventouse[AR_CENTRE]->action(1);
marwanesaich 5:176e7353ba1c 109 ventouse[AR_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 110 break;
marwanesaich 0:84a8c24e29ae 111
marwanesaich 5:176e7353ba1c 112 case HACHEUR_RELEASE_AR:
marwanesaich 5:176e7353ba1c 113 ventouse[AR_GAUCHE]->action(0);
marwanesaich 5:176e7353ba1c 114 ventouse[AR_CENTRE]->action(0);
marwanesaich 5:176e7353ba1c 115 ventouse[AR_DROIT]->action(0);
marwanesaich 5:176e7353ba1c 116 break;
marwanesaich 5:176e7353ba1c 117
marwanesaich 1:8a55f1d5cb26 118 case HACHEUR_GET_PRESENTOIR_AV :
marwanesaich 5:176e7353ba1c 119 ventouse[AV_GAUCHE]->action(1);
marwanesaich 5:176e7353ba1c 120 ventouse[AV_CENTRE]->action(1);
marwanesaich 5:176e7353ba1c 121 ventouse[AV_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 122 break;
marwanesaich 0:84a8c24e29ae 123
marwanesaich 5:176e7353ba1c 124 case HACHEUR_RELEASE_AV :
marwanesaich 5:176e7353ba1c 125 ventouse[AV_GAUCHE]->action(0);
marwanesaich 5:176e7353ba1c 126 ventouse[AV_CENTRE]->action(0);
marwanesaich 5:176e7353ba1c 127 ventouse[AV_DROIT]->action(0);
marwanesaich 5:176e7353ba1c 128 break;
marwanesaich 5:176e7353ba1c 129
kyxstark 8:a25a9c22ba91 130
kyxstark 8:a25a9c22ba91 131
kyxstark 8:a25a9c22ba91 132 #endif
kyxstark 8:a25a9c22ba91 133
kyxstark 8:a25a9c22ba91 134 #ifdef ROBOT_BIG
kyxstark 8:a25a9c22ba91 135
kyxstark 8:a25a9c22ba91 136 case HACHEUR_GET_PRESENTOIR_AV :
kyxstark 13:178eaf022d60 137 ventouse[AV_GAUCHE]->action(1);
kyxstark 13:178eaf022d60 138 ventouse[AV_CENTRE]->action(1);
kyxstark 13:178eaf022d60 139 ventouse[AV_DROIT]->action(1);
marwanesaich 0:84a8c24e29ae 140 break;
marwanesaich 0:84a8c24e29ae 141
kyxstark 8:a25a9c22ba91 142 case HACHEUR_RELEASE_AV :
kyxstark 13:178eaf022d60 143 ventouse[AV_GAUCHE]->action(0);
kyxstark 13:178eaf022d60 144 ventouse[AV_CENTRE]->action(0);
kyxstark 13:178eaf022d60 145 ventouse[AV_DROIT]->action(0);
marwanesaich 0:84a8c24e29ae 146 break;
kyxstark 8:a25a9c22ba91 147
kyxstark 9:8193c05bd0a0 148 case HACHEUR_ID_COUROIES :
kyxstark 8:a25a9c22ba91 149 set_ascensseur(msgRxBuffer[FIFO_lecture].data[0]);
kyxstark 8:a25a9c22ba91 150 break;
marwanesaich 0:84a8c24e29ae 151
marwanesaich 0:84a8c24e29ae 152 #endif
marwanesaich 0:84a8c24e29ae 153 }
marwanesaich 0:84a8c24e29ae 154 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
marwanesaich 0:84a8c24e29ae 155 }
marwanesaich 0:84a8c24e29ae 156 }
marwanesaich 0:84a8c24e29ae 157
marwanesaich 0:84a8c24e29ae 158 int main() {
marwanesaich 0:84a8c24e29ae 159
marwanesaich 0:84a8c24e29ae 160 can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
marwanesaich 0:84a8c24e29ae 161 wait(1);
marwanesaich 1:8a55f1d5cb26 162 #ifdef ROBOT_SMALL
kyxstark 10:765b4ff6d721 163 pc.printf("\nPetit robot\n\n");
