Olivier Nastorg / Mbed OS ARNSRS_testDFU

mbed-os github

Dependencies:   ADS1015 Faulhaber HTU21D_mod MS5837_potless Sensor_Head_RevB_3 USBDevice_dfu Utilsdfu beep

Fork of ARNSRS_testDFU by POTLESS

main.cpp@80:545af6e94aa5, 2018-07-26 (annotated)

Committer:
POTLESS_2
Date:
Thu Jul 26 05:59:25 2018 +0000
Revision:
80:545af6e94aa5
Parent:
79:d22473a0e20d
Child:
81:83567a0ce82c
commande sup vers ihm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
potless 1:bef7856b5c0a 1 #include "mbed.h"
potless 2:4a8bf1d53439 2 #include <string>
POTLESS_2 7:ad15c386e960 3 #include "Sensor_head_revB.h"
POTLESS_2 8:a750d531b381 4 #include "HTU21D.h"
POTLESS_2 12:7f3aadd79f89 5 #include "PID.h"
POTLESS_2 19:cac3761a5d0b 6 #include "Faulhaber.h"
POTLESS_2 29:5b822d18bce6 7 #include "Utils.h"
POTLESS_2 47:89a088bc8866 8 #include "beep.h"
POTLESS_2 47:89a088bc8866 9 #include "USBSerial.h"
POTLESS_2 4:d84250f67dec 10
POTLESS_2 17:bef8abc445f2 11 //Commandes des servos
POTLESS_2 19:cac3761a5d0b 12 #define PWM_SERVO_POUMON PB_15
POTLESS_2 19:cac3761a5d0b 13 #define nSleep_SERVO_POUMON PC_6
POTLESS_2 19:cac3761a5d0b 14 #define FWD_SERVO_POUMON PB_14
POTLESS_2 19:cac3761a5d0b 15 #define REV_SERVO_POUMON PB_13
POTLESS_2 55:6536e02d729e 16 #define Channel_A_SERVO_POUMON PB_1
POTLESS_2 55:6536e02d729e 17 #define Channel_B_SERVO_POUMON PB_2
POTLESS_2 19:cac3761a5d0b 18 #define HOME_SERVO_POUMON 0
POTLESS_2 17:bef8abc445f2 19
POTLESS_2 19:cac3761a5d0b 20 #define PWM_SERVO_FUITE PB_10
POTLESS_2 43:5ae8baf28e32 21 #define nSleep_SERVO_FUITE PB_0
POTLESS_2 55:6536e02d729e 22 #define FWD_SERVO_FUITE PB_5
POTLESS_2 55:6536e02d729e 23 #define REV_SERVO_FUITE PB_4
POTLESS_2 43:5ae8baf28e32 24 #define Channel_A_SERVO_FUITE PC_9
POTLESS_2 43:5ae8baf28e32 25 #define Channel_B_SERVO_FUITE PA_8
POTLESS_2 19:cac3761a5d0b 26 #define HOME_SERVO_FUITE 90
POTLESS_2 17:bef8abc445f2 27
POTLESS_2 43:5ae8baf28e32 28 //Pin de test des alims
POTLESS_2 43:5ae8baf28e32 29 #define PIN_V_PILES_ANALOG PA_1
POTLESS_2 59:fd64ca9dae27 30 #define PIN_V_PILES_DIGI PC_3
POTLESS_2 43:5ae8baf28e32 31 #define PIN_V_USB_DIGI PA_0
POTLESS_2 11:b2feed92584a 32
potless 44:5cd6f84a62ec 33 //#define OUTPUT(...) { NVIC_DisableIRQ(USART3_IRQn); serialMonit.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(USART3_IRQn);}
POTLESS_2 56:61b0f4d6a890 34 //#define OUTPUT(...) { NVIC_DisableIRQ(USART2_IRQn); serialMonit.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(USART2_IRQn);}
POTLESS_2 57:a0827fa46b03 35 //#define OUTPUT(...) { NVIC_DisableIRQ(OTG_FS_IRQn);serialMonit.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(OTG_FS_IRQn);}
POTLESS_2 69:9afe54d53bb0 36 #define TRACEUR_DEBUG(...) { printf(__VA_ARGS__); fflush(stdout);}
POTLESS_2 69:9afe54d53bb0 37 //#define TRACEUR(...) { serialMonit.printf(__VA_ARGS__); fflush(stdout);}
POTLESS_2 56:61b0f4d6a890 38 #define OUTPUT(...) { serialMonit.printf(__VA_ARGS__); fflush(stdout);}
POTLESS_2 46:28298df0ac55 39 #define IHM(...) { NVIC_DisableIRQ(USART3_IRQn); display.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(USART3_IRQn);}
POTLESS_2 34:26f6e3dbefb9 40
POTLESS_2 57:a0827fa46b03 41 //Communication USB, OTG_FS
POTLESS_2 57:a0827fa46b03 42 USBSerial serialMonit(0x0483, 0x5740, 0x0001, false);
POTLESS_2 57:a0827fa46b03 43 //USBSerial serialMonit;//Pour pilotes windows Olivier
POTLESS_2 10:aca745a66d51 44
POTLESS_2 57:a0827fa46b03 45 //Moniteur série debug, Serial 2
POTLESS_2 68:7f4ab9c03b32 46 Serial serial(PA_2, PA_3,115200); // UART2 à décommenter / commenter pour DEBUG et DEEP_DEBUG
POTLESS_2 43:5ae8baf28e32 47
POTLESS_2 57:a0827fa46b03 48 //Communication avec l'IHM, Serial 3
POTLESS_2 57:a0827fa46b03 49 Serial display(PC_4, PC_5, 115200);
POTLESS_2 4:d84250f67dec 50
POTLESS_2 62:891379d80b1b 51 //PinName pwm, PinName nSleep, PinName fwd, PinName rev, PinName channelA, PinName channelB, int pulsesPerRev, int Rapport, Encoding encoding = X2_ENCODING
POTLESS_2 62:891379d80b1b 52 //Angle 0 -> tuyau fermé, Angle 90 -> tuyau ouvert
POTLESS_2 62:891379d80b1b 53 Faulhaber Servo_Poumon(VOLET_POUMON_ADDR, PWM_SERVO_POUMON, nSleep_SERVO_POUMON, FWD_SERVO_POUMON, REV_SERVO_POUMON, Channel_A_SERVO_POUMON, Channel_B_SERVO_POUMON, 16, 1257, HOME_SERVO_POUMON, Faulhaber::X2_ENCODING);
POTLESS_2 62:891379d80b1b 54 Faulhaber Servo_Fuite(VOLET_FUITE_ADDR, PWM_SERVO_FUITE, nSleep_SERVO_FUITE, FWD_SERVO_FUITE, REV_SERVO_FUITE, Channel_A_SERVO_FUITE, Channel_B_SERVO_FUITE, 16, 207, HOME_SERVO_FUITE, Faulhaber::X2_ENCODING);
POTLESS_2 62:891379d80b1b 55
POTLESS_2 7:ad15c386e960 56 //Init de la lib ARNSRS;
POTLESS_2 7:ad15c386e960 57 SENSOR_HEAD_REV_B sensors;
potless 2:4a8bf1d53439 58
POTLESS_2 34:26f6e3dbefb9 59 //pour Param Venant du PV
POTLESS_2 42:3591ec9903b4 60 const int sizeParam = 50;
POTLESS_2 11:b2feed92584a 61 char param[sizeParam];
POTLESS_2 11:b2feed92584a 62 volatile int indexParam = 0;
POTLESS_2 6:ebed9093d661 63 bool newParamFlag = false;
potless 2:4a8bf1d53439 64
POTLESS_2 56:61b0f4d6a890 65 //pour Param Venant de l'IHM
POTLESS_2 56:61b0f4d6a890 66 const int sizeIHM = 50;
POTLESS_2 56:61b0f4d6a890 67 char IHM[sizeIHM];
POTLESS_2 56:61b0f4d6a890 68 volatile int indexIHM = 0;
POTLESS_2 56:61b0f4d6a890 69 bool newIHMFlag = false;
POTLESS_2 56:61b0f4d6a890 70
POTLESS_2 43:5ae8baf28e32 71 //Flag PID ON / OFF
POTLESS_2 43:5ae8baf28e32 72 int FLAG_PID = 0;
POTLESS_2 42:3591ec9903b4 73
POTLESS_2 42:3591ec9903b4 74 //Flag pour interrompre l'affichage si on veut...
POTLESS_2 42:3591ec9903b4 75 bool FLAG_AFF = false;
POTLESS_2 25:322ef9488e65 76
POTLESS_2 70:0ae5fd4f826c 77 //Flag pour interrompre le traceur si on veut...
POTLESS_2 68:7f4ab9c03b32 78 bool FLAG_TRACE = false;
POTLESS_2 68:7f4ab9c03b32 79
POTLESS_2 40:32d89e04ead1 80 //Flag pour envoyer à l'app windev...
POTLESS_2 40:32d89e04ead1 81 bool FLAG_WINDEV = false;
POTLESS_2 40:32d89e04ead1 82
POTLESS_2 43:5ae8baf28e32 83 //Flag pour envoyer à l'IHM...
POTLESS_2 46:28298df0ac55 84 bool FLAG_DISPLAY = true;
POTLESS_2 43:5ae8baf28e32 85
POTLESS_2 29:5b822d18bce6 86 //Flag pour interrompre l'enregistrement si on veut...
POTLESS_2 29:5b822d18bce6 87 bool FLAG_REC = true;
POTLESS_2 29:5b822d18bce6 88
POTLESS_2 70:0ae5fd4f826c 89 //Flag pour interrompre les demandes O2 en cours de calibration...
POTLESS_2 33:f5d4bae05f16 90 bool FLAG_O2 = true;
POTLESS_2 33:f5d4bae05f16 91
POTLESS_2 70:0ae5fd4f826c 92 //Flag si on débranche l'USB
POTLESS_2 72:6d5590dbe13e 93 bool ALIM_UNPLUGGED = false;
POTLESS_2 71:23e7435e236f 94
POTLESS_2 7:ad15c386e960 95 //Variables de stockage des infos capteurs
POTLESS_2 7:ad15c386e960 96 int co2 = 0;
POTLESS_2 7:ad15c386e960 97 float pression = 0;
POTLESS_2 9:04bfdfc029cb 98 float Temp1 = 0;
POTLESS_2 7:ad15c386e960 99 int ppO2 = 0;
POTLESS_2 7:ad15c386e960 100 int CellO2_1 = 0;
POTLESS_2 7:ad15c386e960 101 int CellO2_2 = 0;
POTLESS_2 36:1f5e2247b073 102
POTLESS_2 18:bfd78c05b589 103 //Variables et constantes OTU
POTLESS_2 58:694d4d00407c 104 Ticker OTU_Ticker;
POTLESS_2 18:bfd78c05b589 105 float OTU = 0;
POTLESS_2 58:694d4d00407c 106 float EXP_OTU = 0.83;
POTLESS_2 18:bfd78c05b589 107
POTLESS_2 17:bef8abc445f2 108 //Mesure du temps d'éxecution du loop
POTLESS_2 7:ad15c386e960 109 Timer REAL_RATE;
POTLESS_2 7:ad15c386e960 110 float RATE = 0;
POTLESS_2 11:b2feed92584a 111 float RATE_TRUE = 0;
POTLESS_2 29:5b822d18bce6 112 float Ref_Time = 2.0; //La durée de la boucle désirée...
POTLESS_2 7:ad15c386e960 113
POTLESS_2 17:bef8abc445f2 114 //HTU21D sur l'I2C
POTLESS_2 8:a750d531b381 115 HTU21D temphumid(PB_9, PB_8); //Temp humid sensor || SDA, SCL
POTLESS_2 9:04bfdfc029cb 116 float Temp2;
POTLESS_2 9:04bfdfc029cb 117 int Humid;
POTLESS_2 9:04bfdfc029cb 118
POTLESS_2 9:04bfdfc029cb 119 //Data LOG
POTLESS_2 9:04bfdfc029cb 120 char to_store[50];
POTLESS_2 9:04bfdfc029cb 121 time_t seconds;
POTLESS_2 25:322ef9488e65 122 char Log_File_Name[] = " ";
POTLESS_2 42:3591ec9903b4 123 int count = 0;
POTLESS_2 42:3591ec9903b4 124 int Max_Log_Size = 1800;//1 heure, 1800 lignes donc à multiplier par la fréquence d'enregistrement, Ref_Time, pour voir combien de temps représente un Log...
