boussole et pixi
Dependencies: Encoder_Nucleo_16_bits PwmIn mbed
Fork of TestBoard by
main.cpp@2:1d440e938c44, 2017-05-31 (annotated)
- Committer:
- haarkon
- Date:
- Wed May 31 06:39:30 2017 +0000
- Revision:
- 2:1d440e938c44
- Parent:
- 1:d95546f84105
- Child:
- 3:3dfe26a10796
Evolution Pixy
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
haarkon | 0:f00e68bef80c | 1 | /** Main Test Board |
haarkon | 0:f00e68bef80c | 2 | * |
haarkon | 0:f00e68bef80c | 3 | * \brief Programme de tests pour le robot NCR 2017 |
haarkon | 0:f00e68bef80c | 4 | * \author H. Angelis |
haarkon | 0:f00e68bef80c | 5 | * \version alpha_1 |
haarkon | 0:f00e68bef80c | 6 | * \date 15/05/17 |
haarkon | 0:f00e68bef80c | 7 | * |
haarkon | 0:f00e68bef80c | 8 | */ |
haarkon | 0:f00e68bef80c | 9 | |
haarkon | 0:f00e68bef80c | 10 | #include "mbed.h" |
haarkon | 0:f00e68bef80c | 11 | #include "PwmIn.h" |
haarkon | 0:f00e68bef80c | 12 | #include "Nucleo_Encoder_16_bits.h" |
haarkon | 0:f00e68bef80c | 13 | |
haarkon | 2:1d440e938c44 | 14 | #define BOUSSOLE_adress 0xC0 |
haarkon | 2:1d440e938c44 | 15 | #define PIXY_adress 0x54 |
haarkon | 2:1d440e938c44 | 16 | |
haarkon | 2:1d440e938c44 | 17 | #define CC_BLOCSIZE 14 |
haarkon | 2:1d440e938c44 | 18 | #define N_BLOCSIZE 12 |
haarkon | 2:1d440e938c44 | 19 | |
haarkon | 2:1d440e938c44 | 20 | #define N_BLOCCODE 0xAA55 |
haarkon | 2:1d440e938c44 | 21 | #define CC_BLOCCODE 0xAA56 |
haarkon | 0:f00e68bef80c | 22 | |
haarkon | 0:f00e68bef80c | 23 | typedef unsigned char Byte; |
haarkon | 0:f00e68bef80c | 24 | typedef unsigned short Word; |
haarkon | 0:f00e68bef80c | 25 | typedef unsigned long lWord; |
haarkon | 0:f00e68bef80c | 26 | |
haarkon | 0:f00e68bef80c | 27 | typedef enum {S_monte = 1, S_descente = 0} T_SERVODIR; |
haarkon | 0:f00e68bef80c | 28 | |
haarkon | 2:1d440e938c44 | 29 | typedef enum {none, begin, normal, colorCode, doubleZero} T_pixyState; |
haarkon | 2:1d440e938c44 | 30 | |
haarkon | 0:f00e68bef80c | 31 | typedef union { |
haarkon | 2:1d440e938c44 | 32 | lWord mot; |
haarkon | 0:f00e68bef80c | 33 | Byte tab[4]; |
haarkon | 2:1d440e938c44 | 34 | } T_tmpBuffer; |
haarkon | 2:1d440e938c44 | 35 | |
haarkon | 2:1d440e938c44 | 36 | typedef union { |
haarkon | 2:1d440e938c44 | 37 | Word mot; |
haarkon | 2:1d440e938c44 | 38 | Byte tab[2]; |
haarkon | 2:1d440e938c44 | 39 | } T_structBuffer; |
haarkon | 0:f00e68bef80c | 40 | |
haarkon | 0:f00e68bef80c | 41 | typedef struct { |
haarkon | 0:f00e68bef80c | 42 | Word checksum; |
haarkon | 0:f00e68bef80c | 43 | Word signature; |
haarkon | 0:f00e68bef80c | 44 | Word x; |
haarkon | 0:f00e68bef80c | 45 | Word y; |
haarkon | 0:f00e68bef80c | 46 | Word width; |
haarkon | 0:f00e68bef80c | 47 | Word height; |
haarkon | 2:1d440e938c44 | 48 | Word angle; |
haarkon | 0:f00e68bef80c | 49 | } T_pixyCCBloc; |
haarkon | 0:f00e68bef80c | 50 | |
haarkon | 2:1d440e938c44 | 51 | typedef struct { |
haarkon | 2:1d440e938c44 | 52 | Word checksum; |
haarkon | 2:1d440e938c44 | 53 | Word signature; |
haarkon | 2:1d440e938c44 | 54 | Word x; |
haarkon | 2:1d440e938c44 | 55 | Word y; |
haarkon | 2:1d440e938c44 | 56 | Word width; |
haarkon | 2:1d440e938c44 | 57 | Word height; |
haarkon | 2:1d440e938c44 | 58 | } T_pixyBloc; |
haarkon | 0:f00e68bef80c | 59 | |
haarkon | 0:f00e68bef80c | 60 | typedef union { |
haarkon | 0:f00e68bef80c | 61 | Byte tab[14]; |
haarkon | 0:f00e68bef80c | 62 | T_pixyCCBloc CCbloc; |
haarkon | 2:1d440e938c44 | 63 | } T_pixyCCData; |
haarkon | 2:1d440e938c44 | 64 | |
haarkon | 2:1d440e938c44 | 65 | typedef union { |
haarkon | 2:1d440e938c44 | 66 | Byte tab[12]; |
haarkon | 2:1d440e938c44 | 67 | T_pixyBloc bloc; |
haarkon | 0:f00e68bef80c | 68 | } T_pixyData; |
haarkon | 0:f00e68bef80c | 69 | |
haarkon | 0:f00e68bef80c | 70 | |
haarkon | 2:1d440e938c44 | 71 | |
haarkon | 0:f00e68bef80c | 72 | /** Liste des objets |
haarkon | 0:f00e68bef80c | 73 | * |
haarkon | 0:f00e68bef80c | 74 | * Serial #4 Pixy |
haarkon | 0:f00e68bef80c | 75 | * Serial #2 Pc |
haarkon | 0:f00e68bef80c | 76 | * |
haarkon | 0:f00e68bef80c | 77 | * AnalogIn C1, C2, C3, LD1, LD2, SD1, SD2, Vbat |
haarkon | 0:f00e68bef80c | 78 | * |
haarkon | 0:f00e68bef80c | 79 | * DigitalOut Led1, Led2, Trig1, Trig2, Trig3, En, SensG, SensD |
haarkon | 0:f00e68bef80c | 80 | * |
haarkon | 0:f00e68bef80c | 81 | * InterruptIn IndexG, IndexD, Echo1, Echo2, Echo3, BP |
haarkon | 0:f00e68bef80c | 82 | * |
haarkon | 0:f00e68bef80c | 83 | * PwmOut Pwm_MG, Pwm_MD, Servo |
haarkon | 0:f00e68bef80c | 84 | * |
haarkon | 0:f00e68bef80c | 85 | * PwmIn PWMG, PWMD, PWMB |
haarkon | 0:f00e68bef80c | 86 | * |
haarkon | 0:f00e68bef80c | 87 | * I2C Bus_I2C |
haarkon | 0:f00e68bef80c | 88 | * |
haarkon | 0:f00e68bef80c | 89 | * SPI MotG, MotD |
haarkon | 0:f00e68bef80c | 90 | * |
haarkon | 0:f00e68bef80c | 91 | * Nucleo_Encoder_16_bits Gauche, Droite |
haarkon | 0:f00e68bef80c | 92 | * |
haarkon | 0:f00e68bef80c | 93 | * Ticker timer |
haarkon | 0:f00e68bef80c | 94 | */ |
haarkon | 0:f00e68bef80c | 95 | |
haarkon | 0:f00e68bef80c | 96 | /** Liste des PINs |
haarkon | 0:f00e68bef80c | 97 | * |
haarkon | 0:f00e68bef80c | 98 | * PIN MAP (ordre alphabetique) des PINs de la Nucléo 64 utilisée |
haarkon | 0:f00e68bef80c | 99 | * PA_0 -> Pixy RX (Serial) |
haarkon | 0:f00e68bef80c | 100 | * PA_1 -> Pixy TX (Serial) |
haarkon | 0:f00e68bef80c | 101 | * PA_2 -> PC TX (Serial) |
haarkon | 0:f00e68bef80c | 102 | * PA_3 -> PX RX (Serial) |
haarkon | 0:f00e68bef80c | 103 | * PA_4 -> GP2 SD #2 (Analog In) |
haarkon | 0:f00e68bef80c | 104 | * PA_5 -> LED1 (Digital Out) |
