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Dependencies:   mbed

main.cpp@7:f793a00a6e37, 2020-05-11 (annotated)

Committer:
higepi
Date:
Mon May 11 12:47:22 2020 +0000
Revision:
7:f793a00a6e37
Parent:
6:a243c013e519
Child:
8:18392048e2cc
Test 11/05 2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bcostm 0:d5bd863b2036 1 #include "mbed.h"
bcostm 0:d5bd863b2036 2
higepi 3:ac6eead48a9d 3 //AX12 myax12 (PC_4, PC_5, 1,115200);
higepi 3:ac6eead48a9d 4 Serial myserial_ax12(PC_4,PC_5,115200);
higepi 4:4160376d7d69 5 Serial pc(USBTX,USBRX,115200);
higepi 6:a243c013e519 6 //Serial zigBee(PC_1,PC_0,115200);
higepi 4:4160376d7d69 7
higepi 4:4160376d7d69 8
higepi 4:4160376d7d69 9 DigitalOut my_led1(LED1);
higepi 4:4160376d7d69 10 DigitalOut my_led2(LED2);
higepi 4:4160376d7d69 11 DigitalOut my_led3(LED3);
bcostm 0:d5bd863b2036 12
higepi 6:a243c013e519 13 char tata[10] = {};
higepi 4:4160376d7d69 14 int position_1;
higepi 4:4160376d7d69 15 int position_2;
higepi 4:4160376d7d69 16 int position_3;
higepi 6:a243c013e519 17 int num_moteur = 1;
higepi 4:4160376d7d69 18 int vitesse;
higepi 4:4160376d7d69 19 char sens;
higepi 4:4160376d7d69 20
higepi 4:4160376d7d69 21 Ticker ticker_10ms;
higepi 4:4160376d7d69 22
higepi 4:4160376d7d69 23 //Définition des trames de requête pour le moteur 1
higepi 4:4160376d7d69 24 char trame_demande_pos_1[8]={0xFF,0xFF,0x01,0x4,0x2,0x24,2,0xD2};
higepi 4:4160376d7d69 25 char trame_demande_pos_2[8]={0xFF,0xFF,0x02,0x4,0x2,0x24,2,0xD1};
higepi 4:4160376d7d69 26 char trame_demande_pos_3[8]={0xFF,0xFF,0x03,0x4,0x2,0x24,2,0xD0};
higepi 4:4160376d7d69 27 char trame_demande_vitesse[8]={0xFF,0xFF,0x01,0x4,0x2,0x28,2,0xCE};
higepi 4:4160376d7d69 28
higepi 4:4160376d7d69 29
higepi 4:4160376d7d69 30 #define acq_vitesse 0
higepi 4:4160376d7d69 31 #define acq_position 1
higepi 4:4160376d7d69 32
higepi 4:4160376d7d69 33 //Fonction d'interruption sur réception de charactère sur liaison série
higepi 3:ac6eead48a9d 34 void Rx_Irq_fonction(void)
bcostm 0:d5bd863b2036 35 {
higepi 4:4160376d7d69 36 my_led1 = !my_led1;
higepi 4:4160376d7d69 37
higepi 4:4160376d7d69 38 static int i_rx=0;
higepi 3:ac6eead48a9d 39 tata[i_rx]=myserial_ax12.getc();
higepi 4:4160376d7d69 40
higepi 4:4160376d7d69 41 if (tata[0]!=0xFF) // On vérifie que le premier et le deuxième octet sont biens 0xFF
higepi 3:ac6eead48a9d 42 i_rx=0;
higepi 3:ac6eead48a9d 43 else i_rx++;
higepi 4:4160376d7d69 44 if((i_rx==2)&&(tata[1] != 0xFF)) i_rx=0;
higepi 4:4160376d7d69 45
higepi 4:4160376d7d69 46 //Une fois qu'on sait que la trame est "juste" on récupère le reste