POTLESS_2 8:a750d531b381 125
POTLESS_2 10:aca745a66d51 126 //Contrôle des servos
POTLESS_2 56:61b0f4d6a890 127 float Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 56:61b0f4d6a890 128 float volet_poumon_Position;
POTLESS_2 62:891379d80b1b 129
POTLESS_2 56:61b0f4d6a890 130 float Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 56:61b0f4d6a890 131 float volet_fuite_Position;
POTLESS_2 62:891379d80b1b 132
potless 45:61ba3cc4fc55 133 float Volets_Speed = 1;
POTLESS_2 62:891379d80b1b 134 float Volet_DeadBand = 5;
POTLESS_2 10:aca745a66d51 135
POTLESS_2 12:7f3aadd79f89 136 //Paramètre du PID
potless 65:c7d09a1fbef3 137 float Kc = 80;
POTLESS_2 12:7f3aadd79f89 138 float Ti = 0;
POTLESS_2 12:7f3aadd79f89 139 float Td = 0;
POTLESS_2 78:674882631acc 140 float RATE_PID = 10.0;
POTLESS_2 12:7f3aadd79f89 141 float Commande_PID;
POTLESS_2 43:5ae8baf28e32 142 int consigne = 210;
POTLESS_2 15:efd3b3bf3f37 143 float Max_Input = 1000;
POTLESS_2 15:efd3b3bf3f37 144 float Min_Input = 80;
potless 73:2bbea82bf1e5 145 float Max_Output = 85;//Vérifier la valeur pour angle à laisser ouvert...
potless 73:2bbea82bf1e5 146 float Min_Output = 5;
POTLESS_2 10:aca745a66d51 147
POTLESS_2 12:7f3aadd79f89 148 //Init PID
POTLESS_2 17:bef8abc445f2 149 PID control_Servo(Kc, Ti, Td, RATE_PID);
POTLESS_2 10:aca745a66d51 150
POTLESS_2 19:cac3761a5d0b 151 //Boolean du status de l'appareil, en mode SECU ou nominal
POTLESS_2 19:cac3761a5d0b 152 bool EN_MODE_SECU = false;
POTLESS_2 31:231a96d1d1c8 153
POTLESS_2 43:5ae8baf28e32 154 //Test voltage piles
POTLESS_2 43:5ae8baf28e32 155 AnalogIn V_PILES_ANALOG(PIN_V_PILES_ANALOG);
POTLESS_2 31:231a96d1d1c8 156
POTLESS_2 31:231a96d1d1c8 157 int Vusb = 1;
POTLESS_2 31:231a96d1d1c8 158 int VPiles = 1;
POTLESS_2 43:5ae8baf28e32 159 float VPiles_val = 1;
POTLESS_2 18:bfd78c05b589 160
POTLESS_2 58:694d4d00407c 161 bool flag_USB = false;
POTLESS_2 59:fd64ca9dae27 162 bool flag_Piles = false;
POTLESS_2 58:694d4d00407c 163
POTLESS_2 56:61b0f4d6a890 164 //Commande à envoyer à l'IHM
POTLESS_2 80:545af6e94aa5 165 //0 -> Marche normale
POTLESS_2 80:545af6e94aa5 166 //1 -> Mise en veille
POTLESS_2 80:545af6e94aa5 167 //2 -> Perte alim
POTLESS_2 56:61b0f4d6a890 168 //3 -> Big problème
POTLESS_2 80:545af6e94aa5 169 //4 -> Reset
POTLESS_2 56:61b0f4d6a890 170 int Commande_IHM = 0;
potless 48:9ceb095f397a 171
POTLESS_2 70:0ae5fd4f826c 172 //Pin connexion USB et Piles
POTLESS_2 70:0ae5fd4f826c 173 //DigitalIn vusb(PIN_V_USB_DIGI);
POTLESS_2 70:0ae5fd4f826c 174 //DigitalIn vpiles(PIN_V_PILES_DIGI);
POTLESS_2 70:0ae5fd4f826c 175
POTLESS_2 43:5ae8baf28e32 176 //Interruption pin
POTLESS_2 59:fd64ca9dae27 177 InterruptIn vpiles_off_on(PIN_V_PILES_DIGI);
POTLESS_2 70:0ae5fd4f826c 178 InterruptIn vusb_off_on(PIN_V_USB_DIGI);
POTLESS_2 21:b8900130ca05 179
POTLESS_2 57:a0827fa46b03 180 //Pin enable du régulateur 5 v
POTLESS_2 57:a0827fa46b03 181 DigitalOut E5V(PA_4);
POTLESS_2 57:a0827fa46b03 182
POTLESS_2 57:a0827fa46b03 183 //Pin enable du régulateur 3.3 v
POTLESS_2 58:694d4d00407c 184 DigitalOut E3V(PB_11, PullDown);
POTLESS_2 57:a0827fa46b03 185
POTLESS_2 57:a0827fa46b03 186 //Pin du Buzzer
POTLESS_2 57:a0827fa46b03 187 Beep buzzer(PC_8);
POTLESS_2 57:a0827fa46b03 188
POTLESS_2 58:694d4d00407c 189 //Déclaration des Threads
POTLESS_2 62:891379d80b1b 190 Thread thread_Secu;
POTLESS_2 62:891379d80b1b 191 Thread thread_Head;
POTLESS_2 62:891379d80b1b 192 Thread thread_Volets_POUMON;
POTLESS_2 62:891379d80b1b 193 Thread thread_Volets_FUITE;
POTLESS_2 76:9dc83d5cf075 194 Thread thread_PID;
POTLESS_2 74:f4704f312116 195
POTLESS_2 74:f4704f312116 196 //Récap des fonctions
POTLESS_2 74:f4704f312116 197 void Save_Pos();//Sauvegarde des positions moteurs
POTLESS_2 74:f4704f312116 198 void Mode_SECU();//Mise en secu des moteurs
POTLESS_2 74:f4704f312116 199 void Sleep_IHM();//Mise en veille IHM, envoie de la consigne sur son port série
POTLESS_2 80:545af6e94aa5 200 void Sleep_HIGH_WakeUp();//Mise en veille MCU avec réveille sur front haut
POTLESS_2 74:f4704f312116 201 void Sleep_LOW_WakeUp();//Mise en veille MCU avec réveille sur front bas. BABEFACE
POTLESS_2 74:f4704f312116 202 void ALIM_is_unplugged();//Appelée par l'intéruption. Passe juste un FLAG à false
POTLESS_2 74:f4704f312116 203 void ALIM_unplugged();//Appelée par le sécu THREAD si le FLAG ci-dessus passe a false
POTLESS_2 74:f4704f312116 204 void Stop_Sequence();//Enchainement des fonction amenant à l'arrêt de l'appareil
POTLESS_2 74:f4704f312116 205 void Affichage();//Affichage complet du Debug dans le Terminal...ne pas utiliser car trop lent...préférer le même sur l'IHM
POTLESS_2 74:f4704f312116 206 void Traceur_Arduino();//Envoies des Data pour être interprétées par le traceur Arduino
POTLESS_2 74:f4704f312116 207 int Power_Test(DigitalIn& pin);//Test une pin Digital..Renvoie 1 ou 0. Pas utilisée, on utilise les intérruptions
POTLESS_2 74:f4704f312116 208 float Power_Test(AnalogIn& pin);//Lecture d'une pin analogique. Pas encore utilisée
POTLESS_2 74:f4704f312116 209 bool Check();//A remplir de paramètres qui renvoie true s'ils sont bon, false s'ils sont hors limites
POTLESS_2 74:f4704f312116 210 void Calcul_OTU();//Calcul des OTU, commandée par un Tcker toutes les 60 s
POTLESS_2 74:f4704f312116 211 void SENSORS_thread();//Thread d'intérogation des capteurs. Appelé tous les ref_time
POTLESS_2 74:f4704f312116 212 void GO_TO_thread_POUMON();//Thread d'asservissement en position du volet Poumon. Appelé en permanence, priorité haute
POTLESS_2 74:f4704f312116 213 void GO_TO_thread_FUITE();//Thread d'asservissement en position du volet Fuite. Appelé en permanence, priorité haute
POTLESS_2 74:f4704f312116 214 void SECU_thread();//Thread de contrôle des paramètres devant entrainer une réaction de sécurité. Pour le moment capture du Flag de l'alim débranchée
POTLESS_2 78:674882631acc 215 void PID_thread();//Thread de calcul du PID
POTLESS_2 74:f4704f312116 216 void callbackParam();//Callback de l'intéruption des com sur le port USD
POTLESS_2 74:f4704f312116 217 void callbackIHM();//Callback de l'intéruption des com sur le port IHM
POTLESS_2 74:f4704f312116 218 void Decoding_Message(char message []);//Décodage des message reçu par le port USB
POTLESS_2 74:f4704f312116 219 void Decoding_IHM(char message []);//Décodage des message reçu par le port IHM. Uniquement le transfert sur clef USB pour le moment
POTLESS_2 74:f4704f312116 220 void Create_File_Name_Date();//Création d'un nom de fichier par date
POTLESS_2 74:f4704f312116 221 void Create_File_Name_Index();//Création d'un nom de fichier par Index
POTLESS_2 74:f4704f312116 222
POTLESS_2 72:6d5590dbe13e 223 void Save_Pos()
POTLESS_2 68:7f4ab9c03b32 224 {
POTLESS_2 68:7f4ab9c03b32 225
POTLESS_2 68:7f4ab9c03b32 226 //Enregistrement position des servos sans mettre en sécu
POTLESS_2 71:23e7435e236f 227 UTILS::EffacePage(2, PAGE_POUMON_ADDR, 1);
POTLESS_2 68:7f4ab9c03b32 228
POTLESS_2 71:23e7435e236f 229 int Pos_P = Servo_Poumon.getPulses();
POTLESS_2 68:7f4ab9c03b32 230 UTILS::Write(VOLET_POUMON_ADDR, Pos_P);
POTLESS_2 71:23e7435e236f 231 DEBUG(" position volet poumon sauvegardée = %d pulse(s)\r\n", Pos_P);
POTLESS_2 76:9dc83d5cf075 232
POTLESS_2 71:23e7435e236f 233 UTILS::EffacePage(2, PAGE_FUITE_ADDR, 1);
POTLESS_2 76:9dc83d5cf075 234
POTLESS_2 71:23e7435e236f 235 int Pos_F = Servo_Fuite.getPulses();
POTLESS_2 68:7f4ab9c03b32 236 UTILS::Write(VOLET_FUITE_ADDR, Pos_F);
POTLESS_2 71:23e7435e236f 237 DEBUG(" position volet fuite sauvegardée = %d pulse(s)\r\n", Pos_F);
POTLESS_2 68:7f4ab9c03b32 238
POTLESS_2 68:7f4ab9c03b32 239 }
POTLESS_2 68:7f4ab9c03b32 240
POTLESS_2 72:6d5590dbe13e 241 //Passage en mode SECU
POTLESS_2 72:6d5590dbe13e 242 void Mode_SECU()
POTLESS_2 56:61b0f4d6a890 243 {
POTLESS_2 68:7f4ab9c03b32 244
POTLESS_2 72:6d5590dbe13e 245 //Mise du PID en mode manuel (desactivation...)