haarkon | 0:f00e68bef80c | 105 | * PA_6 -> CNY3 (Analog In) |
haarkon | 0:f00e68bef80c | 106 | * PA_7 -> CNY2 (Analog In) |
haarkon | 0:f00e68bef80c | 107 | * PA_8 -> Servomoteur (PWM Out) |
haarkon | 0:f00e68bef80c | 108 | * PA_9 -> US Trigger #3 (Digital Out) |
haarkon | 1:d95546f84105 | 109 | * PA_10 -> US Echo #1 (Pwm In) |
haarkon | 0:f00e68bef80c | 110 | * PA_11 -> US Echo #2 (Pwm In) |
haarkon | 1:d95546f84105 | 111 | * PA_12 -> SS (SPI Slave Select) (Digital Out) |
haarkon | 0:f00e68bef80c | 112 | * PA_13 |
haarkon | 0:f00e68bef80c | 113 | * PA_14 |
haarkon | 0:f00e68bef80c | 114 | * PA_15 -> Boussole (Pwm In) |
haarkon | 0:f00e68bef80c | 115 | * |
haarkon | 0:f00e68bef80c | 116 | * PB_0 -> GP2 SD #1 (Analog In) |
haarkon | 0:f00e68bef80c | 117 | * PB_1 -> Position D (Pwm In) |
haarkon | 0:f00e68bef80c | 118 | * PB_2 -> Position G (Pwm In) |
haarkon | 0:f00e68bef80c | 119 | * PB_3 -> PWM Mot D (PWM Out) |
haarkon | 0:f00e68bef80c | 120 | * PB_4 -> Enocdeur Droit A (QE) |
haarkon | 0:f00e68bef80c | 121 | * PB_5 -> Enocdeur Droit B (QE) |
haarkon | 0:f00e68bef80c | 122 | * PB_6 -> Enocdeur Gauche A (QE) |
haarkon | 0:f00e68bef80c | 123 | * PB_7 -> Enocdeur Gauche B (QE) |
haarkon | 0:f00e68bef80c | 124 | * PB_8 -> SCL (I2C) |
haarkon | 0:f00e68bef80c | 125 | * PB_9 -> SDA (I2C) |
haarkon | 0:f00e68bef80c | 126 | * PB_10 -> PWM Mot G (PWM Out) |
haarkon | 0:f00e68bef80c | 127 | * PB_11 |
haarkon | 0:f00e68bef80c | 128 | * PB_12 -> US Echo #3 (Pwm In) |
haarkon | 0:f00e68bef80c | 129 | * PB_13 -> SCK Encodeur D (SPI) |
haarkon | 0:f00e68bef80c | 130 | * PB_14 -> MISO Encodeur D (SPI) |
haarkon | 0:f00e68bef80c | 131 | * PB_15 -> MOSI Encodeur D (SPI) |
haarkon | 0:f00e68bef80c | 132 | * |
haarkon | 0:f00e68bef80c | 133 | * PC_0 -> GP2 LD #1 (Analog In) |
haarkon | 0:f00e68bef80c | 134 | * PC_1 -> GP2 LD #2 (Analog In) |
haarkon | 0:f00e68bef80c | 135 | * PC_2 -> US Trigger #2 (Digital Out) |
haarkon | 0:f00e68bef80c | 136 | * PC_3 -> US Trigger #1 (Digital Out) |
haarkon | 0:f00e68bef80c | 137 | * PC_4 -> CNY1 (Analog In) |
haarkon | 0:f00e68bef80c | 138 | * PC_5 -> Vbat (Analog In) |
haarkon | 0:f00e68bef80c | 139 | * PC_6 -> Dir Mot Droit (Digital Out) |
haarkon | 0:f00e68bef80c | 140 | * PC_7 -> I (Encodeur Gauche) (IRQ In) |
haarkon | 0:f00e68bef80c | 141 | * PC_8 -> Dir Mot Gauche (Digital Out) |
haarkon | 0:f00e68bef80c | 142 | * PC_9 -> Enable Moteurs (Digital Out) |
haarkon | 0:f00e68bef80c | 143 | * PC_10 -> SCK Encodeur G (SPI) |
haarkon | 0:f00e68bef80c | 144 | * PC_11 -> MISO Encodeur G (SPI) |
haarkon | 0:f00e68bef80c | 145 | * PC_12 -> MOSI Encodeur G (SPI) |
haarkon | 0:f00e68bef80c | 146 | * PC_13 -> User BP (IRQ In) |
haarkon | 0:f00e68bef80c | 147 | * PC_14 |
haarkon | 0:f00e68bef80c | 148 | * PC_15 |
haarkon | 0:f00e68bef80c | 149 | * |
haarkon | 0:f00e68bef80c | 150 | * PD_1 |
haarkon | 0:f00e68bef80c | 151 | * PD_2 -> Led2 (Digital Out) |
haarkon | 0:f00e68bef80c | 152 | */ |
haarkon | 0:f00e68bef80c | 153 | |
haarkon | 1:d95546f84105 | 154 | Serial Pixy (PA_0, PA_1, 230400); |
haarkon | 0:f00e68bef80c | 155 | Serial Pc (PA_2, PA_3, 460800); |
haarkon | 0:f00e68bef80c | 156 | |
haarkon | 0:f00e68bef80c | 157 | AnalogIn CNY1 (PC_4); |
haarkon | 0:f00e68bef80c | 158 | AnalogIn CNY2 (PA_7); |
haarkon | 0:f00e68bef80c | 159 | AnalogIn CNY3 (PA_6); |
haarkon | 0:f00e68bef80c | 160 | AnalogIn LD1 (PC_0); |
haarkon | 0:f00e68bef80c | 161 | AnalogIn LD2 (PC_1); |
haarkon | 0:f00e68bef80c | 162 | AnalogIn SD1 (PB_0); |
haarkon | 0:f00e68bef80c | 163 | AnalogIn SD2 (PA_4); |
haarkon | 0:f00e68bef80c | 164 | AnalogIn Vbat (PC_5); |
haarkon | 0:f00e68bef80c | 165 | |
haarkon | 0:f00e68bef80c | 166 | DigitalOut Led1 (PA_5); |
haarkon | 0:f00e68bef80c | 167 | DigitalOut Led2 (PD_2); |
haarkon | 0:f00e68bef80c | 168 | DigitalOut Trig1 (PC_3); |
haarkon | 0:f00e68bef80c | 169 | DigitalOut Trig2 (PC_2); |
haarkon | 0:f00e68bef80c | 170 | DigitalOut Trig3 (PA_9); |
haarkon | 0:f00e68bef80c | 171 | DigitalOut En (PC_9); |
haarkon | 0:f00e68bef80c | 172 | DigitalOut SensG (PC_8); |
haarkon | 0:f00e68bef80c | 173 | DigitalOut SensD (PC_6); |
haarkon | 1:d95546f84105 | 174 | DigitalOut SS (PA_12); |
haarkon | 0:f00e68bef80c | 175 | |
haarkon | 1:d95546f84105 | 176 | InterruptIn Echo1 (PA_10); |
haarkon | 0:f00e68bef80c | 177 | InterruptIn Echo2 (PA_11); |
haarkon | 0:f00e68bef80c | 178 | InterruptIn Echo3 (PB_12); |
haarkon | 0:f00e68bef80c | 179 | InterruptIn BP (PC_13); |
haarkon | 0:f00e68bef80c | 180 | InterruptIn IG (PC_7); |
haarkon | 1:d95546f84105 | 181 | |
haarkon | 1:d95546f84105 | 182 | PwmIn PWMG (PB_2); |
haarkon | 1:d95546f84105 | 183 | PwmIn PWMD (PB_1); |
haarkon | 1:d95546f84105 | 184 | PwmIn PWMB (PA_15); |
haarkon | 0:f00e68bef80c | 185 | |
haarkon | 0:f00e68bef80c | 186 | PwmOut Pwm_MG (PB_10); |
haarkon | 0:f00e68bef80c | 187 | PwmOut Pwm_MD (PB_3); |
haarkon | 0:f00e68bef80c | 188 | PwmOut Servo (PA_8); |
haarkon | 0:f00e68bef80c | 189 | |
haarkon | 0:f00e68bef80c | 190 | I2C Bus_I2C (PB_9, PB_8); |
haarkon | 0:f00e68bef80c | 191 | |
haarkon | 0:f00e68bef80c | 192 | SPI MotG (PC_12, PC_11, PC_10); |
haarkon | 0:f00e68bef80c | 193 | SPI MotD (PB_15, PB_14, PB_13); |
haarkon | 0:f00e68bef80c | 194 | |
haarkon | 0:f00e68bef80c | 195 | Nucleo_Encoder_16_bits Gauche (TIM4); // A = PB_6, B = PB_7 |
haarkon | 0:f00e68bef80c | 196 | Nucleo_Encoder_16_bits Droite (TIM3); // A = PB_4, B = PB_5 |
haarkon | 0:f00e68bef80c | 197 | |
haarkon | 2:1d440e938c44 | 198 | Ticker tick; |
haarkon | 2:1d440e938c44 | 199 | Timer times; |
