CRAC Team / Mbed 2 deprecated carte_strategie_2019

carte_strategie_2019

Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

main.cpp@42:657b6a573e11, 2018-05-17 (annotated)

Committer:
Sitkah
Date:
Thu May 17 13:08:31 2018 +0000
Revision:
42:657b6a573e11
Parent:
38:76f886a1c8e6
Child:
50:a5361ffeefc8
useless

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sitkah 29:41e02746041d 1 #include "mbed.h"
antbig 0:ad97421fb1fb 2 #include "global.h"
Sitkah 29:41e02746041d 3 #include <CAN.h>
Sitkah 29:41e02746041d 4
Sitkah 29:41e02746041d 5 CAN can1(PB_8,PB_9); // Rx&Tx pour le CAN
Sitkah 29:41e02746041d 6 CAN can2(PB_5, PB_13);
Sitkah 30:a1e37af4bbde 7
Sitkah 31:833fc481b002 8 void bluetooth_init(void);
Sitkah 30:a1e37af4bbde 9 DigitalIn choix_robot(PG_12);
Sitkah 29:41e02746041d 10 CANMessage msgRxBuffer[SIZE_FIFO];
Sitkah 29:41e02746041d 11 unsigned char FIFO_ecriture;
Sitkah 29:41e02746041d 12 char strat_sd[10][SIZE+8];
Sitkah 29:41e02746041d 13 char PATH[10][SIZE+8];
Sitkah 29:41e02746041d 14
Sitkah 38:76f886a1c8e6 15 Serial rn42_pr(PG_14, PG_9);
Sitkah 31:833fc481b002 16 //Serial rn42(PA_1,PA_2);
Sitkah 31:833fc481b002 17 Serial rn42_Tx(PA_2,NC);
Sitkah 31:833fc481b002 18 Serial rn42_Rx(NC,PA_1);
Sitkah 31:833fc481b002 19
Sitkah 30:a1e37af4bbde 20 Serial pc(USBTX,USBRX);
Sitkah 31:833fc481b002 21 LiaisonBluetooth liaison_Rx(&rn42_Rx,&pc);
Sitkah 31:833fc481b002 22 LiaisonBluetooth liaison_Tx(&rn42_Tx,&pc);
Sitkah 38:76f886a1c8e6 23 LiaisonBluetooth liaison_pr(&rn42_pr,&pc);
antbig 0:ad97421fb1fb 24
Sitkah 29:41e02746041d 25 char cheminFileStart[SIZE+8]; //Le chemin du fichier de strat, utiliser strcpy(cheminFileStart,"/local/strat.txt");
Sitkah 29:41e02746041d 26 struct S_Instruction strat_instructions[SIZE_BUFFER_FILE]; //La liste des instruction chargé en mémoire
Sitkah 29:41e02746041d 27 unsigned char nb_instructions; //Le nombre d'instruction dans le fichier de strategie
Sitkah 29:41e02746041d 28 unsigned char actual_instruction;//La ligne de l'instruction en cours d'execution
Sitkah 29:41e02746041d 29
Sitkah 30:a1e37af4bbde 30
antbig 0:ad97421fb1fb 31
Sitkah 29:41e02746041d 32 unsigned char InversStrat = 1;//Si à 1, indique que l'on part de l'autre cote de la table(inversion des Y)
Sitkah 29:41e02746041d 33
Sitkah 29:41e02746041d 34
Sitkah 29:41e02746041d 35 unsigned short waitingAckID=0;//L'id du ack attendu
Sitkah 29:41e02746041d 36 unsigned short waitingAckFrom=0;//La provenance du ack attendu
Sitkah 29:41e02746041d 37 char modeTelemetre; // Si à 1, indique que l'on attend une reponse du telemetre
antbig 0:ad97421fb1fb 38
antbig 0:ad97421fb1fb 39 DigitalOut led1(LED1);//Led d'indication de problème, si elle clignote, c'est pas bon
antbig 1:116040d14164 40 DigitalOut led2(LED2);//Led d'indication de problème, si elle clignote, c'est pas bon
antbig 8:0edc7dfb7f7e 41 DigitalOut led3(LED3);//Led d'indication de problème, si elle clignote, c'est pas bon
antbig 8:0edc7dfb7f7e 42 DigitalOut led4(LED4);//Led d'indication de problème, si elle clignote, c'est pas bon
antbig 0:ad97421fb1fb 43
