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une 30aine passés sans pb entre les trames
Dependencies: ADS1015 ARNSRS_SENSORS DmTftLibrary MS5803_14BA SDFileSystem mbed
Fork of ARNSRS_SERVOS_USB_TFT by
Diff: main.cpp
- Revision:
- 20:bb8d2cea2076
- Parent:
- 19:31ac20c07bb2
- Child:
- 21:28a3f60b4bc2
--- a/main.cpp Sun May 14 16:52:18 2017 +0000 +++ b/main.cpp Thu May 18 06:03:24 2017 +0000 @@ -14,6 +14,14 @@ #include "ble/services/UARTService.h" #include <string> +//#include "DmTftHX8353C.h" +//#include "DmTftS6D0164.h" +//#include "DmTftIli9325.h" +//#include "DmTftIli9341.h" +//#include "DmTftSsd2119.h" +//#include "DmTftRa8875.h" + + //Ecrit dans le moniteur série de l'ordi à 9600 bds si sur 1 #define NEED_CONSOLE_OUTPUT 1 //Pour utiliser le traceur du moniteur Arduino. Mettre NEED_CONSOLE_OUTPUT 0 si utilisé. @@ -21,11 +29,9 @@ #define NEED_GRAPH_OUTPUT 0 //Datalog carte SD si sur 1 #define NEED_SD_DATA_LOG 0 -//BLE avec app android -#define NEED_BLE_ANDROID 1 #if NEED_CONSOLE_OUTPUT -#define DEBUG(...) { serialMonit.printf(__VA_ARGS__); } +#define DEBUG(...) { serialMonit.printf(__VA_ARGS__); } //tft.drawString(0,0,__VA_ARGS__); #else #define DEBUG(...) #endif @@ -40,16 +46,15 @@ //////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////// - //Contrôle des servos -PwmOut servo1(PB_5); -AnalogIn FeedBack1(PB_0); +PwmOut servo1(PB_15); +AnalogIn FeedBack1(PC_2); float Servo1_POS; float Limit_min_S1, Limit_max_S1; float Delta_FB_1; -PwmOut servo2(PB_4); -AnalogIn FeedBack2(PA_4); +PwmOut servo2(PB_1); +AnalogIn FeedBack2(PC_3); float Servo2_POS; float Limit_min_S2, Limit_max_S2; float Delta_FB_2; @@ -72,11 +77,18 @@ float Temp2 = 0; float Humi = 0; +//RTC //Pour stocker le format date / heure string DateHeure; +time_t seconds; //SD card SDFileSystem sd(D11, D12, D13, D10, "sd"); // MOSI, MISO, SCK, CS +//DigitalInOut csSDCard(D10, PIN_OUTPUT, PullUp, 1); + +//TFT +//DmTftHX8353C tft(D2, D3, D4, D5, D6); /* DmTftHX8353C(PinName mosi, PinName clk, PinName cs, PinName dc, PinName rst) DM_TFT18_101 */ + FILE *fp; char fileName[32]; int points = 1; @@ -207,17 +219,17 @@ { //Reglage date / heure depuis le terminal struct tm t; - printf("Entrer la date et l'heure :\n"); - printf("YYYY MM DD HH MM SS [enter]\n"); - scanf("%d %d %d %d %d %d", &t.tm_year, &t.tm_mon, &t.tm_mday - , &t.tm_hour, &t.tm_min, &t.tm_sec); + serialMonit.printf("Entrer la date et l'heure :\n"); + serialMonit.printf("YYYY MM DD HH MM SS [enter]\n"); + serialMonit.scanf("%d %d %d %d %d %d", &t.tm_year, &t.tm_mon, &t.tm_mday + , &t.tm_hour, &t.tm_min, &t.tm_sec); t.tm_year = t.tm_year - 1900; t.tm_mon = t.tm_mon - 1; // set the time set_time(mktime(&t)); - - if(NEED_CONSOLE_OUTPUT == 0) printf("OK. Vous pouvez fermer le moniteur serie"); + + if(NEED_CONSOLE_OUTPUT == 0) serialMonit.printf("OK. Vous pouvez fermer le moniteur serie"); } //////////////////////////////////////////////////////////////////////////////// @@ -226,7 +238,6 @@ void init_DATALOG() { - DEBUG("Initialisation SD card\r\n"); DEBUG("\r\n", ""); fp = nextLogFile(); @@ -241,38 +252,13 @@ } //////////////////////////////////////////////////////////////////////////////// -//// Initialisation du BLE //// -//////////////////////////////////////////////////////////////////////////////// - -void init_BLE() -{ - ble.init(); - ble.onDisconnection(disconnectionCallback); - ble.onDataWritten(onDataWritten); - - /* setup advertising */ - ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); - ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); - ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, - (const uint8_t *)"ARNSRS", sizeof("ARNSRS") - 1); - ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, - (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); - - ble.setAdvertisingInterval(1000); /* 