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@20:5f79fb4565a7, 2018-02-07 (annotated)

Committer:
POTLESS_2
Date:
Wed Feb 07 14:52:47 2018 +0000
Revision:
20:5f79fb4565a7
Parent:
19:cac3761a5d0b
Child:
21:b8900130ca05
nouvelle version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
POTLESS_2 17:bef8abc445f2 1 /*
POTLESS_2 17:bef8abc445f2 2
POTLESS_2 17:bef8abc445f2 3 Câblage complet STM32L476RG :
POTLESS_2 17:bef8abc445f2 4
POTLESS_2 17:bef8abc445f2 5 - Port SPI carte SD :
POTLESS_2 17:bef8abc445f2 6
POTLESS_2 17:bef8abc445f2 7 MOSI -> PA_7
POTLESS_2 17:bef8abc445f2 8 MISO -> PA_6
POTLESS_2 17:bef8abc445f2 9 SCK -> PA_5
POTLESS_2 17:bef8abc445f2 10 CS -> PB_6
POTLESS_2 17:bef8abc445f2 11
POTLESS_2 17:bef8abc445f2 12 - Sensor Head :
POTLESS_2 17:bef8abc445f2 13
POTLESS_2 17:bef8abc445f2 14 Alim en 3.3v
POTLESS_2 17:bef8abc445f2 15
POTLESS_2 17:bef8abc445f2 16 SCL -> PB_8
POTLESS_2 17:bef8abc445f2 17 SDA -> PB_9
POTLESS_2 17:bef8abc445f2 18 TX -> PC_12
POTLESS_2 17:bef8abc445f2 19 RX -> PD_2
POTLESS_2 17:bef8abc445f2 20 AlertRdy -> PA_11
POTLESS_2 17:bef8abc445f2 21
POTLESS_2 17:bef8abc445f2 22
POTLESS_2 17:bef8abc445f2 23 - HC_06 :
POTLESS_2 17:bef8abc445f2 24
POTLESS_2 17:bef8abc445f2 25 Alim en 3.3v ou 5v
POTLESS_2 17:bef8abc445f2 26
POTLESS_2 17:bef8abc445f2 27 TX -> PC_10
POTLESS_2 17:bef8abc445f2 28 RX -> PC_11
POTLESS_2 17:bef8abc445f2 29
POTLESS_2 19:cac3761a5d0b 30 - STM32L476RG sur carte alim AQL :
POTLESS_2 17:bef8abc445f2 31
POTLESS_2 19:cac3761a5d0b 32 Reférence drv8839 : http://www.ti.com/lit/ds/symlink/drv8839.pdf
POTLESS_2 17:bef8abc445f2 33
POTLESS_2 19:cac3761a5d0b 34 Volet Fuite :
POTLESS_2 17:bef8abc445f2 35 PWM -> PB_5 -> 1
POTLESS_2 17:bef8abc445f2 36 FWD -> PB_4 -> 2
POTLESS_2 17:bef8abc445f2 37 REV -> PB_10 -> 7
POTLESS_2 17:bef8abc445f2 38
POTLESS_2 19:cac3761a5d0b 39 Volet Poumon :
POTLESS_2 17:bef8abc445f2 40 PWM -> PB_13 -> 9
POTLESS_2 17:bef8abc445f2 41 FWD -> PB_14 -> 10
POTLESS_2 17:bef8abc445f2 42 REV -> PB_15 -> 15
POTLESS_2 17:bef8abc445f2 43
POTLESS_2 17:bef8abc445f2 44 */
POTLESS_2 18:bfd78c05b589 45
potless 1:bef7856b5c0a 46 #include "mbed.h"
potless 2:4a8bf1d53439 47 #include <string>
