RaC2018
Code robot à câbles v1.0
Dependencies: CAN_CONSOLE_v3 mbed
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Robot_a_cables
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RaC2018
Revision 1:4d70e593345f, committed 2018-02-28
- Comitter:
- protongamer
- Date:
- Wed Feb 28 11:34:52 2018 +0000
- Parent:
- 0:1ab5fdb4fa56
- Child:
- 2:1e06fd49ea7b
- Commit message:
- Console CAN 2.0
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Feb 09 20:49:17 2018 +0000
+++ b/main.cpp Wed Feb 28 11:34:52 2018 +0000
@@ -1,42 +1,1159 @@
#include "mbed.h"
- // LR 9/02/18
+ // LR 10/02/18
//
- // bus CAN
+ // bus CAN generateur de trames
//
- // Ce programme genere une trame
- // id=00, data= 01 20 , longueur = 2, can standard (11 bits id)
+ // 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 !!
//
- // testé à l'analyseur logique = OK !!
+ //
-Ticker ticker;
+
DigitalOut led1(LED1);
DigitalOut led2(LED2);
CAN can1(p9, p10,1000000);// on definit pin et debit
CAN can2(p30, p29, 1000000);
-char counter = 0;
-char octet_emis[8] = "ABCD";
-int id = 0x539 ;
-
-void send() {
+Serial pc(USBTX, USBRX);
+//AnalogIn pot_1(p19); // potard pour selection
+
+
+
+void send(int id, char octet_emis[], char RouD, char longueur )
+{
+ int emis_ok = 0 ;
- printf("send()\n");
- id = 0x00 ;
- octet_emis[0] = 0x01 ;
- octet_emis[1] = 0x20 ;
- if(can1.write(CANMessage(id, octet_emis, 2, CANData, CANStandard ))) {
- printf("wloop()\n");
- counter++;
- printf("Message sent: %d\n", counter);
+ 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] );
+ }// 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] );
+ }
+ //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) {
+ // ici octet emis n'a pas de sens car trame remote !
+ pc.printf("j'emets bien !!! \n");
}
led1 = !led1;
}
+
+
+
int main() {
+ // int choix = 0 ;
+ int i = 0 ;
- printf("main()\n");
- ticker.attach(&send, 1);
- CANMessage msg;
+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];
+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;
+ }
+
+ 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++;
+ }
+
+ 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);
+
+ send(identif, octet_send, RemoteData, length );
+ data_rc = 0;
+ for(i = 0; i < 50; i++){
+ pc.printf("Awaiting Data... \r\n");
+ if(can2.read(msg)) {
+ pc.printf("Message received: 0x%x \r\n", msg.data[data_rc]);
+ data_report[data_rc] = msg.data[data_rc];
+ data_rc++;
+ }
+ }//end of for
+
+
+ for(i = 0; i < data_rc; i++){
+ pc.printf("Data captured %d : 0x%x \r\n", data_rc, data_report[i]);
+
+ }
+ data_rc = 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]);
@@ -44,4 +1161,54 @@
}
wait(0.2);
}
-}
\ No newline at end of file
+} */
+
+//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