Diff: main.cpp

Revision:

2:c7f2e7d8b305

Child:

3:77e937c315f1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 08 16:03:27 2022 +0000
@@ -0,0 +1,84 @@
+#include "main.h"
+
+//initialisations relatives au Bus CAN
+CAN bus_can(PB_8,PB_9,1000000);
+
+CANMessage rx_message ;
+char data[1] = {0x28};
+CANMessage tx_message(0x220,data,1,CANData,CANStandard);
+
+int flag_reception_CAN = 0 ;
+void interruption_reception(void) ;
+void gestion_Message_CAN(void) ;
+void Envoi_msg_CAN(char donnee);
+
+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
+unsigned short ackFinAction = 0;
+
+int main (void)
+{   
+    wait_ms(200); //tempo pour boot
+    bus_can.attach(&interruption_reception); //création de l'interrupt attachée à la réception sur le CAN
+    //servo_interrupt_en(); //permettre les interuptions
+    //activer_torque();
+    wait_ms(200);
+    //pc.printf("\nLAUNCHED\n\r");
+    
+    while(1)
+    {   
+        if(flag_reception_CAN)
+        {
+            gestion_Message_CAN();
+        }
+    }
+}
+
+void interruption_reception(void) 
+{
+    bus_can.write(tx_message);
+    bus_can.read(rx_message);
+    flag_reception_CAN = 1 ;
+}
+
+void gestion_Message_CAN(void) 
+{
+    int identifiant = rx_message.id ;
+    
+    switch (identifiant) 
+    {
+        case TORQUE_ACT:
+            activer_torque();
+            break;
+                
+        case TORQUE_DESACT:
+            desactiver_torque();
+            break;
+        
+        case BRAS_PRISE:
+            fct_prise_avant(SERIAL_BAS_DROITE);
+            break;
+            
+        case TORQUE_1:
+            setTorque(AV_BASE,TORQUE_ON,5);
+            break;
+                
+        default:
+                break;        
+    }
+    flag_reception_CAN = 0 ;
+                
+}
+
+void Envoi_msg_CAN(char donnee)
+{   
+    CANMessage message;
+    message.id = 0x220;    
+    message.len=1;
+    message.format=CANStandard;
+    message.type=CANData;
+    message.data[0]=donnee;
+
+    bus_can.write(message);
+}