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Dependencies:   mbed

Bluetooth/IHM_Bluetooth.cpp@2:1103f5d61035, 2020-03-11 (annotated)

Committer:
Wael_H
Date:
Wed Mar 11 14:24:48 2020 +0000
Revision:
2:1103f5d61035
Child:
3:07109a6bb472
publish IHM_bt pour ajout de commentaires

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wael_H 2:1103f5d61035 1 #include "mbed.h"
Wael_H 2:1103f5d61035 2 #include "math.h"
Wael_H 2:1103f5d61035 3 #include "IHM_Bluetooth.h" //ticker pour gérer la frequence d'appelle d'une fonction
Wael_H 2:1103f5d61035 4
Wael_H 2:1103f5d61035 5 extern Serial bt;
Wael_H 2:1103f5d61035 6
Wael_H 2:1103f5d61035 7 // Constructeur
Wael_H 2:1103f5d61035 8 IHM_Bluetooth::IHM_Bluetooth() : /*blueTxBuffer{STARTBYTE,0,0,0,0,STOPBYTE}, paramRx{1, 0, 0, 0},*/ cb_lm(0), cb_rm(0), cb_err(0), cb_cerr(0), cb_speed(0)
Wael_H 2:1103f5d61035 9 {
Wael_H 2:1103f5d61035 10 unsigned int tab1[6] = {STARTBYTE,0,0,0,0,STOPBYTE}, tab2[4] = {1, 0, 0, 0};
Wael_H 2:1103f5d61035 11
Wael_H 2:1103f5d61035 12 for(int i=0; i<6; ++i)
Wael_H 2:1103f5d61035 13 blueRxBuffer[i] = tab1[i];
Wael_H 2:1103f5d61035 14
Wael_H 2:1103f5d61035 15 for(int i=0; i<4; ++i)
Wael_H 2:1103f5d61035 16 paramRx[i] = tab2[i];
Wael_H 2:1103f5d61035 17 }
Wael_H 2:1103f5d61035 18
Wael_H 2:1103f5d61035 19 /********************************** Main *************************************/
Wael_H 2:1103f5d61035 20
Wael_H 2:1103f5d61035 21 void IHM_Bluetooth::run(void)
Wael_H 2:1103f5d61035 22 {
Wael_H 2:1103f5d61035 23 bt.attach(this, &IHM_Bluetooth::receptionBlu, Serial::RxIrq); //Creation interruption de reception
Wael_H 2:1103f5d61035 24 bt.printf("Hello world"); //message de test
Wael_H 2:1103f5d61035 25 timer.attach(this, &IHM_Bluetooth::automate_Tx,0.015);
Wael_H 2:1103f5d61035 26 }
Wael_H 2:1103f5d61035 27
Wael_H 2:1103f5d61035 28
Wael_H 2:1103f5d61035 29 /******************************* Fonctions de transmission *****************************/
Wael_H 2:1103f5d61035 30
Wael_H 2:1103f5d61035 31 void IHM_Bluetooth::transmitBlu(void)
Wael_H 2:1103f5d61035 32 {
Wael_H 2:1103f5d61035 33 static short i = 0;
Wael_H 2:1103f5d61035 34 if(bt.writable()) //fonctionne si la liaison est libre
Wael_H 2:1103f5d61035 35 {
Wael_H 2:1103f5d61035 36 bt.putc(blueTxBuffer[i]); //transmission de la trame de 6 octets
Wael_H 2:1103f5d61035 37 i++;
Wael_H 2:1103f5d61035 38 }
Wael_H 2:1103f5d61035 39 if(i>5)
Wael_H 2:1103f5d61035 40 {
Wael_H 2:1103f5d61035 41 i=0;
Wael_H 2:1103f5d61035 42 bt.attach(NULL, Serial::TxIrq); // Arret de la transmission lorsqu une trame est envoyee