POTLESS_2 7:ad15c386e960 48 #include "Sensor_head_revB.h"
POTLESS_2 8:a750d531b381 49 #include "HTU21D.h"
POTLESS_2 12:7f3aadd79f89 50 #include "PID.h"
POTLESS_2 19:cac3761a5d0b 51 #include "Faulhaber.h"
POTLESS_2 4:d84250f67dec 52
POTLESS_2 17:bef8abc445f2 53 //Commandes des servos
POTLESS_2 19:cac3761a5d0b 54 #define PWM_SERVO_POUMON PB_15
POTLESS_2 19:cac3761a5d0b 55 #define nSleep_SERVO_POUMON PC_6
POTLESS_2 19:cac3761a5d0b 56 #define FWD_SERVO_POUMON PB_14
POTLESS_2 19:cac3761a5d0b 57 #define REV_SERVO_POUMON PB_13
POTLESS_2 19:cac3761a5d0b 58 #define Channel_A_SERVO_POUMON PB_1
POTLESS_2 19:cac3761a5d0b 59 #define Channel_B_SERVO_POUMON PB_2
POTLESS_2 19:cac3761a5d0b 60 #define HOME_SERVO_POUMON 0
POTLESS_2 17:bef8abc445f2 61
POTLESS_2 19:cac3761a5d0b 62 #define PWM_SERVO_FUITE PB_10
POTLESS_2 19:cac3761a5d0b 63 #define nSleep_SERVO_FUITE PC_5
POTLESS_2 19:cac3761a5d0b 64 #define FWD_SERVO_FUITE PB_4
POTLESS_2 19:cac3761a5d0b 65 #define REV_SERVO_FUITE PB_5
POTLESS_2 19:cac3761a5d0b 66 #define Channel_A_SERVO_FUITE PB_8
POTLESS_2 19:cac3761a5d0b 67 #define Channel_B_SERVO_FUITE PB_9
POTLESS_2 19:cac3761a5d0b 68 #define HOME_SERVO_FUITE 90
POTLESS_2 17:bef8abc445f2 69
POTLESS_2 17:bef8abc445f2 70 //Ecrit dans le moniteur série de la tablette à 115200 bds si sur 1, penser à mettre NEED_CONSOLE_OUTPUT à 0
POTLESS_2 9:04bfdfc029cb 71 #define NEED_ANDROID_OUTPUT 1
POTLESS_2 9:04bfdfc029cb 72
POTLESS_2 17:bef8abc445f2 73 //Mode PID, STD à commenter / décommenter
POTLESS_2 17:bef8abc445f2 74 #define STD_MODE
POTLESS_2 17:bef8abc445f2 75 //#define PID_MODE
POTLESS_2 11:b2feed92584a 76
POTLESS_2 12:7f3aadd79f89 77 #ifdef STD_MODE
POTLESS_2 12:7f3aadd79f89 78 int MODE_FLAG = 0;
POTLESS_2 11:b2feed92584a 79 #endif
POTLESS_2 11:b2feed92584a 80
POTLESS_2 12:7f3aadd79f89 81 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 82 int MODE_FLAG = 2;
POTLESS_2 11:b2feed92584a 83 #endif
POTLESS_2 11:b2feed92584a 84
POTLESS_2 9:04bfdfc029cb 85 #if NEED_ANDROID_OUTPUT
POTLESS_2 9:04bfdfc029cb 86 #define ANDROID(...) { android.printf(__VA_ARGS__); }
POTLESS_2 9:04bfdfc029cb 87 #else
POTLESS_2 9:04bfdfc029cb 88 #define ANDROID(...)
