Carte_Pompe_V2 - PINOUT à jour, trame CAN OK

CRAC Team » Code » Carte_Pompe_V2

CRAC Team / Mbed 2 deprecated Carte_Pompe_V2

PINOUT à jour, trame CAN OK

Dependencies: mbed ident_crac

Code carte pompe

main.cpp@12:2491a5b0f90b, 2019-05-23 (annotated)

Committer:: kyxstark
Date:: Thu May 23 08:41:01 2019 +0000
Revision:: 12:2491a5b0f90b
Parent:: 10:765b4ff6d721
Child:: 13:178eaf022d60

Who changed what in which revision?

User	Revision	Line number	New 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
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
kyxstark	8:a25a9c22ba91	12	char end_game = 0;
marwanesaich	0:84a8c24e29ae	13
kyxstark	8:a25a9c22ba91	14	Ventouse* ventouse[NB_VENTOUSES];
kyxstark	8:a25a9c22ba91	15
kyxstark	8:a25a9c22ba91	16	#ifdef ROBOT_SMALL
kyxstark	8:a25a9c22ba91	17
kyxstark	8:a25a9c22ba91	18	#endif
kyxstark	8:a25a9c22ba91	19
kyxstark	8:a25a9c22ba91	20	#ifdef ROBOT_BIG
kyxstark	8:a25a9c22ba91	21	PwmOut ascenseur[8] = {PC_9, PA_8, PA_9, PA_10, PC_7, PC_8, PB_10 ,PB_2};
kyxstark	8:a25a9c22ba91	22	PwmOut* ascenseur_D;
kyxstark	8:a25a9c22ba91	23	PwmOut* ascenseur_G;
kyxstark	8:a25a9c22ba91	24
kyxstark	8:a25a9c22ba91	25	#define VIT_G 0.7
kyxstark	8:a25a9c22ba91	26	#define VIT_D 0.65
kyxstark	8:a25a9c22ba91	27
kyxstark	8:a25a9c22ba91	28	void set_ascensseur(int allume);
kyxstark	8:a25a9c22ba91	29	#endif
kyxstark	8:a25a9c22ba91	30
marwanesaich	0:84a8c24e29ae	31
marwanesaich	0:84a8c24e29ae	32
marwanesaich	0:84a8c24e29ae	33	void get_etat_ventouses();
marwanesaich	0:84a8c24e29ae	34
kyxstark	8:a25a9c22ba91	35
marwanesaich	2:4cc8fa2f64be	36	CAN can(PB_8,PB_9,1000000);
marwanesaich	2:4cc8fa2f64be	37	Serial pc(USBTX,USBRX);
marwanesaich	0:84a8c24e29ae	38
marwanesaich	0:84a8c24e29ae	39	/*********************************************************************************************************/
marwanesaich	0:84a8c24e29ae	40	/* FUNCTION NAME: canRx_ISR */
marwanesaich	0:84a8c24e29ae	41	/* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
marwanesaich	0:84a8c24e29ae	42	/*********************************************************************************************************/
marwanesaich	0:84a8c24e29ae	43	void canRx_ISR (void)
marwanesaich	0:84a8c24e29ae	44	{
marwanesaich	0:84a8c24e29ae	45	if (can.read(msgRxBuffer[FIFO_ecriture]))
marwanesaich	0:84a8c24e29ae	46	FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
marwanesaich	0:84a8c24e29ae	47	}
marwanesaich	0:84a8c24e29ae	48
marwanesaich	0:84a8c24e29ae	49
marwanesaich	0:84a8c24e29ae	50	/*********************************************************************************************************/
marwanesaich	0:84a8c24e29ae	51	/* FUNCTION NAME: canProcessRx */
marwanesaich	0:84a8c24e29ae	52	/* DESCRIPTION : Fonction de traitement des messages CAN */
marwanesaich	0:84a8c24e29ae	53	/*********************************************************************************************************/
marwanesaich	0:84a8c24e29ae	54	void canProcessRx(void){
marwanesaich	0:84a8c24e29ae	55	static signed char FIFO_occupation=0,FIFO_max_occupation=0;