1000ms; in multiples of 0.625ms. */ - ble.startAdvertising(); - - UARTService uartService(ble); - uartServicePtr = &uartService; -} - -//////////////////////////////////////////////////////////////////////////////// //// Fonction d'enregistrement des données sur carte SD //// //////////////////////////////////////////////////////////////////////////////// void DATA_LOG() { - time_t seconds = time(NULL); - + seconds = time(NULL); + if (fp) { fprintf(fp, "%s,%d,%d,%f,%f,%f,%f\r\n", ctime(&seconds), co2 , ppO2, pression, Temp1, Temp2, Humi); DEBUG(" Enregistrement d'un point sur la carte SD\r\n"); @@ -291,35 +277,47 @@ void Calibration_servo() { //Servos, calibration du feedback + DEBUG(" Check Servos :\r\n") + DEBUG("\r\n"); servo1.period(0.001); servo2.period(0.001); - - DEBUG("Check Servos :\r\n") + //Rentrer les servos à fond servo1 = 0; servo2 = 0; wait(4); - DEBUG(" FeedBack 1 MIN = %f\n", FeedBack1.read()); - DEBUG(" FeedBack 2 MIN = %f\n", FeedBack2.read()); - Limit_max_S1 = FeedBack1; - Limit_max_S2 = FeedBack2; + Limit_max_S1 = FeedBack1.read(); + wait_ms(100); + Limit_max_S2 = FeedBack2.read(); + + DEBUG(" FeedBack 1 MIN = %f\n", Limit_max_S1); + DEBUG(" FeedBack 2 MIN = %f\n", Limit_max_S2); + DEBUG("\r\n"); + + //Sortir les servos à fond servo1 = 1; servo2 = 1; wait(4); - DEBUG(" FeedBack 1 MAX = %f\n", FeedBack1.read()); - DEBUG(" FeedBack 2 MAX = %f\n", FeedBack2.read()); - Limit_min_S1 = FeedBack1; - Limit_min_S2 = FeedBack2; + Limit_min_S1 = FeedBack1.read(); + wait_ms(100); + Limit_min_S2 = FeedBack2.read(); + + DEBUG(" FeedBack 1 MAX = %f\n", Limit_min_S1); + DEBUG(" FeedBack 2 MAX = %f\n", Limit_min_S2); + DEBUG("\r\n"); + + //Position milieu servo1 = 0.5; servo2 = 0.5; - wait(4); - + wait(2); + //Mesure du delta consigne / feedback Delta_FB_1 = abs(remap(FeedBack1, Limit_max_S1, Limit_min_S1, 0, 100) - 50); - Delta_FB_2 = abs(remap(FeedBack2, Limit_max_S1, Limit_min_S1, 0, 100) - 50); - + Delta_FB_2 = abs(remap(FeedBack2, Limit_max_S2, Limit_min_S2, 0, 100) - 50); + DEBUG(" Delta Servo 1 = %f\n", Delta_FB_1); DEBUG(" Delta Servo 2 = %f\n", Delta_FB_2); + if(Delta_FB_1 > 10 || Delta_FB_1 > 10) DEBUG(" Delta Servos non satisfaisant..."); } //////////////////////////////////////////////////////////////////////////////// @@ -328,10 +326,9 @@ void Debug_Complet() { + //RTC + seconds = time(NULL); - //RTC - time_t seconds = time(NULL); - DEBUG(" Date / Heure = %s\r\n", ctime(&seconds)); //Retour capteurs @@ -348,6 +345,7 @@ //Retour position des servos DEBUG(" FeedBack 1 = %3.2f%%\n", Servo1_POS); DEBUG(" FeedBack 2 = %3.2f%%\n", Servo2_POS); + DEBUG("\r\n", ""); //Traceur TRACE("%d" , co2); @@ -370,13 +368,14 @@ void setup() { + wait(2); + DEBUG("Initialisation TFT\r\n"); + //tft.init(); + //Réglage de l'heure - SetTime(); - - //Initialisation BLE - init_BLE(); + //SetTime(); //Calibration des limites des servos pour remapper les feedback Calibration_servo(); @@ -399,6 +398,25 @@ { setup(); + //Initialisation BLE / ne marche pas si mise dans une fonction appelée ici ou dans le setup... + ble.init(); + ble.onDisconnection(disconnectionCallback); + ble.onDataWritten(onDataWritten); + + //setup advertising + ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); + ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); + ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, + (const uint8_t *)"ARNSRS", sizeof("ARNSRS") - 1); + ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, + (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); + + ble.setAdvertisingInterval(1000); /* 1000ms; in multiples of 0.625ms. */ + ble.startAdvertising(); + + UARTService uartService(ble); + uartServicePtr = &uartService; + while (1) { ble.waitForEvent();