RaC2018
v1.0
Dependencies: CAN_CONSOLE_v3 mbed
Fork of
CAN_CONSOLE_v3
by 
RaC2018
Revision 3:86e21a36eecb, committed 2018-03-27
- Comitter:
- protongamer
- Date:
- Tue Mar 27 09:54:04 2018 +0000
- Parent:
- 2:1e06fd49ea7b
- Commit message:
- 1 moteur un bp; probl?me sur la requete pour la demande de postiion
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CAN_CONSOLE_v2.lib Tue Mar 27 09:54:04 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/RaC2018/code/CAN_CONSOLE_v3/#1e06fd49ea7b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/can_parameters.h Tue Mar 27 09:54:04 2018 +0000 @@ -0,0 +1,88 @@ +/* +Here is the list of the CAN Codes to sent to the motor driver +There identifiers and word code +These parameters can be changed + +Here is the default values + + +//Identifier Codes + +#define INITOP 0x00 +#define RPDO1_R 0x215 +#define RPDO2_R 0x315 +#define RPDO3_R 0x415 +#define RPDO4_R 0x515 +#define TPDO1_R 0x195 +#define TPDO2_R 0x295 +#define TPDO3_R 0x395 +#define TPDO4_R 0x495 +#define RPDO1_L 0x220 +#define RPDO2_L 0x320 +#define RPDO3_L 0x420 +#define RPDO4_L 0x520 +#define TPDO1_L 0x1A0 +#define TPDO2_L 0x2A0 +#define TPDO3_L 0x3A0 +#define TPDO4_L 0x4A0 + + + +//Word codes + +//Driver adresses +#define DRIVER11 0x01 +#define DRIVER12 0x15 +#define DRIVER21 0x01 +#define DRIVER22 0x20 + + + +*/ + + + + + +//Identifier Codes + +/* +To set right value for: +RPDO1 => 0x200 + ID +RPDO2 => 0x300 + ID +RPDO3 => 0x400 + ID +RPDO4 => 0x500 + ID +TPDO1 => 0x180 + ID +TPDO2 => 0x280 + ID +TPDO3 => 0x380 + ID +TPDO4 => 0x480 + ID +*/ + + +#define INITOP 0x00 +#define RPDO1_R 0x215 +#define RPDO2_R 0x315 +#define RPDO3_R 0x415 +#define RPDO4_R 0x515 +#define TPDO1_R 0x195 +#define TPDO2_R 0x295 +#define TPDO3_R 0x395 +#define TPDO4_R 0x495 +#define RPDO1_L 0x220 +#define RPDO2_L 0x320 +#define RPDO3_L 0x420 +#define RPDO4_L 0x520 +#define TPDO1_L 0x1A0 +#define TPDO2_L 0x2A0 +#define TPDO3_L 0x3A0 +#define TPDO4_L 0x4A0 + + + +//Word codes + +//Driver adresses +#define DRIVER_R1 0x01 +#define DRIVER_R2 0x15 +#define DRIVER_L1 0x01 +#define DRIVER_L2 0x20
--- a/main.cpp Fri Mar 02 10:05:55 2018 +0000
+++ b/main.cpp Tue Mar 27 09:54:04 2018 +0000
@@ -1,23 +1,27 @@
#include "mbed.h"
- // LR 10/02/18
- //
- // bus CAN generateur de trames
- //
- // Emission d'une trame parmi 4 selection à l'aide du pot1
- // eviter les positions intermédaires du pot1 !
- // !! emission sur CAN2 p30Rx p29Tx
- // Attention si pas d'ACK faire reset après chaque changement
- // J'ai constaté des comportements bizarre dans cette situation
- // Des infos sur la liaison série
- // La trame est envoyée aussi sur LCD
- //
- // testé à l'analyseur logique = OK !!