POTLESS_2 72:6d5590dbe13e 246 FLAG_PID = 0;
POTLESS_2 68:7f4ab9c03b32 247
POTLESS_2 71:23e7435e236f 248 //On coupe les thread car on va utiliser une autre fonction
POTLESS_2 71:23e7435e236f 249 thread_Volets_POUMON.terminate();
POTLESS_2 71:23e7435e236f 250 thread_Volets_FUITE.terminate();
POTLESS_2 68:7f4ab9c03b32 251
POTLESS_2 72:6d5590dbe13e 252 //A fond et avec une erreur tolérée de +- 5 deg autour du Home. Cohérent avec le future init qui recherche une erreur > 5 deg
POTLESS_2 71:23e7435e236f 253 Volets_Speed = 1;
POTLESS_2 71:23e7435e236f 254 Volet_DeadBand = 10;
POTLESS_2 76:9dc83d5cf075 255
POTLESS_2 68:7f4ab9c03b32 256 Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 68:7f4ab9c03b32 257 Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 76:9dc83d5cf075 258
POTLESS_2 71:23e7435e236f 259 Servo_Fuite.Go_To(Consigne_fuite, Volets_Speed, Volet_DeadBand);
POTLESS_2 76:9dc83d5cf075 260
POTLESS_2 71:23e7435e236f 261 Servo_Poumon.Go_To(Consigne_poumon, Volets_Speed, Volet_DeadBand);
POTLESS_2 76:9dc83d5cf075 262
POTLESS_2 72:6d5590dbe13e 263 Save_Pos();
POTLESS_2 76:9dc83d5cf075 264
POTLESS_2 72:6d5590dbe13e 265 OUTPUT(" Volet poumon en sécu\r\n");
POTLESS_2 72:6d5590dbe13e 266 OUTPUT(" Volet fuite en sécu\r\n");
POTLESS_2 72:6d5590dbe13e 267
POTLESS_2 72:6d5590dbe13e 268 Servo_Poumon.Sleep();
POTLESS_2 72:6d5590dbe13e 269 Servo_Fuite.Sleep();
POTLESS_2 72:6d5590dbe13e 270 }
POTLESS_2 72:6d5590dbe13e 271
POTLESS_2 79:d22473a0e20d 272 void Sleep_IHM(int commande)
POTLESS_2 72:6d5590dbe13e 273 {
POTLESS_2 72:6d5590dbe13e 274 //Mise en veille de l'IHM
POTLESS_2 80:545af6e94aa5 275 IHM("<0/0/0 0-0-0 ;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;%d>\r\n", commande);
POTLESS_2 76:9dc83d5cf075 276
POTLESS_2 72:6d5590dbe13e 277 wait(0.5);
POTLESS_2 76:9dc83d5cf075 278
POTLESS_2 75:eec3e587c8b8 279 HAL_GPIO_DeInit(GPIOC, GPIO_PIN_4|GPIO_PIN_5);
POTLESS_2 76:9dc83d5cf075 280
POTLESS_2 72:6d5590dbe13e 281 // mise à zero UART IHM pour éviter son redémarrage intempestif (le tx suffirait)
POTLESS_2 75:eec3e587c8b8 282 HAL_PWREx_EnablePullUpPullDownConfig();
POTLESS_2 72:6d5590dbe13e 283 HAL_PWREx_EnableGPIOPullDown(PWR_GPIO_C, PWR_GPIO_BIT_4);
POTLESS_2 72:6d5590dbe13e 284 HAL_PWREx_EnableGPIOPullDown(PWR_GPIO_C, PWR_GPIO_BIT_5);
POTLESS_2 76:9dc83d5cf075 285
POTLESS_2 72:6d5590dbe13e 286 }
POTLESS_2 72:6d5590dbe13e 287
POTLESS_2 80:545af6e94aa5 288 void Sleep_HIGH_WakeUp()
POTLESS_2 72:6d5590dbe13e 289 {
POTLESS_2 76:9dc83d5cf075 290
POTLESS_2 72:6d5590dbe13e 291 E5V = 0;
POTLESS_2 76:9dc83d5cf075 292
POTLESS_2 59:fd64ca9dae27 293 UTILS::UnMount_Flash();
POTLESS_2 76:9dc83d5cf075 294
POTLESS_2 59:fd64ca9dae27 295 DEBUG(" Mise en veille...\r\n");
POTLESS_2 76:9dc83d5cf075 296
POTLESS_2 62:891379d80b1b 297 //Mise en veille
potless 60:e2922f9e309c 298 HAL_PWREx_EnablePullUpPullDownConfig() ;
potless 60:e2922f9e309c 299 HAL_PWREx_EnableGPIOPullDown(PWR_GPIO_A, PWR_GPIO_BIT_0);
potless 60:e2922f9e309c 300 HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1); // pour PA_0
potless 60:e2922f9e309c 301 // Clear wake up Flag
potless 60:e2922f9e309c 302 __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WUF1);
potless 60:e2922f9e309c 303 // Enable wakeup pin WKUP2
potless 60:e2922f9e309c 304 HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1); // high est la valeur par défaut
potless 60:e2922f9e309c 305 // Set RTC back-up register RTC_BKP31R to indicate
potless 60:e2922f9e309c 306 //later on that system has entered shutdown mode
potless 60:e2922f9e309c 307 WRITE_REG( RTC->BKP31R, 0x1 );
POTLESS_2 76:9dc83d5cf075 308
potless 60:e2922f9e309c 309 //Enter shutdown mode
POTLESS_2 71:23e7435e236f 310 E3V=0;
POTLESS_2 72:6d5590dbe13e 311 //n’est pas exécuté à cause du E3V=0 précédent
POTLESS_2 72:6d5590dbe13e 312 HAL_PWREx_EnterSHUTDOWNMode();
POTLESS_2 76:9dc83d5cf075 313
POTLESS_2 56:61b0f4d6a890 314 }
POTLESS_2 58:694d4d00407c 315
POTLESS_2 72:6d5590dbe13e 316 void Sleep_LOW_WakeUp()
POTLESS_2 71:23e7435e236f 317 {
POTLESS_2 72:6d5590dbe13e 318 E5V = 0;
POTLESS_2 76:9dc83d5cf075 319
POTLESS_2 72:6d5590dbe13e 320 UTILS::UnMount_Flash();
POTLESS_2 76:9dc83d5cf075 321
POTLESS_2 72:6d5590dbe13e 322 DEBUG(" Mise en veille...\r\n");
POTLESS_2 76:9dc83d5cf075 323
POTLESS_2 72:6d5590dbe13e 324 UTILS::EffacePage(2, PAGE_FLAG_ADDR, 1);
POTLESS_2 72:6d5590dbe13e 325
POTLESS_2 72:6d5590dbe13e 326 UTILS::Write(FLAG_ADDR, 0xBABEFACE);
POTLESS_2 72:6d5590dbe13e 327
POTLESS_2 72:6d5590dbe13e 328 //Mise en veille
POTLESS_2 75:eec3e587c8b8 329 HAL_PWREx_EnablePullUpPullDownConfig();
POTLESS_2 72:6d5590dbe13e 330 HAL_PWREx_EnableGPIOPullDown(PWR_GPIO_A, PWR_GPIO_BIT_0);
POTLESS_2 72:6d5590dbe13e 331 HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1_LOW); // pour PA_0
POTLESS_2 72:6d5590dbe13e 332 // Clear wake up Flag
POTLESS_2 72:6d5590dbe13e 333 __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WUF1);
POTLESS_2 72:6d5590dbe13e 334 // Enable wakeup pin WKUP2
POTLESS_2 72:6d5590dbe13e 335 HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1_LOW); // high est la valeur par défaut
POTLESS_2 72:6d5590dbe13e 336 // Set RTC back-up register RTC_BKP31R to indicate
POTLESS_2 72:6d5590dbe13e 337 //later on that system has entered shutdown mode
POTLESS_2 72:6d5590dbe13e 338 WRITE_REG( RTC->BKP31R, 0x1 );
POTLESS_2 76:9dc83d5cf075 339
POTLESS_2 72:6d5590dbe13e 340 //Enter shutdown mode
POTLESS_2 80:545af6e94aa5 341 E3V=0;
POTLESS_2 72:6d5590dbe13e 342 //Enter shutdown mode
POTLESS_2 72:6d5590dbe13e 343 HAL_PWREx_EnterSHUTDOWNMode();
POTLESS_2 72:6d5590dbe13e 344 }
POTLESS_2 76:9dc83d5cf075 345
POTLESS_2 76:9dc83d5cf075 346 void ALIM_is_unplugged()
POTLESS_2 72:6d5590dbe13e 347 {
POTLESS_2 72:6d5590dbe13e 348 ALIM_UNPLUGGED = true;
POTLESS_2 76:9dc83d5cf075 349 }
POTLESS_2 72:6d5590dbe13e 350
POTLESS_2 72:6d5590dbe13e 351 void ALIM_unplugged()
POTLESS_2 52:4e36a88711d6 352 {
POTLESS_2 72:6d5590dbe13e 353 DEBUG(" L'alimentation a été débranchée.\n");
POTLESS_2 76:9dc83d5cf075 354
POTLESS_2 71:23e7435e236f 355 buzzer.beep(1000,0.1);
POTLESS_2 76:9dc83d5cf075 356
POTLESS_2 79:d22473a0e20d 357 Sleep_IHM(2);
POTLESS_2 76:9dc83d5cf075 358
POTLESS_2 72:6d5590dbe13e 359 Mode_SECU();
POTLESS_2 76:9dc83d5cf075 360
POTLESS_2 80:545af6e94aa5 361 Sleep_HIGH_WakeUp();
POTLESS_2 76:9dc83d5cf075 362
POTLESS_2 72:6d5590dbe13e 363 }
POTLESS_2 72:6d5590dbe13e 364
POTLESS_2 72:6d5590dbe13e 365 //Sequence d'arrêt demandé par commande "sleep"
POTLESS_2 72:6d5590dbe13e 366 void Stop_Sequence()
POTLESS_2 72:6d5590dbe13e 367 {
POTLESS_2 72:6d5590dbe13e 368 OUTPUT(" Mise en veille de l'appareil.\r\n");
POTLESS_2 80:545af6e94aa5 369
POTLESS_2 80:545af6e94aa5 370 buzzer.beep(1000,0.1);
POTLESS_2 76:9dc83d5cf075 371
POTLESS_2 79:d22473a0e20d 372 Sleep_IHM(1);
POTLESS_2 76:9dc83d5cf075 373
POTLESS_2 72:6d5590dbe13e 374 Mode_SECU();
POTLESS_2 72:6d5590dbe13e 375
POTLESS_2 72:6d5590dbe13e 376 Sleep_LOW_WakeUp();
POTLESS_2 52:4e36a88711d6 377 }
POTLESS_2 47:89a088bc8866 378
POTLESS_2 29:5b822d18bce6 379 void Affichage()
POTLESS_2 53:84571a5e2cda 380 {
POTLESS_2 42:3591ec9903b4 381 //serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 382 serialMonit.printf(" CO2 = %d ppm\r\n" , co2);
POTLESS_2 29:5b822d18bce6 383 serialMonit.printf(" PPO2 = %d mb\r\n", ppO2);
POTLESS_2 31:231a96d1d1c8 384 serialMonit.printf(" OTU = %d \r\n", (int)OTU);
POTLESS_2 29:5b822d18bce6 385 serialMonit.printf(" Pression = %f msw\r\n", pression);
POTLESS_2 29:5b822d18bce6 386 serialMonit.printf(" Temp MS5837 = %f C\r\n", Temp1);
POTLESS_2 29:5b822d18bce6 387 serialMonit.printf(" Temp HTU21D = %f C\n\r", Temp2);
POTLESS_2 29:5b822d18bce6 388 serialMonit.printf(" Humidity = %d %%\n\r", Humid);
POTLESS_2 42:3591ec9903b4 389 //serialMonit.printf("\n\r");
POTLESS_2 29:5b822d18bce6 390 serialMonit.printf(" Cell O2 n 1 = %d\r\n" , CellO2_1);
POTLESS_2 29:5b822d18bce6 391 serialMonit.printf(" Cell O2 n 2 = %d\r\n" , CellO2_2);
POTLESS_2 42:3591ec9903b4 392 //serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 393 serialMonit.printf(" Volet Poumon = %f\r\n" , volet_poumon_Position);
POTLESS_2 29:5b822d18bce6 394 serialMonit.printf(" Volet Fuite = %f\r\n" , volet_fuite_Position);
POTLESS_2 42:3591ec9903b4 395 //serialMonit.printf("\r\n");
POTLESS_2 42:3591ec9903b4 396 serialMonit.printf(" Temps d execution de la boucle = %f seconde(s)\r\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 42:3591ec9903b4 397 //serialMonit.printf("\r\n");
POTLESS_2 42:3591ec9903b4 398 if (FLAG_REC) serialMonit.printf(" Chaine enregistrée = %s\r\n", to_store);
POTLESS_2 30:7a16a66d76f3 399 else serialMonit.printf(" Pas d'enregistrement en cours.");
POTLESS_2 42:3591ec9903b4 400 //serialMonit.printf("\r\n");
POTLESS_2 42:3591ec9903b4 401 serialMonit.printf(" V_USB = %f\r\n", Vusb);
POTLESS_2 42:3591ec9903b4 402 //serialMonit.printf("\r\n\r\n");
POTLESS_2 29:5b822d18bce6 403 fflush(stdout);
POTLESS_2 29:5b822d18bce6 404 }
POTLESS_2 29:5b822d18bce6 405
POTLESS_2 76:9dc83d5cf075 406 void Traceur_Arduino()
POTLESS_2 76:9dc83d5cf075 407 {
POTLESS_2 76:9dc83d5cf075 408 /*
POTLESS_2 76:9dc83d5cf075 409 //Important pour PID
POTLESS_2 76:9dc83d5cf075 410 TRACEUR("%d, ", ppO2);
POTLESS_2 76:9dc83d5cf075 411 TRACEUR("%d, ", consigne);
POTLESS_2 76:9dc83d5cf075 412
POTLESS_2 76:9dc83d5cf075 413 //TODO à commenter je pense...