marwanesaich 16:5e00af31ae8a 164 ventouse[AV_GAUCHE] = new Ventouse(PB_7, PB_6, PC_0, AV_GAUCHE);
marwanesaich 2:4cc8fa2f64be 165 ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0, AR_CENTRE);
marwanesaich 2:4cc8fa2f64be 166 ventouse[AR_DROIT] = new Ventouse(PA_9, PA_10, PB_1, AR_DROIT);
marwanesaich 5:176e7353ba1c 167 //ventouse[AR_BAS] = new Ventouse(PA_11, PA_15, PC_1, AR_BAS);
marwanesaich 5:176e7353ba1c 168 ventouse[AR_BAS] = new Ventouse(PA_11, PC_1, AR_BAS);
marwanesaich 0:84a8c24e29ae 169
marwanesaich 16:5e00af31ae8a 170 ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4, AV_DROIT);
marwanesaich 2:4cc8fa2f64be 171 ventouse[AV_CENTRE] = new Ventouse(PC_7,PC_8 , PC_5, AV_CENTRE);
marwanesaich 4:82c90657da4a 172 ventouse[AR_GAUCHE] = new Ventouse(PB_10, PB_2, PC_4, AR_GAUCHE);
marwanesaich 5:176e7353ba1c 173 //ventouse[AV_BAS] = new Ventouse(PA_6, PA_5, PA_7, AV_BAS);
marwanesaich 5:176e7353ba1c 174 ventouse[AV_BAS] = new Ventouse(PA_6, PA_7, AV_BAS);
kyxstark 8:a25a9c22ba91 175
marwanesaich 4:82c90657da4a 176
kyxstark 8:a25a9c22ba91 177 #endif
kyxstark 8:a25a9c22ba91 178
kyxstark 8:a25a9c22ba91 179 #ifdef ROBOT_BIG
kyxstark 10:765b4ff6d721 180 pc.printf("\nGros robot\n\n");
kyxstark 13:178eaf022d60 181 ventouse[AV_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7, AV_GAUCHE);
kyxstark 13:178eaf022d60 182 ventouse[AV_CENTRE] = new Ventouse(PA_0, PA_1, PA_4, AV_CENTRE);
kyxstark 13:178eaf022d60 183 ventouse[AV_DROIT] = new Ventouse(PA_11, PA_15, PC_1, AV_DROIT);
kyxstark 8:a25a9c22ba91 184
kyxstark 8:a25a9c22ba91 185 for (int i=0; i<8; i++){
kyxstark 8:a25a9c22ba91 186 ascenseur[i].period_us(50);
kyxstark 8:a25a9c22ba91 187 }
kyxstark 8:a25a9c22ba91 188
kyxstark 8:a25a9c22ba91 189 ascenseur_D = ascenseur;
kyxstark 8:a25a9c22ba91 190 ascenseur_G = ascenseur + 4;
kyxstark 8:a25a9c22ba91 191
kyxstark 8:a25a9c22ba91 192
kyxstark 8:a25a9c22ba91 193 set_ascensseur(0);
kyxstark 8:a25a9c22ba91 194 wait(1);
marwanesaich 1:8a55f1d5cb26 195 #endif
kyxstark 8:a25a9c22ba91 196
marwanesaich 1:8a55f1d5cb26 197 pc.printf("LAUNCHED");
marwanesaich 0:84a8c24e29ae 198 while(1) {
marwanesaich 0:84a8c24e29ae 199 canProcessRx();
kyxstark 8:a25a9c22ba91 200 for(int i=0; i<NB_VENTOUSES; i++){
marwanesaich 2:4cc8fa2f64be 201 ventouse[i]->automate();
kyxstark 17:fcfdd7de9039 202 }
kyxstark 17:fcfdd7de9039 203 lecture_contacts();
kyxstark 17:fcfdd7de9039 204
kyxstark 17:fcfdd7de9039 205
marwanesaich 0:84a8c24e29ae 206 if(end_game){
kyxstark 8:a25a9c22ba91 207 for(int i=0; i<NB_VENTOUSES;i++){
marwanesaich 0:84a8c24e29ae 208 ventouse[i]->setPompe(0.0);
kyxstark 8:a25a9c22ba91 209 ventouse[i]->setElectrovanne(0);
marwanesaich 0:84a8c24e29ae 210 }
kyxstark 17:fcfdd7de9039 211 #ifdef ROBOT_BIG
marwanesaich 11:98dfe1a61df5 212 set_ascensseur(0);
