Programme de test à priori fonctionnel avec la version 2018 de la carte
Dependencies: PwmIn mbed Encoder_Nucleo_16_bits
main.cpp@12:ee9e5009f7ce, 2020-03-09 (annotated)
- Committer:
- gvaquette
- Date:
- Mon Mar 09 05:58:48 2020 +0000
- Revision:
- 12:ee9e5009f7ce
- Parent:
- 11:df0957bf8f16
some more translate
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
haarkon | 0:f00e68bef80c | 1 | /** Main Test Board |
haarkon | 0:f00e68bef80c | 2 | * |
haarkon | 0:f00e68bef80c | 3 | * \brief Programme de tests pour le robot NCR 2017 |
haarkon | 0:f00e68bef80c | 4 | * \author H. Angelis |
haarkon | 0:f00e68bef80c | 5 | * \version alpha_1 |
haarkon | 0:f00e68bef80c | 6 | * \date 15/05/17 |
haarkon | 0:f00e68bef80c | 7 | * |
haarkon | 0:f00e68bef80c | 8 | */ |
haarkon | 0:f00e68bef80c | 9 | |
haarkon | 0:f00e68bef80c | 10 | #include "mbed.h" |
haarkon | 0:f00e68bef80c | 11 | #include "PwmIn.h" |
haarkon | 0:f00e68bef80c | 12 | #include "Nucleo_Encoder_16_bits.h" |
haarkon | 0:f00e68bef80c | 13 | |
haarkon | 6:88b4805d33e1 | 14 | #define BOUSSOLE_adress 0xC0 |
haarkon | 6:88b4805d33e1 | 15 | #define PIXY_adress 0x54 |
haarkon | 6:88b4805d33e1 | 16 | |
haarkon | 6:88b4805d33e1 | 17 | #define CC_BLOCSIZE 14 |
haarkon | 6:88b4805d33e1 | 18 | #define N_BLOCSIZE 12 |
haarkon | 6:88b4805d33e1 | 19 | |
haarkon | 6:88b4805d33e1 | 20 | #define N_BLOCCODE 0xAA55 |
haarkon | 6:88b4805d33e1 | 21 | #define CC_BLOCCODE 0xAA56 |
haarkon | 6:88b4805d33e1 | 22 | |
haarkon | 2:1d440e938c44 | 23 | |
haarkon | 6:88b4805d33e1 | 24 | // Comme la nucleo est Little Endian et que l'AS5047D est Big Endian, les codes sont inversés |
haarkon | 6:88b4805d33e1 | 25 | // Registre Valeur (BE) Valeur (LE) |
haarkon | 6:88b4805d33e1 | 26 | // NOP 0xC000 0x0003 |
haarkon | 6:88b4805d33e1 | 27 | // ANGLE 0xFFFF 0xFFFF |
haarkon | 6:88b4805d33e1 | 28 | // ERROR 0x4001 0x8002 |
haarkon | 6:88b4805d33e1 | 29 | // SETTING1 (R) 0xC018 0x1803 |
haarkon | 6:88b4805d33e1 | 30 | // SETTING2 (R) 0x4019 0x8902 |
haarkon | 6:88b4805d33e1 | 31 | // SETTING1 (W) 0x0018 0x1800 |
haarkon | 6:88b4805d33e1 | 32 | // SETTING2 (W) 0x8019 0x9801 |
haarkon | 2:1d440e938c44 | 33 | |
haarkon | 6:88b4805d33e1 | 34 | #define SPI_READ_NOP 0x0003 |
haarkon | 6:88b4805d33e1 | 35 | #define SPI_READ_ANGLE 0xFFFF |
haarkon | 6:88b4805d33e1 | 36 | #define SPI_READ_ERROR 0x8002 |
haarkon | 6:88b4805d33e1 | 37 | #define SPI_READ_SETTINGS1 0x1803 |
haarkon | 6:88b4805d33e1 | 38 | #define SPI_READ_SETTINGS2 0x8902 |
haarkon | 6:88b4805d33e1 | 39 | #define SPI_WRTIE_SETTINGS1 0x1800 |
haarkon | 6:88b4805d33e1 | 40 | #define SPI_WRITE_SETTINGS2 0x9801 |
haarkon | 0:f00e68bef80c | 41 | |
haarkon | 0:f00e68bef80c | 42 | typedef unsigned char Byte; |
haarkon | 0:f00e68bef80c | 43 | typedef unsigned short Word; |
haarkon | 0:f00e68bef80c | 44 | typedef unsigned long lWord; |
haarkon | 0:f00e68bef80c | 45 | |
haarkon | 0:f00e68bef80c | 46 | typedef enum {S_monte = 1, S_descente = 0} T_SERVODIR; |
haarkon | 0:f00e68bef80c | 47 | |
haarkon | 2:1d440e938c44 | 48 | typedef enum {none, begin, normal, colorCode, doubleZero} T_pixyState; |
haarkon | 2:1d440e938c44 | 49 | |
haarkon | 0:f00e68bef80c | 50 | typedef union { |
haarkon | 2:1d440e938c44 | 51 | lWord mot; |
haarkon | 0:f00e68bef80c | 52 | Byte tab[4]; |
haarkon | 2:1d440e938c44 | 53 | } T_tmpBuffer; |
haarkon | 2:1d440e938c44 | 54 | |
haarkon | 2:1d440e938c44 | 55 | typedef union { |
haarkon | 2:1d440e938c44 | 56 | Word mot; |
haarkon | 2:1d440e938c44 | 57 | Byte tab[2]; |
haarkon | 2:1d440e938c44 | 58 | } T_structBuffer; |
haarkon | 0:f00e68bef80c | 59 | |
haarkon | 0:f00e68bef80c | 60 | typedef struct { |
haarkon | 0:f00e68bef80c | 61 | Word checksum; |
haarkon | 0:f00e68bef80c | 62 | Word signature; |
haarkon | 0:f00e68bef80c | 63 | Word x; |
haarkon | 0:f00e68bef80c | 64 | Word y; |
haarkon | 0:f00e68bef80c | 65 | Word width; |
haarkon | 0:f00e68bef80c | 66 | Word height; |
haarkon | 2:1d440e938c44 | 67 | Word angle; |
haarkon | 0:f00e68bef80c | 68 | } T_pixyCCBloc; |
haarkon | 0:f00e68bef80c | 69 | |
haarkon | 2:1d440e938c44 | 70 | typedef struct { |
haarkon | 2:1d440e938c44 | 71 | Word checksum; |
haarkon | 2:1d440e938c44 | 72 | Word signature; |
haarkon | 2:1d440e938c44 | 73 | Word x; |
haarkon | 2:1d440e938c44 | 74 | Word y; |
haarkon | 2:1d440e938c44 | 75 | Word width; |
haarkon | 2:1d440e938c44 | 76 | Word height; |
haarkon | 3:3dfe26a10796 | 77 | } T_pixyNMBloc; |
haarkon | 0:f00e68bef80c | 78 | |
haarkon | 0:f00e68bef80c | 79 | typedef union { |
haarkon | 0:f00e68bef80c | 80 | Byte tab[14]; |
haarkon | 0:f00e68bef80c | 81 | T_pixyCCBloc CCbloc; |
haarkon | 2:1d440e938c44 | 82 | } T_pixyCCData; |
haarkon | 2:1d440e938c44 | 83 | |
haarkon | 2:1d440e938c44 | 84 | typedef union { |
haarkon | 2:1d440e938c44 | 85 | Byte tab[12]; |
haarkon | 3:3dfe26a10796 | 86 | T_pixyNMBloc NMbloc; |
haarkon | 3:3dfe26a10796 | 87 | } T_pixyNMData; |
haarkon | 0:f00e68bef80c | 88 | |
haarkon | 0:f00e68bef80c | 89 | |
haarkon | 2:1d440e938c44 | 90 | |
haarkon | 0:f00e68bef80c | 91 | /** Liste des objets |
haarkon | 0:f00e68bef80c | 92 | * |
haarkon | 0:f00e68bef80c | 93 | * Serial #4 Pixy |
haarkon | 0:f00e68bef80c | 94 | * Serial #2 Pc |
haarkon | 0:f00e68bef80c | 95 | * |
haarkon | 0:f00e68bef80c | 96 | * AnalogIn C1, C2, C3, LD1, LD2, SD1, SD2, Vbat |
haarkon | 0:f00e68bef80c | 97 | * |
haarkon | 0:f00e68bef80c | 98 | * DigitalOut Led1, Led2, Trig1, Trig2, Trig3, En, SensG, SensD |
haarkon | 0:f00e68bef80c | 99 | * |
haarkon | 0:f00e68bef80c | 100 | * InterruptIn IndexG, IndexD, Echo1, Echo2, Echo3, BP |
haarkon | 0:f00e68bef80c | 101 | * |
haarkon | 0:f00e68bef80c | 102 | * PwmOut Pwm_MG, Pwm_MD, Servo |
haarkon | 0:f00e68bef80c | 103 | * |
haarkon | 0:f00e68bef80c | 104 | * PwmIn PWMG, PWMD, PWMB |
haarkon | 0:f00e68bef80c | 105 | * |
haarkon | 0:f00e68bef80c | 106 | * I2C Bus_I2C |
haarkon | 0:f00e68bef80c | 107 | * |
haarkon | 0:f00e68bef80c | 108 | * SPI MotG, MotD |
haarkon | 0:f00e68bef80c | 109 | * |
haarkon | 0:f00e68bef80c | 110 | * Nucleo_Encoder_16_bits Gauche, Droite |
haarkon | 0:f00e68bef80c | 111 | * |
haarkon | 0:f00e68bef80c | 112 | * Ticker timer |
haarkon | 0:f00e68bef80c | 113 | */ |
haarkon | 0:f00e68bef80c | 114 | |
haarkon | 0:f00e68bef80c | 115 | /** Liste des PINs |
haarkon | 0:f00e68bef80c | 116 | * |
haarkon | 0:f00e68bef80c | 117 | * PIN MAP (ordre alphabetique) des PINs de la Nucléo 64 utilisée |
haarkon | 9:2d99e9946b89 | 118 | * |
haarkon | 9:2d99e9946b89 | 119 | * PA_0 -> Pixy RX (Serial) -> OK |
haarkon | 9:2d99e9946b89 | 120 | * PA_1 -> Pixy TX (Serial) -> OK |