POTLESS_2 76:9dc83d5cf075 414 TRACEUR("%d, " , co2);
POTLESS_2 76:9dc83d5cf075 415 TRACEUR("%d, ", (int)OTU);
POTLESS_2 76:9dc83d5cf075 416 TRACEUR("%f, ", pression);
POTLESS_2 76:9dc83d5cf075 417 TRACEUR("%f, ", Temp1);
POTLESS_2 76:9dc83d5cf075 418 TRACEUR("%f, ", Temp2);
POTLESS_2 76:9dc83d5cf075 419 TRACEUR("%d, ", Humid);
POTLESS_2 76:9dc83d5cf075 420 TRACEUR("%d, " , CellO2_1);
POTLESS_2 76:9dc83d5cf075 421 TRACEUR("%d, " , CellO2_2);
POTLESS_2 76:9dc83d5cf075 422 TRACEUR("%f, " , volet_poumon_Position);
POTLESS_2 76:9dc83d5cf075 423 TRACEUR("%f, " , volet_fuite_Position);
POTLESS_2 76:9dc83d5cf075 424
POTLESS_2 76:9dc83d5cf075 425
POTLESS_2 76:9dc83d5cf075 426 //Toujours finir par \r\n
POTLESS_2 76:9dc83d5cf075 427 TRACEUR("\r\n");
POTLESS_2 76:9dc83d5cf075 428 */
POTLESS_2 69:9afe54d53bb0 429 //Important pour PID
POTLESS_2 69:9afe54d53bb0 430 TRACEUR_DEBUG("%d, ", ppO2);
POTLESS_2 69:9afe54d53bb0 431 TRACEUR_DEBUG("%d, ", consigne);
potless 73:2bbea82bf1e5 432 TRACEUR_DEBUG("%f, " , volet_poumon_Position);
POTLESS_2 76:9dc83d5cf075 433
POTLESS_2 69:9afe54d53bb0 434 /*
POTLESS_2 69:9afe54d53bb0 435 //TODO à commenter je pense...
POTLESS_2 69:9afe54d53bb0 436 TRACEUR_DEBUG("%d, " , co2);
POTLESS_2 69:9afe54d53bb0 437 TRACEUR_DEBUG("%d, ", (int)OTU);
POTLESS_2 69:9afe54d53bb0 438 TRACEUR_DEBUG("%f, ", pression);
POTLESS_2 69:9afe54d53bb0 439 TRACEUR_DEBUG("%f, ", Temp1);
POTLESS_2 69:9afe54d53bb0 440 TRACEUR_DEBUG("%f, ", Temp2);
POTLESS_2 69:9afe54d53bb0 441 TRACEUR_DEBUG("%d, ", Humid);
POTLESS_2 69:9afe54d53bb0 442 TRACEUR_DEBUG("%d, " , CellO2_1);
POTLESS_2 69:9afe54d53bb0 443 TRACEUR_DEBUG("%d, " , CellO2_2);
POTLESS_2 69:9afe54d53bb0 444 TRACEUR_DEBUG("%f, " , volet_poumon_Position);
POTLESS_2 69:9afe54d53bb0 445 TRACEUR_DEBUG("%f, " , volet_fuite_Position);
POTLESS_2 68:7f4ab9c03b32 446 */
POTLESS_2 76:9dc83d5cf075 447
POTLESS_2 68:7f4ab9c03b32 448 //Toujours finir par \r\n
POTLESS_2 76:9dc83d5cf075 449 TRACEUR_DEBUG("\r\n");
POTLESS_2 19:cac3761a5d0b 450 }
POTLESS_2 19:cac3761a5d0b 451
POTLESS_2 18:bfd78c05b589 452
POTLESS_2 31:231a96d1d1c8 453 //Fonction test de valeur d'entrée digitale
POTLESS_2 29:5b822d18bce6 454 int Power_Test(DigitalIn& pin)
POTLESS_2 20:5f79fb4565a7 455 {
POTLESS_2 29:5b822d18bce6 456 pin.mode(PullDown);
POTLESS_2 34:26f6e3dbefb9 457
POTLESS_2 34:26f6e3dbefb9 458 if(!pin) {
POTLESS_2 68:7f4ab9c03b32 459 //Stop_Sequence();
POTLESS_2 34:26f6e3dbefb9 460 return 0;
POTLESS_2 34:26f6e3dbefb9 461 } else {
POTLESS_2 34:26f6e3dbefb9 462 return 1;
POTLESS_2 34:26f6e3dbefb9 463 }
POTLESS_2 20:5f79fb4565a7 464 }
POTLESS_2 20:5f79fb4565a7 465
POTLESS_2 31:231a96d1d1c8 466 //Fonction test de valeur d'entrée analogique
POTLESS_2 31:231a96d1d1c8 467 float Power_Test(AnalogIn& pin)
POTLESS_2 31:231a96d1d1c8 468 {
POTLESS_2 31:231a96d1d1c8 469 float Val = pin.read();
POTLESS_2 31:231a96d1d1c8 470 return Val;
POTLESS_2 31:231a96d1d1c8 471 }
POTLESS_2 31:231a96d1d1c8 472
POTLESS_2 18:bfd78c05b589 473 //Contrôle du status de l'appareil / des constantes
POTLESS_2 18:bfd78c05b589 474 bool Check()
POTLESS_2 18:bfd78c05b589 475 {
POTLESS_2 18:bfd78c05b589 476 if (ppO2 > 100)
POTLESS_2 19:cac3761a5d0b 477 return true;//Situation OK
POTLESS_2 18:bfd78c05b589 478 else
POTLESS_2 19:cac3761a5d0b 479 return false;//Situation dégradée
POTLESS_2 18:bfd78c05b589 480 }
POTLESS_2 18:bfd78c05b589 481
POTLESS_2 18:bfd78c05b589 482 //Calcul des OTU
POTLESS_2 58:694d4d00407c 483 void Calcul_OTU()
POTLESS_2 18:bfd78c05b589 484 {
POTLESS_2 18:bfd78c05b589 485 /*
POTLESS_2 18:bfd78c05b589 486 La formule suivante permet de calculer la quantité d' OTU accumulée
POTLESS_2 18:bfd78c05b589 487 OTU = T * (2* PpO2 -1)0,83
POTLESS_2 18:bfd78c05b589 488 avec :
POTLESS_2 18:bfd78c05b589 489 T = temps de plongée en minutes
POTLESS_2 18:bfd78c05b589 490 PpO2 = pression partielle d’ oxygène en bars
POTLESS_2 18:bfd78c05b589 491 */
POTLESS_2 18:bfd78c05b589 492
POTLESS_2 19:cac3761a5d0b 493 if (ppO2 > 500) {
POTLESS_2 18:bfd78c05b589 494 float val = (2 * (float)ppO2/1000 - 1);//je divise par 1000 car la PP est en mb...
POTLESS_2 58:694d4d00407c 495 OTU += pow(val, EXP_OTU);//T = 1 car le ticker est executé toutes les 60 secondes, 1 minute....
POTLESS_2 19:cac3761a5d0b 496 }
POTLESS_2 18:bfd78c05b589 497 }
POTLESS_2 10:aca745a66d51 498
POTLESS_2 17:bef8abc445f2 499 //Thread d'intérogation des capteurs, positions servo
POTLESS_2 34:26f6e3dbefb9 500 void SENSORS_thread()
POTLESS_2 6:ebed9093d661 501 {
POTLESS_2 7:ad15c386e960 502 while (true) {
POTLESS_2 36:1f5e2247b073 503 //DEEP_DEBUG(" SENSORS_thread\r\n");
POTLESS_2 7:ad15c386e960 504
POTLESS_2 7:ad15c386e960 505 //CO2 sur Cozir
POTLESS_2 7:ad15c386e960 506 co2 = sensors.requestCO2();
POTLESS_2 7:ad15c386e960 507 //P / T sur MS5837
POTLESS_2 7:ad15c386e960 508 pression = sensors.requestPress();
POTLESS_2 9:04bfdfc029cb 509 Temp1 = sensors.requestTemp();
POTLESS_2 7:ad15c386e960 510 //PPO2 sur ADS1015
POTLESS_2 33:f5d4bae05f16 511 if (FLAG_O2) ppO2 = sensors.requestPpO2();
POTLESS_2 7:ad15c386e960 512 //Cell O2 en mV
POTLESS_2 33:f5d4bae05f16 513 if (FLAG_O2) CellO2_1 = sensors.requestCellO2_1();
POTLESS_2 33:f5d4bae05f16 514 if (FLAG_O2) CellO2_2 = sensors.requestCellO2_2();
POTLESS_2 9:04bfdfc029cb 515
POTLESS_2 8:a750d531b381 516 //HTU21D
POTLESS_2 9:04bfdfc029cb 517 Temp2 = temphumid.sample_ctemp();
POTLESS_2 9:04bfdfc029cb 518 Humid = temphumid.sample_humid();
POTLESS_2 9:04bfdfc029cb 519
POTLESS_2 10:aca745a66d51 520 //Retour position des servos
POTLESS_2 17:bef8abc445f2 521 volet_poumon_Position = Servo_Poumon.Get_Position();
POTLESS_2 43:5ae8baf28e32 522 volet_fuite_Position = Servo_Fuite.Get_Position();
POTLESS_2 43:5ae8baf28e32 523
POTLESS_2 43:5ae8baf28e32 524 //Calcul des OTU
POTLESS_2 58:694d4d00407c 525 //Calcul_OTU();
potless 65:c7d09a1fbef3 526 wait(Ref_Time);
POTLESS_2 19:cac3761a5d0b 527 }
POTLESS_2 19:cac3761a5d0b 528 }
POTLESS_2 12:7f3aadd79f89 529
POTLESS_2 57:a0827fa46b03 530 void GO_TO_thread_POUMON()
POTLESS_2 19:cac3761a5d0b 531 {
POTLESS_2 19:cac3761a5d0b 532 while (true) {
POTLESS_2 57:a0827fa46b03 533 //DEEP_DEBUG(" GO_TO_Thread_POUMON\r\n");
POTLESS_2 68:7f4ab9c03b32 534
POTLESS_2 63:69f6d600807e 535 Servo_Poumon.Go_To_Prop(Consigne_poumon);
POTLESS_2 62:891379d80b1b 536 //Servo_Poumon.Go_To_PID(Consigne_poumon, Volet_DeadBand);//Nécessite de déclarer un dernier terme true dans l'init du moteur
POTLESS_2 63:69f6d600807e 537 //Servo_Poumon.Go_To(Consigne_poumon, Volets_Speed, Volet_DeadBand);
POTLESS_2 68:7f4ab9c03b32 538
POTLESS_2 57:a0827fa46b03 539 }
POTLESS_2 57:a0827fa46b03 540 }
POTLESS_2 57:a0827fa46b03 541
POTLESS_2 57:a0827fa46b03 542 void GO_TO_thread_FUITE()
POTLESS_2 57:a0827fa46b03 543 {
POTLESS_2 57:a0827fa46b03 544 while (true) {
POTLESS_2 57:a0827fa46b03 545 //DEEP_DEBUG(" GO_TO_Thread_FUITE\r\n");
POTLESS_2 34:26f6e3dbefb9 546
POTLESS_2 63:69f6d600807e 547 Servo_Fuite.Go_To_Prop(Consigne_fuite);
POTLESS_2 43:5ae8baf28e32 548 //Servo_Fuite.Go_To_PID(Consigne_fuite, Volet_DeadBand);
POTLESS_2 63:69f6d600807e 549 //Servo_Fuite.Go_To(Consigne_fuite, Volets_Speed, Volet_DeadBand);
POTLESS_2 68:7f4ab9c03b32 550
POTLESS_2 15:efd3b3bf3f37 551 }
potless 2:4a8bf1d53439 552 }
POTLESS_2 4:d84250f67dec 553
POTLESS_2 20:5f79fb4565a7 554 void SECU_thread()
POTLESS_2 20:5f79fb4565a7 555 {
POTLESS_2 34:26f6e3dbefb9 556 while (true) {
POTLESS_2 58:694d4d00407c 557 //Mettre toutes les vérifs de sécu....
