Diff: main.cpp

Revision:

0:0cb11adecfc6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jun 02 06:44:31 2020 +0000
@@ -0,0 +1,110 @@
+#include "main.h"
+
+#define SIZE_FIFO 50
+
+CAN can(PB_8,PB_9,1000000); // Rx&Tx pour le CAN
+
+Serial pc(USBTX,USBRX);
+
+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;
+
+void canProcessRx(void);
+
+
+/*********************************************************************************************/
+/* FUNCTION NAME: canRx_ISR                                                                  */
+/* DESCRIPTION  : lit les messages sur le can et les stocke dans la FIFO                     */
+/*********************************************************************************************/
+void canRx_ISR (void)
+{
+    if (can.read(msgRxBuffer[FIFO_ecriture])) 
+    {  
+        FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;        
+    }
+}
+
+int main()
+{
+    can.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
+    servo_interrupt_en(); //permettre les interuptions
+    wait_ms(200);
+    deverouillage_torque();
+    pc.printf("\nLAUNCHED\n\r");
+    while(1) 
+    {                    
+        canProcessRx();
+        f_mesure();
+    }
+}
+
+/****************************************************************************************/
+/* FUNCTION NAME: canProcessRx                                                          */
+/* DESCRIPTION  : Fonction de traitement des messages CAN                               */
+/****************************************************************************************/
+void canProcessRx(void)
+{
+    static signed char FIFO_occupation=0,FIFO_max_occupation=0;
+    CANMessage msgTx=CANMessage();
+    
+    FIFO_occupation=FIFO_ecriture-FIFO_lecture;
+    if(FIFO_occupation<0)
+        FIFO_occupation=FIFO_occupation+SIZE_FIFO;
+        
+    if(FIFO_max_occupation<FIFO_occupation)
+        FIFO_max_occupation=FIFO_occupation;
+        
+    if(FIFO_occupation!=0) {
+        int identifiant=msgRxBuffer[FIFO_lecture].id;
+
+        switch(identifiant) 
+        {         
+            case TEST_BRAS_1:
+                test_BRAS_1();
+                break;
+                 
+            case TEST_BRAS_2: 
+                test_BRAS_2();
+                break;
+                
+            case TEST_BRAS_3: 
+                test_BRAS_3();
+                break;
+                
+            case TEST_BRAS_4: 
+                test_BRAS_4();
+                break;
+                
+            case TEST_BRAS_5: 
+                test_BRAS_5();
+                break;
+                
+            case TEST_TELEMETRE_1:
+                short distance1=lecture_telemetre(1);
+                unsigned char distance_telemetre_1 = distance1;
+                SendMsgCan(TELEMETRE_1_REP, &distance_telemetre_1,1);
+                break;
+            case TEST_TELEMETRE_2:
+                short distance2=lecture_telemetre(2);
+                unsigned char distance_telemetre_2 = distance2;
+                SendMsgCan(TELEMETRE_2_REP, &distance_telemetre_2,1);
+                break;
+            case TEST_TELEMETRE_3:
+                short distance3=lecture_telemetre(3);
+                unsigned char distance_telemetre_3 = distance3;
+                SendMsgCan(TELEMETRE_3_REP, &distance_telemetre_3,1);
+                break;
+            case TEST_TELEMETRE_4:
+                short distance4=lecture_telemetre(4);
+                unsigned char distance_telemetre_4 = distance4;
+                SendMsgCan(TELEMETRE_4_REP, &distance_telemetre_4,1);
+                break;
+                
+            default:
+                break;
+        }
+        FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
+    }
+}
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