Wael_H 2:1103f5d61035 43 }
Wael_H 2:1103f5d61035 44 }
Wael_H 2:1103f5d61035 45
Wael_H 2:1103f5d61035 46 void IHM_Bluetooth::formatTrameT(short reg, int val)
Wael_H 2:1103f5d61035 47 {
Wael_H 2:1103f5d61035 48 val=val*10000;
Wael_H 2:1103f5d61035 49 blueTxBuffer[1]=(char)reg;
Wael_H 2:1103f5d61035 50 blueTxBuffer[2]=(char)((val&0xFF0000)>>16); //Conversion sur trois octets independants
Wael_H 2:1103f5d61035 51 blueTxBuffer[3]=(char)((val&0x00FF00)>>8);
Wael_H 2:1103f5d61035 52 blueTxBuffer[4]=(char)((val&0x0000FF));
Wael_H 2:1103f5d61035 53 // La trame a envoyer est realisee
Wael_H 2:1103f5d61035 54 bt.attach(this, &IHM_Bluetooth::transmitBlu, Serial::TxIrq); // Ouverture de l'interruption de transmission
Wael_H 2:1103f5d61035 55 }
Wael_H 2:1103f5d61035 56
Wael_H 2:1103f5d61035 57 void IHM_Bluetooth::TrameCAM( int CAM1, int CAM2)
Wael_H 2:1103f5d61035 58 {
Wael_H 2:1103f5d61035 59 blueTxBuffer[1]=(char)CAMXBYTE;
Wael_H 2:1103f5d61035 60 blueTxBuffer[2]=(char)1; //Conversion sur trois octets independants
Wael_H 2:1103f5d61035 61 blueTxBuffer[3]=(char)CAM1;
Wael_H 2:1103f5d61035 62 blueTxBuffer[4]=(char)CAM2;
Wael_H 2:1103f5d61035 63 // La trame a envoyer est realisee
Wael_H 2:1103f5d61035 64 bt.attach(this, &IHM_Bluetooth::transmitBlu, Serial::TxIrq); // Ouverture de l'interruption de transmission
Wael_H 2:1103f5d61035 65 }
Wael_H 2:1103f5d61035 66
Wael_H 2:1103f5d61035 67 void IHM_Bluetooth::TramePos(int left, int barc, int right)
Wael_H 2:1103f5d61035 68 {
Wael_H 2:1103f5d61035 69 blueTxBuffer[1]=(char)POSBYTE;
Wael_H 2:1103f5d61035 70 blueTxBuffer[2]=(char)left; //Conversion sur trois octets independants
Wael_H 2:1103f5d61035 71 blueTxBuffer[3]=(char)barc;
Wael_H 2:1103f5d61035 72 blueTxBuffer[4]=(char)right;
Wael_H 2:1103f5d61035 73 // La trame a envoyer est realisee
Wael_H 2:1103f5d61035 74 bt.attach(this, &IHM_Bluetooth::transmitBlu, Serial::TxIrq); // Ouverture de l'interruption de transmission
Wael_H 2:1103f5d61035 75 }
Wael_H 2:1103f5d61035 76
Wael_H 2:1103f5d61035 77
Wael_H 2:1103f5d61035 78 void IHM_Bluetooth::automate_Tx(void)
Wael_H 2:1103f5d61035 79 {
Wael_H 2:1103f5d61035 80 static int etat_futur=POSBYTE, val=50;
Wael_H 2:1103f5d61035 81 int etat;
Wael_H 2:1103f5d61035 82 etat = etat_futur;
Wael_H 2:1103f5d61035 83
Wael_H 2:1103f5d61035 84 // Transmission des donnees à l'application
Wael_H 2:1103f5d61035 85 switch(etat){ // Il faut modifier toutes les valeurs VAL dans les fonctions