- //
- //
+#include "can_parameters.h"
+ /*
+ Projet BTS SN - Robot à câbles - Lycée Georges Cabanis
+ Enzo Niro - Erwin Sazio
+ Transmission par Bus CAN(protocol CANOpen)
+
+ */
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
+
+
+
+
+DigitalOut MOTOR1_OP(LED1);
+DigitalOut MOTOR2_OP(LED2);
+DigitalOut DEB_MOD_DEG(LED3);
+DigitalOut DEB_MOD_NOR(LED4);
+DigitalOut MOD_DEG(p26);
+DigitalOut MOD_NOR(p25);
+DigitalIn SWH(p5);
+DigitalIn SWV(p6);
+DigitalIn BPO(p7);
+
CAN can1(p9, p10,1000000);// on definit pin et debit
CAN can2(p30, p29, 1000000);
Serial pc(USBTX, USBRX);
@@ -31,1191 +35,119 @@
if (RouD == 'D')
{ emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANData, CANStandard )) ;
- pc.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
+ //pc.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
}// c'ets la valeur retournée par la fonction write
else
{ emis_ok = can2.write(CANMessage(id, octet_emis, longueur, CANRemote, CANStandard ));
- pc.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
+ //pc.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
}
//lcd.locate(0,10);
//lcd.printf("id: %x, %c L = %d, \nData : %x:%x:%x:%x ... \n", id,RouD,longueur,octet_emis[0],octet_emis[1], octet_emis[2], octet_emis[3] );
- if(emis_ok) {
+ /*if(emis_ok) {
// ici octet emis n'a pas de sens car trame remote !
- pc.printf("j'emets bien !!! \n");
- }
- led1 = !led1;
+ //pc.printf("send \r \n");
+ } */
}
int main() {
- // int choix = 0 ;
- int i = 0 ;
-
-char octet_send[9] = "DDDDDDDD"; // valeurs par defaut D=44
-int identif = 0x123 ; // par défaut
-char RemoteData = 'D' ;
-char length = 2 ;
-char c;
-uint32_t instruction = 0;
-uint8_t state_val = 0;
-uint8_t state = 0;
-int data_rc;
-int data_report[100];
-bool dejafait = 0;
-CANMessage msg;
- pc.printf("CAN CONSOLE \r \n");
-
-
-
- while(1) {
- data_rc = 0;
- pc.printf(" Identifier : ");
- while(state == 0){
- c = pc.getc();
- switch(c){
-
-
-
- case '0':
- pc.printf("0");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0000;
- }
-
- if(state_val == 0){
- instruction = 0b0000;
- state_val++;
- }
-
- break;
-
- case '1':
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0001;
- }
-
- pc.printf("1");
- if(state_val == 0){
- instruction = 0b0001;
- state_val++;
- }
-
- break;
-
- case '2':
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0010;
- }
-
- pc.printf("2");
- if(state_val == 0){
- instruction = 0b0010;
- state_val++;
- }
-
- break;
-
- case '3':
- pc.printf("3");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0011;
- }
-
- if(state_val == 0){
- instruction = 0b0011;
- state_val++;
- }
-
- break;
-
- case '4':
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0100;
- }
-
- pc.printf("4");
- if(state_val == 0){
- instruction = 0b0100;
- state_val++;
- }
-
- break;
-
- case '5':
- pc.printf("5");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0101;
- }
-
- if(state_val == 0){
- instruction = 0b0101;
- state_val++;
- }
-
- break;
-
- case '6':
- pc.printf("6");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0110;
- }
-
- if(state_val == 0){
- instruction = 0b0110;
- state_val++;
- }
-
- break;
-
- case '7':
- pc.printf("7");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0111;
- }
-
- if(state_val == 0){
- instruction = 0b0111;
- state_val++;
- }
-
- break;
-
- case '8':
- pc.printf("8");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1000;
- }
-
-
- if(state_val == 0){
- instruction = 0b1000;
- state_val++;
- }
-
- break;
-
- case '9':