POTLESS_2 9:04bfdfc029cb 89 #endif
POTLESS_2 9:04bfdfc029cb 90
POTLESS_2 19:cac3761a5d0b 91 //PinName pwm, PinName nSleep, PinName fwd, PinName rev, int brakeable, PinName channelA, PinName channelB, int pulsesPerRev, int Rapport, Encoding encoding = X2_ENCODING
POTLESS_2 19:cac3761a5d0b 92 Faulhaber Servo_Poumon("Servo_Poumon", PWM_SERVO_POUMON, nSleep_SERVO_POUMON, FWD_SERVO_POUMON, REV_SERVO_POUMON, 1, Channel_A_SERVO_POUMON, Channel_B_SERVO_POUMON, 16, 207, Faulhaber::X2_ENCODING);
POTLESS_2 19:cac3761a5d0b 93 //Faulhaber Servo_Poumon("Servo_Fuite", PWM_SERVO_FUITE, nSleep_SERVO_FUITE, FWD_SERVO_FUITE, REV_SERVO_FUITE, 1, Channel_A_SERVO_FUITE, Channel_B_SERVO_FUITE, 16, 207, Faulhaber::X2_ENCODING);
POTLESS_2 17:bef8abc445f2 94
POTLESS_2 17:bef8abc445f2 95 //Moniteur série, Serial 2
POTLESS_2 17:bef8abc445f2 96 Serial serialMonit(USBTX,USBRX,115200);
POTLESS_2 10:aca745a66d51 97
POTLESS_2 9:04bfdfc029cb 98 //COM Série vers Android, Serial 3
POTLESS_2 17:bef8abc445f2 99 Serial android(PC_10,PC_11,115200);
POTLESS_2 4:d84250f67dec 100
POTLESS_2 7:ad15c386e960 101 //Init de la lib ARNSRS;
POTLESS_2 7:ad15c386e960 102 SENSOR_HEAD_REV_B sensors;
potless 2:4a8bf1d53439 103
POTLESS_2 6:ebed9093d661 104 //pour Param Cozir
POTLESS_2 9:04bfdfc029cb 105 const int sizeParam = 20;
POTLESS_2 11:b2feed92584a 106 char param[sizeParam];
POTLESS_2 11:b2feed92584a 107 volatile int indexParam = 0;
POTLESS_2 6:ebed9093d661 108 bool newParamFlag = false;
potless 2:4a8bf1d53439 109
POTLESS_2 9:04bfdfc029cb 110 //pour Commandes Android
POTLESS_2 9:04bfdfc029cb 111 const int sizeAndroid = 20;
POTLESS_2 11:b2feed92584a 112 char Android[sizeAndroid];
POTLESS_2 11:b2feed92584a 113 volatile int indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 114 bool newAndroidFlag = false;
POTLESS_2 12:7f3aadd79f89 115 char to_android[100];
POTLESS_2 9:04bfdfc029cb 116
POTLESS_2 7:ad15c386e960 117 //Variables de stockage des infos capteurs
POTLESS_2 7:ad15c386e960 118 int co2 = 0;
POTLESS_2 7:ad15c386e960 119 float pression = 0;
POTLESS_2 9:04bfdfc029cb 120 float Temp1 = 0;
POTLESS_2 7:ad15c386e960 121 int ppO2 = 0;
POTLESS_2 7:ad15c386e960 122 int CellO2_1 = 0;
POTLESS_2 7:ad15c386e960 123 int CellO2_2 = 0;
POTLESS_2 7:ad15c386e960 124
POTLESS_2 18:bfd78c05b589 125 //Variables et constantes OTU
POTLESS_2 18:bfd78c05b589 126 float OTU = 0;
POTLESS_2 18:bfd78c05b589 127 float COEF_OTU = 0.83;
POTLESS_2 18:bfd78c05b589 128
POTLESS_2 17:bef8abc445f2 129 //Mesure du temps d'éxecution du loop
POTLESS_2 7:ad15c386e960 130 Timer REAL_RATE;
POTLESS_2 7:ad15c386e960 131 float RATE = 0;
POTLESS_2 11:b2feed92584a 132 float RATE_TRUE = 0;
POTLESS_2 12:7f3aadd79f89 133 float Ref_Time = 1.0; //La durée de la boucle désirée...