higepi 3:ac6eead48a9d 47 if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x01) && i_rx==7)
higepi 3:ac6eead48a9d 48 {
higepi 4:4160376d7d69 49 my_led3 = !my_led3;
higepi 3:ac6eead48a9d 50 i_rx=0;
higepi 4:4160376d7d69 51
higepi 6:a243c013e519 52 if(tata[4] == 0){ //si erreur est nulle
higepi 4:4160376d7d69 53 //On transforme les données en fonction de ce qu'on lit depuis les moteurs
higepi 4:4160376d7d69 54 if (acq_position == 1) position_1 = tata[5]+((uint16_t)tata[6]<<8);
higepi 4:4160376d7d69 55 /*if (acq_vitesse == 1){
higepi 4:4160376d7d69 56 sens = ((tata[5]+((uint16_t)tata[6]<<8))&0x40)>>10;
higepi 4:4160376d7d69 57 vitesse = tata[5]+((uint16_t)tata[6]<<8);
higepi 4:4160376d7d69 58 }*/
higepi 4:4160376d7d69 59 }
higepi 3:ac6eead48a9d 60 tata[0]=0;
higepi 3:ac6eead48a9d 61 }
higepi 4:4160376d7d69 62
higepi 4:4160376d7d69 63 if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x02) && i_rx==7)
higepi 4:4160376d7d69 64 {
higepi 4:4160376d7d69 65 my_led3 = !my_led3;
higepi 4:4160376d7d69 66 i_rx=0;
higepi 4:4160376d7d69 67
higepi 6:a243c013e519 68 if(tata[4]==00){ //si erreur nulle
higepi 4:4160376d7d69 69 //On transforme les données en fonction de ce qu'on lit depuis les moteurs
higepi 4:4160376d7d69 70 if (acq_position == 1) position_2 = tata[5]+((uint16_t)tata[6]<<8);
higepi 4:4160376d7d69 71 /*if (acq_vitesse == 1){
higepi 4:4160376d7d69 72 sens = ((tata[5]+((uint16_t)tata[6]<<8))&0x40)>>10;
higepi 4:4160376d7d69 73 vitesse = tata[5]+((uint16_t)tata[6]<<8);
higepi 4:4160376d7d69 74 }*/
higepi 4:4160376d7d69 75 }
higepi 4:4160376d7d69 76 tata[0]=0;
higepi 4:4160376d7d69 77 }
higepi 4:4160376d7d69 78
higepi 4:4160376d7d69 79 if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x03) && i_rx==7)
higepi 3:ac6eead48a9d 80 {
higepi 4:4160376d7d69 81 my_led3 = !my_led3;
higepi 4:4160376d7d69 82 i_rx=0;
higepi 4:4160376d7d69 83
higepi 6:a243c013e519 84 if(tata[4]==00){ //si erreur nulle
higepi 4:4160376d7d69 85 //On transforme les données en fonction de ce qu'on lit depuis les moteurs
higepi 4:4160376d7d69 86 if (acq_position == 1) position_3 = tata[5]+((uint16_t)tata[6]<<8);
higepi 4:4160376d7d69 87 /*if (acq_vitesse == 1){
higepi 4:4160376d7d69 88 sens = ((tata[5]+((uint16_t)tata[6]<<8))&0x40)>>10;
higepi 4:4160376d7d69 89 vitesse = tata[5]+((uint16_t)tata[6]<<8);
higepi 4:4160376d7d69 90 }*/
higepi 4:4160376d7d69 91 }
higepi 4:4160376d7d69 92 tata[0]=0;
higepi 4:4160376d7d69 93 }
higepi 4:4160376d7d69 94
higepi 6:a243c013e519 95 if (i_rx>9)
higepi 4:4160376d7d69 96 {
higepi 4:4160376d7d69 97 /*for(int i=0;i<10;i++)