POTLESS_2 72:6d5590dbe13e 558 if (ALIM_UNPLUGGED) ALIM_unplugged();
POTLESS_2 20:5f79fb4565a7 559 }
POTLESS_2 20:5f79fb4565a7 560 }
POTLESS_2 20:5f79fb4565a7 561
POTLESS_2 76:9dc83d5cf075 562 void PID_thread()
POTLESS_2 76:9dc83d5cf075 563 {
POTLESS_2 76:9dc83d5cf075 564 while (true) {
POTLESS_2 76:9dc83d5cf075 565 if (FLAG_PID == 1 && EN_MODE_SECU == false) {
POTLESS_2 76:9dc83d5cf075 566 control_Servo.setProcessValue(ppO2);
POTLESS_2 76:9dc83d5cf075 567 //Nouvelle sortie servo poumon si on est pas en mode SECU
POTLESS_2 76:9dc83d5cf075 568 Consigne_poumon = 90 - control_Servo.compute();
POTLESS_2 76:9dc83d5cf075 569 // mode volets asservis (simule un seul moteur)
POTLESS_2 76:9dc83d5cf075 570 Consigne_fuite = 90 - Consigne_poumon;
POTLESS_2 76:9dc83d5cf075 571 wait(RATE_PID);
POTLESS_2 76:9dc83d5cf075 572 }
POTLESS_2 76:9dc83d5cf075 573 }
POTLESS_2 76:9dc83d5cf075 574 }
POTLESS_2 76:9dc83d5cf075 575
POTLESS_2 57:a0827fa46b03 576 //Callback de l'intérruption des envois de commandes depuis le terminal / WINDEV
POTLESS_2 6:ebed9093d661 577 void callbackParam()
POTLESS_2 34:26f6e3dbefb9 578 {
POTLESS_2 40:32d89e04ead1 579
POTLESS_2 34:26f6e3dbefb9 580 while(serialMonit.readable()) {
POTLESS_2 40:32d89e04ead1 581 if ((indexParam == sizeParam) || newParamFlag == true) { //éviter la saturation du buffer
POTLESS_2 29:5b822d18bce6 582 char char_flush = serialMonit.getc();
POTLESS_2 40:32d89e04ead1 583 } else {
POTLESS_2 29:5b822d18bce6 584 param [indexParam ++] = serialMonit.getc();//chargement du buffer dans le message
POTLESS_2 40:32d89e04ead1 585 if ((indexParam == sizeParam) || (param[indexParam - 1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 40:32d89e04ead1 586 param[indexParam] = 0;
POTLESS_2 40:32d89e04ead1 587 newParamFlag = true;
POTLESS_2 40:32d89e04ead1 588 }
POTLESS_2 56:61b0f4d6a890 589 }
POTLESS_2 56:61b0f4d6a890 590 }
POTLESS_2 56:61b0f4d6a890 591 }
POTLESS_2 56:61b0f4d6a890 592
POTLESS_2 56:61b0f4d6a890 593 //Callback de l'intérruption des envois de commandes depuis l'IHM
POTLESS_2 56:61b0f4d6a890 594 void callbackIHM()
POTLESS_2 56:61b0f4d6a890 595 {
POTLESS_2 56:61b0f4d6a890 596
POTLESS_2 56:61b0f4d6a890 597 while(display.readable()) {
POTLESS_2 56:61b0f4d6a890 598 if ((indexIHM == sizeIHM) || newIHMFlag == true) { //éviter la saturation du buffer
POTLESS_2 58:694d4d00407c 599 NVIC_DisableIRQ(USART3_IRQn);
POTLESS_2 56:61b0f4d6a890 600 char char_flush = display.getc();
POTLESS_2 56:61b0f4d6a890 601 NVIC_EnableIRQ(USART3_IRQn);
POTLESS_2 56:61b0f4d6a890 602 } else {
POTLESS_2 56:61b0f4d6a890 603 NVIC_DisableIRQ(USART3_IRQn);
POTLESS_2 56:61b0f4d6a890 604 IHM [indexIHM ++] = display.getc();//chargement du buffer dans le message
POTLESS_2 56:61b0f4d6a890 605 if ((indexIHM == sizeIHM) || (IHM[indexIHM - 1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 56:61b0f4d6a890 606 IHM[indexIHM] = 0;
POTLESS_2 56:61b0f4d6a890 607 newIHMFlag = true;
POTLESS_2 56:61b0f4d6a890 608 }
POTLESS_2 56:61b0f4d6a890 609 NVIC_EnableIRQ(USART3_IRQn);
POTLESS_2 34:26f6e3dbefb9 610 }
POTLESS_2 34:26f6e3dbefb9 611 }
POTLESS_2 6:ebed9093d661 612 }
POTLESS_2 4:d84250f67dec 613
POTLESS_2 9:04bfdfc029cb 614 void Decoding_Message(char message [])
POTLESS_2 9:04bfdfc029cb 615 {
POTLESS_2 9:04bfdfc029cb 616
POTLESS_2 42:3591ec9903b4 617 char com[20] = "";
POTLESS_2 42:3591ec9903b4 618 char numb[30] = "";
POTLESS_2 36:1f5e2247b073 619
POTLESS_2 34:26f6e3dbefb9 620 sscanf(message,"%s %s",&com , &numb);
POTLESS_2 36:1f5e2247b073 621
POTLESS_2 56:61b0f4d6a890 622 DEBUG("\r\n Commande = %s Valeur = %s \r\n\r\n", com, numb);
POTLESS_2 36:1f5e2247b073 623
POTLESS_2 43:5ae8baf28e32 624 OUTPUT("?\r\n");
POTLESS_2 43:5ae8baf28e32 625
POTLESS_2 30:7a16a66d76f3 626 if (0 == strcmp(com, "secu")) {
POTLESS_2 19:cac3761a5d0b 627 Mode_SECU();
POTLESS_2 68:7f4ab9c03b32 628 } else if (0 == strcmp(com, "save_pos")) {
POTLESS_2 72:6d5590dbe13e 629 Save_Pos();
POTLESS_2 68:7f4ab9c03b32 630 } else if (0 == strcmp(com, "trace")) {
POTLESS_2 76:9dc83d5cf075 631 if (FLAG_TRACE) {
POTLESS_2 68:7f4ab9c03b32 632 FLAG_TRACE = false;
POTLESS_2 68:7f4ab9c03b32 633 OUTPUT(" Arrêt du tracé Arduino.\r\n");
POTLESS_2 68:7f4ab9c03b32 634 } else {
POTLESS_2 68:7f4ab9c03b32 635 FLAG_TRACE = true;
POTLESS_2 69:9afe54d53bb0 636 OUTPUT(" Démarrage du tracé Arduino.\r\n");
POTLESS_2 76:9dc83d5cf075 637 }
POTLESS_2 74:f4704f312116 638 } else if (0 == strcmp(com, "ping")) {
POTLESS_2 71:23e7435e236f 639 E3V = 0;
POTLESS_2 80:545af6e94aa5 640 } else if (0 == strcmp(com, "res_ihm")) {
POTLESS_2 80:545af6e94aa5 641 IHM("<0/0/0 0-0-0 ;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;%d>\r\n", 4);
POTLESS_2 80:545af6e94aa5 642 } else if (0 == strcmp(com, "page_ihm")) {
POTLESS_2 80:545af6e94aa5 643 IHM("<0/0/0 0-0-0 ;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;%d>\r\n", 5);
POTLESS_2 74:f4704f312116 644 } else if (0 == strcmp(com, "arnsrs_id")) {
POTLESS_2 58:694d4d00407c 645 OUTPUT(" Changement de l'ID de l'appareil pour le N°: %s\r\n", numb);
POTLESS_2 58:694d4d00407c 646 //UTILS::Store_A_Val(atoi(numb), "ARNSRS_ID");
POTLESS_2 71:23e7435e236f 647 UTILS::EffacePage(2, PAGE_ID_ADDR, 1);
POTLESS_2 58:694d4d00407c 648 UTILS::Write(ID_ARNSRS_ADDR, (uint64_t) atoi(numb));
POTLESS_2 43:5ae8baf28e32 649 } else if (0 == strcmp(com, "monit")) {
POTLESS_2 43:5ae8baf28e32 650 FLAG_AFF = false;
POTLESS_2 43:5ae8baf28e32 651 FLAG_WINDEV = true;
POTLESS_2 43:5ae8baf28e32 652 } else if (0 == strcmp(com, "debug")) {
POTLESS_2 43:5ae8baf28e32 653 FLAG_AFF = false;
POTLESS_2 43:5ae8baf28e32 654 FLAG_WINDEV = false;
POTLESS_2 74:f4704f312116 655 } else if (0 == strcmp(com, "head_id")) {
POTLESS_2 34:26f6e3dbefb9 656 //On l'enregistre dans l'eeprom
POTLESS_2 43:5ae8baf28e32 657 OUTPUT("Changement de l'ID de la tête capteur pour le N°: %s\r\n", numb);
POTLESS_2 34:26f6e3dbefb9 658 UTILS::write_EEPROM(numb, HEAD_ID);
POTLESS_2 74:f4704f312116 659 } else if (0 == strcmp(com, "o2_1_id")) {
POTLESS_2 34:26f6e3dbefb9 660 //On l'enregistre dans l'eeprom
POTLESS_2 34:26f6e3dbefb9 661 UTILS::write_EEPROM(numb, CELL_O2_1_ID);
POTLESS_2 74:f4704f312116 662 } else if (0 == strcmp(com, "o2_2_id")) {
POTLESS_2 34:26f6e3dbefb9 663 //On l'enregistre dans l'eeprom
POTLESS_2 34:26f6e3dbefb9 664 UTILS::write_EEPROM(numb, CELL_O2_2_ID);
POTLESS_2 74:f4704f312116 665 } else if (0 == strcmp(com, "co2_id")) {
POTLESS_2 34:26f6e3dbefb9 666 //On l'enregistre dans l'eeprom
POTLESS_2 34:26f6e3dbefb9 667 UTILS::write_EEPROM(numb, CO2_ID);
POTLESS_2 74:f4704f312116 668 } else if (0 == strcmp(com, "calib_o2")) {
POTLESS_2 33:f5d4bae05f16 669 FLAG_O2 = false;
POTLESS_2 33:f5d4bae05f16 670 wait_ms(100);
POTLESS_2 42:3591ec9903b4 671 float Val = sensors.Calibrate_O2(atoi(numb));
POTLESS_2 43:5ae8baf28e32 672 OUTPUT(" Calibration O2 dans l'air = %f\r\n", Val);
POTLESS_2 33:f5d4bae05f16 673 wait_ms(100);
POTLESS_2 33:f5d4bae05f16 674 FLAG_O2 = true;
POTLESS_2 74:f4704f312116 675 } else if (0 == strcmp(com, "calib_co2")) {
POTLESS_2 43:5ae8baf28e32 676 int Val = sensors.Calibrate_CO2();
POTLESS_2 43:5ae8baf28e32 677 OUTPUT(" Calibration CO2 dans l'air = %d\r\n", Val);
POTLESS_2 34:26f6e3dbefb9 678 } else if (0 == strcmp(com, "flash_i")) {
POTLESS_2 42:3591ec9903b4 679 UTILS::Flash_Infos(&serialMonit);
POTLESS_2 36:1f5e2247b073 680 } else if (0 == strcmp(com, "flash_u")) {
POTLESS_2 43:5ae8baf28e32 681 OUTPUT(" Démontage de la Flash.\r\n");
POTLESS_2 36:1f5e2247b073 682 FLAG_REC = false;
POTLESS_2 36:1f5e2247b073 683 UTILS::UnMount_Flash();
POTLESS_2 36:1f5e2247b073 684 } else if (0 == strcmp(com, "flash_m")) {
POTLESS_2 43:5ae8baf28e32 685 OUTPUT(" Montage de la Flash.\r\n");
POTLESS_2 40:32d89e04ead1 686 UTILS::Mount_Flash();
POTLESS_2 74:f4704f312116 687 } else if (0 == strcmp(com, "check_f")) {
POTLESS_2 58:694d4d00407c 688 OUTPUT(" ARNSRS ID = %d\r\n", (int) UTILS::Read(ID_ARNSRS_ADDR));
POTLESS_2 58:694d4d00407c 689 OUTPUT(" Dernière Position volet poumon enregistrée = %d\r\n", (int) UTILS::Read(VOLET_POUMON_ADDR));
POTLESS_2 58:694d4d00407c 690 OUTPUT(" Dernière Position volet fuite enregistrée = %d\r\n", (int) UTILS::Read(VOLET_FUITE_ADDR));