POTLESS_2 7:ad15c386e960 134
POTLESS_2 17:bef8abc445f2 135 //HTU21D sur l'I2C
POTLESS_2 8:a750d531b381 136 HTU21D temphumid(PB_9, PB_8); //Temp humid sensor || SDA, SCL
POTLESS_2 9:04bfdfc029cb 137 float Temp2;
POTLESS_2 9:04bfdfc029cb 138 int Humid;
POTLESS_2 9:04bfdfc029cb 139
POTLESS_2 9:04bfdfc029cb 140 //Data LOG
POTLESS_2 9:04bfdfc029cb 141 char to_store[50];
POTLESS_2 9:04bfdfc029cb 142 time_t seconds;
POTLESS_2 8:a750d531b381 143
POTLESS_2 17:bef8abc445f2 144 //Thread d'intérogation des capteurs et de positionnement des volets
POTLESS_2 19:cac3761a5d0b 145 Thread thread_Sensors;
POTLESS_2 19:cac3761a5d0b 146 Thread thread_Volets;
POTLESS_2 20:5f79fb4565a7 147 Thread thread_Secu;
POTLESS_2 7:ad15c386e960 148
POTLESS_2 10:aca745a66d51 149 //Contrôle des servos
POTLESS_2 19:cac3761a5d0b 150 float Consigne_poumon = 0;
POTLESS_2 19:cac3761a5d0b 151 float volet_poumon_Position = 0;
POTLESS_2 19:cac3761a5d0b 152 float Consigne_fuite = 0;
POTLESS_2 19:cac3761a5d0b 153 float volet_fuite_Position = 0;
POTLESS_2 10:aca745a66d51 154
POTLESS_2 12:7f3aadd79f89 155 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 156 //Paramètre du PID
POTLESS_2 12:7f3aadd79f89 157 float Kc = 40;
POTLESS_2 12:7f3aadd79f89 158 float Ti = 0;
POTLESS_2 12:7f3aadd79f89 159 float Td = 0;
POTLESS_2 12:7f3aadd79f89 160 float RATE_PID = Ref_Time;
POTLESS_2 12:7f3aadd79f89 161 float Commande_PID;
POTLESS_2 15:efd3b3bf3f37 162 float consigne = 210;
POTLESS_2 15:efd3b3bf3f37 163 float Max_Input = 1000;
POTLESS_2 15:efd3b3bf3f37 164 float Min_Input = 80;
POTLESS_2 19:cac3761a5d0b 165 float Max_Output = 85;//Vérifier la valeur pour angle à laisser ouvert...
POTLESS_2 19:cac3761a5d0b 166 float Min_Output = 5;
POTLESS_2 10:aca745a66d51 167
POTLESS_2 12:7f3aadd79f89 168 //Init PID
POTLESS_2 17:bef8abc445f2 169 PID control_Servo(Kc, Ti, Td, RATE_PID);
POTLESS_2 12:7f3aadd79f89 170 #endif
POTLESS_2 10:aca745a66d51 171
POTLESS_2 19:cac3761a5d0b 172 //Boolean du status de l'appareil, en mode SECU ou nominal
POTLESS_2 19:cac3761a5d0b 173 bool EN_MODE_SECU = false;
POTLESS_2 20:5f79fb4565a7 174 AnalogIn V_USB(PC_4);
POTLESS_2 20:5f79fb4565a7 175 float Vusb = 1;
POTLESS_2 18:bfd78c05b589 176
POTLESS_2 19:cac3761a5d0b 177 //Passage en mode SECU
POTLESS_2 19:cac3761a5d0b 178 void Mode_SECU()
POTLESS_2 18:bfd78c05b589 179 {
POTLESS_2 19:cac3761a5d0b 180 #ifdef PID_MODE
POTLESS_2 18:bfd78c05b589 181 //Mise du PID en mode manuel (desactivation...)