higepi 4:4160376d7d69 98 tata[i]=0;*/
higepi 3:ac6eead48a9d 99 i_rx=0;
higepi 3:ac6eead48a9d 100 }
higepi 3:ac6eead48a9d 101 }
higepi 3:ac6eead48a9d 102
higepi 3:ac6eead48a9d 103 void fonction_10ms(void)
higepi 3:ac6eead48a9d 104 {
higepi 5:d65b158dd93d 105 /*for(int i=0;i<=19;i++)
higepi 4:4160376d7d69 106 {
higepi 4:4160376d7d69 107 pc.printf("%X ",tata[i]);
higepi 4:4160376d7d69 108 }
higepi 5:d65b158dd93d 109 pc.printf("\n\r");*/
higepi 5:d65b158dd93d 110
higepi 4:4160376d7d69 111 for(int i=0;i<=7;i++)
higepi 3:ac6eead48a9d 112 {
higepi 4:4160376d7d69 113 //On envoi la trame que l'on souhaite
higepi 6:a243c013e519 114 if(num_moteur == 1)myserial_ax12.putc(trame_demande_pos_1[i]);
higepi 6:a243c013e519 115 if(num_moteur == 2)myserial_ax12.putc(trame_demande_pos_2[i]);
higepi 6:a243c013e519 116 if(num_moteur == 3)myserial_ax12.putc(trame_demande_pos_3[i]);
higepi 5:d65b158dd93d 117 /*if(acq_vitesse){
higepi 4:4160376d7d69 118 myserial_ax12.putc(trame_demande_vitesse[i]);
higepi 4:4160376d7d69 119 //pc.printf("\n\rvitesse = %d\n\rsens = %d",vitesse,sens);
higepi 5:d65b158dd93d 120 }*/
bcostm 0:d5bd863b2036 121 }
higepi 5:d65b158dd93d 122 num_moteur++;
higepi 6:a243c013e519 123 if(num_moteur > 4)num_moteur = 1;
bcostm 0:d5bd863b2036 124 }
higepi 3:ac6eead48a9d 125
higepi 3:ac6eead48a9d 126 int main(){
higepi 3:ac6eead48a9d 127 //myax12.SetMode(1); //passage en Continuous rotation
higepi 4:4160376d7d69 128
higepi 5:d65b158dd93d 129 char trame_cmd_speed_1[9]={0xFF,0xFF,0x01,0x5,0x3,0x20,0x10,0x0,0xC6};
higepi 5:d65b158dd93d 130 char trame_cmd_speed_2[9]={0xFF,0xFF,0x02,0x5,0x3,0x20,0x10,0x0,0xC5};
higepi 5:d65b158dd93d 131 char trame_cmd_speed_3[9]={0xFF,0xFF,0x03,0x5,0x3,0x20,0x10,0x0,0xC4};
higepi 3:ac6eead48a9d 132 float Angle;
higepi 3:ac6eead48a9d 133 short speed;
higepi 3:ac6eead48a9d 134 char data[10];
higepi 3:ac6eead48a9d 135 char s=0;
higepi 3:ac6eead48a9d 136 float temp;
higepi 5:d65b158dd93d 137 int position_old_1=0,i,a;
higepi 5:d65b158dd93d 138 int position_old_2=0;
higepi 5:d65b158dd93d 139 int position_old_3=0;
higepi 3:ac6eead48a9d 140
higepi 4:4160376d7d69 141 pc.printf("test lecture AX12\n\r");
higepi 4:4160376d7d69 142
higepi 3:ac6eead48a9d 143 //myax12.SetCRSpeed(0.05);
higepi 3:ac6eead48a9d 144 for(i=0;i<=8;i++)
higepi 3:ac6eead48a9d 145 {
higepi 5:d65b158dd93d 146 myserial_ax12.putc(trame_cmd_speed_1[i]);
higepi 5:d65b158dd93d 147 }
higepi 6:a243c013e519 148
higepi 5:d65b158dd93d 149 for(i=0;i<=8;i++)
higepi 5:d65b158dd93d 150 {
higepi 5:d65b158dd93d 151 myserial_ax12.putc(trame_cmd_speed_2[i]);