POTLESS_2 35:a209a192f431 691 } else if (0 == strcmp(com, "check_E")) {
POTLESS_2 42:3591ec9903b4 692 sensors.Sensor_head_check(&serialMonit);
POTLESS_2 34:26f6e3dbefb9 693 } else if (0 == strcmp(com, "rec")) {
POTLESS_2 34:26f6e3dbefb9 694 if (FLAG_REC) {
POTLESS_2 34:26f6e3dbefb9 695 FLAG_REC = false;
POTLESS_2 43:5ae8baf28e32 696 OUTPUT(" Arrêt du Data Logging.\r\n");
POTLESS_2 34:26f6e3dbefb9 697 } else {
POTLESS_2 34:26f6e3dbefb9 698 FLAG_REC = true;
POTLESS_2 43:5ae8baf28e32 699 OUTPUT(" Démarrage Data Logging dans %s\r\n", Log_File_Name);
POTLESS_2 34:26f6e3dbefb9 700 }
POTLESS_2 34:26f6e3dbefb9 701 } else if (0 == strcmp(com, "help")) {
POTLESS_2 29:5b822d18bce6 702 FLAG_AFF = false;
POTLESS_2 42:3591ec9903b4 703 UTILS::Help(&serialMonit);
POTLESS_2 34:26f6e3dbefb9 704 } else if (0 == strcmp(com, "start")) {
POTLESS_2 29:5b822d18bce6 705 FLAG_AFF = true;
POTLESS_2 34:26f6e3dbefb9 706 } else if (0 == strcmp(com, "stop")) {
POTLESS_2 29:5b822d18bce6 707 FLAG_AFF = false;
POTLESS_2 40:32d89e04ead1 708 //UTILS::Help();
POTLESS_2 36:1f5e2247b073 709 } else if (0 == strcmp(com, "flash_c")) {
POTLESS_2 29:5b822d18bce6 710 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 711 UTILS::Clean_Flash();
POTLESS_2 42:3591ec9903b4 712 } else if (0 == strcmp(com, "flash_f")) {
POTLESS_2 34:26f6e3dbefb9 713 FLAG_REC = false;
POTLESS_2 43:5ae8baf28e32 714 UTILS::Clean_Flash_All();
POTLESS_2 42:3591ec9903b4 715 } else if (0 == strcmp(com, "dir")) {
POTLESS_2 43:5ae8baf28e32 716 FLAG_WINDEV = false;
POTLESS_2 56:61b0f4d6a890 717 wait(0.5);
POTLESS_2 43:5ae8baf28e32 718 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 719 wait(0.5);
POTLESS_2 42:3591ec9903b4 720 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 42:3591ec9903b4 721 } else if (0 == strcmp(com, "get")) {
POTLESS_2 29:5b822d18bce6 722 wait_ms(100);
POTLESS_2 43:5ae8baf28e32 723 char filename[20];
POTLESS_2 43:5ae8baf28e32 724 UTILS::Read_Flash_File(&serialMonit, numb);
POTLESS_2 43:5ae8baf28e32 725 wait_ms(100);
POTLESS_2 34:26f6e3dbefb9 726 } else if (0 == strcmp(com, "del")) {
POTLESS_2 29:5b822d18bce6 727 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 728 char filename[20];
POTLESS_2 42:3591ec9903b4 729 UTILS::Delete_Flash_File(numb);
POTLESS_2 43:5ae8baf28e32 730 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 731 wait(0.5);
POTLESS_2 43:5ae8baf28e32 732 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 31:231a96d1d1c8 733 FLAG_REC = true;
POTLESS_2 34:26f6e3dbefb9 734 } else if (0 == strcmp(com, "file_s")) {
POTLESS_2 31:231a96d1d1c8 735 char filename[20];
POTLESS_2 42:3591ec9903b4 736 UTILS::Get_File_Size(&serialMonit, numb);
POTLESS_2 74:f4704f312116 737 } else if (0 == strcmp(com, "calib_pou")) {
POTLESS_2 59:fd64ca9dae27 738 volet_poumon_Position = 0;
POTLESS_2 59:fd64ca9dae27 739 Servo_Poumon.reset();
POTLESS_2 58:694d4d00407c 740 Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 43:5ae8baf28e32 741 OUTPUT(" Volet poumon Calibré.\r\n");
POTLESS_2 74:f4704f312116 742 } else if (0 == strcmp(com, "calib_fui")) {
POTLESS_2 59:fd64ca9dae27 743 volet_fuite_Position = 0;
POTLESS_2 59:fd64ca9dae27 744 Servo_Fuite.reset();
POTLESS_2 58:694d4d00407c 745 Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 43:5ae8baf28e32 746 OUTPUT(" Volet fuite Calibré.\r\n");
POTLESS_2 29:5b822d18bce6 747 } else if (0 == strcmp(com, "sleep")) {
POTLESS_2 19:cac3761a5d0b 748 Stop_Sequence();
POTLESS_2 29:5b822d18bce6 749 } else if (0 == strcmp(com, "time")) {//Depuis terminal MAC taper : " date +%s "
POTLESS_2 34:26f6e3dbefb9 750 set_time(atoi(numb));
POTLESS_2 43:5ae8baf28e32 751 OUTPUT(" La RTC a été mise à l'heure.\r\n");
POTLESS_2 29:5b822d18bce6 752 } else if (0 == strcmp(com, "c_pou")) {
POTLESS_2 43:5ae8baf28e32 753 Consigne_poumon = atof(numb);
POTLESS_2 43:5ae8baf28e32 754 DEBUG(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 43:5ae8baf28e32 755 } else if (0 == strcmp(com, "c_fui")) {
POTLESS_2 43:5ae8baf28e32 756 Consigne_fuite = atof(numb);
POTLESS_2 43:5ae8baf28e32 757 DEBUG(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 43:5ae8baf28e32 758 } else if (0 == strcmp(com, "mp_pou")) {
POTLESS_2 41:51ba69648f9d 759 Consigne_poumon += atof(numb);
POTLESS_2 33:f5d4bae05f16 760 DEBUG(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 43:5ae8baf28e32 761 } else if (0 == strcmp(com, "mp_fui")) {
POTLESS_2 41:51ba69648f9d 762 Consigne_fuite += atof(numb);
POTLESS_2 33:f5d4bae05f16 763 DEBUG(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 29:5b822d18bce6 764 } else if (0 == strcmp(com, "reset")) {
POTLESS_2 43:5ae8baf28e32 765 FLAG_REC = false;
POTLESS_2 71:23e7435e236f 766 //Mode_SECU();
POTLESS_2 36:1f5e2247b073 767 UTILS::UnMount_Flash();
POTLESS_2 43:5ae8baf28e32 768 OUTPUT(" Reset de l'appareil.\r\n");
POTLESS_2 43:5ae8baf28e32 769 wait(1);
POTLESS_2 10:aca745a66d51 770 NVIC_SystemReset();
POTLESS_2 74:f4704f312116 771 } else if (0 == strcmp(com, "kc")) {
POTLESS_2 43:5ae8baf28e32 772 Kc = atof(numb);
POTLESS_2 43:5ae8baf28e32 773 control_Servo.reset();
POTLESS_2 43:5ae8baf28e32 774 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 56:61b0f4d6a890 775 OUTPUT(" MAJ PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 74:f4704f312116 776 } else if (0 == strcmp(com, "ti")) {
POTLESS_2 43:5ae8baf28e32 777 Ti = atof(numb);
POTLESS_2 43:5ae8baf28e32 778 control_Servo.reset();
POTLESS_2 43:5ae8baf28e32 779 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 56:61b0f4d6a890 780 OUTPUT(" MAJ PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 74:f4704f312116 781 } else if (0 == strcmp(com, "td")) {
POTLESS_2 43:5ae8baf28e32 782 Td = atof(numb);
POTLESS_2 43:5ae8baf28e32 783 control_Servo.reset();
POTLESS_2 43:5ae8baf28e32 784 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 56:61b0f4d6a890 785 OUTPUT(" MAJ PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 74:f4704f312116 786 } else if (0 == strcmp(com, "cons")) {
POTLESS_2 43:5ae8baf28e32 787 consigne = atoi(numb);
POTLESS_2 43:5ae8baf28e32 788 control_Servo.setSetPoint(consigne);
POTLESS_2 56:61b0f4d6a890 789 OUTPUT(" MAJ CONSIGNE PID --> Consigne = %d\r\n", consigne);
POTLESS_2 76:9dc83d5cf075 790 } else if (0 == strcmp(com, "rate")) {
POTLESS_2 76:9dc83d5cf075 791 RATE_PID = atof(numb);
POTLESS_2 76:9dc83d5cf075 792 control_Servo.reset();
POTLESS_2 76:9dc83d5cf075 793 control_Servo.setInterval(RATE_PID);
POTLESS_2 78:674882631acc 794 OUTPUT(" MAJ RATE PID --> Rate = %f\r\n", RATE_PID);
potless 49:a7432da60647 795 } else if (0 == strcmp(com, "dfu")) {
POTLESS_2 53:84571a5e2cda 796 OUTPUT(" Passage en DFU...\r\n");
POTLESS_2 58:694d4d00407c 797 FLAG_REC = false;
POTLESS_2 58:694d4d00407c 798 Mode_SECU();
POTLESS_2 58:694d4d00407c 799 UTILS::UnMount_Flash();
POTLESS_2 71:23e7435e236f 800 UTILS::EffacePage(2, PAGE_FLAG_ADDR, 1);
POTLESS_2 71:23e7435e236f 801 UTILS::Write(FLAG_ADDR, 0xDEADBEEF);
POTLESS_2 58:694d4d00407c 802 wait(1);
POTLESS_2 58:694d4d00407c 803 NVIC_SystemReset();
POTLESS_2 74:f4704f312116 804 } else if (0 == strcmp(com, "pid")) {
POTLESS_2 43:5ae8baf28e32 805 if (FLAG_PID == 1) {
POTLESS_2 56:61b0f4d6a890 806 OUTPUT(" PID OFF\r\n");
POTLESS_2 43:5ae8baf28e32 807 FLAG_PID = 0;
POTLESS_2 43:5ae8baf28e32 808 } else if (FLAG_PID == 0) {
POTLESS_2 56:61b0f4d6a890 809 OUTPUT(" PID ON\r\n");
POTLESS_2 43:5ae8baf28e32 810 FLAG_PID = 1;
POTLESS_2 43:5ae8baf28e32 811 }
POTLESS_2 12:7f3aadd79f89 812 } else {
POTLESS_2 74:f4704f312116 813 OUTPUT(" Commande COZIR, commande érronée....\r\n");
POTLESS_2 9:04bfdfc029cb 814 sensors.cozirSend(message);
POTLESS_2 9:04bfdfc029cb 815 }
POTLESS_2 34:26f6e3dbefb9 816
POTLESS_2 9:04bfdfc029cb 817 strcpy(param," ");
POTLESS_2 9:04bfdfc029cb 818 indexParam = 0;
POTLESS_2 9:04bfdfc029cb 819 newParamFlag = false;
POTLESS_2 9:04bfdfc029cb 820 }
POTLESS_2 9:04bfdfc029cb 821
POTLESS_2 56:61b0f4d6a890 822 void Decoding_IHM(char message [])
POTLESS_2 56:61b0f4d6a890 823 {
POTLESS_2 56:61b0f4d6a890 824
POTLESS_2 56:61b0f4d6a890 825 char com[20] = "";