haarkon | 9:2d99e9946b89 | 121 | * PA_2 -> PC TX (Serial) -> OK |
haarkon | 9:2d99e9946b89 | 122 | * PA_3 -> PX RX (Serial) -> OK |
haarkon | 9:2d99e9946b89 | 123 | * PA_4 -> GP2 SD #2 (Analog In) -> OK |
haarkon | 9:2d99e9946b89 | 124 | * PA_5 -> LED1 (Digital Out) -> OK |
haarkon | 9:2d99e9946b89 | 125 | * PA_6 -> US D Echo (IRQ In) -> OK |
haarkon | 9:2d99e9946b89 | 126 | * PA_7 -> CNY #1 (Analog In) -> OK |
haarkon | 9:2d99e9946b89 | 127 | * PA_8 -> MotD PWM (PWM Out) -> OK |
haarkon | 9:2d99e9946b89 | 128 | * PA_9 -> MotG PWM (PWM Out) -> OK |
haarkon | 9:2d99e9946b89 | 129 | * PA_10 -> MotD speed (IRQ In) -> OK |
haarkon | 9:2d99e9946b89 | 130 | * PA_11 -> MotG speed (IRQ In) -> OK |
haarkon | 9:2d99e9946b89 | 131 | * PA_12 -> |
haarkon | 0:f00e68bef80c | 132 | * PA_13 |
haarkon | 0:f00e68bef80c | 133 | * PA_14 |
haarkon | 9:2d99e9946b89 | 134 | * PA_15 -> Servomoteur (PWM Out) -> OK |
haarkon | 0:f00e68bef80c | 135 | * |
haarkon | 9:2d99e9946b89 | 136 | * PB_0 -> GP2 SD #1 (Analog In) -> OK |
haarkon | 9:2d99e9946b89 | 137 | * PB_1 -> Vbat (Analog In) -> OK |
haarkon | 9:2d99e9946b89 | 138 | * PB_2 -> US G Echo (IRQ In) -> OK |
haarkon | 9:2d99e9946b89 | 139 | * PB_3 -> SS G (Digital Out) -> OK |
haarkon | 9:2d99e9946b89 | 140 | * PB_4 -> Enocdeur Droit A (QE) -> OK |
haarkon | 9:2d99e9946b89 | 141 | * PB_5 -> Enocdeur Droit B (QE) -> OK |
haarkon | 9:2d99e9946b89 | 142 | * PB_6 -> Enocdeur Gauche A (QE) -> OK |
haarkon | 9:2d99e9946b89 | 143 | * PB_7 -> Enocdeur Gauche B (QE) -> OK |
haarkon | 9:2d99e9946b89 | 144 | * PB_8 -> SCL (I2C) -> OK |
haarkon | 9:2d99e9946b89 | 145 | * PB_9 -> SDA (I2C) -> OK |
haarkon | 9:2d99e9946b89 | 146 | * PB_10 -> |
haarkon | 0:f00e68bef80c | 147 | * PB_11 |
haarkon | 9:2d99e9946b89 | 148 | * PB_12 -> SS D (Digital Out) -> OK |
haarkon | 9:2d99e9946b89 | 149 | * PB_13 -> US G Trig (Digital Out) -> OK |
haarkon | 9:2d99e9946b89 | 150 | * PB_14 -> US F Trig (Digital Out) -> OK |
haarkon | 9:2d99e9946b89 | 151 | * PB_15 -> US D Trig (Digital Out) -> OK |
haarkon | 0:f00e68bef80c | 152 | * |
haarkon | 9:2d99e9946b89 | 153 | * PC_0 -> GP2 LD #1 (Analog In) -> OK |
haarkon | 9:2d99e9946b89 | 154 | * PC_1 -> GP2 LD #2 (Analog In) -> OK |
haarkon | 9:2d99e9946b89 | 155 | * PC_2 -> CNY #2 (Analog In) -> OK |
haarkon | 9:2d99e9946b89 | 156 | * PC_3 -> CNY #3 (Analog In) -> OK |
haarkon | 9:2d99e9946b89 | 157 | * PC_4 -> Boussole (Pwm In) -> OK |
haarkon | 9:2d99e9946b89 | 158 | * PC_5 -> MotD IN2 (Digital Out) -> OK |
haarkon | 9:2d99e9946b89 | 159 | * PC_6 -> MotD IN1 (Digital Out) -> OK |
haarkon | 9:2d99e9946b89 | 160 | * PC_7 -> US F Echo (IRQ In) -> OK |
haarkon | 9:2d99e9946b89 | 161 | * PC_8 -> MotG IN2 (Digital Out) -> OK |
haarkon | 9:2d99e9946b89 | 162 | * PC_9 -> MotG IN1 (Digital Out) -> OK |
haarkon | 9:2d99e9946b89 | 163 | * PC_10 -> SCK (SPI) -> OK |
haarkon | 9:2d99e9946b89 | 164 | * PC_11 -> MISO (SPI) -> OK |
haarkon | 9:2d99e9946b89 | 165 | * PC_12 -> MOSI (SPI) -> OK |
haarkon | 9:2d99e9946b89 | 166 | * PC_13 -> User BP (IRQ In) -> OK |
haarkon | 0:f00e68bef80c | 167 | * PC_14 |
haarkon | 0:f00e68bef80c | 168 | * PC_15 |
haarkon | 0:f00e68bef80c | 169 | * |
haarkon | 0:f00e68bef80c | 170 | * PD_1 |
haarkon | 9:2d99e9946b89 | 171 | * PD_2 -> Led2 (Digital Out) -> OK |
haarkon | 0:f00e68bef80c | 172 | */ |
haarkon | 0:f00e68bef80c | 173 | |
haarkon | 1:d95546f84105 | 174 | Serial Pixy (PA_0, PA_1, 230400); |
gvaquette | 10:c6db803927b6 | 175 | Serial Pc (PA_2, PA_3, 115200); |
haarkon | 0:f00e68bef80c | 176 | |
haarkon | 9:2d99e9946b89 | 177 | AnalogIn SD2 (PA_4); |
haarkon | 9:2d99e9946b89 | 178 | AnalogIn CNY1 (PA_7); |
haarkon | 9:2d99e9946b89 | 179 | AnalogIn SD1 (PB_0); |
haarkon | 9:2d99e9946b89 | 180 | AnalogIn Vbat (PB_1); |
haarkon | 0:f00e68bef80c | 181 | AnalogIn LD1 (PC_0); |
haarkon | 0:f00e68bef80c | 182 | AnalogIn LD2 (PC_1); |
haarkon | 9:2d99e9946b89 | 183 | AnalogIn CNY2 (PC_2); |
haarkon | 9:2d99e9946b89 | 184 | AnalogIn CNY3 (PC_3); |
haarkon | 0:f00e68bef80c | 185 | |
haarkon | 0:f00e68bef80c | 186 | DigitalOut Led1 (PA_5); |
haarkon | 9:2d99e9946b89 | 187 | DigitalOut SSG (PB_3); |
haarkon | 9:2d99e9946b89 | 188 | DigitalOut SSD (PB_12); |
haarkon | 9:2d99e9946b89 | 189 | DigitalOut Trig1 (PB_13); |
haarkon | 9:2d99e9946b89 | 190 | DigitalOut Trig2 (PB_14); |
haarkon | 9:2d99e9946b89 | 191 | DigitalOut Trig3 (PB_15); |
haarkon | 0:f00e68bef80c | 192 | DigitalOut Led2 (PD_2); |
haarkon | 9:2d99e9946b89 | 193 | DigitalOut IN1G (PC_9); |
haarkon | 9:2d99e9946b89 | 194 | DigitalOut IN2G (PC_8); |
haarkon | 9:2d99e9946b89 | 195 | DigitalOut IN1D (PC_6); |
haarkon | 9:2d99e9946b89 | 196 | DigitalOut IN2D (PC_5); |
haarkon | 0:f00e68bef80c | 197 | |
haarkon | 9:2d99e9946b89 | 198 | InterruptIn Echo3 (PA_6); |
haarkon | 9:2d99e9946b89 | 199 | InterruptIn PWMD (PA_10); |
haarkon | 9:2d99e9946b89 | 200 | InterruptIn PWMG (PA_11); |
haarkon | 9:2d99e9946b89 | 201 | InterruptIn Echo1 (PB_2); |
haarkon | 9:2d99e9946b89 | 202 | InterruptIn Echo2 (PC_7); |
haarkon | 0:f00e68bef80c | 203 | InterruptIn BP (PC_13); |
haarkon | 9:2d99e9946b89 | 204 | |
haarkon | 9:2d99e9946b89 | 205 | PwmIn PWMB (PC_4); |
haarkon | 1:d95546f84105 | 206 | |
haarkon | 9:2d99e9946b89 | 207 | PwmOut Pwm_MG (PA_9); |
haarkon | 9:2d99e9946b89 | 208 | PwmOut Pwm_MD (PA_8); |
haarkon | 9:2d99e9946b89 | 209 | PwmOut Servo (PA_15); |
haarkon | 0:f00e68bef80c | 210 | |
haarkon | 0:f00e68bef80c | 211 | I2C Bus_I2C (PB_9, PB_8); |
haarkon | 0:f00e68bef80c | 212 | |
haarkon | 9:2d99e9946b89 | 213 | SPI mySPI (PC_12, PC_11, PC_10); |
haarkon | 0:f00e68bef80c | 214 | |
haarkon | 0:f00e68bef80c | 215 | Nucleo_Encoder_16_bits Gauche (TIM4); // A = PB_6, B = PB_7 |
haarkon | 0:f00e68bef80c | 216 | Nucleo_Encoder_16_bits Droite (TIM3); // A = PB_4, B = PB_5 |
haarkon | 0:f00e68bef80c | 217 | |
haarkon | 2:1d440e938c44 | 218 | Ticker tick; |
haarkon | 2:1d440e938c44 | 219 | Timer times; |
haarkon | 0:f00e68bef80c | 220 | |
haarkon | 0:f00e68bef80c | 221 | /** Liste des variables globales |
haarkon | 0:f00e68bef80c | 222 | * |
haarkon | 0:f00e68bef80c | 223 | * Tick -> (long) Compte le nombre de MS écoulé et déclenche l'exécution de la boucle en fonction du temps écoulé. |
haarkon | 0:f00e68bef80c | 224 | * FlagIG -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue gauche |
haarkon | 0:f00e68bef80c | 225 | * FlagID -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue droite |
haarkon | 0:f00e68bef80c | 226 | * EchoXStart -> (long) Donne le temps en µs de début de l'impulsion d'écho de l'US n°X |
haarkon | 0:f00e68bef80c | 227 | * DistUSX -> (float) Donne la distance en mm mesurée par l'US n°X |