higepi 5:d65b158dd93d 152 }
higepi 5:d65b158dd93d 153 for(i=0;i<=8;i++)
higepi 5:d65b158dd93d 154 {
higepi 5:d65b158dd93d 155 myserial_ax12.putc(trame_cmd_speed_3[i]);
higepi 3:ac6eead48a9d 156 }
higepi 3:ac6eead48a9d 157
higepi 3:ac6eead48a9d 158 myserial_ax12.attach(&Rx_Irq_fonction, Serial::RxIrq);
higepi 4:4160376d7d69 159 ticker_10ms.attach(&fonction_10ms,1);
higepi 3:ac6eead48a9d 160
higepi 3:ac6eead48a9d 161 while(1) {
higepi 4:4160376d7d69 162
higepi 5:d65b158dd93d 163
higepi 7:f793a00a6e37 164 if (position_1 != position_old_1)
higepi 7:f793a00a6e37 165 {
higepi 7:f793a00a6e37 166 pc.printf("\n\rposition moteur 1 = %d :", position_1);
higepi 7:f793a00a6e37 167 //pc.printf("\n\rposition moteur 1 = %d\n\r mot recu :",position_1);
higepi 7:f793a00a6e37 168
higepi 7:f793a00a6e37 169 /*for(i=0;i<=7;i++)
higepi 7:f793a00a6e37 170 {
higepi 7:f793a00a6e37 171 pc.printf("%X ",tata[i]);
higepi 7:f793a00a6e37 172 }*/
higepi 7:f793a00a6e37 173 position_old_1 = position_1;
higepi 3:ac6eead48a9d 174 }
higepi 7:f793a00a6e37 175 if (position_2 != position_old_2)
higepi 7:f793a00a6e37 176 {
higepi 7:f793a00a6e37 177 pc.printf("\n\rposition moteur 2 = %d :", position_2);
higepi 7:f793a00a6e37 178
higepi 7:f793a00a6e37 179 position_old_2 = position_2;
higepi 7:f793a00a6e37 180 }
higepi 7:f793a00a6e37 181 if (position_3 != position_old_3)
higepi 7:f793a00a6e37 182 {
higepi 7:f793a00a6e37 183 pc.printf("\n\rposition moteur 3 = %d :", position_3);
higepi 7:f793a00a6e37 184
higepi 7:f793a00a6e37 185 position_old_3 = position_3;
higepi 7:f793a00a6e37 186 }
higepi 7:f793a00a6e37 187
higepi 4:4160376d7d69 188
higepi 4:4160376d7d69 189 }
higepi 3:ac6eead48a9d 190
higepi 3:ac6eead48a9d 191 }
higepi 3:ac6eead48a9d 192
higepi 4:4160376d7d69 193 //void set_speed(ID,speed)
higepi 4:4160376d7d69 194 //void demande_lecture_pos(ID)
higepi 3:ac6eead48a9d 195
higepi 3:ac6eead48a9d 196
higepi 3:ac6eead48a9d 197 /*
higepi 3:ac6eead48a9d 198 #include "mbed.h"
higepi 3:ac6eead48a9d 199
higepi 3:ac6eead48a9d 200 //AX12 myax12 (PC_4, PC_5, 1,115200);
higepi 3:ac6eead48a9d 201 Serial myserial_ax12(PC_4,PC_5,115200);
higepi 3:ac6eead48a9d 202 char tata[10];
higepi 3:ac6eead48a9d 203 int position;
higepi 3:ac6eead48a9d 204
higepi 3:ac6eead48a9d 205 void Rx_Irq_fonction(void)
higepi 3:ac6eead48a9d 206 {
higepi 3:ac6eead48a9d 207 static int i_rx;
higepi 3:ac6eead48a9d 208 tata[i_rx]=myserial_ax12.getc();
higepi 3:ac6eead48a9d 209 if (tata[0]!=0xFF)
higepi 3:ac6eead48a9d 210 i_rx=0;
higepi 3:ac6eead48a9d 211 else i_rx++;