- pc.printf("9");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1001;
- }
-
- if(state_val == 0){
- instruction = 0b1001;
- state_val++;
- }
-
- break;
-
- case 'a':
- pc.printf("a");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1010;
- }
-
- if(state_val == 0){
- instruction = 0b1010;
- state_val++;
- }
-
- break;
-
- case 'b':
- pc.printf("b");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1011;
- }
-
- if(state_val == 0){
- instruction = 0b1011;
- state_val++;
- }
-
- break;
-
- case 'c':
- pc.printf("c");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1100;
- }
-
- if(state_val == 0){
- instruction = 0b1100;
- state_val++;
- }
-
- break;
-
- case 'd':
- pc.printf("d");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1101;
- }
-
- if(state_val == 0){
- instruction = 0b1101;
- state_val++;
- }
-
- break;
-
- case 'e':
- pc.printf("e");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1110;
- }
-
- if(state_val == 0){
- instruction = 0b1110;
- state_val++;
- }
-
- break;
-
- case 'f':
- pc.printf("f");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1111;
+ CANMessage msg;
+ uint8_t ping = 0;
+ char command[8]; //word to send command
+ //define Pullup switch
+ SWH.mode(PullUp);
+ SWV.mode(PullUp);
+ BPO.mode(PullUp);
+ pc.printf("starting...\r\n");
+ MOD_DEG = 1;
+ wait(0.1);
+ MOD_DEG = 0;
+ wait(0.1);
+ MOD_DEG = 1;
+ wait(0.1);
+ MOD_DEG = 0;
+ wait(0.1);
+ MOD_DEG = 1;
+ wait(0.1);
+ MOD_DEG = 0;
+ wait(0.1);
+
+ command[0] = DRIVER_R1;
+ command[1] = DRIVER_R2;
+
+ while(ping == 0){
+ pc.printf("ping...\r\n");
+ send(INITOP, command, 'D', 2); //send word to put pluto driver in operational mode
+ MOD_NOR = 1;
+ if(can2.read(msg)) {
+ pc.printf("Done\r\n");
+ ping = 1;
}
-
- if(state_val == 0){
- instruction = 0b1111;
- state_val++;
- }
-
- break;
-
- case 'A':
- pc.printf("a");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1010;
- }
-
- if(state_val == 0){
- instruction = 0b1010;
- state_val++;
- }
-
- break;
-
- case 'B':
- pc.printf("b");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1011;
- }
-
- if(state_val == 0){
- instruction = 0b1011;
- state_val++;
- }
-
- break;
-
- case 'C':
- pc.printf("c");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1100;
- }
-
- if(state_val == 0){
- instruction = 0b1100;
- state_val++;
- }
-
- break;
-
- case 'D':
- pc.printf("d");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1101;
- }
-
- if(state_val == 0){
- instruction = 0b1101;
- state_val++;
- }
-
- break;
-
- case 'E':
- pc.printf("e");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1110;
- }
-
- if(state_val == 0){
- instruction = 0b1110;
- state_val++;
- }
-
- break;
-
- case 'F':
- pc.printf("f");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1111;
- }
-
- if(state_val == 0){
- instruction = 0b1111;
- state_val++;
- }
-
- break;
-
- case '\r':
- pc.printf("\r\nOk\r\n");
- identif = instruction;
- state++;
-
- break;
-
- }
- }
-
- pc.printf("\r\n Number of octets : ");
-
- c = pc.getc();
- instruction = 0;
- state_val = 0;
-
- switch(c){
- case '0':
- pc.printf("0");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0000;
- }
-
- if(state_val == 0){
- instruction = 0b0000;
- state_val++;
- }
-
- break;
-
- case '1':
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0001;
- }
-
- pc.printf("1");
- if(state_val == 0){
- instruction = 0b0001;
- state_val++;
- }
-
- break;
-
- case '2':
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0010;
- }
-
- pc.printf("2");
- if(state_val == 0){