Wael_H 2:1103f5d61035 86 case POSBYTE :
Wael_H 2:1103f5d61035 87 TramePos(val+100, val+100, val+100); // Envoie de 3 octets de position par rapport aux lignes, respectivement : Gauche, barycentre (centre de gravite) et droit
Wael_H 2:1103f5d61035 88 if (cb_lm == 1)etat_futur = LMBYTE;
Wael_H 2:1103f5d61035 89 else if(cb_rm == 1)etat_futur=RMBYTE; // Si la checkbox de l'application autorise la transmission de cette donnee
Wael_H 2:1103f5d61035 90 else if(cb_err == 1)etat_futur=ERRORBYTE;
Wael_H 2:1103f5d61035 91 else if(cb_cerr == 1)etat_futur=CERRBYTE;
Wael_H 2:1103f5d61035 92 else if(cb_speed == 1)etat_futur=SGRABYTE;
Wael_H 2:1103f5d61035 93 else etat_futur=CAMXBYTE;
Wael_H 2:1103f5d61035 94 break;
Wael_H 2:1103f5d61035 95
Wael_H 2:1103f5d61035 96 case LMBYTE : // Moteur gauche
Wael_H 2:1103f5d61035 97 formatTrameT(LMBYTE, val );
Wael_H 2:1103f5d61035 98 if(cb_rm == 1)etat_futur=RMBYTE;
Wael_H 2:1103f5d61035 99 else if(cb_err == 1)etat_futur=ERRORBYTE;
Wael_H 2:1103f5d61035 100 else if(cb_cerr == 1)etat_futur=CERRBYTE;
Wael_H 2:1103f5d61035 101 else if(cb_speed == 1)etat_futur=SGRABYTE;
Wael_H 2:1103f5d61035 102 else etat_futur=CAMXBYTE;
Wael_H 2:1103f5d61035 103 break;
Wael_H 2:1103f5d61035 104
Wael_H 2:1103f5d61035 105 case RMBYTE : // Moteur droit
Wael_H 2:1103f5d61035 106 formatTrameT(RMBYTE, val );
Wael_H 2:1103f5d61035 107 if(cb_err == 1)etat_futur=ERRORBYTE;
Wael_H 2:1103f5d61035 108 else if(cb_cerr == 1)etat_futur=CERRBYTE;
Wael_H 2:1103f5d61035 109 else if(cb_speed == 1)etat_futur=SGRABYTE;
Wael_H 2:1103f5d61035 110 else etat_futur=CAMXBYTE;
Wael_H 2:1103f5d61035 111 break;
Wael_H 2:1103f5d61035 112
Wael_H 2:1103f5d61035 113 case ERRORBYTE : // Erreur
Wael_H 2:1103f5d61035 114 formatTrameT(ERRORBYTE, val );
Wael_H 2:1103f5d61035 115 if(cb_cerr == 1)etat_futur=CERRBYTE;
Wael_H 2:1103f5d61035 116 else if(cb_speed == 1)etat_futur=SGRABYTE;
Wael_H 2:1103f5d61035 117 else etat_futur=CAMXBYTE;
Wael_H 2:1103f5d61035 118 break;
Wael_H 2:1103f5d61035 119
Wael_H 2:1103f5d61035 120 case CERRBYTE : // Correction d'erreur
Wael_H 2:1103f5d61035 121 formatTrameT(CERRBYTE, val );
Wael_H 2:1103f5d61035 122 if(cb_speed == 1)etat_futur=SGRABYTE;
Wael_H 2:1103f5d61035 123 else etat_futur=CAMXBYTE;
Wael_H 2:1103f5d61035 124 break;
Wael_H 2:1103f5d61035 125
Wael_H 2:1103f5d61035 126 case SGRABYTE : // Vitesse du véhicule
Wael_H 2:1103f5d61035 127 formatTrameT(SGRABYTE, val );
Wael_H 2:1103f5d61035 128 etat_futur=CAMXBYTE;
Wael_H 2:1103f5d61035 129 break;
Wael_H 2:1103f5d61035 130