POTLESS_2 56:61b0f4d6a890 826 char numb[30] = "";
POTLESS_2 56:61b0f4d6a890 827
POTLESS_2 56:61b0f4d6a890 828 sscanf(message,"%s %s",&com , &numb);
POTLESS_2 56:61b0f4d6a890 829
POTLESS_2 56:61b0f4d6a890 830 DEEP_DEBUG("\r\n Commande = %s Valeur = %s \r\n\r\n", com, numb);
POTLESS_2 56:61b0f4d6a890 831
POTLESS_2 56:61b0f4d6a890 832 OUTPUT("?\r\n");
POTLESS_2 56:61b0f4d6a890 833
POTLESS_2 68:7f4ab9c03b32 834 if (0 == strcmp(com, "USB")) {
POTLESS_2 68:7f4ab9c03b32 835 OUTPUT(" Passage en Mode Transfert Flash To USB...\r\n");
POTLESS_2 68:7f4ab9c03b32 836 FLAG_REC = false;
POTLESS_2 71:23e7435e236f 837 //Mode_SECU();
POTLESS_2 68:7f4ab9c03b32 838 UTILS::UnMount_Flash();
POTLESS_2 68:7f4ab9c03b32 839 UTILS::FLASH_set_boot_bank(2);
POTLESS_2 71:23e7435e236f 840 NVIC_SystemReset();
POTLESS_2 56:61b0f4d6a890 841 } else if (0 == strcmp(com, "2")) {
POTLESS_2 58:694d4d00407c 842
POTLESS_2 56:61b0f4d6a890 843 } else if (0 == strcmp(com, "3")) {
POTLESS_2 56:61b0f4d6a890 844
POTLESS_2 56:61b0f4d6a890 845 } else {
POTLESS_2 58:694d4d00407c 846
POTLESS_2 56:61b0f4d6a890 847 }
POTLESS_2 56:61b0f4d6a890 848
POTLESS_2 56:61b0f4d6a890 849 strcpy(IHM," ");
POTLESS_2 56:61b0f4d6a890 850 indexIHM = 0;
POTLESS_2 56:61b0f4d6a890 851 newIHMFlag = false;
POTLESS_2 56:61b0f4d6a890 852 }
POTLESS_2 56:61b0f4d6a890 853
POTLESS_2 26:a2fe19341f92 854 void Create_File_Name_Date()
POTLESS_2 25:322ef9488e65 855 {
POTLESS_2 25:322ef9488e65 856 //Du nom du fichier Date / heure
POTLESS_2 25:322ef9488e65 857 seconds = time(NULL);
POTLESS_2 25:322ef9488e65 858 char Time[40];
POTLESS_2 25:322ef9488e65 859 strftime(Time, 40, "%a_%d_%m_%Y_%H%M", localtime(&seconds));
POTLESS_2 42:3591ec9903b4 860 sprintf(Log_File_Name, "%s_LOG.csv", Time);
POTLESS_2 42:3591ec9903b4 861 DEBUG(" Nouveau fichier LOG = %s \r\n", Log_File_Name);
POTLESS_2 34:26f6e3dbefb9 862 }
POTLESS_2 34:26f6e3dbefb9 863
POTLESS_2 26:a2fe19341f92 864 void Create_File_Name_Index()
POTLESS_2 26:a2fe19341f92 865 {
POTLESS_2 26:a2fe19341f92 866 //Du nom du fichier par Index
POTLESS_2 42:3591ec9903b4 867 sprintf(Log_File_Name, "LOG_%d.csv", UTILS::File_Index());
POTLESS_2 34:26f6e3dbefb9 868 DEBUG(" Nouveau fichier LOG = %s \r\n", Log_File_Name);
POTLESS_2 34:26f6e3dbefb9 869 }
POTLESS_2 34:26f6e3dbefb9 870
potless 48:9ceb095f397a 871
POTLESS_2 4:d84250f67dec 872 int main()
POTLESS_2 12:7f3aadd79f89 873 {
POTLESS_2 68:7f4ab9c03b32 874
POTLESS_2 40:32d89e04ead1 875 HAL_Init();
POTLESS_2 40:32d89e04ead1 876 __HAL_RCC_PWR_CLK_ENABLE();
potless 37:f9461c6592f2 877 HAL_PWR_EnableBkUpAccess();
POTLESS_2 76:9dc83d5cf075 878
POTLESS_2 72:6d5590dbe13e 879 //Vérifications Flag de démarrage
POTLESS_2 72:6d5590dbe13e 880 UTILS::START_FLAG();
POTLESS_2 76:9dc83d5cf075 881
POTLESS_2 56:61b0f4d6a890 882 E5V = 1;
POTLESS_2 57:a0827fa46b03 883 E3V = 1;
POTLESS_2 40:32d89e04ead1 884
POTLESS_2 58:694d4d00407c 885 if (PIN_V_USB_DIGI) flag_USB = true;
POTLESS_2 59:fd64ca9dae27 886 if (PIN_V_PILES_DIGI) flag_Piles = true;
POTLESS_2 58:694d4d00407c 887
POTLESS_2 68:7f4ab9c03b32 888 //UTILS::PVD_Config();
POTLESS_2 58:694d4d00407c 889
POTLESS_2 56:61b0f4d6a890 890 buzzer.beep(1000,0.5);
POTLESS_2 58:694d4d00407c 891
POTLESS_2 43:5ae8baf28e32 892 //Ci-dessous commande pour formater une nouvelle carte
POTLESS_2 68:7f4ab9c03b32 893 //UTILS::Format_Flash();
POTLESS_2 43:5ae8baf28e32 894
POTLESS_2 43:5ae8baf28e32 895 //Montage Flash
POTLESS_2 43:5ae8baf28e32 896 UTILS::Mount_Flash();
POTLESS_2 68:7f4ab9c03b32 897
POTLESS_2 58:694d4d00407c 898 /*
POTLESS_2 58:694d4d00407c 899 if (UTILS::File_Exist("ARNSRS_ID.sys") == false) {
POTLESS_2 58:694d4d00407c 900 UTILS::Store_A_Val(000, "ARNSRS_ID.sys");
POTLESS_2 58:694d4d00407c 901 DEBUG("ARNSRS ID forcée à 000\r\n");
POTLESS_2 58:694d4d00407c 902 }
POTLESS_2 58:694d4d00407c 903 */
POTLESS_2 68:7f4ab9c03b32 904
POTLESS_2 58:694d4d00407c 905 //pour le premier lancement quand l'appareil n'a pas d'ID.
POTLESS_2 58:694d4d00407c 906 //int ID = 0;
POTLESS_2 58:694d4d00407c 907 //UTILS::Write(ADRESSE_ID, ID);
POTLESS_2 12:7f3aadd79f89 908
POTLESS_2 57:a0827fa46b03 909 DEBUG("\r\n\r\n Démarrage de l'appareil, veuillez patienter...\r\n\r\n");
POTLESS_2 58:694d4d00407c 910
POTLESS_2 34:26f6e3dbefb9 911
POTLESS_2 43:5ae8baf28e32 912 //Vérification RTC, si on est le 01/01/70, c'est qu'il y a un problème...
POTLESS_2 43:5ae8baf28e32 913 seconds = time(NULL);
POTLESS_2 43:5ae8baf28e32 914 char YEAR[10];
POTLESS_2 43:5ae8baf28e32 915 strftime(YEAR, 10, "%D", localtime(&seconds));
potless 73:2bbea82bf1e5 916 if (0 == strcmp(YEAR, " 01/01/70 "))
potless 73:2bbea82bf1e5 917 DEBUG(" Vous devez régler la RTC...\r\n\r\n");
POTLESS_2 18:bfd78c05b589 918
POTLESS_2 43:5ae8baf28e32 919 bool calib_O2 = false;
POTLESS_2 43:5ae8baf28e32 920 bool calib_CO2 = false;
POTLESS_2 18:bfd78c05b589 921
POTLESS_2 62:891379d80b1b 922 sensors.Sensors_INIT(calib_O2, calib_CO2);
POTLESS_2 43:5ae8baf28e32 923
POTLESS_2 43:5ae8baf28e32 924 wait(1);
POTLESS_2 43:5ae8baf28e32 925
POTLESS_2 43:5ae8baf28e32 926 //Création du nouveau fichier LOG par index / par date.
POTLESS_2 43:5ae8baf28e32 927 //Create_File_Name_Index();
POTLESS_2 43:5ae8baf28e32 928 Create_File_Name_Date();
POTLESS_2 43:5ae8baf28e32 929
POTLESS_2 43:5ae8baf28e32 930 //Création et écriture du header du fichier LOG
POTLESS_2 43:5ae8baf28e32 931 sensors.Create_Header(Log_File_Name);
POTLESS_2 42:3591ec9903b4 932
POTLESS_2 58:694d4d00407c 933 /*
POTLESS_2 43:5ae8baf28e32 934 Servo_Poumon.Init("Servo_Poumon.sys");
POTLESS_2 43:5ae8baf28e32 935 Servo_Fuite.Init("Servo_Fuite.sys");
POTLESS_2 15:efd3b3bf3f37 936
POTLESS_2 58:694d4d00407c 937 Servo_Poumon.Init(VOLET_POUMON_ADDR);
POTLESS_2 58:694d4d00407c 938 Servo_Fuite.Init(VOLET_FUITE_ADDR);
POTLESS_2 58:694d4d00407c 939 */
POTLESS_2 58:694d4d00407c 940
POTLESS_2 57:a0827fa46b03 941 DEBUG(" Demarrage des threads...\r\n\r\n");
POTLESS_2 68:7f4ab9c03b32 942
POTLESS_2 68:7f4ab9c03b32 943 /*
POTLESS_2 68:7f4ab9c03b32 944
POTLESS_2 62:891379d80b1b 945 Pour mémoire, les réglage de priorité des thread
POTLESS_2 68:7f4ab9c03b32 946
POTLESS_2 68:7f4ab9c03b32 947 osPriorityIdle = -3, ///< priority: idle (lowest)
POTLESS_2 68:7f4ab9c03b32 948 osPriorityLow = -2, ///< priority: low
POTLESS_2 68:7f4ab9c03b32 949 osPriorityBelowNormal = -1, ///< priority: below normal
POTLESS_2 68:7f4ab9c03b32 950 osPriorityNormal = 0, ///< priority: normal (default)
POTLESS_2 68:7f4ab9c03b32 951 osPriorityAboveNormal = +1, ///< priority: above normal
POTLESS_2 68:7f4ab9c03b32 952 osPriorityHigh = +2, ///< priority: high
POTLESS_2 68:7f4ab9c03b32 953 osPriorityRealtime = +3, ///< priority: realtime (highest)
POTLESS_2 68:7f4ab9c03b32 954 osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
POTLESS_2 62:891379d80b1b 955 */
POTLESS_2 68:7f4ab9c03b32 956
POTLESS_2 62:891379d80b1b 957 thread_Volets_POUMON.set_priority(osPriorityHigh);
POTLESS_2 68:7f4ab9c03b32 958
POTLESS_2 62:891379d80b1b 959 thread_Volets_POUMON.start(callback(GO_TO_thread_POUMON));
POTLESS_2 68:7f4ab9c03b32 960
POTLESS_2 62:891379d80b1b 961 DEBUG(" Contrôle volet Poumon démarré\r\n\r\n");
POTLESS_2 68:7f4ab9c03b32 962
POTLESS_2 43:5ae8baf28e32 963 wait(1);
POTLESS_2 68:7f4ab9c03b32 964
POTLESS_2 62:891379d80b1b 965 thread_Volets_FUITE.set_priority(osPriorityHigh);
POTLESS_2 68:7f4ab9c03b32 966
POTLESS_2 62:891379d80b1b 967 thread_Volets_FUITE.start(callback(GO_TO_thread_FUITE));
POTLESS_2 68:7f4ab9c03b32 968
POTLESS_2 62:891379d80b1b 969 DEBUG(" Contrôle volet Fuite démarré\r\n\r\n");
POTLESS_2 68:7f4ab9c03b32 970
POTLESS_2 62:891379d80b1b 971 wait(1);
POTLESS_2 68:7f4ab9c03b32 972
POTLESS_2 62:891379d80b1b 973 thread_Secu.set_priority(osPriorityNormal);
POTLESS_2 68:7f4ab9c03b32 974
POTLESS_2 62:891379d80b1b 975 thread_Secu.start(callback(SECU_thread));
POTLESS_2 68:7f4ab9c03b32 976
POTLESS_2 62:891379d80b1b 977 DEBUG(" Contrôle des paramètres de sécu démarré\r\n\r\n");
POTLESS_2 68:7f4ab9c03b32 978
POTLESS_2 62:891379d80b1b 979 wait(1);
POTLESS_2 68:7f4ab9c03b32 980
POTLESS_2 62:891379d80b1b 981 thread_Head.set_priority(osPriorityNormal);