haarkon | 0:f00e68bef80c | 228 | */ |
haarkon | 0:f00e68bef80c | 229 | |
haarkon | 0:f00e68bef80c | 230 | // Structure de temps |
haarkon | 6:88b4805d33e1 | 231 | lWord Tick = 0, Gperiod, Dperiod; |
haarkon | 0:f00e68bef80c | 232 | |
haarkon | 0:f00e68bef80c | 233 | // Sémaphore d'interruption |
haarkon | 3:3dfe26a10796 | 234 | int FlagUS1 = 0, FlagUS2 = 0, FlagUS3 = 0, FlagPixy = 0, FlagPixyOverflow = 0; |
haarkon | 6:88b4805d33e1 | 235 | int FlagTick = 0, FlagTickLed = 0, BPPressed = 0, nbTurnG = 0, nbTurnD = 0; |
haarkon | 3:3dfe26a10796 | 236 | int Pixy_check = -1; |
haarkon | 0:f00e68bef80c | 237 | |
haarkon | 0:f00e68bef80c | 238 | // Dialogue avec la Pixy |
haarkon | 3:3dfe26a10796 | 239 | T_pixyCCData Pixy_CCFIFO[20]; |
haarkon | 3:3dfe26a10796 | 240 | T_pixyNMData Pixy_NMFIFO[20]; |
haarkon | 3:3dfe26a10796 | 241 | Byte Pixy_CCObjet, Pixy_NMObjet; |
haarkon | 0:f00e68bef80c | 242 | |
haarkon | 0:f00e68bef80c | 243 | // Gestion des capteurs Ultrason |
haarkon | 3:3dfe26a10796 | 244 | long Echo1Start, Echo2Start, Echo3Start; |
haarkon | 3:3dfe26a10796 | 245 | double DistUS1, DistUS2, DistUS3; |
haarkon | 0:f00e68bef80c | 246 | |
haarkon | 0:f00e68bef80c | 247 | /** Liste des interruptions |
haarkon | 0:f00e68bef80c | 248 | * |
haarkon | 0:f00e68bef80c | 249 | */ |
haarkon | 0:f00e68bef80c | 250 | |
haarkon | 0:f00e68bef80c | 251 | void tickTime() |
haarkon | 0:f00e68bef80c | 252 | { |
haarkon | 0:f00e68bef80c | 253 | Tick++; |
haarkon | 0:f00e68bef80c | 254 | FlagTick = 1; |
haarkon | 0:f00e68bef80c | 255 | if ((Tick%100)==0) FlagTickLed = 1; |
haarkon | 0:f00e68bef80c | 256 | } |
haarkon | 0:f00e68bef80c | 257 | |
haarkon | 0:f00e68bef80c | 258 | void BPevent () |
haarkon | 0:f00e68bef80c | 259 | { |
haarkon | 0:f00e68bef80c | 260 | BPPressed = 1; |
haarkon | 0:f00e68bef80c | 261 | } |
haarkon | 0:f00e68bef80c | 262 | |
haarkon | 6:88b4805d33e1 | 263 | void PWM_motGRise (void) |
haarkon | 6:88b4805d33e1 | 264 | { |
haarkon | 6:88b4805d33e1 | 265 | static lWord oldTime; |
haarkon | 6:88b4805d33e1 | 266 | lWord now; |
haarkon | 6:88b4805d33e1 | 267 | now = times.read_us(); |
haarkon | 6:88b4805d33e1 | 268 | Gperiod = now-oldTime; |
haarkon | 6:88b4805d33e1 | 269 | oldTime = now; |
haarkon | 6:88b4805d33e1 | 270 | nbTurnG++; |
haarkon | 6:88b4805d33e1 | 271 | } |
haarkon | 6:88b4805d33e1 | 272 | |
haarkon | 6:88b4805d33e1 | 273 | void PWM_motDRise (void) |
haarkon | 6:88b4805d33e1 | 274 | { |
haarkon | 6:88b4805d33e1 | 275 | static lWord oldTime; |
haarkon | 6:88b4805d33e1 | 276 | lWord now; |
haarkon | 6:88b4805d33e1 | 277 | now = times.read_us(); |
haarkon | 6:88b4805d33e1 | 278 | Dperiod = now-oldTime; |
haarkon | 6:88b4805d33e1 | 279 | oldTime = now; |
haarkon | 6:88b4805d33e1 | 280 | nbTurnD++; |
haarkon | 6:88b4805d33e1 | 281 | } |
haarkon | 6:88b4805d33e1 | 282 | |
haarkon | 0:f00e68bef80c | 283 | void echo1Rise () |
haarkon | 0:f00e68bef80c | 284 | { |
haarkon | 2:1d440e938c44 | 285 | Echo1Start = times.read_us(); |
haarkon | 0:f00e68bef80c | 286 | } |
haarkon | 0:f00e68bef80c | 287 | |
haarkon | 0:f00e68bef80c | 288 | void echo2Rise () |
haarkon | 0:f00e68bef80c | 289 | { |
haarkon | 2:1d440e938c44 | 290 | Echo2Start = times.read_us(); |
haarkon | 0:f00e68bef80c | 291 | } |
haarkon | 0:f00e68bef80c | 292 | |
haarkon | 0:f00e68bef80c | 293 | void echo3Rise () |
haarkon | 0:f00e68bef80c | 294 | { |
haarkon | 2:1d440e938c44 | 295 | Echo3Start = times.read_us(); |
haarkon | 0:f00e68bef80c | 296 | } |
haarkon | 0:f00e68bef80c | 297 | |
haarkon | 0:f00e68bef80c | 298 | void echo1Fall () |
haarkon | 0:f00e68bef80c | 299 | { |
haarkon | 2:1d440e938c44 | 300 | DistUS1 = (double)(times.read_us() - Echo1Start)/5.8; |
haarkon | 0:f00e68bef80c | 301 | FlagUS1 = 1; |
haarkon | 0:f00e68bef80c | 302 | } |
haarkon | 0:f00e68bef80c | 303 | |
haarkon | 0:f00e68bef80c | 304 | void echo2Fall () |
haarkon | 0:f00e68bef80c | 305 | { |
haarkon | 2:1d440e938c44 | 306 | DistUS2 = (double)(times.read_us() - Echo2Start)/5.8; |
haarkon | 0:f00e68bef80c | 307 | FlagUS2 = 1; |
haarkon | 0:f00e68bef80c | 308 | } |
haarkon | 0:f00e68bef80c | 309 | |
haarkon | 0:f00e68bef80c | 310 | void echo3Fall () |
haarkon | 0:f00e68bef80c | 311 | { |
haarkon | 2:1d440e938c44 | 312 | DistUS3 = (double)(times.read_us() - Echo3Start)/5.8; |
haarkon | 0:f00e68bef80c | 313 | FlagUS3 = 1; |
haarkon | 0:f00e68bef80c | 314 | } |
haarkon | 0:f00e68bef80c | 315 | |
haarkon | 0:f00e68bef80c | 316 | void getPixyByte () |
haarkon | 0:f00e68bef80c | 317 | { |
haarkon | 2:1d440e938c44 | 318 | static T_tmpBuffer tmpBuffer; |
haarkon | 2:1d440e938c44 | 319 | static T_structBuffer msgBuffer; |
haarkon | 3:3dfe26a10796 | 320 | static T_pixyState PIXY_state = none; |
haarkon | 2:1d440e938c44 | 321 | static Byte byteCount = 0; |
haarkon | 3:3dfe26a10796 | 322 | static int PIXY_synced = 0, dummy; |
haarkon | 2:1d440e938c44 | 323 | int i, somme; |
haarkon | 3:3dfe26a10796 | 324 | static Byte PIXY_nbCCObjet = 0, PIXY_wCCObjet = 0; |
haarkon | 3:3dfe26a10796 | 325 | static Byte PIXY_nbNMObjet = 0, PIXY_wNMObjet = 0; |
haarkon | 0:f00e68bef80c | 326 | |
haarkon | 2:1d440e938c44 | 327 | Pixy_check = 0; |
haarkon | 0:f00e68bef80c | 328 | |
haarkon | 3:3dfe26a10796 | 329 | if (!PIXY_synced) { // On n'a pas trouvé le START (0x55aa0000) |
haarkon | 2:1d440e938c44 | 330 | tmpBuffer.tab[byteCount] = Pixy.getc(); // On stocke l'octet reçu dans la première case dispo du tableau temporaire |
haarkon | 2:1d440e938c44 | 331 | |
haarkon | 2:1d440e938c44 | 332 | if (byteCount < 3) { // Si on n'a pas encore reçu les 4 premier octets |
haarkon | 2:1d440e938c44 | 333 | byteCount++; // On passe à la case suivante du tableau temporaire |
haarkon | 2:1d440e938c44 | 334 | } else { // Lorsqu'on a 4 octets |
haarkon | 2:1d440e938c44 | 335 | if (tmpBuffer.mot != 0xaa550000) { // Si le code n'est pas le code de START |
haarkon | 2:1d440e938c44 | 336 | for (i=1; i<4; i++) tmpBuffer.tab[i-1] = tmpBuffer.tab[i]; // On décalle les cases du tableau |
haarkon | 2:1d440e938c44 | 337 | byteCount = 3; // Et on attend le caractère suivant |
haarkon | 2:1d440e938c44 | 338 | } else { // Si on a trouvé le code de START |
haarkon | 3:3dfe26a10796 | 339 | PIXY_synced = 1; // On passe en mode synchronisé |
haarkon | 3:3dfe26a10796 | 340 | PIXY_state = begin; |
haarkon | 2:1d440e938c44 | 341 | byteCount = 0; |
haarkon | 0:f00e68bef80c | 342 | } |
haarkon | 0:f00e68bef80c | 343 | } |
haarkon | 2:1d440e938c44 | 344 | } |
haarkon | 2:1d440e938c44 | 345 | |
haarkon | 3:3dfe26a10796 | 346 | if (PIXY_synced) { |
haarkon | 2:1d440e938c44 | 347 | |