POTLESS_2 18:bfd78c05b589 182 control_Servo.setMode(MANUAL_MODE);
POTLESS_2 18:bfd78c05b589 183 #endif
POTLESS_2 19:cac3761a5d0b 184 Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 19:cac3761a5d0b 185 Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 19:cac3761a5d0b 186 while(1) {
POTLESS_2 19:cac3761a5d0b 187 wait_ms(300);
POTLESS_2 19:cac3761a5d0b 188 if (Servo_Poumon.Pos_OK() == true) break;
POTLESS_2 19:cac3761a5d0b 189 //if (Servo_Poumon.Pos_OK() == true && Servo_Fuite.Pos_OK() == true) break;
POTLESS_2 19:cac3761a5d0b 190 }
POTLESS_2 19:cac3761a5d0b 191 printf("-------------- Appareil en mode SECU ---------------\r\n");
POTLESS_2 19:cac3761a5d0b 192 EN_MODE_SECU = true;
POTLESS_2 19:cac3761a5d0b 193
POTLESS_2 19:cac3761a5d0b 194 int Pos = Servo_Poumon.getPulses();
POTLESS_2 19:cac3761a5d0b 195 UTILS::Store_A_Val((float)Pos, "Servo_Poumon");
POTLESS_2 19:cac3761a5d0b 196 printf(" position volet poumon sauvegardée = %d pulse(s)\r\n", Pos);
POTLESS_2 19:cac3761a5d0b 197 //Pos = Servo_Fuite.getPulses();
POTLESS_2 19:cac3761a5d0b 198 //UTILS::Store_A_Val((float)Pos, "Servo_Fuite");
POTLESS_2 19:cac3761a5d0b 199 //printf(" position volet fuite sauvegardée = %d pulse(s)\r\n", Pos);
POTLESS_2 19:cac3761a5d0b 200 thread_Volets.terminate();
POTLESS_2 19:cac3761a5d0b 201 }
POTLESS_2 19:cac3761a5d0b 202
POTLESS_2 19:cac3761a5d0b 203 //Sequence d'arrêt
POTLESS_2 19:cac3761a5d0b 204 void Stop_Sequence()
POTLESS_2 19:cac3761a5d0b 205 {
POTLESS_2 19:cac3761a5d0b 206 Mode_SECU();
POTLESS_2 19:cac3761a5d0b 207 thread_Sensors.terminate();
POTLESS_2 20:5f79fb4565a7 208 printf("----------------ARRET DE L'APPAREIL--------------------\r\n");
POTLESS_2 20:5f79fb4565a7 209 Servo_Poumon.Sleep();
POTLESS_2 19:cac3761a5d0b 210 wait(2);
POTLESS_2 19:cac3761a5d0b 211 deepsleep();
POTLESS_2 18:bfd78c05b589 212 }
POTLESS_2 18:bfd78c05b589 213
POTLESS_2 20:5f79fb4565a7 214 //Fonction test de valeur d'entrée convertie en Hight / Low
POTLESS_2 20:5f79fb4565a7 215 void Power_Test(AnalogIn& pin)
POTLESS_2 20:5f79fb4565a7 216 {
POTLESS_2 20:5f79fb4565a7 217 float Val = pin.read();
POTLESS_2 20:5f79fb4565a7 218 if(Val < 0.6f) Stop_Sequence();
POTLESS_2 20:5f79fb4565a7 219 }
POTLESS_2 20:5f79fb4565a7 220
POTLESS_2 18:bfd78c05b589 221 //Contrôle du status de l'appareil / des constantes
POTLESS_2 18:bfd78c05b589 222 bool Check()
POTLESS_2 18:bfd78c05b589 223 {
POTLESS_2 18:bfd78c05b589 224 if (ppO2 > 100)
POTLESS_2 19:cac3761a5d0b 225 return true;//Situation OK
POTLESS_2 18:bfd78c05b589 226 else
POTLESS_2 19:cac3761a5d0b 227 return false;//Situation dégradée
POTLESS_2 18:bfd78c05b589 228 }
POTLESS_2 18:bfd78c05b589 229
POTLESS_2 18:bfd78c05b589 230 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 231 float Calcul_OTU()
POTLESS_2 18:bfd78c05b589 232 {
POTLESS_2 18:bfd78c05b589 233 /*
POTLESS_2 18:bfd78c05b589 234 La formule suivante permet de calculer la quantité d' OTU accumulée
POTLESS_2 18:bfd78c05b589 235 OTU = T * (2* PpO2 -1)0,83
POTLESS_2 18:bfd78c05b589 236 avec :
POTLESS_2 18:bfd78c05b589 237 T = temps de plongée en minutes
POTLESS_2 18:bfd78c05b589 238 PpO2 = pression partielle d’ oxygène en bars
POTLESS_2 18:bfd78c05b589 239 */
POTLESS_2 18:bfd78c05b589 240
POTLESS_2 19:cac3761a5d0b 241 if (ppO2 > 500) {
POTLESS_2 18:bfd78c05b589 242 float val = (2 * (float)ppO2/1000 - 1);//je divise par 1000 car la PP est en mb...