haarkon | 0:f00e68bef80c | 200 | |
haarkon | 0:f00e68bef80c | 201 | /** Liste des variables globales |
haarkon | 0:f00e68bef80c | 202 | * |
haarkon | 0:f00e68bef80c | 203 | * Tick -> (long) Compte le nombre de MS écoulé et déclenche l'exécution de la boucle en fonction du temps écoulé. |
haarkon | 0:f00e68bef80c | 204 | * FlagIG -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue gauche |
haarkon | 0:f00e68bef80c | 205 | * FlagID -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue droite |
haarkon | 0:f00e68bef80c | 206 | * EchoXStart -> (long) Donne le temps en µs de début de l'impulsion d'écho de l'US n°X |
haarkon | 0:f00e68bef80c | 207 | * DistUSX -> (float) Donne la distance en mm mesurée par l'US n°X |
haarkon | 0:f00e68bef80c | 208 | */ |
haarkon | 0:f00e68bef80c | 209 | |
haarkon | 0:f00e68bef80c | 210 | // Structure de temps |
haarkon | 2:1d440e938c44 | 211 | lWord Tick = 0; |
haarkon | 0:f00e68bef80c | 212 | |
haarkon | 0:f00e68bef80c | 213 | // Sémaphore d'interruption |
haarkon | 2:1d440e938c44 | 214 | int FlagUS1 = 0, FlagUS2 = 0, FlagUS3 = 0, FlagPixy = 0, FlagPixyOverflow = 0; |
haarkon | 2:1d440e938c44 | 215 | int FlagTick = 0, FlagTickLed = 0, BPPressed = 0; |
haarkon | 2:1d440e938c44 | 216 | int Pixy_check = -1; |
haarkon | 0:f00e68bef80c | 217 | |
haarkon | 0:f00e68bef80c | 218 | // Dialogue avec la Pixy |
haarkon | 2:1d440e938c44 | 219 | T_pixyCCData Pixy_CCFIFO[20]; |
haarkon | 2:1d440e938c44 | 220 | T_pixyData Pixy_FIFO[20]; |
haarkon | 2:1d440e938c44 | 221 | Byte Pixy_saveNbCCObjet; |
haarkon | 2:1d440e938c44 | 222 | Byte Pixy_saveNbObjet; |
haarkon | 0:f00e68bef80c | 223 | |
haarkon | 0:f00e68bef80c | 224 | // Gestion des capteurs Ultrason |
haarkon | 0:f00e68bef80c | 225 | long Echo1Start, Echo2Start, Echo3Start; |
haarkon | 0:f00e68bef80c | 226 | double DistUS1, DistUS2, DistUS3; |
haarkon | 0:f00e68bef80c | 227 | |
haarkon | 0:f00e68bef80c | 228 | /** Liste des interruptions |
haarkon | 0:f00e68bef80c | 229 | * |
haarkon | 0:f00e68bef80c | 230 | */ |
haarkon | 0:f00e68bef80c | 231 | |
haarkon | 0:f00e68bef80c | 232 | void tickTime() |
haarkon | 0:f00e68bef80c | 233 | { |
haarkon | 0:f00e68bef80c | 234 | Tick++; |
haarkon | 0:f00e68bef80c | 235 | FlagTick = 1; |
haarkon | 0:f00e68bef80c | 236 | if ((Tick%100)==0) FlagTickLed = 1; |
haarkon | 0:f00e68bef80c | 237 | } |
haarkon | 0:f00e68bef80c | 238 | |
haarkon | 0:f00e68bef80c | 239 | void BPevent () |
haarkon | 0:f00e68bef80c | 240 | { |
haarkon | 0:f00e68bef80c | 241 | BPPressed = 1; |
haarkon | 0:f00e68bef80c | 242 | } |
haarkon | 0:f00e68bef80c | 243 | |
haarkon | 0:f00e68bef80c | 244 | void echo1Rise () |
haarkon | 0:f00e68bef80c | 245 | { |
haarkon | 2:1d440e938c44 | 246 | Echo1Start = times.read_us(); |
haarkon | 0:f00e68bef80c | 247 | } |
haarkon | 0:f00e68bef80c | 248 | |
haarkon | 0:f00e68bef80c | 249 | void echo2Rise () |
haarkon | 0:f00e68bef80c | 250 | { |
haarkon | 2:1d440e938c44 | 251 | Echo2Start = times.read_us(); |
haarkon | 0:f00e68bef80c | 252 | } |
haarkon | 0:f00e68bef80c | 253 | |
haarkon | 0:f00e68bef80c | 254 | void echo3Rise () |
haarkon | 0:f00e68bef80c | 255 | { |
haarkon | 2:1d440e938c44 | 256 | Echo3Start = times.read_us(); |
haarkon | 0:f00e68bef80c | 257 | } |
haarkon | 0:f00e68bef80c | 258 | |
haarkon | 0:f00e68bef80c | 259 | void echo1Fall () |
haarkon | 0:f00e68bef80c | 260 | { |
haarkon | 2:1d440e938c44 | 261 | DistUS1 = (double)(times.read_us() - Echo1Start)/5.8; |
haarkon | 0:f00e68bef80c | 262 | FlagUS1 = 1; |
haarkon | 0:f00e68bef80c | 263 | } |
haarkon | 0:f00e68bef80c | 264 | |
haarkon | 0:f00e68bef80c | 265 | void echo2Fall () |
haarkon | 0:f00e68bef80c | 266 | { |
haarkon | 2:1d440e938c44 | 267 | DistUS2 = (double)(times.read_us() - Echo2Start)/5.8; |
haarkon | 0:f00e68bef80c | 268 | FlagUS2 = 1; |
haarkon | 0:f00e68bef80c | 269 | } |
haarkon | 0:f00e68bef80c | 270 | |
haarkon | 0:f00e68bef80c | 271 | void echo3Fall () |
haarkon | 0:f00e68bef80c | 272 | { |
haarkon | 2:1d440e938c44 | 273 | DistUS3 = (double)(times.read_us() - Echo3Start)/5.8; |
haarkon | 0:f00e68bef80c | 274 | FlagUS3 = 1; |
haarkon | 0:f00e68bef80c | 275 | } |
haarkon | 0:f00e68bef80c | 276 | |
haarkon | 0:f00e68bef80c | 277 | void getPixyByte () |
haarkon | 0:f00e68bef80c | 278 | { |
haarkon | 2:1d440e938c44 | 279 | static T_tmpBuffer tmpBuffer; |
haarkon | 2:1d440e938c44 | 280 | static T_structBuffer msgBuffer; |
haarkon | 2:1d440e938c44 | 281 | static T_pixyState Pixy_state = none; |
haarkon | 2:1d440e938c44 | 282 | static Byte byteCount = 0; |
haarkon | 2:1d440e938c44 | 283 | static int Pixy_synced = 0; |
haarkon | 2:1d440e938c44 | 284 | static int dummy; |
haarkon | 2:1d440e938c44 | 285 | int i, somme; |
haarkon | 2:1d440e938c44 | 286 | static Byte Pixy_nbCCObjet = 0, Pixy_wCCObjet = 0; |
haarkon | 2:1d440e938c44 | 287 | static Byte Pixy_nbObjet = 0, Pixy_wObjet = 0; |
haarkon | 0:f00e68bef80c | 288 | |
haarkon | 2:1d440e938c44 | 289 | Pixy_check = 0; |
haarkon | 0:f00e68bef80c | 290 | |
haarkon | 2:1d440e938c44 | 291 | if (!Pixy_synced) { // On n'a pas trouvé le START (0x55aa0000) |
haarkon | 2:1d440e938c44 | 292 | tmpBuffer.tab[byteCount] = Pixy.getc(); // On stocke l'octet reçu dans la première case dispo du tableau temporaire |
haarkon | 2:1d440e938c44 | 293 | |
haarkon | 2:1d440e938c44 | 294 | if (byteCount < 3) { // Si on n'a pas encore reçu les 4 premier octets |
haarkon | 2:1d440e938c44 | 295 | byteCount++; // On passe à la case suivante du tableau temporaire |
haarkon | 2:1d440e938c44 | 296 | } else { // Lorsqu'on a 4 octets |