antbig 0:ad97421fb1fb 44 /****************************************************************************************/
antbig 0:ad97421fb1fb 45 /* FUNCTION NAME: canRx_ISR */
antbig 0:ad97421fb1fb 46 /* DESCRIPTION : Interruption en réception sur le CAN */
antbig 0:ad97421fb1fb 47 /****************************************************************************************/
antbig 0:ad97421fb1fb 48 void canRx_ISR (void)
antbig 0:ad97421fb1fb 49 {
Sitkah 30:a1e37af4bbde 50 if (can2.read(msgRxBuffer[FIFO_ecriture])) {
Sitkah 29:41e02746041d 51 //if(msgRxBuffer[FIFO_ecriture].id==RESET_STRAT) mbed_reset();
Sitkah 29:41e02746041d 52 /*else*/ FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
Sitkah 36:6dd30780bd8e 53 //canProcessRx();
antbig 0:ad97421fb1fb 54 }
antbig 0:ad97421fb1fb 55 }
antbig 0:ad97421fb1fb 56
antbig 0:ad97421fb1fb 57
Sitkah 29:41e02746041d 58
Sitkah 29:41e02746041d 59
antbig 0:ad97421fb1fb 60 /**********************************************************************************/
antbig 0:ad97421fb1fb 61 /* FUNCTION NAME: main */
antbig 0:ad97421fb1fb 62 /* DESCRIPTION : Fonction principal du programme */
antbig 0:ad97421fb1fb 63 /**********************************************************************************/
antbig 0:ad97421fb1fb 64 int main() {
antbig 0:ad97421fb1fb 65 can1.frequency(1000000); // fréquence de travail 1Mbit/s
Sitkah 30:a1e37af4bbde 66 can2.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
Sitkah 29:41e02746041d 67 can2.frequency(1000000);
antbig 12:14729d584500 68 #ifdef ROBOT_BIG
Sitkah 30:a1e37af4bbde 69 lcd.DisplayStringAt(0, 0,(uint8_t *)"Initialisation gros robot", LEFT_MODE);
antbig 12:14729d584500 70 #else
Sitkah 30:a1e37af4bbde 71 lcd.DisplayStringAt(0, 0,(uint8_t *)"Initialisation petit robot", LEFT_MODE);
antbig 12:14729d584500 72 #endif
ClementBreteau 18:cc5fec34ed9c 73 led1 = 1;
Sitkah 31:833fc481b002 74 bluetooth_init();
Sitkah 38:76f886a1c8e6 75 lecture_fichier(); //bloquant si pas de carte SD
ClementBreteau 18:cc5fec34ed9c 76 led1 = 0;
Sitkah 38:76f886a1c8e6 77 wait_ms(2000);//Attente pour que toutes les cartes se lancent et surtout le CANBlue
Sitkah 29:41e02746041d 78
antbig 0:ad97421fb1fb 79 while(true) {
Sitkah 29:41e02746041d 80 automate_etat_ihm();
antbig 9:d0042422d95a 81 automate_process();//Boucle dans l'automate principal
Sitkah 36:6dd30780bd8e 82 canProcessRx();
antbig 0:ad97421fb1fb 83 }
antbig 0:ad97421fb1fb 84 }
Sitkah 31:833fc481b002 85
Sitkah 31:833fc481b002 86 void bluetooth_init(void){
Sitkah 31:833fc481b002 87 rn42_Tx.baud(115200);
Sitkah 31:833fc481b002 88 rn42_Rx.baud(115200);
Sitkah 38:76f886a1c8e6 89 rn42_pr.baud(115200);
Sitkah 31:833fc481b002 90 pc.baud(115200);
Sitkah 31:833fc481b002 91 pc.printf("ok1");
Sitkah 42:657b6a573e11 92 /*while(1){ // sert au paramètrage des module RN42
Sitkah 31:833fc481b002 93 while(pc.readable()){
Sitkah 31:833fc481b002 94 rn42_Tx.putc(pc.getc());
Sitkah 31:833fc481b002 95
Sitkah 31:833fc481b002 96 }
Sitkah 31:833fc481b002 97 while(rn42_Rx.readable()){
Sitkah 31:833fc481b002 98 pc.putc(rn42_Rx.getc());
Sitkah 31:833fc481b002 99 }
Sitkah 31:833fc481b002 100 }*/
Sitkah 31:833fc481b002 101 }