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Dependencies: Encoder_Nucleo_16_bits PwmIn mbed
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main.cpp
- Committer:
- haarkon
- Date:
- 2017-05-29
- Revision:
- 1:d95546f84105
- Parent:
- 0:f00e68bef80c
- Child:
- 2:1d440e938c44
File content as of revision 1:d95546f84105:
/** Main Test Board * * \brief Programme de tests pour le robot NCR 2017 * \author H. Angelis * \version alpha_1 * \date 15/05/17 * */ #include "mbed.h" #include "PwmIn.h" #include "Nucleo_Encoder_16_bits.h" #define BOUSSOLE_adress 0xC0 typedef unsigned char Byte; typedef unsigned short Word; typedef unsigned long lWord; typedef enum {S_monte = 1, S_descente = 0} T_SERVODIR; typedef union { lWord header; Byte tab[4]; } T_tmpbuffer; typedef struct { Word checksum; Word signature; Word x; Word y; Word width; Word height; Word angle; // angle is only available for color coded blocks } T_pixyCCBloc; typedef union { Byte tab[14]; T_pixyCCBloc CCbloc; } T_pixyData; /** Liste des objets * * Serial #4 Pixy * Serial #2 Pc * * AnalogIn C1, C2, C3, LD1, LD2, SD1, SD2, Vbat * * DigitalOut Led1, Led2, Trig1, Trig2, Trig3, En, SensG, SensD * * InterruptIn IndexG, IndexD, Echo1, Echo2, Echo3, BP * * PwmOut Pwm_MG, Pwm_MD, Servo * * PwmIn PWMG, PWMD, PWMB * * I2C Bus_I2C * * SPI MotG, MotD * * Nucleo_Encoder_16_bits Gauche, Droite * * Ticker timer */ /** Liste des PINs * * PIN MAP (ordre alphabetique) des PINs de la Nucléo 64 utilisée * PA_0 -> Pixy RX (Serial) * PA_1 -> Pixy TX (Serial) * PA_2 -> PC TX (Serial) * PA_3 -> PX RX (Serial) * PA_4 -> GP2 SD #2 (Analog In) * PA_5 -> LED1 (Digital Out) * PA_6 -> CNY3 (Analog In) * PA_7 -> CNY2 (Analog In) * PA_8 -> Servomoteur (PWM Out) * PA_9 -> US Trigger #3 (Digital Out) * PA_10 -> US Echo #1 (Pwm In) * PA_11 -> US Echo #2 (Pwm In) * PA_12 -> SS (SPI Slave Select) (Digital Out) * PA_13 * PA_14 * PA_15 -> Boussole (Pwm In) * * PB_0 -> GP2 SD #1 (Analog In) * PB_1 -> Position D (Pwm In) * PB_2 -> Position G (Pwm In) * PB_3 -> PWM Mot D (PWM Out) * PB_4 -> Enocdeur Droit A (QE) * PB_5 -> Enocdeur Droit B (QE) * PB_6 -> Enocdeur Gauche A (QE) * PB_7 -> Enocdeur Gauche B (QE) * PB_8 -> SCL (I2C) * PB_9 -> SDA (I2C) * PB_10 -> PWM Mot G (PWM Out) * PB_11 * PB_12 -> US Echo #3 (Pwm In) * PB_13 -> SCK Encodeur D (SPI) * PB_14 -> MISO Encodeur D (SPI) * PB_15 -> MOSI Encodeur D (SPI) * * PC_0 -> GP2 LD #1 (Analog In) * PC_1 -> GP2 LD #2 (Analog In) * PC_2 -> US Trigger #2 (Digital Out) * PC_3 -> US Trigger #1 (Digital Out) * PC_4 -> CNY1 (Analog In) * PC_5 -> Vbat (Analog In) * PC_6 -> Dir Mot Droit (Digital Out) * PC_7 -> I (Encodeur Gauche) (IRQ In) * PC_8 -> Dir Mot Gauche (Digital Out) * PC_9 -> Enable Moteurs (Digital Out) * PC_10 -> SCK Encodeur G (SPI) * PC_11 -> MISO Encodeur G (SPI) * PC_12 -> MOSI Encodeur G (SPI) * PC_13 -> User BP (IRQ In) * PC_14 * PC_15 * * PD_1 * PD_2 -> Led2 (Digital