POTLESS_2 68:7f4ab9c03b32 982
POTLESS_2 43:5ae8baf28e32 983 thread_Head.start(callback(SENSORS_thread));
POTLESS_2 68:7f4ab9c03b32 984
POTLESS_2 56:61b0f4d6a890 985 DEBUG(" Tête capteurs démarrée\r\n\r\n");
POTLESS_2 68:7f4ab9c03b32 986
POTLESS_2 43:5ae8baf28e32 987 wait(1);
POTLESS_2 9:04bfdfc029cb 988
POTLESS_2 43:5ae8baf28e32 989 //Init PID
POTLESS_2 43:5ae8baf28e32 990 //Entrée PPO2 entre 100 et 1000 mb
POTLESS_2 43:5ae8baf28e32 991 control_Servo.setInputLimits(Min_Input, Max_Input);
POTLESS_2 43:5ae8baf28e32 992 //Sortie servo entre 0 et 100 %
POTLESS_2 43:5ae8baf28e32 993 control_Servo.setOutputLimits(Min_Output, Max_Output);
POTLESS_2 57:a0827fa46b03 994 //Reglage de l'interval du PID
POTLESS_2 57:a0827fa46b03 995 control_Servo.setInterval(RATE_PID);
POTLESS_2 43:5ae8baf28e32 996 //Consigne à x mb
POTLESS_2 43:5ae8baf28e32 997 control_Servo.setSetPoint(consigne);
POTLESS_2 57:a0827fa46b03 998 //Mode auto au démarrage
POTLESS_2 58:694d4d00407c 999 control_Servo.setMode(AUTO_MODE);
POTLESS_2 79:d22473a0e20d 1000
POTLESS_2 76:9dc83d5cf075 1001 thread_PID.set_priority(osPriorityNormal);
POTLESS_2 34:26f6e3dbefb9 1002
POTLESS_2 76:9dc83d5cf075 1003 thread_PID.start(callback(PID_thread));
POTLESS_2 79:d22473a0e20d 1004
POTLESS_2 77:0cecc4adbab2 1005 DEBUG(" PID thread démarré\r\n\r\n");
POTLESS_2 77:0cecc4adbab2 1006
POTLESS_2 77:0cecc4adbab2 1007 wait(1);
POTLESS_2 79:d22473a0e20d 1008
POTLESS_2 56:61b0f4d6a890 1009 DEBUG(" Cliquez sur le bouton help pour voir la liste des \r\n commandes administrateur disponibles.\r\n");
POTLESS_2 7:ad15c386e960 1010
POTLESS_2 46:28298df0ac55 1011 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 1012 wait(0.5);
POTLESS_2 43:5ae8baf28e32 1013 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 43:5ae8baf28e32 1014
POTLESS_2 47:89a088bc8866 1015 serialMonit.attach(&callbackParam);
POTLESS_2 58:694d4d00407c 1016
POTLESS_2 56:61b0f4d6a890 1017 display.attach(&callbackIHM);
POTLESS_2 68:7f4ab9c03b32 1018
POTLESS_2 58:694d4d00407c 1019 OTU_Ticker.attach(&Calcul_OTU, 60);
POTLESS_2 68:7f4ab9c03b32 1020
POTLESS_2 72:6d5590dbe13e 1021 vusb_off_on.fall(&ALIM_is_unplugged);
POTLESS_2 68:7f4ab9c03b32 1022
POTLESS_2 72:6d5590dbe13e 1023 vpiles_off_on.fall(&ALIM_is_unplugged);
POTLESS_2 80:545af6e94aa5 1024
POTLESS_2 80:545af6e94aa5 1025 IHM("<0/0/0 0-0-0 ;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;%d>\r\n", 4);
POTLESS_2 80:545af6e94aa5 1026
POTLESS_2 56:61b0f4d6a890 1027 buzzer.beep(1000,0.3);
POTLESS_2 56:61b0f4d6a890 1028 wait_ms(500);
POTLESS_2 56:61b0f4d6a890 1029 buzzer.beep(1000,0.3);
POTLESS_2 58:694d4d00407c 1030
POTLESS_2 43:5ae8baf28e32 1031 while (true) {
POTLESS_2 36:1f5e2247b073 1032
POTLESS_2 43:5ae8baf28e32 1033 //Démarrage du Timer mesurant le temps d'éxecution du code
POTLESS_2 43:5ae8baf28e32 1034 REAL_RATE.start();
POTLESS_2 36:1f5e2247b073 1035
POTLESS_2 43:5ae8baf28e32 1036 if (newParamFlag) {
POTLESS_2 43:5ae8baf28e32 1037 DEEP_DEBUG(" From PC = %s\r\n", param);
POTLESS_2 43:5ae8baf28e32 1038 Decoding_Message(param);
POTLESS_2 43:5ae8baf28e32 1039 }
POTLESS_2 58:694d4d00407c 1040
POTLESS_2 56:61b0f4d6a890 1041 if (newIHMFlag) {
POTLESS_2 56:61b0f4d6a890 1042 DEEP_DEBUG(" From IHM = %s\r\n", IHM);
POTLESS_2 56:61b0f4d6a890 1043 Decoding_IHM(IHM);
POTLESS_2 56:61b0f4d6a890 1044 }
POTLESS_2 34:26f6e3dbefb9 1045
POTLESS_2 43:5ae8baf28e32 1046 //Fabrication de la chaine Date / heure
POTLESS_2 43:5ae8baf28e32 1047 seconds = time(NULL);
POTLESS_2 43:5ae8baf28e32 1048 char Time_buf[32];
POTLESS_2 43:5ae8baf28e32 1049 strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds));
POTLESS_2 19:cac3761a5d0b 1050
POTLESS_2 56:61b0f4d6a890 1051 //Fabrication de la chaine de com
POTLESS_2 71:23e7435e236f 1052 sprintf(to_store,"<%s;%d;%d;%.1f;%d;%.2f;%.2f;%d;%d;%d;%.2f;%.2f;%d;%.3f;%.3f;%.3f;%d;%d>",
POTLESS_2 43:5ae8baf28e32 1053 Time_buf,
POTLESS_2 43:5ae8baf28e32 1054 co2,
POTLESS_2 43:5ae8baf28e32 1055 ppO2,
POTLESS_2 43:5ae8baf28e32 1056 pression,
POTLESS_2 43:5ae8baf28e32 1057 (int)OTU,
POTLESS_2 43:5ae8baf28e32 1058 Temp1,
POTLESS_2 43:5ae8baf28e32 1059 Temp2,
POTLESS_2 43:5ae8baf28e32 1060 Humid,
POTLESS_2 43:5ae8baf28e32 1061 CellO2_1,
POTLESS_2 43:5ae8baf28e32 1062 CellO2_2,
POTLESS_2 43:5ae8baf28e32 1063 volet_poumon_Position,
POTLESS_2 43:5ae8baf28e32 1064 volet_fuite_Position,
POTLESS_2 43:5ae8baf28e32 1065 FLAG_PID,
POTLESS_2 43:5ae8baf28e32 1066 Kc,
POTLESS_2 43:5ae8baf28e32 1067 Ti,
POTLESS_2 43:5ae8baf28e32 1068 Td,
POTLESS_2 56:61b0f4d6a890 1069 consigne,
POTLESS_2 56:61b0f4d6a890 1070 Commande_IHM
POTLESS_2 58:694d4d00407c 1071 );
POTLESS_2 15:efd3b3bf3f37 1072
POTLESS_2 15:efd3b3bf3f37 1073
POTLESS_2 43:5ae8baf28e32 1074 //Pour windev
POTLESS_2 43:5ae8baf28e32 1075 if (FLAG_WINDEV) {
POTLESS_2 43:5ae8baf28e32 1076 OUTPUT("%s\r\n", to_store);
POTLESS_2 43:5ae8baf28e32 1077 }
POTLESS_2 53:84571a5e2cda 1078
POTLESS_2 43:5ae8baf28e32 1079 //Pour l'IHM
POTLESS_2 46:28298df0ac55 1080 if (FLAG_DISPLAY) {
POTLESS_2 46:28298df0ac55 1081 IHM("%s\r\n", to_store);
POTLESS_2 46:28298df0ac55 1082 }
POTLESS_2 53:84571a5e2cda 1083
POTLESS_2 43:5ae8baf28e32 1084 //Vers le moniteur série
POTLESS_2 43:5ae8baf28e32 1085 if (FLAG_AFF) {
POTLESS_2 43:5ae8baf28e32 1086 Affichage();
POTLESS_2 43:5ae8baf28e32 1087 }
POTLESS_2 76:9dc83d5cf075 1088
POTLESS_2 68:7f4ab9c03b32 1089 //Vers le traceur série
POTLESS_2 68:7f4ab9c03b32 1090 if (FLAG_TRACE) {
POTLESS_2 68:7f4ab9c03b32 1091 Traceur_Arduino();
POTLESS_2 68:7f4ab9c03b32 1092 }
POTLESS_2 68:7f4ab9c03b32 1093
POTLESS_2 12:7f3aadd79f89 1094
POTLESS_2 43:5ae8baf28e32 1095 //Enregistrement de la chaine
POTLESS_2 43:5ae8baf28e32 1096 if (FLAG_REC) {
POTLESS_2 43:5ae8baf28e32 1097 UTILS::Write_Flash_File(to_store, Log_File_Name);
POTLESS_2 43:5ae8baf28e32 1098 count ++;
POTLESS_2 43:5ae8baf28e32 1099 if (count > Max_Log_Size) {
POTLESS_2 43:5ae8baf28e32 1100 Create_File_Name_Date();
POTLESS_2 43:5ae8baf28e32 1101 sensors.Create_Header(Log_File_Name);
POTLESS_2 43:5ae8baf28e32 1102 count = 0;
POTLESS_2 43:5ae8baf28e32 1103 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 1104 wait(0.5);
POTLESS_2 43:5ae8baf28e32 1105 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 34:26f6e3dbefb9 1106 }
POTLESS_2 34:26f6e3dbefb9 1107 }
POTLESS_2 43:5ae8baf28e32 1108
POTLESS_2 76:9dc83d5cf075 1109 /*
POTLESS_2 76:9dc83d5cf075 1110 //Update du PID
POTLESS_2 76:9dc83d5cf075 1111 if (FLAG_PID == 1 && EN_MODE_SECU == false) {
POTLESS_2 76:9dc83d5cf075 1112 control_Servo.setProcessValue(ppO2);
POTLESS_2 76:9dc83d5cf075 1113 //Nouvelle sortie servo poumon si on est pas en mode SECU
POTLESS_2 76:9dc83d5cf075 1114 Consigne_poumon = 90 - control_Servo.compute();
POTLESS_2 76:9dc83d5cf075 1115 // mode volets asservis (simule un seul moteur)
POTLESS_2 76:9dc83d5cf075 1116 Consigne_fuite = 90 - Consigne_poumon;
POTLESS_2 76:9dc83d5cf075 1117 }
POTLESS_2 76:9dc83d5cf075 1118 */
POTLESS_2 79:d22473a0e20d 1119
POTLESS_2 43:5ae8baf28e32 1120 //Arrêt du Timer mesurant le temps d'éxecution du code
POTLESS_2 43:5ae8baf28e32 1121 REAL_RATE.stop();
POTLESS_2 43:5ae8baf28e32 1122 //Définition de la nouvelle valeur du temps d'échantillonage du PID.
POTLESS_2 43:5ae8baf28e32 1123 RATE = REAL_RATE.read();
POTLESS_2 43:5ae8baf28e32 1124 //Reset du Timer
POTLESS_2 43:5ae8baf28e32 1125 REAL_RATE.reset();
POTLESS_2 43:5ae8baf28e32 1126
POTLESS_2 43:5ae8baf28e32 1127 //Pour ralentir le code à Ref_Time seconde fixe quelque soit les intéruptions du loop....
POTLESS_2 43:5ae8baf28e32 1128 if (Ref_Time > RATE) {
POTLESS_2 43:5ae8baf28e32 1129 RATE_TRUE = (Ref_Time - RATE) * 1000;
POTLESS_2 43:5ae8baf28e32 1130 } else {
POTLESS_2 43:5ae8baf28e32 1131 RATE_TRUE = 0;
POTLESS_2 43:5ae8baf28e32 1132
POTLESS_2 43:5ae8baf28e32 1133 DEEP_DEBUG("Pour ralentir le code, Ref_Time doit être supérieur à %f seconde(s)\r\n\n", RATE);
POTLESS_2 43:5ae8baf28e32 1134 }
POTLESS_2 43:5ae8baf28e32 1135
POTLESS_2 43:5ae8baf28e32 1136 wait_ms(RATE_TRUE);
POTLESS_2 34:26f6e3dbefb9 1137 }
POTLESS_2 4:d84250f67dec 1138 }
POTLESS_2 43:5ae8baf28e32 1139
POTLESS_2 43:5ae8baf28e32 1140