Revision 0:7737d7573e3b, committed 2017-05-10

Comitter:

ClementBreteau

Date:

Wed May 10 16:11:35 2017 +0000

Commit message:

test des capteurs du petit robot

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed May 10 16:11:35 2017 +0000
@@ -0,0 +1,131 @@
+#include "mbed.h"
+
+#define SIZE_FIFO 20
+
+/*
+DigitalIn IO1(p23);
+DigitalIn IO2(p24);
+DigitalIn IO3(p25);
+DigitalIn IO4(p26);
+
+AnalogIn A_in1(p15);
+AnalogIn A_in2(p16);
+AnalogIn A_in3(p17);
+AnalogIn A_in4(p18);
+AnalogIn A_in5(p19);
+AnalogIn A_in6(p20);
+
+PwmOut IRL_1(p21);
+PwmOut IRL_2(p22);
+*/
+
+AnalogIn cptGauche(p20);
+AnalogIn cptDroit(p19);
+
+DigitalIn pressionGauche(p23);
+DigitalIn pressionDroit(p24);
+
+PwmOut moteurGauche(p21);
+PwmOut moteurDroit(p22);
+
+AnalogIn telemetre(p15);
+
+DigitalIn jack(p25);
+
+
+
+DigitalOut led(LED1);
+
+CAN can1(p30,p29); // Rx&Tx pour le CAN
+CANMessage msgRxBuffer[SIZE_FIFO]; // buffer en réception pour le CAN
+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
+int printCapteurs = 0;
+
+void canRx_ISR (void)
+{
+    if (can1.read(msgRxBuffer[FIFO_ecriture])) {
+        /*if(msgRxBuffer[FIFO_ecriture].id==RESET_ACTIONNEURS) mbed_reset();
+        else FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;*/
+        FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
+    }
+}
+
+
+
+/*********************************************************************************************************/
+/* FUNCTION NAME: SendRawId                                                                              */
+/* DESCRIPTION  : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
+/*********************************************************************************************************/
+void SendRawId (unsigned short id)
+{
+    CANMessage msgTx=CANMessage();
+    msgTx.id=id;
+    msgTx.len=0;
+    can1.write(msgTx);
+    wait_us(200);
+}
+
+/****************************************************************************************/
+/* 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) {
+        
+        switch(msgRxBuffer[FIFO_lecture].id) {
+            case 0x63:
+                SendRawId(0x73);
+            break;
+            case 0x10:
+                printCapteurs = 0;
+                break;
+            case 0x11:
+                printCapteurs = 1;
+                break;
+                
+            
+        }
+        FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
+    }
+}
+    
+int main() {
+    can1.frequency(1000000); // fréquence de travail 1Mbit/s
+    can1.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
+    
+    CANMessage msgTx=CANMessage();
+
+    while(1) {
+        led = !led;
+
+        canProcessRx();
+        if (printCapteurs){
+            msgTx.id=0x21;
+            msgTx.format=CANStandard;
+            msgTx.type=CANData;
+            msgTx.len=7;
+            
+            msgTx.data[0]=(unsigned char)cptGauche.read();
+            msgTx.data[1]=(unsigned char)cptDroit.read();
+            msgTx.data[2]=(unsigned char)pressionGauche.read();
+            msgTx.data[3]=(unsigned char)pressionDroit.read();
+            msgTx.data[4]=(unsigned char)jack.read();
+            msgTx.data[5]=(unsigned char)(telemetre.read_u16()>>8);
+            msgTx.data[6]=(unsigned char)telemetre.read_u16();
+                           
+            can1.write(msgTx);
+            
+        }
+        wait(0.5); 
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed May 10 16:11:35 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/794e51388b66
\ No newline at end of file