haarkon | 3:3dfe26a10796 | 348 | switch (PIXY_state) { |
haarkon | 2:1d440e938c44 | 349 | case begin : // l'aiguillage est là ! |
haarkon | 2:1d440e938c44 | 350 | |
haarkon | 2:1d440e938c44 | 351 | msgBuffer.tab[byteCount%2] = Pixy.getc(); // on stocke les octets reçus |
haarkon | 2:1d440e938c44 | 352 | byteCount++; |
haarkon | 2:1d440e938c44 | 353 | if (byteCount == 2) { // Quand on a 2 octets |
haarkon | 2:1d440e938c44 | 354 | |
haarkon | 2:1d440e938c44 | 355 | if (msgBuffer.mot == 0xaa55) { // Si c'est un bloc normal (code 0xAA55) |
haarkon | 3:3dfe26a10796 | 356 | PIXY_state = normal; // On part vers le traitement spécifique |
haarkon | 2:1d440e938c44 | 357 | } |
haarkon | 2:1d440e938c44 | 358 | |
haarkon | 2:1d440e938c44 | 359 | if (msgBuffer.mot == 0xaa56) { // Si c'est un bloc Color Code (code 0xAA56) |
haarkon | 3:3dfe26a10796 | 360 | PIXY_state = colorCode; // On part vers le traitement spécifique |
haarkon | 2:1d440e938c44 | 361 | } |
haarkon | 2:1d440e938c44 | 362 | |
haarkon | 2:1d440e938c44 | 363 | if (msgBuffer.mot == 0) { // Si on a un debut de trame (code 0000) |
haarkon | 3:3dfe26a10796 | 364 | PIXY_state = doubleZero; // On part vers le traitement spécifique |
haarkon | 2:1d440e938c44 | 365 | } |
haarkon | 3:3dfe26a10796 | 366 | if ((PIXY_state == begin) || (PIXY_state == none)) { // Si c'est autre chose |
haarkon | 3:3dfe26a10796 | 367 | PIXY_synced = 0; // C'est qu'on est perdu donc plus synchronisé. |
haarkon | 3:3dfe26a10796 | 368 | PIXY_state = none; // Ceinture et bretelle |
haarkon | 2:1d440e938c44 | 369 | } |
haarkon | 2:1d440e938c44 | 370 | byteCount = 0; |
haarkon | 2:1d440e938c44 | 371 | } |
haarkon | 2:1d440e938c44 | 372 | break; |
haarkon | 2:1d440e938c44 | 373 | |
haarkon | 2:1d440e938c44 | 374 | case normal : // Si on a un bloc normal |
haarkon | 2:1d440e938c44 | 375 | |
haarkon | 3:3dfe26a10796 | 376 | Pixy_NMFIFO[PIXY_wNMObjet].tab[byteCount] = Pixy.getc(); // On stocke les octets un à un dans la structure Bloc |
haarkon | 2:1d440e938c44 | 377 | if (byteCount < 11) { // Tant que la structure n'est pas pleine |
haarkon | 2:1d440e938c44 | 378 | byteCount++; // On passe à l'octet suivant |
haarkon | 2:1d440e938c44 | 379 | } else { // Quand elle est pleine |
haarkon | 2:1d440e938c44 | 380 | byteCount = 0; // On réinitialise |
haarkon | 3:3dfe26a10796 | 381 | PIXY_state = begin; // On retourne à l'aiguillage |
haarkon | 2:1d440e938c44 | 382 | // On calcule la somme de contrôle |
haarkon | 3:3dfe26a10796 | 383 | somme = Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.signature + Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.x + Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.y + Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.width + Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.height; |
haarkon | 2:1d440e938c44 | 384 | |
haarkon | 3:3dfe26a10796 | 385 | if (somme == Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.checksum) { // Si le checksum est bon, on valide la réception |
haarkon | 3:3dfe26a10796 | 386 | if (PIXY_wNMObjet < 19) PIXY_wNMObjet++; // On incrémente le pointeur d'écriture dans la FIFO Objet |
haarkon | 3:3dfe26a10796 | 387 | else PIXY_wNMObjet = 0; |
haarkon | 3:3dfe26a10796 | 388 | if (PIXY_nbNMObjet < 19) PIXY_nbNMObjet++; // On dit que l'on a un objet CC de plus |
haarkon | 2:1d440e938c44 | 389 | else FlagPixyOverflow = 1; // Si on a plus de 20 CC objets (en attente) => Overflow |
haarkon | 2:1d440e938c44 | 390 | } |
haarkon | 2:1d440e938c44 | 391 | } |
haarkon | 2:1d440e938c44 | 392 | break; |
haarkon | 2:1d440e938c44 | 393 | |
haarkon | 2:1d440e938c44 | 394 | case colorCode : // Si on a un bloc colorCode |
haarkon | 2:1d440e938c44 | 395 | |
haarkon | 3:3dfe26a10796 | 396 | Pixy_CCFIFO[PIXY_wCCObjet].tab[byteCount] = dummy; // On stocke les octets un à un dans la structure CCBloc |
haarkon | 2:1d440e938c44 | 397 | if (byteCount < 13) byteCount++; // tant que la structure n'est pas pleine on passe à l'octet suivant |
haarkon | 2:1d440e938c44 | 398 | else { // Quand elle est pleine |
haarkon | 2:1d440e938c44 | 399 | byteCount = 0; // On réinitialise |
haarkon | 3:3dfe26a10796 | 400 | PIXY_state = begin; // On retourne à l'aiguillage |
haarkon | 2:1d440e938c44 | 401 | // On calcule la somme de contrôle |
haarkon | 3:3dfe26a10796 | 402 | somme = Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.signature + Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.x + Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.y + Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.width + Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.height + Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.angle; |
haarkon | 2:1d440e938c44 | 403 | |
haarkon | 3:3dfe26a10796 | 404 | if (somme == Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.checksum) { // Si le checksum est bon |
haarkon | 3:3dfe26a10796 | 405 | if (PIXY_wCCObjet < 19) PIXY_wCCObjet++; // On incrémente le pointeur d'écriture dans la FIFO CCObjet |
haarkon | 3:3dfe26a10796 | 406 | else PIXY_wCCObjet = 0; |
haarkon | 3:3dfe26a10796 | 407 | if (PIXY_nbCCObjet < 19) PIXY_nbCCObjet++; // On dit que l'on a un objet CC de plus à traiter |
haarkon | 2:1d440e938c44 | 408 | else FlagPixyOverflow = 1; // Si on a plus de 20 CC objets (en attente) => Overflow |
haarkon | 2:1d440e938c44 | 409 | } |
haarkon | 2:1d440e938c44 | 410 | } |
haarkon | 2:1d440e938c44 | 411 | break; |
haarkon | 2:1d440e938c44 | 412 | |
haarkon | 2:1d440e938c44 | 413 | case doubleZero : // Si on a reçu le code de début d'une nouvelle trame. |
haarkon | 2:1d440e938c44 | 414 | |
haarkon | 2:1d440e938c44 | 415 | msgBuffer.tab[byteCount%2] = Pixy.getc(); // on stocke les octets reçus |
haarkon | 2:1d440e938c44 | 416 | byteCount++; |
haarkon | 2:1d440e938c44 | 417 | if (byteCount == 2) { // Quand on a 2 octets |
haarkon | 2:1d440e938c44 | 418 | if (msgBuffer.mot == 0xaa55) { // On doit impérativement trouver le code 0xAA55 |
haarkon | 3:3dfe26a10796 | 419 | PIXY_state = begin; // Si c'est le cas, alors tout va bien et on va à l'aiguillage |
haarkon | 3:3dfe26a10796 | 420 | Pixy_NMObjet = PIXY_nbNMObjet; // On met à jour les variables pour le traitement |
haarkon | 3:3dfe26a10796 | 421 | Pixy_CCObjet = PIXY_nbCCObjet; |
haarkon | 3:3dfe26a10796 | 422 | PIXY_nbCCObjet = 0; |
haarkon | 3:3dfe26a10796 | 423 | PIXY_nbNMObjet = 0; |
haarkon | 3:3dfe26a10796 | 424 | FlagPixy = 1; // On valide le traitement de la trame précédente. |
haarkon | 2:1d440e938c44 | 425 | } else { // Si on trouve autre chose |
haarkon | 3:3dfe26a10796 | 426 | PIXY_synced = 0; // C'est qu'on est perdu donc plus synchronisé. |