- instruction = 0b0010;
- state_val++;
- }
-
- break;
-
- case '3':
- pc.printf("3");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0011;
- }
-
- if(state_val == 0){
- instruction = 0b0011;
- state_val++;
- }
-
- break;
-
- case '4':
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0100;
- }
-
- pc.printf("4");
- if(state_val == 0){
- instruction = 0b0100;
- state_val++;
- }
-
- break;
-
- case '5':
- pc.printf("5");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0101;
- }
-
- if(state_val == 0){
- instruction = 0b0101;
- state_val++;
- }
-
- break;
-
- case '6':
- pc.printf("6");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0110;
- }
-
- if(state_val == 0){
- instruction = 0b0110;
- state_val++;
- }
-
- break;
-
- case '7':
- pc.printf("7");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0111;
- }
-
- if(state_val == 0){
- instruction = 0b0111;
- state_val++;
- }
-
- break;
-
- case '8':
- pc.printf("8");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1000;
- }
-
-
- if(state_val == 0){
- instruction = 0b1000;
- state_val++;
- }
-
- break;
-
- case '9':
- pc.printf("9");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1001;
- }
-
- if(state_val == 0){
- instruction = 0b1001;
- state_val++;
- }
-
- break;
-
- case 'a':
- pc.printf("a");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1010;
- }
-
- if(state_val == 0){
- instruction = 0b1010;
- state_val++;
- }
+ wait(0.1);
+ MOD_NOR = 0;
+ wait(0.9);
- break;
-
- case 'b':
- pc.printf("b");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1011;
- }
-
- if(state_val == 0){
- instruction = 0b1011;
- state_val++;
- }
-
- break;
-
- case 'c':
- pc.printf("c");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1100;
- }
-
- if(state_val == 0){
- instruction = 0b1100;
- state_val++;
- }
-
- break;
-
- case 'd':
- pc.printf("d");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1101;
- }
-
- if(state_val == 0){
- instruction = 0b1101;
- state_val++;
- }
-
- break;
-
- case 'e':
- pc.printf("e");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1110;
- }
-
- if(state_val == 0){
- instruction = 0b1110;
- state_val++;
- }
-
- break;
-
- case 'f':
- pc.printf("f");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1111;
- }
-
- if(state_val == 0){
- instruction = 0b1111;
- state_val++;
- }
-
- break;
-
- case 'A':
- pc.printf("a");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1010;
- }
-
- if(state_val == 0){
- instruction = 0b1010;
- state_val++;
- }
-
- break;
-
- case 'B':
- pc.printf("b");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1011;
- }
-
- if(state_val == 0){
- instruction = 0b1011;
- state_val++;
- }
-
- break;
-
- case 'C':
- pc.printf("c");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1100;
- }
-
- if(state_val == 0){
- instruction = 0b1100;
- state_val++;
- }
-
- break;
-
- case 'D':
- pc.printf("d");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1101;
- }
-
- if(state_val == 0){
- instruction = 0b1101;
- state_val++;
- }
-
- break;
-
- case 'E':
- pc.printf("e");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1110;
- }
-
- if(state_val == 0){
- instruction = 0b1110;
- state_val++;
- }
-
- break;
-
- case 'F':
- pc.printf("f");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1111;
- }
-
- if(state_val == 0){
- instruction = 0b1111;
- state_val++;
- }
-
- break;
-
- }
-
- length = instruction;
- pc.printf("\r\n");
- if(length > 0){
- pc.printf("Send octets in hexa\r\n");
- i = 0;
- pc.printf("\r\n Octet[%d] : ", i);