marwanesaich	0:84a8c24e29ae	56	CANMessage msgTx=CANMessage();
marwanesaich	0:84a8c24e29ae	57	FIFO_occupation=FIFO_ecriture-FIFO_lecture;
marwanesaich	0:84a8c24e29ae	58	if(FIFO_occupation<0)
marwanesaich	0:84a8c24e29ae	59	FIFO_occupation=FIFO_occupation+SIZE_FIFO;
marwanesaich	0:84a8c24e29ae	60	if(FIFO_max_occupation<FIFO_occupation)
marwanesaich	0:84a8c24e29ae	61	FIFO_max_occupation=FIFO_occupation;
marwanesaich	0:84a8c24e29ae	62	if(FIFO_occupation!=0) {
marwanesaich	0:84a8c24e29ae	63	int identifiant=msgRxBuffer[FIFO_lecture].id;
marwanesaich	1:8a55f1d5cb26	64	char BRAS = 0;
marwanesaich	1:8a55f1d5cb26	65
marwanesaich	0:84a8c24e29ae	66	switch(identifiant){
marwanesaich	0:84a8c24e29ae	67
marwanesaich	0:84a8c24e29ae	68	case HACHEUR_GET_ATOM:
marwanesaich	1:8a55f1d5cb26	69	BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich	2:4cc8fa2f64be	70	ventouse[BRAS]->action(1);
marwanesaich	0:84a8c24e29ae	71	break;
kyxstark	8:a25a9c22ba91	72
marwanesaich	0:84a8c24e29ae	73	case HACHEUR_RELEASE_ATOM:
marwanesaich	1:8a55f1d5cb26	74	BRAS = msgRxBuffer[FIFO_lecture].data[0];
marwanesaich	2:4cc8fa2f64be	75	ventouse[BRAS]->action(0);
kyxstark	8:a25a9c22ba91	76	break;
kyxstark	8:a25a9c22ba91	77
kyxstark	8:a25a9c22ba91	78	case HACHEUR_STATUT_VENTOUSES:
kyxstark	8:a25a9c22ba91	79	get_etat_ventouses();
kyxstark	8:a25a9c22ba91	80	break;
kyxstark	8:a25a9c22ba91	81
kyxstark	8:a25a9c22ba91	82	case GLOBAL_GAME_END:
kyxstark	8:a25a9c22ba91	83	end_game = 1;
kyxstark	8:a25a9c22ba91	84	break;
kyxstark	8:a25a9c22ba91	85
kyxstark	8:a25a9c22ba91	86	#ifdef ROBOT_SMALL
kyxstark	8:a25a9c22ba91	87
marwanesaich	0:84a8c24e29ae	88
marwanesaich	4:82c90657da4a	89	case HACHEUR_GET_PRESENTOIR_AR:
marwanesaich	5:176e7353ba1c	90	ventouse[AR_GAUCHE]->action(1);
marwanesaich	5:176e7353ba1c	91	ventouse[AR_CENTRE]->action(1);
marwanesaich	5:176e7353ba1c	92	ventouse[AR_DROIT]->action(1);
marwanesaich	0:84a8c24e29ae	93	break;
marwanesaich	0:84a8c24e29ae	94
marwanesaich	5:176e7353ba1c	95	case HACHEUR_RELEASE_AR:
marwanesaich	5:176e7353ba1c	96	ventouse[AR_GAUCHE]->action(0);
marwanesaich	5:176e7353ba1c	97	ventouse[AR_CENTRE]->action(0);
marwanesaich	5:176e7353ba1c	98	ventouse[AR_DROIT]->action(0);
marwanesaich	5:176e7353ba1c	99	break;
marwanesaich	5:176e7353ba1c	100
marwanesaich	1:8a55f1d5cb26	101	case HACHEUR_GET_PRESENTOIR_AV :
marwanesaich	5:176e7353ba1c	102	ventouse[AV_GAUCHE]->action(1);
marwanesaich	5:176e7353ba1c	103	ventouse[AV_CENTRE]->action(1);
marwanesaich	5:176e7353ba1c	104	ventouse[AV_DROIT]->action(1);
marwanesaich	0:84a8c24e29ae	105	break;
marwanesaich	0:84a8c24e29ae	106
marwanesaich	5:176e7353ba1c	107	case HACHEUR_RELEASE_AV :
marwanesaich	5:176e7353ba1c	108	ventouse[AV_GAUCHE]->action(0);
marwanesaich	5:176e7353ba1c	109	ventouse[AV_CENTRE]->action(0);
marwanesaich	5:176e7353ba1c	110	ventouse[AV_DROIT]->action(0);
marwanesaich	5:176e7353ba1c	111	break;
marwanesaich	5:176e7353ba1c	112
kyxstark	8:a25a9c22ba91	113
kyxstark	8:a25a9c22ba91	114
kyxstark	8:a25a9c22ba91	115
kyxstark	8:a25a9c22ba91	116	#endif
kyxstark	8:a25a9c22ba91	117