haarkon | 3:3dfe26a10796 | 427 | PIXY_state = none; // Ceinture et bretelle |
haarkon | 2:1d440e938c44 | 428 | } |
haarkon | 2:1d440e938c44 | 429 | byteCount = 0; |
haarkon | 2:1d440e938c44 | 430 | } |
haarkon | 2:1d440e938c44 | 431 | break; |
haarkon | 0:f00e68bef80c | 432 | } |
haarkon | 0:f00e68bef80c | 433 | } |
haarkon | 0:f00e68bef80c | 434 | } |
haarkon | 0:f00e68bef80c | 435 | |
haarkon | 2:1d440e938c44 | 436 | |
haarkon | 0:f00e68bef80c | 437 | int main() |
haarkon | 0:f00e68bef80c | 438 | { |
haarkon | 0:f00e68bef80c | 439 | |
haarkon | 2:1d440e938c44 | 440 | int I2C_check = -1, BOUSSOLE_check = -1 /*, SPI2_check = -1, SPI3_check = -1, MOTG_check = -1, MOTD_check = -1*/; |
haarkon | 5:4955cb4b3646 | 441 | |
haarkon | 3:3dfe26a10796 | 442 | Byte PIXY_rCCObjet = 0, PIXY_rNMObjet = 0; |
haarkon | 2:1d440e938c44 | 443 | int PIXY_objet; |
haarkon | 0:f00e68bef80c | 444 | |
haarkon | 6:88b4805d33e1 | 445 | int SERVO_pulseWidth = 400, SERVO_max = 1400, SERVO_min = 400; |
haarkon | 0:f00e68bef80c | 446 | T_SERVODIR SERVO_dir = S_monte; |
haarkon | 0:f00e68bef80c | 447 | |
haarkon | 0:f00e68bef80c | 448 | char MENU_choix = 0; |
haarkon | 0:f00e68bef80c | 449 | |
haarkon | 2:1d440e938c44 | 450 | char BOUSSOLE_status[1] = {0}; |
haarkon | 0:f00e68bef80c | 451 | char I2C_registerValue[4]; |
haarkon | 3:3dfe26a10796 | 452 | double BOUSSOLE_periode; |
haarkon | 0:f00e68bef80c | 453 | |
haarkon | 0:f00e68bef80c | 454 | double CAP_I2C, CAP_PWM; |
haarkon | 0:f00e68bef80c | 455 | double SD1_val, SD2_val, LD1_val, LD2_val, CNY1_val, CNY2_val, CNY3_val, Vbat_val; |
haarkon | 0:f00e68bef80c | 456 | double SD1_dist, SD2_dist, LD1_dist, LD2_dist; |
haarkon | 0:f00e68bef80c | 457 | |
haarkon | 6:88b4805d33e1 | 458 | int MOTG_evol = 1, MOTD_evol = 1; |
haarkon | 6:88b4805d33e1 | 459 | double MOTG_duty = 0.5, MOTD_duty = 0.5; |
haarkon | 9:2d99e9946b89 | 460 | int SensG = 1, SensD = 1; |
haarkon | 5:4955cb4b3646 | 461 | |
haarkon | 2:1d440e938c44 | 462 | times.reset(); |
haarkon | 2:1d440e938c44 | 463 | times.start(); |
haarkon | 0:f00e68bef80c | 464 | |
haarkon | 6:88b4805d33e1 | 465 | // Initialisation des interruptions |
haarkon | 2:1d440e938c44 | 466 | tick.attach(&tickTime, 0.001); |
haarkon | 0:f00e68bef80c | 467 | |
haarkon | 6:88b4805d33e1 | 468 | BP.rise (&BPevent); |
haarkon | 0:f00e68bef80c | 469 | |
haarkon | 6:88b4805d33e1 | 470 | Echo1.rise (&echo1Rise); |
haarkon | 6:88b4805d33e1 | 471 | Echo2.rise (&echo2Rise); |
haarkon | 6:88b4805d33e1 | 472 | Echo3.rise (&echo3Rise); |
haarkon | 6:88b4805d33e1 | 473 | Echo1.fall (&echo1Fall); |
haarkon | 6:88b4805d33e1 | 474 | Echo2.fall (&echo2Fall); |
haarkon | 6:88b4805d33e1 | 475 | Echo3.fall (&echo3Fall); |
haarkon | 6:88b4805d33e1 | 476 | |
haarkon | 6:88b4805d33e1 | 477 | PWMG.rise (&PWM_motGRise); |
haarkon | 6:88b4805d33e1 | 478 | PWMD.rise (&PWM_motDRise); |
haarkon | 6:88b4805d33e1 | 479 | |
haarkon | 6:88b4805d33e1 | 480 | Pixy.attach (&getPixyByte); |
haarkon | 0:f00e68bef80c | 481 | |
haarkon | 1:d95546f84105 | 482 | BP.enable_irq(); |
haarkon | 0:f00e68bef80c | 483 | Echo1.enable_irq(); |
haarkon | 0:f00e68bef80c | 484 | Echo2.enable_irq(); |
haarkon | 0:f00e68bef80c | 485 | Echo3.enable_irq(); |
haarkon | 6:88b4805d33e1 | 486 | PWMG.enable_irq(); |
haarkon | 6:88b4805d33e1 | 487 | PWMD.enable_irq(); |
haarkon | 0:f00e68bef80c | 488 | |
haarkon | 6:88b4805d33e1 | 489 | // Initialisation des périphériques |
haarkon | 6:88b4805d33e1 | 490 | // Bus I2C |
haarkon | 6:88b4805d33e1 | 491 | Bus_I2C.frequency (100000); |
haarkon | 0:f00e68bef80c | 492 | |
haarkon | 6:88b4805d33e1 | 493 | // PWM des moteurs |
haarkon | 0:f00e68bef80c | 494 | Pwm_MG.period_us(50); |
haarkon | 0:f00e68bef80c | 495 | Pwm_MD.period_us(50); |
haarkon | 9:2d99e9946b89 | 496 | IN1G = 0; |
haarkon | 9:2d99e9946b89 | 497 | IN2G = 0; |
haarkon | 9:2d99e9946b89 | 498 | IN1D = 0; |
haarkon | 9:2d99e9946b89 | 499 | IN2D = 0; |
haarkon | 9:2d99e9946b89 | 500 | |
haarkon | 6:88b4805d33e1 | 501 | // Bus SPI |
haarkon | 9:2d99e9946b89 | 502 | mySPI.format (16,1); |
haarkon | 9:2d99e9946b89 | 503 | mySPI.frequency (1000000); |
haarkon | 6:88b4805d33e1 | 504 | |
haarkon | 9:2d99e9946b89 | 505 | SSG = 1; |
haarkon | 9:2d99e9946b89 | 506 | SSD = 1; |
haarkon | 9:2d99e9946b89 | 507 | |
haarkon | 6:88b4805d33e1 | 508 | // Led |
haarkon | 0:f00e68bef80c | 509 | Led2 = 0; |
haarkon | 0:f00e68bef80c | 510 | |
haarkon | 6:88b4805d33e1 | 511 | Servo.period_ms (20); |
haarkon | 6:88b4805d33e1 | 512 | Servo.pulsewidth_us(200); |
haarkon | 0:f00e68bef80c | 513 | |
haarkon | 0:f00e68bef80c | 514 | while(1) { |
haarkon | 0:f00e68bef80c | 515 | |
haarkon | 0:f00e68bef80c | 516 | do { |
haarkon | 0:f00e68bef80c | 517 | Led1 = 0; |
gvaquette | 11:df0957bf8f16 | 518 | Pc.printf ("\n\n\n\n\rTest program \n\n\r Choos the component to test :\n\n"); |
gvaquette | 11:df0957bf8f16 | 519 | Pc.printf ("\r1- Ultrasonic sensors (3)\n"); |
gvaquette | 11:df0957bf8f16 | 520 | Pc.printf ("\r2- Compass et I2C\n"); |
gvaquette | 11:df0957bf8f16 | 521 | Pc.printf ("\r3- GP2 sensors \n"); |
gvaquette | 11:df0957bf8f16 | 522 | Pc.printf ("\r4- CNY70 (3)\n"); |
gvaquette | 11:df0957bf8f16 | 523 | Pc.printf ("\r5- VBAT \t! value error!\n"); |
gvaquette | 11:df0957bf8f16 | 524 | Pc.printf ("\r6- Left motor\n"); |
gvaquette | 11:df0957bf8f16 | 525 | Pc.printf ("\r7- Right motor\n"); |
gvaquette | 11:df0957bf8f16 | 526 | Pc.printf ("\r8- Servomotor\n"); |
haarkon | 6:88b4805d33e1 | 527 | Pc.printf ("\r9- PIXY (CMUCAM5)\n"); |
haarkon | 0:f00e68bef80c | 528 | MENU_choix = Pc.getc (); |
haarkon | 0:f00e68bef80c | 529 | } while (((MENU_choix-'0')<1) || ((MENU_choix-'0')>9)); |
haarkon | 0:f00e68bef80c | 530 | |
haarkon | 0:f00e68bef80c | 531 | switch (MENU_choix-'0') { |
haarkon | 0:f00e68bef80c | 532 | |
haarkon | 0:f00e68bef80c | 533 | case 1 : |
gvaquette | 12:ee9e5009f7ce | 534 | Pc.printf ("\n\n\rUltrasonic sensors check: \n"); |
gvaquette | 12:ee9e5009f7ce | 535 | Pc.printf ("\rHit Enter to quit \n"); |
haarkon | 0:f00e68bef80c | 536 | do { |
haarkon | 0:f00e68bef80c | 537 | |
haarkon | 0:f00e68bef80c | 538 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 539 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 540 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 541 | } |
haarkon | 0:f00e68bef80c | 542 | |
haarkon | 0:f00e68bef80c | 543 | // Gestion des US |
haarkon | 0:f00e68bef80c | 544 | if (((Tick%150)==0) && FlagTick) { |
haarkon | 0:f00e68bef80c | 545 | Trig1 = 1; |
haarkon | 0:f00e68bef80c | 546 | wait_us(20); |
haarkon | 0:f00e68bef80c | 547 | Trig1 = 0; |