- while(i <= length - 1){
-
+ }
- c = pc.getc();
- switch(c){
- case '0':
- pc.printf("0");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0000;
- }
-
- if(state_val == 0){
- instruction = 0b0000;
- state_val++;
- }
-
- break;
-
- case '1':
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0001;
- }
-
- pc.printf("1");
- if(state_val == 0){
- instruction = 0b0001;
- state_val++;
- }
-
- break;
-
- case '2':
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0010;
- }
-
- pc.printf("2");
- if(state_val == 0){
- instruction = 0b0010;
- state_val++;
- }
-
- break;
-
- case '3':
- pc.printf("3");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0011;
- }
-
- if(state_val == 0){
- instruction = 0b0011;
- state_val++;
- }
-
- break;
-
- case '4':
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0100;
- }
-
- pc.printf("4");
- if(state_val == 0){
- instruction = 0b0100;
- state_val++;
- }
-
- break;
-
- case '5':
- pc.printf("5");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0101;
- }
-
- if(state_val == 0){
- instruction = 0b0101;
- state_val++;
- }
-
- break;
-
- case '6':
- pc.printf("6");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0110;
- }
-
- if(state_val == 0){
- instruction = 0b0110;
- state_val++;
- }
-
- break;
-
- case '7':
- pc.printf("7");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b0111;
- }
-
- if(state_val == 0){
- instruction = 0b0111;
- state_val++;
- }
-
- break;
-
- case '8':
- pc.printf("8");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1000;
- }
-
-
- if(state_val == 0){
- instruction = 0b1000;
- state_val++;
- }
-
- break;
-
- case '9':
- pc.printf("9");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1001;
- }
-
- if(state_val == 0){
- instruction = 0b1001;
- state_val++;
- }
-
- break;
-
- case 'a':
- pc.printf("a");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1010;
- }
-
- if(state_val == 0){
- instruction = 0b1010;
- state_val++;
- }
-
- break;
-
- case 'b':
- pc.printf("b");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1011;
- }
-
- if(state_val == 0){
- instruction = 0b1011;
- state_val++;
- }
-
- break;
-
- case 'c':
- pc.printf("c");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1100;
- }
-
- if(state_val == 0){
- instruction = 0b1100;
- state_val++;
- }
-
- break;
-
- case 'd':
- pc.printf("d");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1101;
- }
-
- if(state_val == 0){
- instruction = 0b1101;
- state_val++;
- }
-
- break;
-
- case 'e':
- pc.printf("e");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1110;
- }
-
- if(state_val == 0){
- instruction = 0b1110;
- state_val++;
- }
-
- break;
-
- case 'f':
- pc.printf("f");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1111;
- }
-
- if(state_val == 0){
- instruction = 0b1111;
- state_val++;
- }
-
- break;
-
- case 'A':
- pc.printf("a");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1010;
- }
-
- if(state_val == 0){
- instruction = 0b1010;
- state_val++;
- }
-
- break;
-
- case 'B':
- pc.printf("b");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1011;
- }
-
- if(state_val == 0){
- instruction = 0b1011;
- state_val++;
- }
-
- break;
-
- case 'C':
- pc.printf("c");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1100;
- }
-
- if(state_val == 0){
- instruction = 0b1100;
- state_val++;
- }
-
- break;
-
- case 'D':
- pc.printf("d");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1101;
- }
-
- if(state_val == 0){
- instruction = 0b1101;
- state_val++;
- }
-
- break;
-
- case 'E':