kyxstark	8:a25a9c22ba91	118	#ifdef ROBOT_BIG
kyxstark	8:a25a9c22ba91	119
kyxstark	8:a25a9c22ba91	120	case HACHEUR_GET_PRESENTOIR_AV :
kyxstark	8:a25a9c22ba91	121	ventouse[PGR_GAUCHE]->action(1);
kyxstark	8:a25a9c22ba91	122	ventouse[PGR_CENTRE]->action(1);
kyxstark	8:a25a9c22ba91	123	ventouse[PGR_DROIT]->action(1);
marwanesaich	0:84a8c24e29ae	124	break;
marwanesaich	0:84a8c24e29ae	125
kyxstark	8:a25a9c22ba91	126	case HACHEUR_RELEASE_AV :
kyxstark	8:a25a9c22ba91	127	ventouse[PGR_GAUCHE]->action(0);
kyxstark	8:a25a9c22ba91	128	ventouse[PGR_CENTRE]->action(0);
kyxstark	8:a25a9c22ba91	129	ventouse[PGR_DROIT]->action(0);
marwanesaich	0:84a8c24e29ae	130	break;
kyxstark	8:a25a9c22ba91	131
kyxstark	9:8193c05bd0a0	132	case HACHEUR_ID_COUROIES :
kyxstark	8:a25a9c22ba91	133	set_ascensseur(msgRxBuffer[FIFO_lecture].data[0]);
kyxstark	8:a25a9c22ba91	134	break;
marwanesaich	0:84a8c24e29ae	135
marwanesaich	0:84a8c24e29ae	136	#endif
marwanesaich	0:84a8c24e29ae	137	}
marwanesaich	0:84a8c24e29ae	138	FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
marwanesaich	0:84a8c24e29ae	139	}
marwanesaich	0:84a8c24e29ae	140	}
marwanesaich	0:84a8c24e29ae	141
marwanesaich	0:84a8c24e29ae	142	int main() {
marwanesaich	0:84a8c24e29ae	143
marwanesaich	0:84a8c24e29ae	144	can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
marwanesaich	0:84a8c24e29ae	145	wait(1);
marwanesaich	1:8a55f1d5cb26	146	#ifdef ROBOT_SMALL
kyxstark	10:765b4ff6d721	147	pc.printf("\nPetit robot\n\n");
marwanesaich	2:4cc8fa2f64be	148	ventouse[AR_CENTRE] = new Ventouse(PC_9, PA_8, PB_0, AR_CENTRE);
marwanesaich	2:4cc8fa2f64be	149	ventouse[AR_DROIT] = new Ventouse(PA_9, PA_10, PB_1, AR_DROIT);
marwanesaich	5:176e7353ba1c	150	//ventouse[AR_BAS] = new Ventouse(PA_11, PA_15, PC_1, AR_BAS);
marwanesaich	5:176e7353ba1c	151	ventouse[AR_BAS] = new Ventouse(PA_11, PC_1, AR_BAS);
marwanesaich	2:4cc8fa2f64be	152	ventouse[AV_GAUCHE] = new Ventouse(PB_7, PB_6, PC_0, AV_GAUCHE);
marwanesaich	0:84a8c24e29ae	153
marwanesaich	2:4cc8fa2f64be	154	ventouse[AV_CENTRE] = new Ventouse(PC_7,PC_8 , PC_5, AV_CENTRE);
marwanesaich	4:82c90657da4a	155	ventouse[AR_GAUCHE] = new Ventouse(PB_10, PB_2, PC_4, AR_GAUCHE);
marwanesaich	5:176e7353ba1c	156	//ventouse[AV_BAS] = new Ventouse(PA_6, PA_5, PA_7, AV_BAS);
marwanesaich	5:176e7353ba1c	157	ventouse[AV_BAS] = new Ventouse(PA_6, PA_7, AV_BAS);
marwanesaich	2:4cc8fa2f64be	158	ventouse[AV_DROIT] = new Ventouse(PA_0, PA_1, PA_4, AV_DROIT);
kyxstark	8:a25a9c22ba91	159
marwanesaich	4:82c90657da4a	160
kyxstark	8:a25a9c22ba91	161	#endif
kyxstark	8:a25a9c22ba91	162
kyxstark	8:a25a9c22ba91	163	#ifdef ROBOT_BIG
kyxstark	10:765b4ff6d721	164	pc.printf("\nGros robot\n\n");
kyxstark	8:a25a9c22ba91	165	ventouse[PGR_GAUCHE] = new Ventouse(PA_6, PA_5, PA_7, PGR_GAUCHE);
kyxstark	8:a25a9c22ba91	166	ventouse[PGR_CENTRE] = new Ventouse(PA_0, PA_1, PA_4, PGR_CENTRE);
kyxstark	8:a25a9c22ba91	167	ventouse[PGR_DROIT] = new Ventouse(PA_11, PA_15, PC_1, PGR_DROIT);
kyxstark	8:a25a9c22ba91	168
kyxstark	8:a25a9c22ba91	169	for (int i=0; i<8; i++){
