Diff: main.cpp

Revision:

0:d93aff6b153f

Child:

1:8558d2451e3e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 25 14:08:15 2015 +0000
@@ -0,0 +1,259 @@
+#include "mbed.h"
+#include <string.h>
+#include "HCSR04.h"
+//#include "rtos.h"
+
+#define TRIG_1  PA_8
+#define ECHO_1  PC_7
+ 
+Serial pc(USBTX, USBRX); //reception --- tx, rx
+Serial carte(PA_9, PA_10); //emission --- tx, rx
+
+HCSR04 sensor1(TRIG_1, ECHO_1);
+DigitalOut led1(LED1);
+
+int max (int a, int b) {
+  return (a<b)?b:a;
+}
+
+int min (int a, int b) {
+  return (a<b)?a:b;
+}
+
+void USART1_puts(char *text){
+    while(*text != '\0'){
+        
+        if(carte.writeable()){ 
+            carte.putc(*text);
+            text++;
+        }
+        
+    }
+}
+        
+
+void format(char *msg, char *msg_formated){
+    int somme=5;
+    int i=0;
+    msg_formated[0]=2;
+    printf("\n\r");
+    while(msg[i]!=0){
+        somme= somme + msg[i];
+        msg_formated[i+1]=msg[i];
+        i++;
+    }
+    if(somme>255){
+            somme++;
+    }
+    somme=somme%256;
+    msg_formated[i+1]=~somme;
+    msg_formated[i+2]=3;
+    msg_formated[i+3]=0;
+
+   //A supprimer
+    i=0;
+    while(msg_formated[i]!=0){
+        printf("[%d] ", msg_formated[i]);
+        i++;
+    }
+}
+
+/*
+void format(char *msg, char *msg_formated){
+    char *STX = 2;
+    char *ETX = 3;
+    strcat(msg_formated, STX);
+    strcat(msg_formated, msg);
+    strcat(msg_formated, ETX);
+}
+*/
+
+void send(char *data){
+        char trame[52]="";
+        format(data, trame);
+        USART1_puts(trame);
+}
+
+/*
+void receive(char *frame){
+    char trame[50]={0};
+    int etat = 0;
+    while(etat != 2){
+        char r;
+        if(carte.readable()){
+            r = carte.getc();
+            switch(etat){
+                case 0 :    if(r == 'S'){etat = 1;}
+                                    break;
+                case 1 :    if(r != 'E'){strcat(trame,&r);}
+                            else { etat = 2; }
+                            break;
+                default :   break;
+                }
+        }
+    }
+    for(int i=0;i<50;i++){
+        frame[i]=trame[i];
+    }
+}
+*/
+
+int receive(char *frame){
+    int end = 0;
+    int I;
+    unsigned int sommeBuffer;
+    char r;
+    Timer timeout;
+    timeout.start();
+    while(1){
+        if(timeout.read_ms() > 100) return 1;
+        if(carte.readable()){
+            r = carte.getc();
+            
+            switch(r){
+                case 2: //Start
+                    I=0;
+                    sommeBuffer=2;
+                    break;
+                    
+                case 3: //Stop
+                    frame[I]=0;
+                    sommeBuffer+=3;
+                    
+                    if(sommeBuffer>255){
+                        sommeBuffer++;
+                    }
+                    sommeBuffer=~sommeBuffer;
+                    sommeBuffer=sommeBuffer%256;
+                
+                    if(sommeBuffer==0){ //Les sommes concordent, les données sont valides
+                        frame[I-1]=0;
+                        return 0;
+                    }else{ //Message invalidé par la somme
+                        frame[0]=0;
+                        return 1;
+                    }
+                    break;
+                    
+                default : 
+                    frame[I]=r;
+                    sommeBuffer+=r;        
+                    I++;
+                    break;
+                }
+            }
+        }
+    return 1;
+}
+
+int controle(char *frame){
+    if (*frame!=6)
+        return 0;
+    return 1;
+        
+}
+
+void tictac(){
+    led1 = !led1;
+}
+void bipContinu(){
+    led1 = 1;
+}
+void bipOff(){
+    led1 = 0;
+}
+
+ //Emission d'une trame, reception d'acquittement et vérification
+int main() {
+    Ticker tic;
+    tic.attach(&bipOff, 0.1);
+    
+    char trame[50];
+    int essai, error;
+    int i=0;
+    int value;  
+    //int value[10] = {255, 200, 150, 100, 50, 40, 30, 20, 10, 5};
+    char message[4];
+    
+    int mem[2] = {-1, -1};
+    int memFreq = 0;
+    Timer timeout;
+    
+    while(1){
+        
+        value=min(sensor1.distance(1),230);
+        value=max(value,0);
+        
+        if(mem[0]<0){
+            mem[0]=value;
+        }else{
+            if(abs(mem[0]-value)<40){
+                mem[1]=mem[0];
+                mem[0]=value;
+            }else{
+                value=mem[0];
+            }
+        }
+        
+        
+        int freq;
+
+        if(value<=17){                      //0
+            freq=0;
+        }else if(value>17 && value<=30){    //1
+            freq=1;
+        }else if(value>30 && value<=70){    //2
+            freq=2;
+        }else if(value>70 && value<=130){   //3
+            freq=3;
+        }else if(value>130 && value<=200){  //4
+            freq=4;
+        }else{                              //5
+            freq=5;
+        }
+        
+        if(memFreq != freq){
+            memFreq = freq;
+            tic.detach();
+            
+            if(value<=17){                      //0
+                tic.attach(&bipContinu, 1);
+            }else if(value>17 && value<=30){    //1
+                tic.attach(&tictac, 0.05);
+            }else if(value>30 && value<=70){    //2
+                tic.attach(&tictac, 0.1);
+            }else if(value>70 && value<=130){   //3
+                tic.attach(&tictac, 0.2);
+            }else if(value>130 && value<=200){  //4
+                tic.attach(&tictac, 0.3);
+            }else{                              //5
+                led1=0;
+            }
+            
+        }
+        
+        message[0]=48+(value/100)%10;
+        message[1]=48+(value/10)%10;
+        message[2]=48+value%10;
+        message[3]=0;
+        
+        essai=0;
+        printf("%s\n\r",message);
+        send(message);
+
+        error=receive(trame);
+ 
+        
+        while((controle(trame)==0 || error==1) && essai<3){
+            send(message);
+            error=receive(trame);
+            essai++;
+        }
+        
+        if(essai==3) return 0;
+        
+        i=(i+1)%10;
+        wait(1);
+        
+    }
+}
\ No newline at end of file