haarkon | 2:1d440e938c44 | 297 | if (tmpBuffer.mot != 0xaa550000) { // Si le code n'est pas le code de START |
haarkon | 2:1d440e938c44 | 298 | for (i=1; i<4; i++) tmpBuffer.tab[i-1] = tmpBuffer.tab[i]; // On décalle les cases du tableau |
haarkon | 2:1d440e938c44 | 299 | byteCount = 3; // Et on attend le caractère suivant |
haarkon | 2:1d440e938c44 | 300 | } else { // Si on a trouvé le code de START |
haarkon | 2:1d440e938c44 | 301 | Pixy_synced = 1; // On passe en mode synchronisé |
haarkon | 2:1d440e938c44 | 302 | Pixy_state = begin; |
haarkon | 2:1d440e938c44 | 303 | byteCount = 0; |
haarkon | 0:f00e68bef80c | 304 | } |
haarkon | 0:f00e68bef80c | 305 | } |
haarkon | 2:1d440e938c44 | 306 | } |
haarkon | 2:1d440e938c44 | 307 | |
haarkon | 2:1d440e938c44 | 308 | if (Pixy_synced) { |
haarkon | 2:1d440e938c44 | 309 | |
haarkon | 2:1d440e938c44 | 310 | switch (Pixy_state) { |
haarkon | 2:1d440e938c44 | 311 | case begin : // l'aiguillage est là ! |
haarkon | 2:1d440e938c44 | 312 | |
haarkon | 2:1d440e938c44 | 313 | msgBuffer.tab[byteCount%2] = Pixy.getc(); // on stocke les octets reçus |
haarkon | 2:1d440e938c44 | 314 | byteCount++; |
haarkon | 2:1d440e938c44 | 315 | if (byteCount == 2) { // Quand on a 2 octets |
haarkon | 2:1d440e938c44 | 316 | |
haarkon | 2:1d440e938c44 | 317 | if (msgBuffer.mot == 0xaa55) { // Si c'est un bloc normal (code 0xAA55) |
haarkon | 2:1d440e938c44 | 318 | Pixy_state = normal; // On part vers le traitement spécifique |
haarkon | 2:1d440e938c44 | 319 | } |
haarkon | 2:1d440e938c44 | 320 | |
haarkon | 2:1d440e938c44 | 321 | if (msgBuffer.mot == 0xaa56) { // Si c'est un bloc Color Code (code 0xAA56) |
haarkon | 2:1d440e938c44 | 322 | Pixy_state = colorCode; // On part vers le traitement spécifique |
haarkon | 2:1d440e938c44 | 323 | } |
haarkon | 2:1d440e938c44 | 324 | |
haarkon | 2:1d440e938c44 | 325 | if (msgBuffer.mot == 0) { // Si on a un debut de trame (code 0000) |
haarkon | 2:1d440e938c44 | 326 | Pixy_state = doubleZero; // On part vers le traitement spécifique |
haarkon | 2:1d440e938c44 | 327 | } |
haarkon | 2:1d440e938c44 | 328 | if ((Pixy_state == begin) || (Pixy_state == none)) { // Si c'est autre chose |
haarkon | 2:1d440e938c44 | 329 | Pixy_synced = 0; // C'est qu'on est perdu donc plus synchronisé. |
haarkon | 2:1d440e938c44 | 330 | Pixy_state = none; // Ceinture et bretelle |
haarkon | 2:1d440e938c44 | 331 | } |
haarkon | 2:1d440e938c44 | 332 | byteCount = 0; |
haarkon | 2:1d440e938c44 | 333 | } |
haarkon | 2:1d440e938c44 | 334 | break; |
haarkon | 2:1d440e938c44 | 335 | |
haarkon | 2:1d440e938c44 | 336 | case normal : // Si on a un bloc normal |
haarkon | 2:1d440e938c44 | 337 | |
haarkon | 2:1d440e938c44 | 338 | Pixy_FIFO[Pixy_wObjet].tab[byteCount] = Pixy.getc(); // On stocke les octets un à un dans la structure Bloc |
haarkon | 2:1d440e938c44 | 339 | if (byteCount < 11) { // Tant que la structure n'est pas pleine |
haarkon | 2:1d440e938c44 | 340 | byteCount++; // On passe à l'octet suivant |
haarkon | 2:1d440e938c44 | 341 | } else { // Quand elle est pleine |
haarkon | 2:1d440e938c44 | 342 | byteCount = 0; // On réinitialise |
haarkon | 2:1d440e938c44 | 343 | Pixy_state = begin; // On retourne à l'aiguillage |
haarkon | 2:1d440e938c44 | 344 | // On calcule la somme de contrôle |
haarkon | 2:1d440e938c44 | 345 | somme = Pixy_FIFO[Pixy_wObjet].bloc.signature + Pixy_FIFO[Pixy_wObjet].bloc.x + Pixy_FIFO[Pixy_wObjet].bloc.y + Pixy_FIFO[Pixy_wObjet].bloc.width + Pixy_FIFO[Pixy_wObjet].bloc.height; |
haarkon | 2:1d440e938c44 | 346 | |
haarkon | 2:1d440e938c44 | 347 | if (somme == Pixy_FIFO[Pixy_wObjet].bloc.checksum) { // Si le checksum est bon, on valide la réception |
haarkon | 2:1d440e938c44 | 348 | if (Pixy_wObjet < 19) Pixy_wObjet++; // On incrémente le pointeur d'écriture dans la FIFO Objet |
haarkon | 2:1d440e938c44 | 349 | else Pixy_wObjet = 0; |
haarkon | 2:1d440e938c44 | 350 | if (Pixy_nbObjet < 19) Pixy_nbObjet++; // On dit que l'on a un objet CC de plus |
haarkon | 2:1d440e938c44 | 351 | else FlagPixyOverflow = 1; // Si on a plus de 20 CC objets (en attente) => Overflow |
haarkon | 2:1d440e938c44 | 352 | } |
haarkon | 2:1d440e938c44 | 353 | } |
haarkon | 2:1d440e938c44 | 354 | break; |
haarkon | 2:1d440e938c44 | 355 | |
haarkon | 2:1d440e938c44 | 356 | case colorCode : // Si on a un bloc colorCode |
haarkon | 2:1d440e938c44 | 357 | |
haarkon | 2:1d440e938c44 | 358 | Pixy_CCFIFO[Pixy_wCCObjet].tab[byteCount] = dummy; // On stocke les octets un à un dans la structure CCBloc |
haarkon | 2:1d440e938c44 | 359 | if (byteCount < 13) byteCount++; // tant que la structure n'est pas pleine on passe à l'octet suivant |
haarkon | 2:1d440e938c44 | 360 | else { // Quand elle est pleine |
haarkon | 2:1d440e938c44 | 361 | byteCount = 0; // On réinitialise |
haarkon | 2:1d440e938c44 | 362 | Pixy_state = begin; // On retourne à l'aiguillage |
haarkon | 2:1d440e938c44 | 363 | // On calcule la somme de contrôle |
haarkon | 2:1d440e938c44 | 364 | somme = Pixy_CCFIFO[Pixy_wCCObjet].CCbloc.signature + Pixy_CCFIFO[Pixy_wCCObjet].CCbloc.x + Pixy_CCFIFO[Pixy_wCCObjet].CCbloc.y + Pixy_CCFIFO[Pixy_wCCObjet].CCbloc.width + Pixy_CCFIFO[Pixy_wCCObjet].CCbloc.height + Pixy_CCFIFO[Pixy_wCCObjet].CCbloc.angle; |
haarkon | 2:1d440e938c44 | 365 | |
haarkon | 2:1d440e938c44 | 366 | if (somme == Pixy_CCFIFO[Pixy_wCCObjet].CCbloc.checksum) { // Si le checksum est bon |
haarkon | 2:1d440e938c44 | 367 | if (Pixy_wCCObjet < 19) Pixy_wCCObjet++; // On incrémente le pointeur d'écriture dans la FIFO CCObjet |
haarkon | 2:1d440e938c44 | 368 | else Pixy_wCCObjet = 0; |