haarkon | 0:f00e68bef80c | 548 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 549 | } |
haarkon | 0:f00e68bef80c | 550 | |
haarkon | 0:f00e68bef80c | 551 | if (((Tick%150)==50) && FlagTick) { |
haarkon | 0:f00e68bef80c | 552 | Trig2 = 1; |
haarkon | 0:f00e68bef80c | 553 | wait_us(20); |
haarkon | 0:f00e68bef80c | 554 | Trig2 = 0; |
haarkon | 0:f00e68bef80c | 555 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 556 | } |
haarkon | 0:f00e68bef80c | 557 | |
haarkon | 0:f00e68bef80c | 558 | if (((Tick%150)==100) && FlagTick) { |
haarkon | 0:f00e68bef80c | 559 | Trig3 = 1; |
haarkon | 0:f00e68bef80c | 560 | wait_us(20); |
haarkon | 0:f00e68bef80c | 561 | Trig3 = 0; |
haarkon | 0:f00e68bef80c | 562 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 563 | } |
haarkon | 0:f00e68bef80c | 564 | |
haarkon | 0:f00e68bef80c | 565 | if (FlagUS1==1) { |
haarkon | 0:f00e68bef80c | 566 | Pc.printf ("\rUS 1 = %04d mm", (int)DistUS1); |
haarkon | 0:f00e68bef80c | 567 | FlagUS1 = 0; |
haarkon | 0:f00e68bef80c | 568 | } |
haarkon | 0:f00e68bef80c | 569 | |
haarkon | 0:f00e68bef80c | 570 | if (FlagUS2==1) { |
haarkon | 0:f00e68bef80c | 571 | Pc.printf ("\r\t\t\tUS 2 = %04d mm", (int)DistUS2); |
haarkon | 0:f00e68bef80c | 572 | FlagUS2 = 0; |
haarkon | 0:f00e68bef80c | 573 | } |
haarkon | 0:f00e68bef80c | 574 | |
haarkon | 0:f00e68bef80c | 575 | if (FlagUS3==1) { |
haarkon | 0:f00e68bef80c | 576 | Pc.printf ("\r\t\t\t\t\t\tUS 3 = %04d mm", (int)DistUS3); |
haarkon | 0:f00e68bef80c | 577 | FlagUS3 = 0; |
haarkon | 0:f00e68bef80c | 578 | } |
haarkon | 0:f00e68bef80c | 579 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 580 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 581 | break; |
haarkon | 0:f00e68bef80c | 582 | |
haarkon | 0:f00e68bef80c | 583 | case 2 : |
haarkon | 0:f00e68bef80c | 584 | Pc.printf ("\n\n\rBoussole\n"); |
gvaquette | 12:ee9e5009f7ce | 585 | Pc.printf ("\rHit Enter to quit \n"); |
haarkon | 0:f00e68bef80c | 586 | |
gvaquette | 12:ee9e5009f7ce | 587 | Pc.printf ("\n\r I2C check:"); |
haarkon | 0:f00e68bef80c | 588 | I2C_check = Bus_I2C.write (BOUSSOLE_adress,BOUSSOLE_status,1,false); |
haarkon | 0:f00e68bef80c | 589 | if (I2C_check==0) { |
haarkon | 0:f00e68bef80c | 590 | Pc.printf (" OK\n"); |
haarkon | 0:f00e68bef80c | 591 | Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true); |
haarkon | 0:f00e68bef80c | 592 | Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4); |
gvaquette | 12:ee9e5009f7ce | 593 | Pc.printf ("\rCOMPASS Firmware version: %03d\n", I2C_registerValue[0]); |
haarkon | 0:f00e68bef80c | 594 | } else { |
haarkon | 0:f00e68bef80c | 595 | Pc.printf (" FAIL\n"); |
haarkon | 0:f00e68bef80c | 596 | } |
haarkon | 0:f00e68bef80c | 597 | |
haarkon | 3:3dfe26a10796 | 598 | BOUSSOLE_periode = PWMB.period(); |
gvaquette | 12:ee9e5009f7ce | 599 | Pc.printf ("\rPWM check:"); |
haarkon | 3:3dfe26a10796 | 600 | if ((BOUSSOLE_periode > 0.11) || (BOUSSOLE_periode < 0.06)) { |
haarkon | 0:f00e68bef80c | 601 | Pc.printf (" FAIL\n\n"); |
haarkon | 0:f00e68bef80c | 602 | } else { |
haarkon | 0:f00e68bef80c | 603 | Pc.printf (" OK\n\n"); |
haarkon | 0:f00e68bef80c | 604 | BOUSSOLE_check = 0; |
haarkon | 0:f00e68bef80c | 605 | } |
haarkon | 0:f00e68bef80c | 606 | |
haarkon | 0:f00e68bef80c | 607 | do { |
haarkon | 0:f00e68bef80c | 608 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 609 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 610 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 611 | } |
haarkon | 0:f00e68bef80c | 612 | |
haarkon | 1:d95546f84105 | 613 | if (((Tick%150)==0) && FlagTick) { |
haarkon | 0:f00e68bef80c | 614 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 615 | if (BOUSSOLE_check==0) { |
haarkon | 0:f00e68bef80c | 616 | CAP_PWM = ((PWMB.pulsewidth()*1000)-1)*10; |
haarkon | 1:d95546f84105 | 617 | Pc.printf ("\r PWM = %4.1lf", CAP_PWM); |
haarkon | 0:f00e68bef80c | 618 | } |
haarkon | 2:1d440e938c44 | 619 | if (I2C_check==0) { |
haarkon | 0:f00e68bef80c | 620 | Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true); |
haarkon | 0:f00e68bef80c | 621 | Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4); |
haarkon | 0:f00e68bef80c | 622 | CAP_I2C = (double)(((unsigned short)I2C_registerValue[2]<<8)+(unsigned short)I2C_registerValue[3])/10.0; |
haarkon | 1:d95546f84105 | 623 | Pc.printf ("\r\t\t I2C = %4.1lf", CAP_I2C); |
haarkon | 2:1d440e938c44 | 624 | } |
haarkon | 0:f00e68bef80c | 625 | } |
haarkon | 0:f00e68bef80c | 626 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 627 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 628 | break; |
haarkon | 0:f00e68bef80c | 629 | |
haarkon | 0:f00e68bef80c | 630 | case 3 : |
haarkon | 0:f00e68bef80c | 631 | Pc.printf ("\n\n\rGP2xx\n"); |
gvaquette | 12:ee9e5009f7ce | 632 | Pc.printf ("\rHit Enter to quit \n"); |
haarkon | 0:f00e68bef80c | 633 | do { |
haarkon | 0:f00e68bef80c | 634 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 635 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 636 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 637 | |
haarkon | 0:f00e68bef80c | 638 | SD1_val = SD1; |
haarkon | 0:f00e68bef80c | 639 | SD2_val = SD2; |
haarkon | 0:f00e68bef80c | 640 | LD1_val = LD1; |
haarkon | 0:f00e68bef80c | 641 | LD2_val = LD2; |
haarkon | 0:f00e68bef80c | 642 | |
haarkon | 0:f00e68bef80c | 643 | if (SD1_val < 0.06) { |
haarkon | 0:f00e68bef80c | 644 | SD1_val = 0; |
haarkon | 0:f00e68bef80c | 645 | SD1_dist = 40; |
haarkon | 0:f00e68bef80c | 646 | } else { |
haarkon | 0:f00e68bef80c | 647 | SD1_dist = 11.611/(SD1_val*3.3-0.0237); |
haarkon | 0:f00e68bef80c | 648 | if (SD1_dist > 40) SD1_dist = 40; |
haarkon | 0:f00e68bef80c | 649 | } |
haarkon | 0:f00e68bef80c | 650 | |
haarkon | 0:f00e68bef80c | 651 | if (SD2_val < 0.06) { |
haarkon | 0:f00e68bef80c | 652 | SD2_val = 0; |
haarkon | 0:f00e68bef80c | 653 | SD2_dist = 40; |
haarkon | 0:f00e68bef80c | 654 | } else { |
haarkon | 0:f00e68bef80c | 655 | SD2_dist = 11.611/(SD2_val*3.3-0.0237); |
haarkon | 0:f00e68bef80c | 656 | if (SD2_dist > 40) SD2_dist = 40; |
haarkon | 0:f00e68bef80c | 657 | } |
haarkon | 0:f00e68bef80c | 658 | |
haarkon | 0:f00e68bef80c | 659 | if (LD1_val < 0.1) { |
haarkon | 0:f00e68bef80c | 660 | LD1_val = 0; |
haarkon | 0:f00e68bef80c | 661 | LD1_dist = 150; |
haarkon | 0:f00e68bef80c | 662 | } else { |
haarkon | 0:f00e68bef80c | 663 | LD1_dist = 59.175/(LD1_val*3.3-0.0275); |
haarkon | 0:f00e68bef80c | 664 | if (LD1_dist > 150) LD1_dist = 150; |
haarkon | 0:f00e68bef80c | 665 | } |
haarkon | 0:f00e68bef80c | 666 | |
haarkon | 0:f00e68bef80c | 667 | if (LD2_val < 0.1) { |
haarkon | 0:f00e68bef80c | 668 | LD2_val = 0; |
