CRAC Team / Mbed 2 deprecated carte_strategie_2019

carte_strategie_2019

Dependencies:   mbed SerialHalfDuplex SDFileSystem DISCO-F469NI_portrait liaison_Bluetooth ident_crac

main.cpp@36:6dd30780bd8e, 2018-05-02 (annotated)

Committer:
Sitkah
Date:
Wed May 02 20:40:57 2018 +0000
Revision:
36:6dd30780bd8e
Parent:
34:6aa4b46b102e
Child:
38:76f886a1c8e6
Recalage en une fois

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 31:833fc481b002 15 //Serial rn42(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);
antbig 0:ad97421fb1fb 23
Sitkah 29:41e02746041d 24 char cheminFileStart[SIZE+8]; //Le chemin du fichier de strat, utiliser strcpy(cheminFileStart,"/local/strat.txt");
Sitkah 29:41e02746041d 25 struct S_Instruction strat_instructions[SIZE_BUFFER_FILE]; //La liste des instruction chargé en mémoire
Sitkah 29:41e02746041d 26 unsigned char nb_instructions; //Le nombre d'instruction dans le fichier de strategie
Sitkah 29:41e02746041d 27 unsigned char actual_instruction;//La ligne de l'instruction en cours d'execution
Sitkah 29:41e02746041d 28
Sitkah 30:a1e37af4bbde 29
antbig 0:ad97421fb1fb 30
Sitkah 29:41e02746041d 31 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 32
Sitkah 29:41e02746041d 33
Sitkah 29:41e02746041d 34 unsigned short waitingAckID=0;//L'id du ack attendu
Sitkah 29:41e02746041d 35 unsigned short waitingAckFrom=0;//La provenance du ack attendu
Sitkah 29:41e02746041d 36 char modeTelemetre; // Si à 1, indique que l'on attend une reponse du telemetre
antbig 0:ad97421fb1fb 37
antbig 0:ad97421fb1fb 38 DigitalOut led1(LED1);//Led d'indication de problème, si elle clignote, c'est pas bon
antbig 1:116040d14164 39 DigitalOut led2(LED2);//Led d'indication de problème, si elle clignote, c'est pas bon
antbig 8:0edc7dfb7f7e 40 DigitalOut led3(LED3);//Led d'indication de problème, si elle clignote, c'est pas bon
antbig 8:0edc7dfb7f7e 41 DigitalOut led4(LED4);//Led d'indication de problème, si elle clignote, c'est pas bon
antbig 0:ad97421fb1fb 42
antbig 0:ad97421fb1fb 43 /****************************************************************************************/
antbig 0:ad97421fb1fb 44 /* FUNCTION NAME: canRx_ISR */
antbig 0:ad97421fb1fb 45 /* DESCRIPTION : Interruption en réception sur le CAN */
antbig 0:ad97421fb1fb 46 /****************************************************************************************/
antbig 0:ad97421fb1fb 47 void canRx_ISR (void)
antbig 0:ad97421fb1fb 48 {
Sitkah 30:a1e37af4bbde 49 if (can2.read(msgRxBuffer[FIFO_ecriture])) {
Sitkah 29:41e02746041d 50 //if(msgRxBuffer[FIFO_ecriture].id==RESET_STRAT) mbed_reset();
Sitkah 29:41e02746041d 51 /*else*/ FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
Sitkah 36:6dd30780bd8e 52 //canProcessRx();
antbig 0:ad97421fb1fb 53 }
antbig 0:ad97421fb1fb 54 }
antbig 0:ad97421fb1fb 55
antbig 0:ad97421fb1fb 56
Sitkah 29:41e02746041d 57
Sitkah 29:41e02746041d 58
antbig 0:ad97421fb1fb 59 /**********************************************************************************/
antbig 0:ad97421fb1fb 60 /* FUNCTION NAME: main */
antbig 0:ad97421fb1fb 61 /* DESCRIPTION : Fonction principal du programme */
antbig 0:ad97421fb1fb 62 /**********************************************************************************/
antbig 0:ad97421fb1fb 63 int main() {
antbig 0:ad97421fb1fb 64 can1.frequency(1000000); // fréquence de travail 1Mbit/s
Sitkah 30:a1e37af4bbde 65 can2.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
Sitkah 29:41e02746041d 66 can2.frequency(1000000);
antbig 12:14729d584500 67 #ifdef ROBOT_BIG
Sitkah 30:a1e37af4bbde 68 lcd.DisplayStringAt(0, 0,(uint8_t *)"Initialisation gros robot", LEFT_MODE);
antbig 12:14729d584500 69 #else
Sitkah 30:a1e37af4bbde 70 lcd.DisplayStringAt(0, 0,(uint8_t *)"Initialisation petit robot", LEFT_MODE);
antbig 12:14729d584500 71 #endif
ClementBreteau 18:cc5fec34ed9c 72 led1 = 1;
Sitkah 31:833fc481b002 73 /*rn42.baud(115200);
Sitkah 31:833fc481b002 74 pc.baud(115200);*/
Sitkah 31:833fc481b002 75 bluetooth_init();
Sitkah 30:a1e37af4bbde 76 //initRobot();//Initialisation du robot
Sitkah 30:a1e37af4bbde 77 //initRobotActionneur();
Sitkah 29:41e02746041d 78 lecture_fichier();
ClementBreteau 18:cc5fec34ed9c 79 led1 = 0;
Sitkah 29:41e02746041d 80 //wait_ms(2000);//Attente pour que toutes les cartes se lancent et surtout le CANBlue
Sitkah 29:41e02746041d 81
antbig 0:ad97421fb1fb 82 while(true) {
Sitkah 29:41e02746041d 83 automate_etat_ihm();
antbig 9:d0042422d95a 84 automate_process();//Boucle dans l'automate principal
Sitkah 36:6dd30780bd8e 85 canProcessRx();
ClementBreteau 15:c2fc239e85df 86 //AX12_doLoop();//Vérification de la position des AX12
antbig 0:ad97421fb1fb 87 }
antbig 0:ad97421fb1fb 88 }
Sitkah 31:833fc481b002 89
Sitkah 31:833fc481b002 90 void bluetooth_init(void){
Sitkah 31:833fc481b002 91 rn42_Tx.baud(115200);
Sitkah 31:833fc481b002 92 rn42_Rx.baud(115200);
Sitkah 31:833fc481b002 93 pc.baud(115200);
Sitkah 31:833fc481b002 94 pc.printf("ok1");
Sitkah 31:833fc481b002 95 /*while(1){
Sitkah 31:833fc481b002 96 while(pc.readable()){
Sitkah 31:833fc481b002 97 rn42_Tx.putc(pc.getc());
Sitkah 31:833fc481b002 98
Sitkah 31:833fc481b002 99 }
Sitkah 31:833fc481b002 100 while(rn42_Rx.readable()){
Sitkah 31:833fc481b002 101 pc.putc(rn42_Rx.getc());
Sitkah 31:833fc481b002 102 }
Sitkah 31:833fc481b002 103 }*/
Sitkah 31:833fc481b002 104 }