Out) */ Serial Pixy (PA_0, PA_1, 230400); Serial Pc (PA_2, PA_3, 460800); AnalogIn CNY1 (PC_4); AnalogIn CNY2 (PA_7); AnalogIn CNY3 (PA_6); AnalogIn LD1 (PC_0); AnalogIn LD2 (PC_1); AnalogIn SD1 (PB_0); AnalogIn SD2 (PA_4); AnalogIn Vbat (PC_5); DigitalOut Led1 (PA_5); DigitalOut Led2 (PD_2); DigitalOut Trig1 (PC_3); DigitalOut Trig2 (PC_2); DigitalOut Trig3 (PA_9); DigitalOut En (PC_9); DigitalOut SensG (PC_8); DigitalOut SensD (PC_6); DigitalOut SS (PA_12); InterruptIn Echo1 (PA_10); InterruptIn Echo2 (PA_11); InterruptIn Echo3 (PB_12); InterruptIn BP (PC_13); InterruptIn IG (PC_7); PwmIn PWMG (PB_2); PwmIn PWMD (PB_1); PwmIn PWMB (PA_15); PwmOut Pwm_MG (PB_10); PwmOut Pwm_MD (PB_3); PwmOut Servo (PA_8); I2C Bus_I2C (PB_9, PB_8); SPI MotG (PC_12, PC_11, PC_10); SPI MotD (PB_15, PB_14, PB_13); Nucleo_Encoder_16_bits Gauche (TIM4); // A = PB_6, B = PB_7 Nucleo_Encoder_16_bits Droite (TIM3); // A = PB_4, B = PB_5 Ticker timer; Timer temps; /** Liste des variables globales * * Tick -> (long) Compte le nombre de MS écoulé et déclenche l'exécution de la boucle en fonction du temps écoulé. * FlagIG -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue gauche * FlagID -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue droite * EchoXStart -> (long) Donne le temps en µs de début de l'impulsion d'écho de l'US n°X * DistUSX -> (float) Donne la distance en mm mesurée par l'US n°X */ // Structure de temps lWord Tick = 0; // Sémaphore d'interruption int FlagUS1 = 0, FlagUS2 = 0, FlagUS3 = 0, FlagPixy = 0, FlagPixyOverflow = 0; int FlagTick = 0, FlagTickLed = 0, BPPressed = 0; // Dialogue avec la Pixy T_pixyData Pixy_FIFO[20]; Byte Pixy_nbObjet = 0, Pixy_wObjet = 0, Pixy_rObjet = 0; // Gestion des capteurs Ultrason long Echo1Start, Echo2Start, Echo3Start; double DistUS1, DistUS2, DistUS3; /** Liste des interruptions * */ void tickTime() { Tick++; FlagTick = 1; if ((Tick%100)==0) FlagTickLed = 1; } void BPevent () { BPPressed = 1; } void echo1Rise () { Echo1Start = temps.read_us(); } void echo2Rise () { Echo2Start = temps.read_us(); } void echo3Rise () { Echo3Start = temps.read_us(); } void echo1Fall () { DistUS1 = (double)(temps.read_us() - Echo1Start)/5.8; FlagUS1 = 1; } void echo2Fall () { DistUS2 = (double)(temps.read_us() - Echo2Start)/5.8; FlagUS2 = 1; } void echo3Fall () { DistUS3 = (double)(temps.read_us() - Echo3Start)/5.8; FlagUS3 = 1; } void getPixyByte () { static T_tmpbuffer tmpBuffer; static Byte bytecount = 0; static int Pixy_synced = 0; int i; Led2 = ! Led2; if (!Pixy_synced) { // On n'a pas trouvé le départ (0x55aa55aa ou 0x55aa56aa) tmpBuffer.tab[bytecount] = Pixy.getc(); // On stocke l'octet reçu dans la première case dispo du tableau temporaire if (bytecount < 3) { // Si on n'a pas encore reçu les 4 premier octets bytecount++; // On passe à la case suivante du tableau temporaire } else { // Si on a 4 octets de données if (tmpBuffer.header == 0x55aa56aa) { // Si on a un Color Code Bloc if (Pixy_wObjet < 19) Pixy_wObjet++; // On incrémente le pointeur d'écriture dans la FIFO Objet else Pixy_wObjet = 0; Pixy_nbObjet++; // On dit que l'on a un objet de plus if (Pixy_nbObjet >= 20) FlagPixyOverflow = 1; // Si on a plus de 20 objets (en attente) => Overflow Pixy_synced = 1; // Et on peut dire que l'on a synchronisé la Pixy bytecount = 0; } else { // Si on n'a pas vu le header d'un Color Code Bloc for (i=1; i<4; i++) tmpBuffer.tab[i-1] = tmpBuffer.tab[i]; // On décalle les cases du tableau } } } else { // La Pixy est synchronisée Pixy_FIFO[Pixy_wObjet].tab[bytecount] = Pixy.getc(); // On stocke les octets un à un dans la structure CCBloc if (bytecount < 14) bytecount++; // tant que la structure n'est pas pleine else { // Quand elle est pleine bytecount = 0; // On réinitialise Pixy_synced = 0; FlagPixy = 1; // Et on signale au main qu'un objet est pret à être analysé. } } } int main() { int I2C_check = -1, BOUSSOLE_check = -1 /*, SPI2_check = -1, SPI3_check = -1, PIXY_check = -1, MOTG_check = -1, MOTD_check = -1*/; int phase = 0; double SERVO_angle = 0, SERVO_angleMAX = 180, SERVO_angleMIN = 0; Word SERVO_pos; T_SERVODIR SERVO_dir = S_monte; Byte PIXY_red = 0, PIXY_green = 0, PIXY_blue = 0; char MENU_choix = 0; char BOUSSOLE_status[1] = {0}/*, BOUSSOLE_bearingWord[1] = {2}*/; char I2C_registerValue[4]; double CAP_I2C, CAP_PWM; double SD1_val, SD2_val, LD1_val, LD2_val, CNY1_val, CNY2_val, CNY3_val, Vbat_val; double SD1_dist, SD2_dist, LD1_dist, LD2_dist; double periode; temps.reset(); temps.start(); timer.attach(&tickTime, 0.001); Bus_I2C.frequency (100000); BP.rise (&BPevent); Echo1.rise (&echo1Rise); Echo2.rise (&echo2Rise); Echo3.rise (&echo3Rise); Echo1.fall (&echo1Fall); Echo2.fall (&echo2Fall); Echo3.fall (&echo3Fall); BP.enable_irq(); IG.enable_irq(); Echo1.enable_irq(); Echo2.enable_irq(); Echo3.enable_irq(); Pixy.attach (&getPixyByte); Pwm_MG.period_us(50); Pwm_MD.period_us(50); Pwm_MG = 0; Pwm_MD = 0; En = 0; SensG = 0; SensD = 0; Led2 = 0; Servo.period_ms(20); while(1) { do { Led1 = 0; Pc.printf ("\n\n\n\n\rProgramme de test\n\n\rEntrez le code du test a effectuer :\n\n"); Pc.printf ("\r1- Capteurs Ultra Son (les 3)\n"); Pc.printf ("\r2- Boussole et I2C\n"); Pc.printf ("\r3- Capteurs GP2 (les 4)\n"); Pc.printf ("\r4- Capteurs CNY70 (les 3)\n"); Pc.printf ("\r5- VBAT\n"); Pc.printf ("\r6- Moteur Gauche -- NON CODE\n"); Pc.printf ("\r7- Moteur Droit -- NON CODE\n"); Pc.printf ("\r8- Servomoteur\n"); Pc.printf ("\r9- Test de la PIXY\n\r"); MENU_choix = Pc.getc (); } while (((MENU_choix-'0')<1) || ((MENU_choix-'0')>9)); switch (MENU_choix-'0') { case 1 : Pc.printf ("\n\n\rTest des captreurs Ultrason\n"); Pc.printf ("\rAppuyez sur Entree pour quitter\n"); do { if (FlagTickLed) { Led1 = !Led1; FlagTickLed = 0; } // Gestion des US if (((Tick%150)==0) && FlagTick) { Trig1 = 