haarkon | 0:f00e68bef80c | 669 | LD2_dist = 150; |
haarkon | 0:f00e68bef80c | 670 | } else { |
haarkon | 0:f00e68bef80c | 671 | LD2_dist = 59.175/(LD2_val*3.3-0.0275); |
haarkon | 0:f00e68bef80c | 672 | if (LD2_dist > 150) LD2_dist = 150; |
haarkon | 0:f00e68bef80c | 673 | } |
haarkon | 0:f00e68bef80c | 674 | |
haarkon | 0:f00e68bef80c | 675 | Pc.printf ("\r SD1 = %3.1lf cm - SD2 = %3.1lf cm - LD1 = %4.1lf cm - LD2 = %4.1lf cm", SD1_dist, SD2_dist, LD1_dist, LD2_dist); |
haarkon | 0:f00e68bef80c | 676 | } |
haarkon | 0:f00e68bef80c | 677 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 678 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 679 | break; |
haarkon | 0:f00e68bef80c | 680 | |
haarkon | 0:f00e68bef80c | 681 | case 4 : |
haarkon | 0:f00e68bef80c | 682 | Pc.printf ("\n\n\rCNY70\n"); |
gvaquette | 12:ee9e5009f7ce | 683 | Pc.printf ("\rHit Enter to quit \n"); |
haarkon | 0:f00e68bef80c | 684 | do { |
haarkon | 0:f00e68bef80c | 685 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 686 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 687 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 688 | |
haarkon | 0:f00e68bef80c | 689 | CNY1_val = CNY1; |
haarkon | 0:f00e68bef80c | 690 | CNY2_val = CNY2; |
haarkon | 0:f00e68bef80c | 691 | CNY3_val = CNY3; |
haarkon | 0:f00e68bef80c | 692 | |
haarkon | 0:f00e68bef80c | 693 | Pc.printf ("\r CNY1 = %3.2lf V\t CNY2 = %3.2lf V\t CNY3 = %3.2lf V", CNY1_val*3.3, CNY2_val*3.3, CNY3_val*3.3); |
haarkon | 0:f00e68bef80c | 694 | } |
haarkon | 0:f00e68bef80c | 695 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 696 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 697 | break; |
haarkon | 0:f00e68bef80c | 698 | |
haarkon | 0:f00e68bef80c | 699 | case 5 : |
gvaquette | 12:ee9e5009f7ce | 700 | Pc.printf ("\n\n\rVbat \n"); |
gvaquette | 12:ee9e5009f7ce | 701 | Pc.printf ("\rHit Enter to quit \n"); |
haarkon | 0:f00e68bef80c | 702 | do { |
haarkon | 0:f00e68bef80c | 703 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 704 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 705 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 706 | |
haarkon | 0:f00e68bef80c | 707 | Vbat_val = Vbat; |
haarkon | 0:f00e68bef80c | 708 | Pc.printf ("\rVbat = %5.3lf V", Vbat_val*3.3*4.3); |
haarkon | 0:f00e68bef80c | 709 | } |
haarkon | 0:f00e68bef80c | 710 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 711 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 712 | break; |
haarkon | 0:f00e68bef80c | 713 | |
haarkon | 0:f00e68bef80c | 714 | case 6 : |
gvaquette | 11:df0957bf8f16 | 715 | Pc.printf ("\n\n\rLeft motor\n"); |
gvaquette | 11:df0957bf8f16 | 716 | Pc.printf ("\rHit Enter to quit \n"); |
gvaquette | 11:df0957bf8f16 | 717 | Pc.printf ("\rPWM should change regularly and left motor should move, Tick should increase, Period should be 50 us \n", MOTG_duty, Gauche.GetCounter(), Gperiod); |
gvaquette | 10:c6db803927b6 | 718 | |
haarkon | 6:88b4805d33e1 | 719 | Led2 = 1; |
haarkon | 6:88b4805d33e1 | 720 | |
haarkon | 0:f00e68bef80c | 721 | do { |
gvaquette | 10:c6db803927b6 | 722 | if (SensG) { |
gvaquette | 10:c6db803927b6 | 723 | IN1G = 1; |
gvaquette | 10:c6db803927b6 | 724 | IN2G = 0; |
gvaquette | 10:c6db803927b6 | 725 | } else { |
gvaquette | 10:c6db803927b6 | 726 | IN1G = 0; |
gvaquette | 10:c6db803927b6 | 727 | IN2G = 1; |
gvaquette | 10:c6db803927b6 | 728 | } |
gvaquette | 10:c6db803927b6 | 729 | |
haarkon | 0:f00e68bef80c | 730 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 731 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 732 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 733 | } |
haarkon | 5:4955cb4b3646 | 734 | if (BPPressed) { |
haarkon | 5:4955cb4b3646 | 735 | BPPressed = 0; |
haarkon | 6:88b4805d33e1 | 736 | SensG = !SensG; |
haarkon | 6:88b4805d33e1 | 737 | Led2 = !Led2; |
haarkon | 6:88b4805d33e1 | 738 | } |
haarkon | 5:4955cb4b3646 | 739 | |
haarkon | 6:88b4805d33e1 | 740 | if (((Tick%1000)==0) && FlagTick) { |
haarkon | 6:88b4805d33e1 | 741 | FlagTick = 0; |
haarkon | 6:88b4805d33e1 | 742 | if (MOTG_evol) { |
haarkon | 6:88b4805d33e1 | 743 | if (MOTG_duty < 0.9) MOTG_duty += 0.1; |
haarkon | 6:88b4805d33e1 | 744 | else { |
haarkon | 6:88b4805d33e1 | 745 | MOTG_evol = 0; |
haarkon | 6:88b4805d33e1 | 746 | MOTG_duty = 0.9; |
haarkon | 6:88b4805d33e1 | 747 | } |
haarkon | 5:4955cb4b3646 | 748 | } else { |
haarkon | 6:88b4805d33e1 | 749 | if (MOTG_duty > 0.1) MOTG_duty -= 0.1; |
haarkon | 6:88b4805d33e1 | 750 | else { |
haarkon | 6:88b4805d33e1 | 751 | MOTG_evol = 1; |
haarkon | 6:88b4805d33e1 | 752 | MOTG_duty = 0.1; |
haarkon | 6:88b4805d33e1 | 753 | } |
haarkon | 5:4955cb4b3646 | 754 | } |
haarkon | 5:4955cb4b3646 | 755 | } |
haarkon | 6:88b4805d33e1 | 756 | |
haarkon | 6:88b4805d33e1 | 757 | Pwm_MG = MOTG_duty; |
gvaquette | 11:df0957bf8f16 | 758 | |
haarkon | 6:88b4805d33e1 | 759 | Pc.printf ("\rPWM = %2.1lf => Pos = %10ld Tick, Period = %ldus", MOTG_duty, Gauche.GetCounter(), Gperiod); |
haarkon | 6:88b4805d33e1 | 760 | |
haarkon | 6:88b4805d33e1 | 761 | |
haarkon | 0:f00e68bef80c | 762 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 763 | MENU_choix = Pc.getc(); |
haarkon | 6:88b4805d33e1 | 764 | |
haarkon | 9:2d99e9946b89 | 765 | IN1G = 0; |
haarkon | 9:2d99e9946b89 | 766 | IN2G = 0; |
haarkon | 9:2d99e9946b89 | 767 | Pwm_MG = 0; |
haarkon | 9:2d99e9946b89 | 768 | Led2 = 0; |
haarkon | 6:88b4805d33e1 | 769 | |
haarkon | 0:f00e68bef80c | 770 | break; |
haarkon | 0:f00e68bef80c | 771 | |
haarkon | 0:f00e68bef80c | 772 | case 7 : |
gvaquette | 11:df0957bf8f16 | 773 | Pc.printf ("\n\n\rLeft motor\n"); |
gvaquette | 11:df0957bf8f16 | 774 | Pc.printf ("\rHit Enter to quit \n"); |
gvaquette | 11:df0957bf8f16 | 775 | Pc.printf ("\rPWM should change regularly and left motor should move, Tick should increase, Period should be 50 us \n", MOTG_duty, Gauche.GetCounter(), Gperiod); |
haarkon | 5:4955cb4b3646 | 776 | |
gvaquette | 10:c6db803927b6 | 777 | |
haarkon | 6:88b4805d33e1 | 778 | Led2 = 1; |
haarkon | 5:4955cb4b3646 | 779 | |
haarkon | 0:f00e68bef80c | 780 | do { |
gvaquette | 10:c6db803927b6 | 781 | if (SensD) { |
gvaquette | 10:c6db803927b6 | 782 | IN1D = 1; |
gvaquette | 10:c6db803927b6 | 783 | IN2D = 0; |
gvaquette | 10:c6db803927b6 | 784 | } else { |
gvaquette | 10:c6db803927b6 | 785 | IN1D = 0; |
gvaquette | 10:c6db803927b6 | 786 | IN2D = 1; |
gvaquette | 10:c6db803927b6 | 787 | } |
haarkon | 0:f00e68bef80c | 788 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 789 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 790 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 791 | } |