higepi 3:ac6eead48a9d 212 if ((tata[0]==0xFF) && (tata[1]==0xFF) && (tata[2]==0x01) && i_rx==7)
higepi 3:ac6eead48a9d 213 {
higepi 3:ac6eead48a9d 214 i_rx=0;
higepi 3:ac6eead48a9d 215 if(tata[4]==00) //si erreur est nulle
higepi 3:ac6eead48a9d 216 position = tata[5]+((uint16_t)tata[6]<<8);
higepi 3:ac6eead48a9d 217 tata[0]=0;
higepi 3:ac6eead48a9d 218 }
higepi 3:ac6eead48a9d 219 if (i_rx>9)
higepi 3:ac6eead48a9d 220 {
higepi 3:ac6eead48a9d 221 for(int i=0;i<10;i++)
higepi 3:ac6eead48a9d 222 tata[i]=0;
higepi 3:ac6eead48a9d 223 i_rx=0;
higepi 3:ac6eead48a9d 224 }
higepi 3:ac6eead48a9d 225 }
higepi 3:ac6eead48a9d 226
higepi 3:ac6eead48a9d 227 int main(){
higepi 3:ac6eead48a9d 228 //myax12.SetMode(1); //passage en Continuous rotation
higepi 3:ac6eead48a9d 229 char trame_demande_pos[8]={0xFF,0xFF,0x01,0x4,0x2,0x24,2,0xD2};
higepi 3:ac6eead48a9d 230 char trame_cmd_speed[9]={0xFF,0xFF,0x01,0x5,0x3,0x20,0x10,0x0,0xC6};
higepi 3:ac6eead48a9d 231 float Angle;
higepi 3:ac6eead48a9d 232 short speed;
higepi 3:ac6eead48a9d 233 char data[10];
higepi 3:ac6eead48a9d 234 char s=0;
higepi 3:ac6eead48a9d 235 float temp;
higepi 3:ac6eead48a9d 236 int position_old=0,i,a;
higepi 3:ac6eead48a9d 237 //myax12.SetCRSpeed(0.05);
higepi 3:ac6eead48a9d 238
higepi 3:ac6eead48a9d 239 for(i=0;i<=8;i++)
higepi 3:ac6eead48a9d 240 {
higepi 3:ac6eead48a9d 241 myserial_ax12.putc(trame_cmd_speed[i]);
higepi 3:ac6eead48a9d 242 }
higepi 3:ac6eead48a9d 243
higepi 3:ac6eead48a9d 244 for(i=0;i<=7;i++)
higepi 3:ac6eead48a9d 245 {
higepi 3:ac6eead48a9d 246 myserial_ax12.putc(trame_demande_pos[i]);
higepi 3:ac6eead48a9d 247 }
higepi 3:ac6eead48a9d 248 myserial_ax12.attach(&Rx_Irq_fonction, Serial::RxIrq);
higepi 3:ac6eead48a9d 249
higepi 3:ac6eead48a9d 250
higepi 3:ac6eead48a9d 251 while(1) {
higepi 3:ac6eead48a9d 252 if (position != position_old)
higepi 3:ac6eead48a9d 253 {
higepi 3:ac6eead48a9d 254 printf("\n\rposition = %d\n\r mot recu :",position);
higepi 3:ac6eead48a9d 255 for(i=0;i<=7;i++)
higepi 3:ac6eead48a9d 256 {
higepi 3:ac6eead48a9d 257 printf("%X ",tata[i]);
higepi 3:ac6eead48a9d 258 }
higepi 3:ac6eead48a9d 259 position_old=position;
higepi 3:ac6eead48a9d 260 }
higepi 3:ac6eead48a9d 261 wait(0.01);
higepi 3:ac6eead48a9d 262 a++;
higepi 3:ac6eead48a9d 263 if(!(a % 20))
higepi 3:ac6eead48a9d 264 for(i=0;i<=7;i++)
higepi 3:ac6eead48a9d 265 {
higepi 3:ac6eead48a9d 266 myserial_ax12.putc(trame_demande_pos[i]);
higepi 3:ac6eead48a9d 267 }
higepi 3:ac6eead48a9d 268 }
higepi 3:ac6eead48a9d 269
higepi 3:ac6eead48a9d 270 }
higepi 3:ac6eead48a9d 271
higepi 3:ac6eead48a9d 272 void set_speed(ID,speed)*/