quentin godbert
/
t2-stm32-lift
interrupt géré compil ok sans isr
Fork of T2_STM32 by
Diff: main.cpp
- Revision:
- 2:ab0ccf9bb38c
- Parent:
- 1:979edb6d1559
- Child:
- 5:d6484db1ec5c
diff -r 979edb6d1559 -r ab0ccf9bb38c main.cpp --- a/main.cpp Fri Dec 22 15:20:09 2017 +0000 +++ b/main.cpp Sun Jan 14 15:50:49 2018 +0000 @@ -1,20 +1,81 @@ #include "mbed.h" -//SAVE_TEST 2 + // Modification dans variant.h de la variable PWM_FREQUENCY afin de changer la fréquence par défaut du PWM + +//#include "StepperMotor.h" // Classe Moteur pas à pas +#include "Cylinder.h" +#include "Carriage.h" +#include "Lift.h" // Classe Ascenseur +#include "Config.h" // Bibliothéque Configuration -PwmOut mypwm(PWM_OUT); +unsigned char Carriage_CurrentPos = 1, + Lift_CurrentPos = 1, + RxdBuffer[2], // Déclaration Buffer de réception + ActualAdress = 0, + Address = 0, + Command = 0, + Check_serial_is_OK, + State = 0; +int Sequence = 0, + i = 0, + j = 0; +unsigned long CurrentMillis; // Variable millis +bool test = true; -DigitalOut myled(LED1); +Lift Lift(Lift_pinUp, Lift_pinDown, Lift_UpSensor, Lift_MiddleSensor); //Appel de l'objet ascenseur +Cylinder Cylinder(Cylinder_OriginSensor, Cylinder_StepPin, Cylinder_DirPin, Cylinder_EnablePin, Cylinder_PosMin, Cylinder_PosMax); //Appel de l'objet barillet +Carriage Carriage(Carriage_OriginSensor, Carriage_StepPin, Carriage_DirPin, Carriage_EnablePin, Carriage_PosMin, Carriage_PosMax); //Appel de l'objet chariot + +void setup() { + + Serial.begin(115200); // Port série pour communication avec Raspberry + + pinMode(Carriage_OriginSensor, INPUT_PULLUP); + pinMode(Buzzer_Output, OUTPUT); + pinMode(Cylinder_EnablePin, INPUT); + digitalWrite(Cylinder_DirPin, LOW); + Cylinder.Origin(Cylinder_OriginSensor); + +} + +void loop() { -int main() { - - mypwm.period_ms(10); - mypwm.pulsewidth_ms(1); +// Remise à zéro des variables de communications à chaque boucle + Address = 0; + Command = 0; + State = 0; + + ReadSerial(); // Lecture série + + Address = RxdBuffer[0]; + Command = RxdBuffer[1]; - printf("pwm set to %.2f %%\n", mypwm.read() * 100); - - while(1) { - myled = !myled; - wait(1); - } -} + Check_serial_is_OK = 0; + // Tester la trame recu + if ((Address != Start_Command) && (Command != Start_Command)){ // si la trame est correct (pas de 9 dans la commande ou l'adresse) + Check_serial_is_OK = 1; + } + else{ // si la trame est mauvaise, ou identique, ne rien faire dans le switch/case + Address = 0; + } + +//////////////////////////////////// DEV: Affichage de la trame reçue //////////////////////////////////// + Serial3.print("Reception : "); + Serial3.print(Start_Command); + Serial3.print(RxdBuffer[0]); + Serial3.println(RxdBuffer[1]); + + digitalWrite(Buzzer_Output, HIGH); + delay(500); + digitalWrite(Buzzer_Output, LOW); + delay(500); + digitalWrite(Buzzer_Output, HIGH); + delay(500); + digitalWrite(Buzzer_Output, LOW); + delay(500); + digitalWrite(Buzzer_Output, HIGH); + delay(500); + digitalWrite(Buzzer_Output, LOW); + delay(500); + +} \ No newline at end of file