CRAC Team / Utilisatio_MX12_V2

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main.cpp@2:9d280856a536, 2017-05-19 (annotated)

Committer:
matthieuvignon
Date:
Fri May 19 08:06:49 2017 +0000
Revision:
2:9d280856a536
Parent:
1:f3f702086a30 
Programme AX12 + verification position

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matthieuvignon 2:9d280856a536 1 #include "all_includes.h"
matthieuvignon 2:9d280856a536 2
matthieuvignon 2:9d280856a536 3 Timer t;
matthieuvignon 2:9d280856a536 4 Ticker flipper;
matthieuvignon 2:9d280856a536 5
matthieuvignon 2:9d280856a536 6 CAN can(p30,p29); // Rx&Tx pour le CAN
matthieuvignon 2:9d280856a536 7 CANMessage msgRxBuffer[SIZE_FIFO]; // buffer en réception pour le CAN
matthieuvignon 2:9d280856a536 8
matthieuvignon 2:9d280856a536 9 Serial pc(USBTX, USBRX);
matthieuvignon 2:9d280856a536 10
matthieuvignon 2:9d280856a536 11 extern void gerer_turbine(unsigned char pwm_turbine);
matthieuvignon 2:9d280856a536 12
ClementBreteau 0:7737d7573e3b 13
matthieuvignon 2:9d280856a536 14 PwmOut PompeDroite(p21);
matthieuvignon 2:9d280856a536 15 //PwmOut PompeGauche(p22);
matthieuvignon 2:9d280856a536 16 PwmOut MotLanceur(p22);
matthieuvignon 2:9d280856a536 17 PwmOut turbine(p23);
matthieuvignon 2:9d280856a536 18 //PwmOut ServoVanne(p21);
matthieuvignon 2:9d280856a536 19
matthieuvignon 2:9d280856a536 20 AnalogIn telemetre(p15);
matthieuvignon 2:9d280856a536 21
matthieuvignon 2:9d280856a536 22 DigitalIn Jack(p25);
matthieuvignon 2:9d280856a536 23
matthieuvignon 2:9d280856a536 24
matthieuvignon 2:9d280856a536 25 DigitalOut led(LED1);
matthieuvignon 2:9d280856a536 26 DigitalOut led2(LED2);
matthieuvignon 2:9d280856a536 27
matthieuvignon 2:9d280856a536 28 unsigned char EtatPompeDroite=0, EtatPompeGauche=0, EtatLanceur=0, EtatAx12=0, ChoixBras=0, ActionAx12=0, EtatTurbine=0, EtatServoVanne=0;
matthieuvignon 2:9d280856a536 29 unsigned char action_a_effectuer=0, ActionPompe=0;
matthieuvignon 2:9d280856a536 30
ClementBreteau 0:7737d7573e3b 31
ClementBreteau 0:7737d7573e3b 32 /*
ClementBreteau 0:7737d7573e3b 33 DigitalIn IO1(p23);
ClementBreteau 0:7737d7573e3b 34 DigitalIn IO2(p24);
ClementBreteau 0:7737d7573e3b 35 DigitalIn IO3(p25);
ClementBreteau 0:7737d7573e3b 36 DigitalIn IO4(p26);
ClementBreteau 0:7737d7573e3b 37
ClementBreteau 0:7737d7573e3b 38 AnalogIn A_in1(p15);
ClementBreteau 0:7737d7573e3b 39 AnalogIn A_in2(p16);
ClementBreteau 0:7737d7573e3b 40 AnalogIn A_in3(p17);
ClementBreteau 0:7737d7573e3b 41 AnalogIn A_in4(p18);
ClementBreteau 0:7737d7573e3b 42 AnalogIn A_in5(p19);
ClementBreteau 0:7737d7573e3b 43 AnalogIn A_in6(p20);
ClementBreteau 0:7737d7573e3b 44
ClementBreteau 0:7737d7573e3b 45 PwmOut IRL_1(p21);
ClementBreteau 0:7737d7573e3b 46 PwmOut IRL_2(p22);
ClementBreteau 0:7737d7573e3b 47 */
ClementBreteau 0:7737d7573e3b 48
ClementBreteau 1:f3f702086a30 49
ClementBreteau 0:7737d7573e3b 50
matthieuvignon 2:9d280856a536 51
matthieuvignon 2:9d280856a536 52 int main() {
matthieuvignon 2:9d280856a536 53
matthieuvignon 2:9d280856a536 54 can.frequency(1000000); // fréquence de travail 1Mbit/s
matthieuvignon 2:9d280856a536 55 can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
matthieuvignon 2:9d280856a536 56
matthieuvignon 2:9d280856a536 57
matthieuvignon 2:9d280856a536 58 // message CAN autorise a declencher l'interruption
matthieuvignon 2:9d280856a536 59