1; wait_us(20); Trig1 = 0; FlagTick = 0; } if (((Tick%150)==50) && FlagTick) { Trig2 = 1; wait_us(20); Trig2 = 0; FlagTick = 0; } if (((Tick%150)==100) && FlagTick) { Trig3 = 1; wait_us(20); Trig3 = 0; FlagTick = 0; } if (FlagUS1==1) { Pc.printf ("\rUS 1 = %04d mm", (int)DistUS1); FlagUS1 = 0; } if (FlagUS2==1) { Pc.printf ("\r\t\t\tUS 2 = %04d mm", (int)DistUS2); FlagUS2 = 0; } if (FlagUS3==1) { Pc.printf ("\r\t\t\t\t\t\tUS 3 = %04d mm", (int)DistUS3); FlagUS3 = 0; } } while(!Pc.readable()); MENU_choix = Pc.getc(); break; case 2 : Pc.printf ("\n\n\rBoussole\n"); Pc.printf ("\rAppuyez sur Entree pour quitter\n"); Pc.printf ("\n\rVerif du bus I2C :"); I2C_check = Bus_I2C.write (BOUSSOLE_adress,BOUSSOLE_status,1,false); if (I2C_check==0) { Pc.printf (" OK\n"); Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true); Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4); Pc.printf ("\rVersion Firmware boussole : %03d\n", I2C_registerValue[0]); } else { Pc.printf (" FAIL\n"); } periode = PWMB.period(); Pc.printf ("\rVerif de la PWM :"); if ((periode > 0.11) || (periode < 0.06)) { Pc.printf (" FAIL\n\n"); } else { Pc.printf (" OK\n\n"); BOUSSOLE_check = 0; } do { if (FlagTickLed) { Led1 = !Led1; FlagTickLed = 0; } if (((Tick%150)==0) && FlagTick) { FlagTick = 0; if (BOUSSOLE_check==0) { CAP_PWM = ((PWMB.pulsewidth()*1000)-1)*10; Pc.printf ("\r PWM = %4.1lf", CAP_PWM); } //if (I2C_check==0) { Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true); Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4); CAP_I2C = (double)(((unsigned short)I2C_registerValue[2]<<8)+(unsigned short)I2C_registerValue[3])/10.0; Pc.printf ("\r\t\t I2C = %4.1lf", CAP_I2C); //} } } while(!Pc.readable()); MENU_choix = Pc.getc(); break; case 3 : Pc.printf ("\n\n\rGP2xx\n"); Pc.printf ("\rAppuyez sur Entree pour quitter\n"); do { if (FlagTickLed) { Led1 = !Led1; FlagTickLed = 0; SD1_val = SD1; SD2_val = SD2; LD1_val = LD1; LD2_val = LD2; if (SD1_val < 0.06) { SD1_val = 0; SD1_dist = 40; } else { SD1_dist = 11.611/(SD1_val*3.3-0.0237); if (SD1_dist > 40) SD1_dist = 40; } if (SD2_val < 0.06) { SD2_val = 0; SD2_dist = 40; } else { SD2_dist = 11.611/(SD2_val*3.3-0.0237); if (SD2_dist > 40) SD2_dist = 40; } if (LD1_val < 0.1) { LD1_val = 0; LD1_dist = 150; } else { LD1_dist = 59.175/(LD1_val*3.3-0.0275); if (LD1_dist > 150) LD1_dist = 150; } if (LD2_val < 0.1) { LD2_val = 0; LD2_dist = 150; } else { LD2_dist = 59.175/(LD2_val*3.3-0.0275); if (LD2_dist > 150) LD2_dist = 150; } 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); } } while(!Pc.readable()); MENU_choix = Pc.getc(); break; case 4 : Pc.printf ("\n\n\rCNY70\n"); Pc.printf ("\rAppuyez sur Entree pour quitter\n"); do { if (FlagTickLed) { Led1 = !Led1; FlagTickLed = 0; CNY1_val = CNY1; CNY2_val = CNY2; CNY3_val = CNY3; 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); } } while(!Pc.readable()); MENU_choix = Pc.getc(); break; case 5 : Pc.printf ("\n\n\rVbat\n"); Pc.printf ("\rAppuyez sur Entree pour quitter\n"); do { if (FlagTickLed) { Led1 = !Led1; FlagTickLed = 0; Vbat_val = Vbat; Pc.printf ("\rVbat = %5.3lf V", Vbat_val*3.3*4.3); } } while(!Pc.readable()); MENU_choix = Pc.getc(); break; case 6 : Pc.printf ("\n\n\rMoteur Gauche\n"); Pc.printf ("\rAppuyez sur Entree pour quitter\n"); do { if (FlagTickLed) { Led1 = !Led1; FlagTickLed = 0; } } while(!Pc.readable()); MENU_choix = Pc.getc(); break; case 7 : Pc.printf ("\n\n\rMoteur Droit\n"); Pc.printf ("\rAppuyez sur Entree pour quitter\n"); do { if (FlagTickLed) { Led1 = !Led1; FlagTickLed = 0; wait (0.1); } } while(!Pc.readable()); MENU_choix = Pc.getc(); break; case 8 : Pc.printf ("\n\n\rServo Moteur\n"); Pc.printf ("\rAppuyez sur Entree pour quitter\n"); do { if (FlagTickLed) { Led1 = !Led1; FlagTickLed = 0; } if (((Tick%250)==0) && FlagTick) { if (SERVO_dir == S_monte) { if (SERVO_angle >= SERVO_angleMAX) { SERVO_dir = S_descente; SERVO_angle = SERVO_angleMAX; } else { SERVO_angle += 5; } } else { if (SERVO_angle <= SERVO_angleMIN) { SERVO_dir = S_monte; SERVO_angle = SERVO_angleMIN; } else { SERVO_angle -= 5; } } SERVO_pos = (lWord)(SERVO_angle*50/9) + 1000; Servo.pulsewidth_us(SERVO_pos); Pc.printf ("\rAngle = %4.1lf", SERVO_angle); } } while(!Pc.readable()); MENU_choix = Pc.getc(); break; case 9 : Pc.printf ("\n\n\rPixy\n"); Pc.printf ("\rAppuyez sur Entree pour quitter\n"); do { if (((Tick%50)==0) && FlagTick) { FlagTick = 0; switch (phase) { case 0 : PIXY_red += 5; if (PIXY_red == 255) { phase = 1; //Pc.printf ("\rPhase 1"); } break; case 1 : PIXY_green += 5; if (PIXY_green == 255) { phase = 2; //Pc.printf ("\rPhase 2"); } break; case 2 : PIXY_red -= 5; if (PIXY_red == 0) { phase = 3; //Pc.printf ("\rPhase 3"); } break; case 3 : PIXY_blue += 5; if (PIXY_blue == 255) { phase = 4; //Pc.printf ("\rPhase 4"); } break; case 4 : PIXY_green -= 5; if (PIXY_green == 0) { phase = 5; //Pc.printf ("\rPhase 5"); } break; case 5 : PIXY_red += 5; if (PIXY_red == 255) { phase = 6; //Pc.printf ("\rPhase 6"); } break; case 6 : PIXY_green += 5; if (PIXY_green == 255) { phase = 7; //Pc.printf ("\rPhase 7"); } break; case 7 : PIXY_red -= 5; PIXY_green -= 5; PIXY_blue -=5; if (PIXY_red == 0) { phase = 0; //Pc.printf ("\rPhase 0"); } break; } Pixy.putc(0); Pixy.putc(0xFD); Pixy.putc(PIXY_red); Pixy.putc(PIXY_green); Pixy.putc(PIXY_blue); while (Pixy_nbObjet) { Pc.printf ("\r%5hd = %5hd,%5hd : %5hdx%5hd", Pixy_FIFO[Pixy_rObjet].CCbloc.signature, Pixy_FIFO[Pixy_rObjet].CCbloc.x, Pixy_FIFO[Pixy_rObjet].CCbloc.y, Pixy_FIFO[Pixy_rObjet].CCbloc.width, Pixy_FIFO[Pixy_rObjet].CCbloc.height); if (Pixy_nbObjet>1) Pc.printf("\n"); if (Pixy_rObjet<19) Pixy_rObjet++; else Pixy_rObjet = 0; Pixy_nbObjet--; } FlagPixy = 0; } if (FlagTickLed) { Led1 = !Led1; FlagTickLed = 0; } } while(!Pc.readable()); MENU_choix = Pc.getc(); break; } } }