- pc.printf("e");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1110;
- }
-
- if(state_val == 0){
- instruction = 0b1110;
- state_val++;
- }
-
- break;
-
- case 'F':
- pc.printf("f");
-
- if(state_val > 0){
- instruction = instruction << 4;
- instruction |= 0b1111;
- }
-
- if(state_val == 0){
- instruction = 0b1111;
- state_val++;
- }
-
- break;
-
- case '\r':
- octet_send[i] = instruction;
- instruction = 0;
- state_val = 0;
- i++;
- if(i <= length - 1){
- pc.printf("\r\n Octet[%d] : ", i);}
- break;
-
- }
-
-
- }//end of while
- }
- pc.printf("Set RTR (1 or 0): ");
- c = pc.getc();
- if(c == '0'){
- RemoteData = 'D';
- }
- if(c == '1'){
- RemoteData = 'R';
- }
- pc.printf("%c \r\n",c);
- wait(2);
-
-
- for(i = 0; i < 25; i++){
- if(dejafait == 0){
- send(identif, octet_send, RemoteData, length );
- data_rc = 0;
- dejafait = 1;
- }
-
- pc.printf("Awaiting Data... \r\n");
- if(can2.read(msg)) {
- pc.printf("Message received\r\n");
- pc.printf("Number of octet: %d \r\n", msg.len);
-
- }
- }//end of for
- for(i = 0; i < msg.len; i++){
- pc.printf("Data captured %d : 0x%x \r\n", i, msg.data[i]);
+ while(1){
+ if(SWH == 0){
+ wait(1.0);
+ send(0x0195, command, 'R', 0); //send word to put pluto driver in operational mode
+ wait(1);
+ if(can2.read(msg)) {
+ for(int i = 0; i < msg.len; i++){
+ pc.printf("0x%x ",msg.data[i]);
+ }//end of for
+ pc.printf("\r \n");
+ }//can.read(len)
+ }//end of SWH == 0
+
+ switch(BPO){
+ case 0:
+
+ switch(SWV){
+ case 0:
+ command[0] = 0x00;
+ command[1] = 0x00;
+ command[2] = 0xBF;
+ command[3] = 0x00;
+ send(RPDO1_R, command, 'D', 4); //send word to put pluto driver in operational mode
+ break;
+
+ case 1:
+ command[0] = 0xFF;
+ command[1] = 0xFF;
+ command[2] = 0x40;
+ command[3] = 0xFF;
+ send(RPDO1_R, command, 'D', 4); //send word to put pluto driver in operational mode
+
+ break;
+
+
+
+ }
+
+ break;
+
+ case 1:
+
+ command[0] = 0x00;
+ command[1] = 0x00;
+ command[2] = 0x00;
+ command[3] = 0x00;
+ send(RPDO1_R, command, 'D', 4); //send word to put pluto driver in operational mode
+ break;
+
+ }
- }
- data_rc = 0;
- dejafait = 0;
- i = 0;
- state = 0;
- pc.printf("\r\n");
- //end of for
}// fin while(1)
} // fin main
- /*
-
- printf("loop()\n");
- if(can2.read(msg)) {
- printf("Message received: %d\n", msg.data[0]);
- led2 = !led2;
- }
- wait(0.2);
- }
-} */
-
-//choix= 5*pot_1.read();
- // lcd.locate(0,0);
- // lcd. printf("Trame %d \n", choix);
- /* switch (choix)
- { // debut sw
- case (0): // Trame qui passe le noeud 15 en Operationnal state
- { identif = 0x00 ;
- octet_send[0] = 0x01 ;
- octet_send[1] = 0x15 ;
- RemoteData = 'D';
- length = 2 ;
- break ;
- } // fin case 0
- case (1): // Trame qui passe le noeud 20 en Operationnal state
- { identif = 0x00 ;
- octet_send[0] = 0x01 ;
- octet_send[1] = 0x20 ;
- RemoteData = 'D';
- length = 2 ;
- break ;
- } // fin case 1
- case (2): // trame qui ping le noeud 15
- { identif = 0x715 ;
- for(i=0;i<9;i++)
- { octet_send[i]='D';} // 44 en hexa par defaut
- RemoteData = 'R';
- length = 0 ;
- break ;
- } // fin case 2
- case (3): // trame qui ping le noeud 20
- { identif = 0x720 ;
- for(i=0;i<9;i++)
- { octet_send[i]='D';} // 44 en hexa par defaut
- RemoteData = 'R';
- length = 0 ;
- break ;
- } // fin case 3
-
- default : // 4 ou 5
- { identif = 0x123 ;
- for(i=0;i<9;i++)
- { octet_send[i]='D';} // 44 en hexa par defaut
- RemoteData = 'D';
- length = 8 ;
- break ;
- } // fin default
-
- } // fin switch
- */
\ No newline at end of file
+
\ No newline at end of file