matthieuvignon 2:9d280856a536 60 CAN2_wrFilter(POMPE_DROITE);
matthieuvignon 2:9d280856a536 61 CAN2_wrFilter(POMPE_GAUCHE);
matthieuvignon 2:9d280856a536 62
matthieuvignon 2:9d280856a536 63 CAN2_wrFilter(LANCEUR);
matthieuvignon 2:9d280856a536 64 CAN2_wrFilter(TURBINE);
matthieuvignon 2:9d280856a536 65 CAN2_wrFilter(SERVOVANNE);
matthieuvignon 2:9d280856a536 66 CAN2_wrFilter(0x123);
matthieuvignon 2:9d280856a536 67
matthieuvignon 2:9d280856a536 68 CAN2_wrFilter(SERVO_AX12_ACTION);
matthieuvignon 2:9d280856a536 69 CAN2_wrFilter(SERVO_AX12_ACK);
matthieuvignon 2:9d280856a536 70 CAN2_wrFilter(SERVO_AX12_END);
matthieuvignon 2:9d280856a536 71 CAN2_wrFilter(CHECK_AX12);
matthieuvignon 2:9d280856a536 72
matthieuvignon 2:9d280856a536 73 initialisation_AX12();
matthieuvignon 2:9d280856a536 74
matthieuvignon 2:9d280856a536 75 PompeDroite.period(0.001);
matthieuvignon 2:9d280856a536 76 //PompeGauche.period(0.001);
matthieuvignon 2:9d280856a536 77 MotLanceur.period(0.001);
matthieuvignon 2:9d280856a536 78 // ServoVanne.period(0.001);
matthieuvignon 2:9d280856a536 79
matthieuvignon 2:9d280856a536 80
matthieuvignon 2:9d280856a536 81 while(1) {
matthieuvignon 2:9d280856a536 82 led = !led;
matthieuvignon 2:9d280856a536 83 canProcessRx();//Traitement des trames CAN en attente
matthieuvignon 2:9d280856a536 84
matthieuvignon 2:9d280856a536 85
matthieuvignon 2:9d280856a536 86 if (action_a_effectuer==1) {
matthieuvignon 2:9d280856a536 87
matthieuvignon 2:9d280856a536 88 action_a_effectuer=0;
matthieuvignon 2:9d280856a536 89
matthieuvignon 2:9d280856a536 90 if (ActionAx12==1){
matthieuvignon 2:9d280856a536 91 AX12_automate(EtatAx12, ChoixBras);
matthieuvignon 2:9d280856a536 92 ActionAx12=0;
matthieuvignon 2:9d280856a536 93 }
matthieuvignon 2:9d280856a536 94
matthieuvignon 2:9d280856a536 95 if ((EtatPompeDroite==1)&&(ActionPompe==1))
matthieuvignon 2:9d280856a536 96 ActionPompe=0, PompeDroite.write(1);
matthieuvignon 2:9d280856a536 97 else if ((EtatPompeDroite==0)&&(ActionPompe==1))
matthieuvignon 2:9d280856a536 98 PompeDroite.write(0), ActionPompe=0;
matthieuvignon 2:9d280856a536 99
matthieuvignon 2:9d280856a536 100 /*
matthieuvignon 2:9d280856a536 101 if (EtatPompeGauche==1)
matthieuvignon 2:9d280856a536 102 PompeGauche.write(1);
matthieuvignon 2:9d280856a536 103 else if (EtatPompeGauche==0)
matthieuvignon 2:9d280856a536 104 PompeGauche.write(0);
matthieuvignon 2:9d280856a536 105 */
matthieuvignon 2:9d280856a536 106
matthieuvignon 2:9d280856a536 107 if (EtatTurbine==1)
matthieuvignon 2:9d280856a536 108 gerer_turbine(20);
matthieuvignon 2:9d280856a536 109 else if (EtatTurbine==0)
matthieuvignon 2:9d280856a536 110 gerer_turbine(0);
matthieuvignon 2:9d280856a536 111
matthieuvignon 2:9d280856a536 112 if (EtatLanceur==1)
matthieuvignon 2:9d280856a536 113 MotLanceur.write(1);
matthieuvignon 2:9d280856a536 114 else if (EtatLanceur==0)
matthieuvignon 2:9d280856a536 115 MotLanceur.write(0);
matthieuvignon 2:9d280856a536 116 /*
matthieuvignon 2:9d280856a536 117 if (EtatServoVanne==1)
matthieuvignon 2:9d280856a536 118 ServoVanne.write(0.4);
matthieuvignon 2:9d280856a536 119 if (EtatServoVanne==0)
matthieuvignon 2:9d280856a536 120 ServoVanne.write(0);
matthieuvignon 2:9d280856a536 121 */
matthieuvignon 2:9d280856a536 122 }
matthieuvignon 2:9d280856a536 123
ClementBreteau 0:7737d7573e3b 124 }
ClementBreteau 0:7737d7573e3b 125 }
ClementBreteau 0:7737d7573e3b 126