Wael_H 2:1103f5d61035 131 case CAMXBYTE : // Vecteur gauche et droit
Wael_H 2:1103f5d61035 132 TrameCAM(val+100, val+100); // Retour de la camera, respectivement vecteur Gauche et Droit
Wael_H 2:1103f5d61035 133 etat_futur=POSBYTE;
Wael_H 2:1103f5d61035 134 break;
Wael_H 2:1103f5d61035 135 }
Wael_H 2:1103f5d61035 136 }
Wael_H 2:1103f5d61035 137
Wael_H 2:1103f5d61035 138 /****************************** Fonctions de reception ******************************/
Wael_H 2:1103f5d61035 139
Wael_H 2:1103f5d61035 140 void IHM_Bluetooth::receptionBlu(void)
Wael_H 2:1103f5d61035 141 {
Wael_H 2:1103f5d61035 142 static short j = 0;
Wael_H 2:1103f5d61035 143
Wael_H 2:1103f5d61035 144 if(bt.readable()) // Si la liaison est libre
Wael_H 2:1103f5d61035 145 {
Wael_H 2:1103f5d61035 146 blueRxBuffer[j]=(unsigned int)bt.getc(); //reception des octets dans un tableau
Wael_H 2:1103f5d61035 147 j++;
Wael_H 2:1103f5d61035 148 if(j==6)
Wael_H 2:1103f5d61035 149 {
Wael_H 2:1103f5d61035 150 if((blueRxBuffer[0]==STARTBYTE) && (blueRxBuffer[5]==STOPBYTE)) // Si la trame commence et termine par Start et Stop
Wael_H 2:1103f5d61035 151 {
Wael_H 2:1103f5d61035 152 switch(blueRxBuffer[1]){ // Automate en fonction de la valeur du registre
Wael_H 2:1103f5d61035 153 case KPBYTE :
Wael_H 2:1103f5d61035 154 paramRx[0] = ((blueRxBuffer[2]<<16)+(blueRxBuffer[3]<<8)+blueRxBuffer[4])/10000;
Wael_H 2:1103f5d61035 155 break;
Wael_H 2:1103f5d61035 156
Wael_H 2:1103f5d61035 157 case KIBYTE :
Wael_H 2:1103f5d61035 158 paramRx[1] = ((blueRxBuffer[2]<<16)+(blueRxBuffer[3]<<8)+blueRxBuffer[4])/10000; //decomposition du message
Wael_H 2:1103f5d61035 159 break;
Wael_H 2:1103f5d61035 160
Wael_H 2:1103f5d61035 161 case KDBYTE :
Wael_H 2:1103f5d61035 162 paramRx[2] = ((blueRxBuffer[2]<<16)+(blueRxBuffer[3]<<8)+blueRxBuffer[4])/10000; //valeur envoyee dans un tableau
Wael_H 2:1103f5d61035 163 break;
Wael_H 2:1103f5d61035 164
Wael_H 2:1103f5d61035 165 case SPCMDBYTE :
Wael_H 2:1103f5d61035 166 paramRx[3] = ((blueRxBuffer[2]<<16)+(blueRxBuffer[3]<<8)+blueRxBuffer[4])/10000;
Wael_H 2:1103f5d61035 167 break;
Wael_H 2:1103f5d61035 168
Wael_H 2:1103f5d61035 169 case ERRORBYTE :
Wael_H 2:1103f5d61035 170 if(((blueRxBuffer[2]<<16)+(blueRxBuffer[3]<<8)+blueRxBuffer[4]) == 1)
Wael_H 2:1103f5d61035 171 {
Wael_H 2:1103f5d61035 172 if(cb_err == 0)cb_err=1;
Wael_H 2:1103f5d61035 173 else if(cb_err == 1)cb_err=0;
Wael_H 2:1103f5d61035 174 }
Wael_H 2:1103f5d61035 175 break;
Wael_H 2:1103f5d61035 176
Wael_H 2:1103f5d61035 177 case CERRBYTE :