kyxstark	8:a25a9c22ba91	170	ascenseur[i].period_us(50);
kyxstark	8:a25a9c22ba91	171	}
kyxstark	8:a25a9c22ba91	172
kyxstark	8:a25a9c22ba91	173	ascenseur_D = ascenseur;
kyxstark	8:a25a9c22ba91	174	ascenseur_G = ascenseur + 4;
kyxstark	8:a25a9c22ba91	175
kyxstark	8:a25a9c22ba91	176
kyxstark	8:a25a9c22ba91	177	set_ascensseur(0);
kyxstark	8:a25a9c22ba91	178	wait(1);
marwanesaich	1:8a55f1d5cb26	179	#endif
kyxstark	8:a25a9c22ba91	180
marwanesaich	1:8a55f1d5cb26	181	pc.printf("LAUNCHED");
marwanesaich	0:84a8c24e29ae	182	while(1) {
marwanesaich	0:84a8c24e29ae	183	canProcessRx();
kyxstark	8:a25a9c22ba91	184	for(int i=0; i<NB_VENTOUSES; i++){
marwanesaich	2:4cc8fa2f64be	185	ventouse[i]->automate();
marwanesaich	2:4cc8fa2f64be	186	}
marwanesaich	0:84a8c24e29ae	187	if(end_game){
kyxstark	8:a25a9c22ba91	188	for(int i=0; i<NB_VENTOUSES;i++){
marwanesaich	0:84a8c24e29ae	189	ventouse[i]->setPompe(0.0);
kyxstark	8:a25a9c22ba91	190	ventouse[i]->setElectrovanne(0);
marwanesaich	0:84a8c24e29ae	191	}
marwanesaich	0:84a8c24e29ae	192	while(1){;}
marwanesaich	0:84a8c24e29ae	193	}
marwanesaich	0:84a8c24e29ae	194	}
marwanesaich	0:84a8c24e29ae	195	}
marwanesaich	0:84a8c24e29ae	196
marwanesaich	0:84a8c24e29ae	197
kyxstark	8:a25a9c22ba91	198
kyxstark	8:a25a9c22ba91	199	#ifdef ROBOT_BIG
kyxstark	8:a25a9c22ba91	200	void set_ascensseur(int allume){
kyxstark	8:a25a9c22ba91	201	float vit = VIT_D*allume;
kyxstark	8:a25a9c22ba91	202	for (int i=0; i<4; i++){
kyxstark	8:a25a9c22ba91	203	ascenseur_D[i] = vit;
kyxstark	8:a25a9c22ba91	204	}
kyxstark	8:a25a9c22ba91	205	vit = VIT_G*allume;
kyxstark	8:a25a9c22ba91	206	for (int i=0; i<4; i++){
kyxstark	8:a25a9c22ba91	207	ascenseur_G[i] = vit;
kyxstark	8:a25a9c22ba91	208	}
kyxstark	8:a25a9c22ba91	209	}
kyxstark	8:a25a9c22ba91	210	#endif
kyxstark	8:a25a9c22ba91	211
marwanesaich	0:84a8c24e29ae	212	void get_etat_ventouses()
marwanesaich	0:84a8c24e29ae	213	{
marwanesaich	0:84a8c24e29ae	214	CANMessage etat_ventouses = CANMessage();
marwanesaich	0:84a8c24e29ae	215	etat_ventouses.id=HACHEUR_STATUT_VENTOUSES;
marwanesaich	0:84a8c24e29ae	216	etat_ventouses.len=2;
marwanesaich	0:84a8c24e29ae	217	etat_ventouses.format=CANStandard;
marwanesaich	0:84a8c24e29ae	218	etat_ventouses.type=CANData;
marwanesaich	2:4cc8fa2f64be	219	etat_ventouses.data[0]=0;
marwanesaich	2:4cc8fa2f64be	220	etat_ventouses.data[0]=1;
kyxstark	10:765b4ff6d721	221	for(int i = (NB_VENTOUSES - 1); i >= 0; i--){
marwanesaich	0:84a8c24e29ae	222	etat_ventouses.data[0] = (etat_ventouses.data[0]<<1) + ventouse[i]->getPompe();
marwanesaich	0:84a8c24e29ae	223	etat_ventouses.data[1] = (etat_ventouses.data[1]<<1) + ventouse[i]->getPression();
marwanesaich	0:84a8c24e29ae	224	}
marwanesaich	0:84a8c24e29ae	225	can.write(etat_ventouses);
marwanesaich	0:84a8c24e29ae	226
marwanesaich	0:84a8c24e29ae	227	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	07 May 2019
Imports:	10
Forks:	0
Commits:	19
Dependents:	0
Dependencies:	2
Followers:	97

main.cpp@12:2491a5b0f90b, 2019-05-23 (annotated)

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