haarkon | 2:1d440e938c44 | 369 | if (Pixy_nbCCObjet < 19) Pixy_nbCCObjet++; // On dit que l'on a un objet CC de plus à traiter |
haarkon | 2:1d440e938c44 | 370 | else FlagPixyOverflow = 1; // Si on a plus de 20 CC objets (en attente) => Overflow |
haarkon | 2:1d440e938c44 | 371 | } |
haarkon | 2:1d440e938c44 | 372 | } |
haarkon | 2:1d440e938c44 | 373 | break; |
haarkon | 2:1d440e938c44 | 374 | |
haarkon | 2:1d440e938c44 | 375 | case doubleZero : // Si on a reçu le code de début d'une nouvelle trame. |
haarkon | 2:1d440e938c44 | 376 | |
haarkon | 2:1d440e938c44 | 377 | Pixy_saveNbCCObjet = Pixy_nbCCObjet; |
haarkon | 2:1d440e938c44 | 378 | Pixy_saveNbObjet = Pixy_nbObjet; |
haarkon | 2:1d440e938c44 | 379 | Pixy_nbCCObjet = 0; |
haarkon | 2:1d440e938c44 | 380 | Pixy_nbObjet = 0; |
haarkon | 2:1d440e938c44 | 381 | FlagPixy = 1; // On valide le traitement de la trame précédente. |
haarkon | 2:1d440e938c44 | 382 | |
haarkon | 2:1d440e938c44 | 383 | msgBuffer.tab[byteCount%2] = Pixy.getc(); // on stocke les octets reçus |
haarkon | 2:1d440e938c44 | 384 | byteCount++; |
haarkon | 2:1d440e938c44 | 385 | if (byteCount == 2) { // Quand on a 2 octets |
haarkon | 2:1d440e938c44 | 386 | if (msgBuffer.mot == 0xaa55) { // On doit impérativement trouver le code 0xAA55 |
haarkon | 2:1d440e938c44 | 387 | Pixy_state = begin; // Si c'est le cas, alors tout va bien et on va à l'aiguillage |
haarkon | 2:1d440e938c44 | 388 | |
haarkon | 2:1d440e938c44 | 389 | } else { // Si on trouve autre chose |
haarkon | 2:1d440e938c44 | 390 | Pixy_synced = 0; // C'est qu'on est perdu donc plus synchronisé. |
haarkon | 2:1d440e938c44 | 391 | Pixy_state = none; // Ceinture et bretelle |
haarkon | 2:1d440e938c44 | 392 | } |
haarkon | 2:1d440e938c44 | 393 | byteCount = 0; |
haarkon | 2:1d440e938c44 | 394 | } |
haarkon | 2:1d440e938c44 | 395 | break; |
haarkon | 0:f00e68bef80c | 396 | } |
haarkon | 0:f00e68bef80c | 397 | } |
haarkon | 0:f00e68bef80c | 398 | } |
haarkon | 0:f00e68bef80c | 399 | |
haarkon | 2:1d440e938c44 | 400 | |
haarkon | 0:f00e68bef80c | 401 | int main() |
haarkon | 0:f00e68bef80c | 402 | { |
haarkon | 0:f00e68bef80c | 403 | |
haarkon | 2:1d440e938c44 | 404 | int I2C_check = -1, BOUSSOLE_check = -1 /*, SPI2_check = -1, SPI3_check = -1, MOTG_check = -1, MOTD_check = -1*/; |
haarkon | 2:1d440e938c44 | 405 | |
haarkon | 2:1d440e938c44 | 406 | Byte PIXY_rCCObjet = 0, PIXY_rObjet = 0; |
haarkon | 2:1d440e938c44 | 407 | int PIXY_objet; |
haarkon | 0:f00e68bef80c | 408 | |
haarkon | 0:f00e68bef80c | 409 | double SERVO_angle = 0, SERVO_angleMAX = 180, SERVO_angleMIN = 0; |
haarkon | 0:f00e68bef80c | 410 | Word SERVO_pos; |
haarkon | 0:f00e68bef80c | 411 | T_SERVODIR SERVO_dir = S_monte; |
haarkon | 0:f00e68bef80c | 412 | |
haarkon | 0:f00e68bef80c | 413 | char MENU_choix = 0; |
haarkon | 0:f00e68bef80c | 414 | |
haarkon | 2:1d440e938c44 | 415 | char BOUSSOLE_status[1] = {0}; |
haarkon | 0:f00e68bef80c | 416 | char I2C_registerValue[4]; |
haarkon | 0:f00e68bef80c | 417 | |
haarkon | 0:f00e68bef80c | 418 | double CAP_I2C, CAP_PWM; |
haarkon | 0:f00e68bef80c | 419 | double SD1_val, SD2_val, LD1_val, LD2_val, CNY1_val, CNY2_val, CNY3_val, Vbat_val; |
haarkon | 0:f00e68bef80c | 420 | double SD1_dist, SD2_dist, LD1_dist, LD2_dist; |
haarkon | 0:f00e68bef80c | 421 | double periode; |
haarkon | 0:f00e68bef80c | 422 | |
haarkon | 2:1d440e938c44 | 423 | times.reset(); |
haarkon | 2:1d440e938c44 | 424 | times.start(); |
haarkon | 0:f00e68bef80c | 425 | |
haarkon | 2:1d440e938c44 | 426 | tick.attach(&tickTime, 0.001); |
haarkon | 0:f00e68bef80c | 427 | |
haarkon | 0:f00e68bef80c | 428 | Bus_I2C.frequency (100000); |
haarkon | 0:f00e68bef80c | 429 | |
haarkon | 0:f00e68bef80c | 430 | BP.rise (&BPevent); |
haarkon | 0:f00e68bef80c | 431 | |
haarkon | 0:f00e68bef80c | 432 | Echo1.rise (&echo1Rise); |
haarkon | 0:f00e68bef80c | 433 | Echo2.rise (&echo2Rise); |
haarkon | 0:f00e68bef80c | 434 | Echo3.rise (&echo3Rise); |
haarkon | 0:f00e68bef80c | 435 | Echo1.fall (&echo1Fall); |
haarkon | 0:f00e68bef80c | 436 | Echo2.fall (&echo2Fall); |
haarkon | 0:f00e68bef80c | 437 | Echo3.fall (&echo3Fall); |
haarkon | 0:f00e68bef80c | 438 | |
haarkon | 1:d95546f84105 | 439 | BP.enable_irq(); |
haarkon | 0:f00e68bef80c | 440 | IG.enable_irq(); |
haarkon | 0:f00e68bef80c | 441 | Echo1.enable_irq(); |
haarkon | 0:f00e68bef80c | 442 | Echo2.enable_irq(); |
haarkon | 0:f00e68bef80c | 443 | Echo3.enable_irq(); |
haarkon | 0:f00e68bef80c | 444 | |
haarkon | 0:f00e68bef80c | 445 | Pixy.attach (&getPixyByte); |
haarkon | 0:f00e68bef80c | 446 | |
haarkon | 0:f00e68bef80c | 447 | Pwm_MG.period_us(50); |
haarkon | 0:f00e68bef80c | 448 | Pwm_MD.period_us(50); |
haarkon | 0:f00e68bef80c | 449 | Pwm_MG = 0; |
haarkon | 0:f00e68bef80c | 450 | Pwm_MD = 0; |
haarkon | 0:f00e68bef80c | 451 | En = 0; |
haarkon | 0:f00e68bef80c | 452 | SensG = 0; |
haarkon | 0:f00e68bef80c | 453 | SensD = 0; |
haarkon | 0:f00e68bef80c | 454 | Led2 = 0; |
haarkon | 0:f00e68bef80c | 455 | |
haarkon | 0:f00e68bef80c | 456 | Servo.period_ms(20); |
haarkon | 0:f00e68bef80c | 457 | |
haarkon | 0:f00e68bef80c | 458 | while(1) { |
haarkon | 0:f00e68bef80c | 459 | |
haarkon | 0:f00e68bef80c | 460 | do { |
haarkon | 0:f00e68bef80c | 461 | Led1 = 0; |
haarkon | 0:f00e68bef80c | 462 | Pc.printf ("\n\n\n\n\rProgramme de test\n\n\rEntrez le code du test a effectuer :\n\n"); |
haarkon | 0:f00e68bef80c | 463 | Pc.printf ("\r1- Capteurs Ultra Son (les 3)\n"); |
haarkon | 0:f00e68bef80c | 464 | Pc.printf ("\r2- Boussole et I2C\n"); |