haarkon | 5:4955cb4b3646 | 792 | if (BPPressed) { |
haarkon | 5:4955cb4b3646 | 793 | BPPressed = 0; |
haarkon | 6:88b4805d33e1 | 794 | SensD = !SensD; |
haarkon | 6:88b4805d33e1 | 795 | Led2 = !Led2; |
haarkon | 6:88b4805d33e1 | 796 | } |
haarkon | 6:88b4805d33e1 | 797 | |
haarkon | 6:88b4805d33e1 | 798 | if (((Tick%1000)==0) && FlagTick) { |
haarkon | 6:88b4805d33e1 | 799 | FlagTick = 0; |
haarkon | 6:88b4805d33e1 | 800 | if (MOTD_evol) { |
haarkon | 6:88b4805d33e1 | 801 | if (MOTD_duty < 0.9) MOTD_duty += 0.1; |
haarkon | 6:88b4805d33e1 | 802 | else { |
haarkon | 6:88b4805d33e1 | 803 | MOTD_evol = 0; |
haarkon | 6:88b4805d33e1 | 804 | MOTD_duty = 0.9; |
haarkon | 6:88b4805d33e1 | 805 | } |
haarkon | 5:4955cb4b3646 | 806 | } else { |
haarkon | 6:88b4805d33e1 | 807 | if (MOTD_duty > 0.1) MOTD_duty -= 0.1; |
haarkon | 6:88b4805d33e1 | 808 | else { |
haarkon | 6:88b4805d33e1 | 809 | MOTD_evol = 1; |
haarkon | 6:88b4805d33e1 | 810 | MOTD_duty = 0.1; |
haarkon | 6:88b4805d33e1 | 811 | } |
haarkon | 5:4955cb4b3646 | 812 | } |
haarkon | 5:4955cb4b3646 | 813 | } |
haarkon | 6:88b4805d33e1 | 814 | Pwm_MD = MOTD_duty; |
haarkon | 6:88b4805d33e1 | 815 | Pc.printf ("\rPWM = %2.1lf => Pos = %10ld Tick, Period = %ldus", MOTD_duty, Droite.GetCounter(), Dperiod); |
haarkon | 6:88b4805d33e1 | 816 | |
haarkon | 0:f00e68bef80c | 817 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 818 | MENU_choix = Pc.getc(); |
haarkon | 6:88b4805d33e1 | 819 | |
haarkon | 9:2d99e9946b89 | 820 | IN1D = 0; |
haarkon | 9:2d99e9946b89 | 821 | IN2D = 0; |
haarkon | 9:2d99e9946b89 | 822 | Pwm_MD = 0; |
haarkon | 9:2d99e9946b89 | 823 | Led2 = 0; |
haarkon | 6:88b4805d33e1 | 824 | |
haarkon | 0:f00e68bef80c | 825 | break; |
haarkon | 0:f00e68bef80c | 826 | |
haarkon | 0:f00e68bef80c | 827 | case 8 : |
haarkon | 0:f00e68bef80c | 828 | Pc.printf ("\n\n\rServo Moteur\n"); |
gvaquette | 12:ee9e5009f7ce | 829 | Pc.printf ("\rHit Enter to quit \n"); |
haarkon | 6:88b4805d33e1 | 830 | |
haarkon | 0:f00e68bef80c | 831 | do { |
haarkon | 0:f00e68bef80c | 832 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 833 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 834 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 835 | } |
haarkon | 0:f00e68bef80c | 836 | |
haarkon | 0:f00e68bef80c | 837 | if (((Tick%250)==0) && FlagTick) { |
haarkon | 6:88b4805d33e1 | 838 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 839 | if (SERVO_dir == S_monte) { |
haarkon | 6:88b4805d33e1 | 840 | if (SERVO_pulseWidth < (SERVO_max - 100)) SERVO_pulseWidth +=100; |
haarkon | 6:88b4805d33e1 | 841 | else { |
haarkon | 0:f00e68bef80c | 842 | SERVO_dir = S_descente; |
haarkon | 6:88b4805d33e1 | 843 | SERVO_pulseWidth = SERVO_max; |
haarkon | 0:f00e68bef80c | 844 | } |
haarkon | 0:f00e68bef80c | 845 | } else { |
haarkon | 6:88b4805d33e1 | 846 | if (SERVO_pulseWidth > (SERVO_min + 100)) SERVO_pulseWidth -=100; |
haarkon | 6:88b4805d33e1 | 847 | else { |
haarkon | 0:f00e68bef80c | 848 | SERVO_dir = S_monte; |
haarkon | 6:88b4805d33e1 | 849 | SERVO_pulseWidth = SERVO_min; |
haarkon | 0:f00e68bef80c | 850 | } |
haarkon | 0:f00e68bef80c | 851 | } |
haarkon | 6:88b4805d33e1 | 852 | |
haarkon | 6:88b4805d33e1 | 853 | Servo.pulsewidth_us (SERVO_pulseWidth); |
haarkon | 6:88b4805d33e1 | 854 | Pc.printf ("\rPulse = %d",SERVO_pulseWidth); |
haarkon | 0:f00e68bef80c | 855 | } |
haarkon | 6:88b4805d33e1 | 856 | |
haarkon | 0:f00e68bef80c | 857 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 858 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 859 | break; |
haarkon | 0:f00e68bef80c | 860 | |
haarkon | 0:f00e68bef80c | 861 | case 9 : |
haarkon | 0:f00e68bef80c | 862 | Pc.printf ("\n\n\rPixy\n"); |
gvaquette | 12:ee9e5009f7ce | 863 | Pc.printf ("\rHit Enter to quit \n"); |
haarkon | 2:1d440e938c44 | 864 | |
haarkon | 2:1d440e938c44 | 865 | if (Pixy_check == 0) Pc.printf ("\n\rPIXY is ALIVE\n"); |
haarkon | 2:1d440e938c44 | 866 | else Pc.printf ("\n\rPIXY don't talk\n"); |
haarkon | 2:1d440e938c44 | 867 | |
haarkon | 0:f00e68bef80c | 868 | do { |
haarkon | 2:1d440e938c44 | 869 | if (FlagPixy) { |
haarkon | 2:1d440e938c44 | 870 | |
haarkon | 2:1d440e938c44 | 871 | if (FlagPixyOverflow) { |
haarkon | 2:1d440e938c44 | 872 | Pc.printf ("\rSome Data were lost\n"); |
haarkon | 2:1d440e938c44 | 873 | FlagPixyOverflow = 0; |
haarkon | 0:f00e68bef80c | 874 | } |
haarkon | 3:3dfe26a10796 | 875 | for (PIXY_objet = 0; PIXY_objet < Pixy_NMObjet; PIXY_objet++) { |
haarkon | 3:3dfe26a10796 | 876 | Pc.printf ("\rNMobj #%hd/%hd : sig = %hd : X=%5hd, Y=%5hd (W=%5hd, H=%5hd)\n", PIXY_objet+1, Pixy_NMObjet, Pixy_NMFIFO[PIXY_rNMObjet].NMbloc.signature, Pixy_NMFIFO[PIXY_rNMObjet].NMbloc.x, Pixy_NMFIFO[PIXY_rNMObjet].NMbloc.y, Pixy_NMFIFO[PIXY_rNMObjet].NMbloc.width, Pixy_NMFIFO[PIXY_rNMObjet].NMbloc.height); |
haarkon | 2:1d440e938c44 | 877 | |
haarkon | 3:3dfe26a10796 | 878 | if (PIXY_rNMObjet<19) PIXY_rNMObjet++; |
haarkon | 3:3dfe26a10796 | 879 | else PIXY_rNMObjet = 0; |
haarkon | 2:1d440e938c44 | 880 | } |
haarkon | 3:3dfe26a10796 | 881 | Pixy_NMObjet = 0; |
haarkon | 0:f00e68bef80c | 882 | |
haarkon | 3:3dfe26a10796 | 883 | for (PIXY_objet = 0; PIXY_objet < Pixy_CCObjet; PIXY_objet++) { |
haarkon | 3:3dfe26a10796 | 884 | Pc.printf ("\rCCobj #%hd/%hd : sig = %hd : X=%5hd, Y=%5hd (W=%5hd, H=%5hd)\n", PIXY_objet+1, Pixy_CCObjet, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.signature, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.x, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.y, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.width, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.height); |
haarkon | 1:d95546f84105 | 885 | |
haarkon | 2:1d440e938c44 | 886 | if (PIXY_rCCObjet<19) PIXY_rCCObjet++; |
haarkon | 2:1d440e938c44 | 887 | else PIXY_rCCObjet = 0; |
haarkon | 2:1d440e938c44 | 888 | } |
haarkon | 3:3dfe26a10796 | 889 | Pixy_CCObjet = 0; |
haarkon | 3:3dfe26a10796 | 890 | Pc.printf("\n\r"); |
haarkon | 1:d95546f84105 | 891 | FlagPixy = 0; |
haarkon | 0:f00e68bef80c | 892 | } |
haarkon | 1:d95546f84105 | 893 | |
haarkon | 1:d95546f84105 | 894 | if (FlagTickLed) { |
haarkon | 1:d95546f84105 | 895 | Led1 = !Led1; |
haarkon | 1:d95546f84105 | 896 | FlagTickLed = 0; |
haarkon | 1:d95546f84105 | 897 | } |
haarkon | 0:f00e68bef80c | 898 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 899 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 900 | break; |
haarkon | 0:f00e68bef80c | 901 | |
haarkon | 0:f00e68bef80c | 902 | } |
haarkon | 0:f00e68bef80c | 903 | } |
haarkon | 0:f00e68bef80c | 904 | } |