Wael_H 2:1103f5d61035 178 if(((blueRxBuffer[2]<<16)+(blueRxBuffer[3]<<8)+blueRxBuffer[4]) == 1)
Wael_H 2:1103f5d61035 179 {
Wael_H 2:1103f5d61035 180 if(cb_cerr == 0)cb_cerr=1;
Wael_H 2:1103f5d61035 181 else if(cb_cerr == 1)cb_cerr=0;
Wael_H 2:1103f5d61035 182 }
Wael_H 2:1103f5d61035 183 break;
Wael_H 2:1103f5d61035 184
Wael_H 2:1103f5d61035 185 case LMBYTE :
Wael_H 2:1103f5d61035 186 if(((blueRxBuffer[2]<<16)+(blueRxBuffer[3]<<8)+blueRxBuffer[4]) == 1)
Wael_H 2:1103f5d61035 187 {
Wael_H 2:1103f5d61035 188 if(cb_lm == 0)cb_lm=1;
Wael_H 2:1103f5d61035 189 else if(cb_lm == 1)cb_lm=0;
Wael_H 2:1103f5d61035 190 }
Wael_H 2:1103f5d61035 191 break;
Wael_H 2:1103f5d61035 192 // Faire automate pour la transmission
Wael_H 2:1103f5d61035 193 case RMBYTE :
Wael_H 2:1103f5d61035 194 if(((blueRxBuffer[2]<<16)+(blueRxBuffer[3]<<8)+blueRxBuffer[4]) == 1)
Wael_H 2:1103f5d61035 195 {
Wael_H 2:1103f5d61035 196 if(cb_rm == 0)cb_rm=1;
Wael_H 2:1103f5d61035 197 else if(cb_rm == 1)cb_rm=0;
Wael_H 2:1103f5d61035 198 }
Wael_H 2:1103f5d61035 199 break;
Wael_H 2:1103f5d61035 200
Wael_H 2:1103f5d61035 201 case SGRABYTE :
Wael_H 2:1103f5d61035 202 if(((blueRxBuffer[2]<<16)+(blueRxBuffer[3]<<8)+blueRxBuffer[4]) == 1)
Wael_H 2:1103f5d61035 203 {
Wael_H 2:1103f5d61035 204 if(cb_speed == 0)cb_speed=1;
Wael_H 2:1103f5d61035 205 else if(cb_speed == 1)cb_speed=0;
Wael_H 2:1103f5d61035 206 }
Wael_H 2:1103f5d61035 207 break;
Wael_H 2:1103f5d61035 208 }
Wael_H 2:1103f5d61035 209 j=0;
Wael_H 2:1103f5d61035 210 }else{ //Si le message ne commence pas par start ou ne finit pas par stop
Wael_H 2:1103f5d61035 211 for(int i = 0;i<5;i++){
Wael_H 2:1103f5d61035 212 blueRxBuffer[i]=blueRxBuffer[i+1]; // On decale le msg reçu dans le buffer
Wael_H 2:1103f5d61035 213 }
Wael_H 2:1103f5d61035 214 j=5;
Wael_H 2:1103f5d61035 215 }
Wael_H 2:1103f5d61035 216 }
Wael_H 2:1103f5d61035 217 }
Wael_H 2:1103f5d61035 218 }
Wael_H 2:1103f5d61035 219
Wael_H 2:1103f5d61035 220 int IHM_Bluetooth::get_val_pc(short reg) // reg = entree de l'utilisateur pour connaitre une valeur
Wael_H 2:1103f5d61035 221 {
Wael_H 2:1103f5d61035 222 short indice;
Wael_H 2:1103f5d61035 223
Wael_H 2:1103f5d61035 224 if(reg == KPBYTE)indice = 0;
Wael_H 2:1103f5d61035 225 else if(reg == KIBYTE)indice = 1;
Wael_H 2:1103f5d61035 226 else if(reg == KDBYTE)indice = 2;
Wael_H 2:1103f5d61035 227 else if(reg == SPCMDBYTE)indice = 3;
Wael_H 2:1103f5d61035 228
Wael_H 2:1103f5d61035 229 return paramRx[indice]; // Renvoie de la valeur souhaitee
Wael_H 2:1103f5d61035 230 }