haarkon | 0:f00e68bef80c | 465 | Pc.printf ("\r3- Capteurs GP2 (les 4)\n"); |
haarkon | 0:f00e68bef80c | 466 | Pc.printf ("\r4- Capteurs CNY70 (les 3)\n"); |
haarkon | 0:f00e68bef80c | 467 | Pc.printf ("\r5- VBAT\n"); |
haarkon | 0:f00e68bef80c | 468 | Pc.printf ("\r6- Moteur Gauche -- NON CODE\n"); |
haarkon | 0:f00e68bef80c | 469 | Pc.printf ("\r7- Moteur Droit -- NON CODE\n"); |
haarkon | 0:f00e68bef80c | 470 | Pc.printf ("\r8- Servomoteur\n"); |
haarkon | 0:f00e68bef80c | 471 | Pc.printf ("\r9- Test de la PIXY\n\r"); |
haarkon | 0:f00e68bef80c | 472 | MENU_choix = Pc.getc (); |
haarkon | 0:f00e68bef80c | 473 | } while (((MENU_choix-'0')<1) || ((MENU_choix-'0')>9)); |
haarkon | 0:f00e68bef80c | 474 | |
haarkon | 0:f00e68bef80c | 475 | switch (MENU_choix-'0') { |
haarkon | 0:f00e68bef80c | 476 | |
haarkon | 0:f00e68bef80c | 477 | case 1 : |
haarkon | 0:f00e68bef80c | 478 | Pc.printf ("\n\n\rTest des captreurs Ultrason\n"); |
haarkon | 0:f00e68bef80c | 479 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 480 | do { |
haarkon | 0:f00e68bef80c | 481 | |
haarkon | 0:f00e68bef80c | 482 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 483 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 484 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 485 | } |
haarkon | 0:f00e68bef80c | 486 | |
haarkon | 0:f00e68bef80c | 487 | // Gestion des US |
haarkon | 0:f00e68bef80c | 488 | if (((Tick%150)==0) && FlagTick) { |
haarkon | 0:f00e68bef80c | 489 | Trig1 = 1; |
haarkon | 0:f00e68bef80c | 490 | wait_us(20); |
haarkon | 0:f00e68bef80c | 491 | Trig1 = 0; |
haarkon | 0:f00e68bef80c | 492 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 493 | } |
haarkon | 0:f00e68bef80c | 494 | |
haarkon | 0:f00e68bef80c | 495 | if (((Tick%150)==50) && FlagTick) { |
haarkon | 0:f00e68bef80c | 496 | Trig2 = 1; |
haarkon | 0:f00e68bef80c | 497 | wait_us(20); |
haarkon | 0:f00e68bef80c | 498 | Trig2 = 0; |
haarkon | 0:f00e68bef80c | 499 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 500 | } |
haarkon | 0:f00e68bef80c | 501 | |
haarkon | 0:f00e68bef80c | 502 | if (((Tick%150)==100) && FlagTick) { |
haarkon | 0:f00e68bef80c | 503 | Trig3 = 1; |
haarkon | 0:f00e68bef80c | 504 | wait_us(20); |
haarkon | 0:f00e68bef80c | 505 | Trig3 = 0; |
haarkon | 0:f00e68bef80c | 506 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 507 | } |
haarkon | 0:f00e68bef80c | 508 | |
haarkon | 0:f00e68bef80c | 509 | if (FlagUS1==1) { |
haarkon | 0:f00e68bef80c | 510 | Pc.printf ("\rUS 1 = %04d mm", (int)DistUS1); |
haarkon | 0:f00e68bef80c | 511 | FlagUS1 = 0; |
haarkon | 0:f00e68bef80c | 512 | } |
haarkon | 0:f00e68bef80c | 513 | |
haarkon | 0:f00e68bef80c | 514 | if (FlagUS2==1) { |
haarkon | 0:f00e68bef80c | 515 | Pc.printf ("\r\t\t\tUS 2 = %04d mm", (int)DistUS2); |
haarkon | 0:f00e68bef80c | 516 | FlagUS2 = 0; |
haarkon | 0:f00e68bef80c | 517 | } |
haarkon | 0:f00e68bef80c | 518 | |
haarkon | 0:f00e68bef80c | 519 | if (FlagUS3==1) { |
haarkon | 0:f00e68bef80c | 520 | Pc.printf ("\r\t\t\t\t\t\tUS 3 = %04d mm", (int)DistUS3); |
haarkon | 0:f00e68bef80c | 521 | FlagUS3 = 0; |
haarkon | 0:f00e68bef80c | 522 | } |
haarkon | 0:f00e68bef80c | 523 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 524 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 525 | break; |
haarkon | 0:f00e68bef80c | 526 | |
haarkon | 0:f00e68bef80c | 527 | case 2 : |
haarkon | 0:f00e68bef80c | 528 | Pc.printf ("\n\n\rBoussole\n"); |
haarkon | 0:f00e68bef80c | 529 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 530 | |
haarkon | 0:f00e68bef80c | 531 | Pc.printf ("\n\rVerif du bus I2C :"); |
haarkon | 0:f00e68bef80c | 532 | I2C_check = Bus_I2C.write (BOUSSOLE_adress,BOUSSOLE_status,1,false); |
haarkon | 0:f00e68bef80c | 533 | if (I2C_check==0) { |
haarkon | 0:f00e68bef80c | 534 | Pc.printf (" OK\n"); |
haarkon | 0:f00e68bef80c | 535 | Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true); |
haarkon | 0:f00e68bef80c | 536 | Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4); |
haarkon | 0:f00e68bef80c | 537 | Pc.printf ("\rVersion Firmware boussole : %03d\n", I2C_registerValue[0]); |
haarkon | 0:f00e68bef80c | 538 | } else { |
haarkon | 0:f00e68bef80c | 539 | Pc.printf (" FAIL\n"); |
haarkon | 0:f00e68bef80c | 540 | } |
haarkon | 0:f00e68bef80c | 541 | |
haarkon | 0:f00e68bef80c | 542 | periode = PWMB.period(); |
haarkon | 0:f00e68bef80c | 543 | Pc.printf ("\rVerif de la PWM :"); |
haarkon | 0:f00e68bef80c | 544 | if ((periode > 0.11) || (periode < 0.06)) { |
haarkon | 0:f00e68bef80c | 545 | Pc.printf (" FAIL\n\n"); |
haarkon | 0:f00e68bef80c | 546 | } else { |
haarkon | 0:f00e68bef80c | 547 | Pc.printf (" OK\n\n"); |
haarkon | 0:f00e68bef80c | 548 | BOUSSOLE_check = 0; |
haarkon | 0:f00e68bef80c | 549 | } |
haarkon | 0:f00e68bef80c | 550 | |
haarkon | 0:f00e68bef80c | 551 | do { |
haarkon | 0:f00e68bef80c | 552 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 553 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 554 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 555 | } |
haarkon | 0:f00e68bef80c | 556 | |
haarkon | 1:d95546f84105 | 557 | if (((Tick%150)==0) && FlagTick) { |
haarkon | 0:f00e68bef80c | 558 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 559 | if (BOUSSOLE_check==0) { |
haarkon | 0:f00e68bef80c | 560 | CAP_PWM = ((PWMB.pulsewidth()*1000)-1)*10; |
haarkon | 1:d95546f84105 | 561 | Pc.printf ("\r PWM = %4.1lf", CAP_PWM); |
haarkon | 0:f00e68bef80c | 562 | } |
haarkon | 2:1d440e938c44 | 563 | if (I2C_check==0) { |
haarkon | 0:f00e68bef80c | 564 | Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true); |