kyxstark 17:fcfdd7de9039 213 #endif
marwanesaich 0:84a8c24e29ae 214 while(1){;}
marwanesaich 0:84a8c24e29ae 215 }
marwanesaich 0:84a8c24e29ae 216 }
marwanesaich 0:84a8c24e29ae 217 }
marwanesaich 0:84a8c24e29ae 218
kyxstark 17:fcfdd7de9039 219 void lecture_contacts(void)
kyxstark 17:fcfdd7de9039 220 {
kyxstark 17:fcfdd7de9039 221 static char prev_contacts = contacts;
kyxstark 17:fcfdd7de9039 222
kyxstark 17:fcfdd7de9039 223 if(contacts != prev_contacts)
kyxstark 17:fcfdd7de9039 224 {
kyxstark 17:fcfdd7de9039 225 prev_contacts = contacts;
kyxstark 17:fcfdd7de9039 226 can.write(CANMessage(HACHEUR_ETAT_CONTACTS,&prev_contacts,1));
kyxstark 17:fcfdd7de9039 227 }
kyxstark 17:fcfdd7de9039 228 }
kyxstark 8:a25a9c22ba91 229 #ifdef ROBOT_BIG
kyxstark 8:a25a9c22ba91 230 void set_ascensseur(int allume){
kyxstark 17:fcfdd7de9039 231 float vitG, vitD;
kyxstark 17:fcfdd7de9039 232
kyxstark 17:fcfdd7de9039 233 switch(allume){
kyxstark 17:fcfdd7de9039 234 case 1:
kyxstark 17:fcfdd7de9039 235 vitG = VIT_COURROIE_V;
kyxstark 17:fcfdd7de9039 236 vitD = VIT_COURROIE_L;
kyxstark 17:fcfdd7de9039 237 break;
kyxstark 17:fcfdd7de9039 238 case 2:
kyxstark 17:fcfdd7de9039 239 vitG = VIT_COURROIE_L;
kyxstark 17:fcfdd7de9039 240 vitD = VIT_COURROIE_V;
kyxstark 17:fcfdd7de9039 241 break;
kyxstark 17:fcfdd7de9039 242 default:
kyxstark 17:fcfdd7de9039 243 vitG = 0;
kyxstark 17:fcfdd7de9039 244 vitD = 0;
kyxstark 17:fcfdd7de9039 245 break;
kyxstark 8:a25a9c22ba91 246 }
kyxstark 17:fcfdd7de9039 247
kyxstark 17:fcfdd7de9039 248 for (int i=0; i<4; i++)
kyxstark 17:fcfdd7de9039 249 {
kyxstark 17:fcfdd7de9039 250 ascenseur_D[i] = vitD;
kyxstark 17:fcfdd7de9039 251 ascenseur_G[i] = vitG;
kyxstark 8:a25a9c22ba91 252 }
kyxstark 8:a25a9c22ba91 253 }
kyxstark 8:a25a9c22ba91 254 #endif
kyxstark 8:a25a9c22ba91 255
marwanesaich 0:84a8c24e29ae 256 void get_etat_ventouses()
marwanesaich 0:84a8c24e29ae 257 {
marwanesaich 0:84a8c24e29ae 258 CANMessage etat_ventouses = CANMessage();
marwanesaich 0:84a8c24e29ae 259 etat_ventouses.id=HACHEUR_STATUT_VENTOUSES;
marwanesaich 0:84a8c24e29ae 260 etat_ventouses.len=2;
marwanesaich 0:84a8c24e29ae 261 etat_ventouses.format=CANStandard;
marwanesaich 0:84a8c24e29ae 262 etat_ventouses.type=CANData;
marwanesaich 2:4cc8fa2f64be 263 etat_ventouses.data[0]=0;
marwanesaich 2:4cc8fa2f64be 264 etat_ventouses.data[0]=1;
kyxstark 10:765b4ff6d721 265 for(int i = (NB_VENTOUSES - 1); i >= 0; i--){
marwanesaich 0:84a8c24e29ae 266 etat_ventouses.data[0] = (etat_ventouses.data[0]<<1) + ventouse[i]->getPompe();
marwanesaich 0:84a8c24e29ae 267 etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression();
marwanesaich 0:84a8c24e29ae 268 }
marwanesaich 0:84a8c24e29ae 269 can.write(etat_ventouses);
marwanesaich 0:84a8c24e29ae 270
marwanesaich 0:84a8c24e29ae 271 }