haarkon | 0:f00e68bef80c | 565 | Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4); |
haarkon | 0:f00e68bef80c | 566 | CAP_I2C = (double)(((unsigned short)I2C_registerValue[2]<<8)+(unsigned short)I2C_registerValue[3])/10.0; |
haarkon | 1:d95546f84105 | 567 | Pc.printf ("\r\t\t I2C = %4.1lf", CAP_I2C); |
haarkon | 2:1d440e938c44 | 568 | } |
haarkon | 0:f00e68bef80c | 569 | } |
haarkon | 0:f00e68bef80c | 570 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 571 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 572 | break; |
haarkon | 0:f00e68bef80c | 573 | |
haarkon | 0:f00e68bef80c | 574 | case 3 : |
haarkon | 0:f00e68bef80c | 575 | Pc.printf ("\n\n\rGP2xx\n"); |
haarkon | 0:f00e68bef80c | 576 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 577 | do { |
haarkon | 0:f00e68bef80c | 578 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 579 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 580 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 581 | |
haarkon | 0:f00e68bef80c | 582 | SD1_val = SD1; |
haarkon | 0:f00e68bef80c | 583 | SD2_val = SD2; |
haarkon | 0:f00e68bef80c | 584 | LD1_val = LD1; |
haarkon | 0:f00e68bef80c | 585 | LD2_val = LD2; |
haarkon | 0:f00e68bef80c | 586 | |
haarkon | 0:f00e68bef80c | 587 | if (SD1_val < 0.06) { |
haarkon | 0:f00e68bef80c | 588 | SD1_val = 0; |
haarkon | 0:f00e68bef80c | 589 | SD1_dist = 40; |
haarkon | 0:f00e68bef80c | 590 | } else { |
haarkon | 0:f00e68bef80c | 591 | SD1_dist = 11.611/(SD1_val*3.3-0.0237); |
haarkon | 0:f00e68bef80c | 592 | if (SD1_dist > 40) SD1_dist = 40; |
haarkon | 0:f00e68bef80c | 593 | } |
haarkon | 0:f00e68bef80c | 594 | |
haarkon | 0:f00e68bef80c | 595 | if (SD2_val < 0.06) { |
haarkon | 0:f00e68bef80c | 596 | SD2_val = 0; |
haarkon | 0:f00e68bef80c | 597 | SD2_dist = 40; |
haarkon | 0:f00e68bef80c | 598 | } else { |
haarkon | 0:f00e68bef80c | 599 | SD2_dist = 11.611/(SD2_val*3.3-0.0237); |
haarkon | 0:f00e68bef80c | 600 | if (SD2_dist > 40) SD2_dist = 40; |
haarkon | 0:f00e68bef80c | 601 | } |
haarkon | 0:f00e68bef80c | 602 | |
haarkon | 0:f00e68bef80c | 603 | if (LD1_val < 0.1) { |
haarkon | 0:f00e68bef80c | 604 | LD1_val = 0; |
haarkon | 0:f00e68bef80c | 605 | LD1_dist = 150; |
haarkon | 0:f00e68bef80c | 606 | } else { |
haarkon | 0:f00e68bef80c | 607 | LD1_dist = 59.175/(LD1_val*3.3-0.0275); |
haarkon | 0:f00e68bef80c | 608 | if (LD1_dist > 150) LD1_dist = 150; |
haarkon | 0:f00e68bef80c | 609 | } |
haarkon | 0:f00e68bef80c | 610 | |
haarkon | 0:f00e68bef80c | 611 | if (LD2_val < 0.1) { |
haarkon | 0:f00e68bef80c | 612 | LD2_val = 0; |
haarkon | 0:f00e68bef80c | 613 | LD2_dist = 150; |
haarkon | 0:f00e68bef80c | 614 | } else { |
haarkon | 0:f00e68bef80c | 615 | LD2_dist = 59.175/(LD2_val*3.3-0.0275); |
haarkon | 0:f00e68bef80c | 616 | if (LD2_dist > 150) LD2_dist = 150; |
haarkon | 0:f00e68bef80c | 617 | } |
haarkon | 0:f00e68bef80c | 618 | |
haarkon | 0:f00e68bef80c | 619 | 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); |
haarkon | 0:f00e68bef80c | 620 | } |
haarkon | 0:f00e68bef80c | 621 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 622 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 623 | break; |
haarkon | 0:f00e68bef80c | 624 | |
haarkon | 0:f00e68bef80c | 625 | case 4 : |
haarkon | 0:f00e68bef80c | 626 | Pc.printf ("\n\n\rCNY70\n"); |
haarkon | 0:f00e68bef80c | 627 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 628 | do { |
haarkon | 0:f00e68bef80c | 629 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 630 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 631 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 632 | |
haarkon | 0:f00e68bef80c | 633 | CNY1_val = CNY1; |
haarkon | 0:f00e68bef80c | 634 | CNY2_val = CNY2; |
haarkon | 0:f00e68bef80c | 635 | CNY3_val = CNY3; |
haarkon | 0:f00e68bef80c | 636 | |
haarkon | 0:f00e68bef80c | 637 | 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); |
haarkon | 0:f00e68bef80c | 638 | } |
haarkon | 0:f00e68bef80c | 639 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 640 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 641 | break; |
haarkon | 0:f00e68bef80c | 642 | |
haarkon | 0:f00e68bef80c | 643 | case 5 : |
haarkon | 0:f00e68bef80c | 644 | Pc.printf ("\n\n\rVbat\n"); |
haarkon | 0:f00e68bef80c | 645 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 646 | do { |
haarkon | 0:f00e68bef80c | 647 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 648 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 649 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 650 | |
haarkon | 0:f00e68bef80c | 651 | Vbat_val = Vbat; |
haarkon | 0:f00e68bef80c | 652 | Pc.printf ("\rVbat = %5.3lf V", Vbat_val*3.3*4.3); |
haarkon | 0:f00e68bef80c | 653 | } |
haarkon | 0:f00e68bef80c | 654 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 655 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 656 | break; |
haarkon | 0:f00e68bef80c | 657 | |
haarkon | 0:f00e68bef80c | 658 | case 6 : |
haarkon | 0:f00e68bef80c | 659 | Pc.printf ("\n\n\rMoteur Gauche\n"); |
haarkon | 0:f00e68bef80c | 660 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 661 | do { |
haarkon | 0:f00e68bef80c | 662 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 663 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 664 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 665 | } |
haarkon | 2:1d440e938c44 | 666 | |
haarkon | 2:1d440e938c44 | 667 | |
haarkon | 0:f00e68bef80c | 668 | |
haarkon | 0:f00e68bef80c | 669 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 670 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 671 | break; |
haarkon | 0:f00e68bef80c | 672 | |
haarkon | 0:f00e68bef80c | 673 | case 7 : |
haarkon | 0:f00e68bef80c | 674 | Pc.printf ("\n\n\rMoteur Droit\n"); |
haarkon | 0:f00e68bef80c | 675 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 676 | do { |
haarkon | 0:f00e68bef80c | 677 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 678 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 679 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 680 | wait (0.1); |
haarkon | 0:f00e68bef80c | 681 | } |
haarkon | 0:f00e68bef80c | 682 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 683 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 684 | break; |
haarkon | 0:f00e68bef80c | 685 | |
haarkon | 0:f00e68bef80c | 686 | case 8 : |
haarkon | 0:f00e68bef80c | 687 | Pc.printf ("\n\n\rServo Moteur\n"); |
haarkon | 0:f00e68bef80c | 688 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 689 | do { |
haarkon | 0:f00e68bef80c | 690 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 691 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 692 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 693 | } |
haarkon | 0:f00e68bef80c | 694 | |
haarkon | 0:f00e68bef80c | 695 | if (((Tick%250)==0) && FlagTick) { |
haarkon | 0:f00e68bef80c | 696 | if (SERVO_dir == S_monte) { |
haarkon | 0:f00e68bef80c | 697 | if (SERVO_angle >= SERVO_angleMAX) { |
haarkon | 0:f00e68bef80c | 698 | SERVO_dir = S_descente; |
haarkon | 0:f00e68bef80c | 699 | SERVO_angle = SERVO_angleMAX; |
haarkon | 0:f00e68bef80c | 700 | } else { |
haarkon | 0:f00e68bef80c | 701 | SERVO_angle += 5; |
haarkon | 0:f00e68bef80c | 702 | } |
haarkon | 0:f00e68bef80c | 703 | } else { |
haarkon | 0:f00e68bef80c | 704 | if (SERVO_angle <= SERVO_angleMIN) { |
haarkon | 0:f00e68bef80c | 705 | SERVO_dir = S_monte; |
haarkon | 0:f00e68bef80c | 706 | SERVO_angle = SERVO_angleMIN; |
haarkon | 0:f00e68bef80c | 707 | } else { |
haarkon | 0:f00e68bef80c | 708 | SERVO_angle -= 5; |
haarkon | 0:f00e68bef80c | 709 | } |
haarkon | 0:f00e68bef80c | 710 | } |
haarkon | 0:f00e68bef80c | 711 | SERVO_pos = (lWord)(SERVO_angle*50/9) + 1000; |
haarkon | 0:f00e68bef80c | 712 | Servo.pulsewidth_us(SERVO_pos); |
haarkon | 0:f00e68bef80c | 713 | Pc.printf ("\rAngle = %4.1lf", SERVO_angle); |
haarkon | 0:f00e68bef80c | 714 | } |
haarkon | 0:f00e68bef80c | 715 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 716 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 717 | break; |
haarkon | 0:f00e68bef80c | 718 | |
haarkon | 0:f00e68bef80c | 719 | case 9 : |
haarkon | 0:f00e68bef80c | 720 | Pc.printf ("\n\n\rPixy\n"); |
haarkon | 0:f00e68bef80c | 721 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 2:1d440e938c44 | 722 | |
haarkon | 2:1d440e938c44 | 723 | if (Pixy_check == 0) Pc.printf ("\n\rPIXY is ALIVE\n"); |
haarkon | 2:1d440e938c44 | 724 | else Pc.printf ("\n\rPIXY don't talk\n"); |
haarkon | 2:1d440e938c44 | 725 | |
haarkon | 0:f00e68bef80c | 726 | do { |
haarkon | 2:1d440e938c44 | 727 | if (FlagPixy) { |
haarkon | 2:1d440e938c44 | 728 | Led2 = 1; |
haarkon | 2:1d440e938c44 | 729 | |
haarkon | 2:1d440e938c44 | 730 | if (FlagPixyOverflow) { |
haarkon | 2:1d440e938c44 | 731 | Pc.printf ("\rSome Data were lost\n"); |
haarkon | 2:1d440e938c44 | 732 | FlagPixyOverflow = 0; |
haarkon | 0:f00e68bef80c | 733 | } |
haarkon | 2:1d440e938c44 | 734 | for (PIXY_objet = 0; PIXY_objet < Pixy_saveNbObjet; PIXY_objet++) { |
haarkon | 2:1d440e938c44 | 735 | Pc.printf ("\robj #%hd/%hd : sig = %hd : X=%5hd, Y=%5hd (W=%5hd, H=%5hd)\n", PIXY_objet+1, Pixy_saveNbObjet, Pixy_FIFO[PIXY_rObjet].bloc.signature, Pixy_FIFO[PIXY_rObjet].bloc.x, Pixy_FIFO[PIXY_rObjet].bloc.y, Pixy_FIFO[PIXY_rObjet].bloc.width, Pixy_FIFO[PIXY_rObjet].bloc.height); |
haarkon | 2:1d440e938c44 | 736 | |
haarkon | 2:1d440e938c44 | 737 | if (PIXY_rObjet<19) PIXY_rObjet++; |
haarkon | 2:1d440e938c44 | 738 | else PIXY_rObjet = 0; |
haarkon | 2:1d440e938c44 | 739 | } |
haarkon | 2:1d440e938c44 | 740 | Pixy_saveNbObjet = 0; |
haarkon | 0:f00e68bef80c | 741 | |
haarkon | 2:1d440e938c44 | 742 | for (PIXY_objet = 0; PIXY_objet < Pixy_saveNbCCObjet; PIXY_objet++) { |
haarkon | 2:1d440e938c44 | 743 | Pc.printf ("\rCCobj #%hd/%hd : sig = %hd : X=%5hd, Y=%5hd (W=%5hd, H=%5hd)\n", PIXY_objet+1, Pixy_saveNbCCObjet, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.signature, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.x, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.y, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.width, Pixy_CCFIFO[PIXY_rCCObjet].CCbloc.height); |
haarkon | 1:d95546f84105 | 744 | |
haarkon | 2:1d440e938c44 | 745 | if (PIXY_rCCObjet<19) PIXY_rCCObjet++; |
haarkon | 2:1d440e938c44 | 746 | else PIXY_rCCObjet = 0; |
haarkon | 2:1d440e938c44 | 747 | } |
haarkon | 2:1d440e938c44 | 748 | Pixy_saveNbCCObjet = 0; |
haarkon | 1:d95546f84105 | 749 | FlagPixy = 0; |
haarkon | 2:1d440e938c44 | 750 | Led2 = 0; |
haarkon | 0:f00e68bef80c | 751 | } |
haarkon | 1:d95546f84105 | 752 | |
haarkon | 1:d95546f84105 | 753 | if (FlagTickLed) { |
haarkon | 1:d95546f84105 | 754 | Led1 = !Led1; |
haarkon | 1:d95546f84105 | 755 | FlagTickLed = 0; |
haarkon | 1:d95546f84105 | 756 | } |
haarkon | 0:f00e68bef80c | 757 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 758 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 759 | break; |
haarkon | 0:f00e68bef80c | 760 | |
haarkon | 0:f00e68bef80c | 761 | } |
haarkon | 0:f00e68bef80c | 762 | } |
haarkon | 0:f00e68bef80c | 763 | } |