POTLESS_2 18:bfd78c05b589 243 OTU += Ref_Time * pow(val, COEF_OTU);
POTLESS_2 19:cac3761a5d0b 244 }
POTLESS_2 18:bfd78c05b589 245 }
POTLESS_2 10:aca745a66d51 246
POTLESS_2 17:bef8abc445f2 247 //Thread d'intérogation des capteurs, positions servo
POTLESS_2 10:aca745a66d51 248 void Get_Info_thread()
POTLESS_2 6:ebed9093d661 249 {
POTLESS_2 7:ad15c386e960 250 while (true) {
POTLESS_2 7:ad15c386e960 251
POTLESS_2 7:ad15c386e960 252 //CO2 sur Cozir
POTLESS_2 7:ad15c386e960 253 co2 = sensors.requestCO2();
POTLESS_2 7:ad15c386e960 254 //P / T sur MS5837
POTLESS_2 7:ad15c386e960 255 pression = sensors.requestPress();
POTLESS_2 9:04bfdfc029cb 256 Temp1 = sensors.requestTemp();
POTLESS_2 7:ad15c386e960 257 //PPO2 sur ADS1015
POTLESS_2 7:ad15c386e960 258 ppO2 = sensors.requestPpO2();
POTLESS_2 7:ad15c386e960 259 //Cell O2 en mV
POTLESS_2 7:ad15c386e960 260 CellO2_1 = sensors.requestCellO2_1();
POTLESS_2 7:ad15c386e960 261 CellO2_2 = sensors.requestCellO2_2();
POTLESS_2 9:04bfdfc029cb 262
POTLESS_2 8:a750d531b381 263 //HTU21D
POTLESS_2 9:04bfdfc029cb 264 Temp2 = temphumid.sample_ctemp();
POTLESS_2 9:04bfdfc029cb 265 Humid = temphumid.sample_humid();
POTLESS_2 9:04bfdfc029cb 266
POTLESS_2 10:aca745a66d51 267 //Retour position des servos
POTLESS_2 17:bef8abc445f2 268 volet_poumon_Position = Servo_Poumon.Get_Position();
POTLESS_2 20:5f79fb4565a7 269 //volet_fuite_Position = Servo_Fuite.Get_Position();
POTLESS_2 19:cac3761a5d0b 270
POTLESS_2 19:cac3761a5d0b 271 }
POTLESS_2 19:cac3761a5d0b 272 }
POTLESS_2 12:7f3aadd79f89 273
POTLESS_2 19:cac3761a5d0b 274 void GO_TO_thread()
POTLESS_2 19:cac3761a5d0b 275 {
POTLESS_2 19:cac3761a5d0b 276 while (true) {
POTLESS_2 19:cac3761a5d0b 277 //Servo_Poumon.Go_To_Prop(Consigne_poumon);
POTLESS_2 20:5f79fb4565a7 278 Servo_Poumon.Go_To_PID(Consigne_poumon);
POTLESS_2 20:5f79fb4565a7 279 //Servo_Poumon.Go_To(Consigne_poumon);
POTLESS_2 20:5f79fb4565a7 280
POTLESS_2 19:cac3761a5d0b 281 //Servo_Fuite.Go_To_Prop(Consigne_fuite);
POTLESS_2 19:cac3761a5d0b 282 //Servo_Fuite.Go_To_PID(Consigne_fuite);
POTLESS_2 15:efd3b3bf3f37 283 }
potless 2:4a8bf1d53439 284 }
POTLESS_2 4:d84250f67dec 285
POTLESS_2 20:5f79fb4565a7 286 void SECU_thread()
POTLESS_2 20:5f79fb4565a7 287 {
POTLESS_2 20:5f79fb4565a7 288 while (true) {
POTLESS_2 20:5f79fb4565a7 289 //Alim USB
POTLESS_2 20:5f79fb4565a7 290 Power_Test(V_USB);
POTLESS_2 20:5f79fb4565a7 291 //Divers problèmes à implémenter
POTLESS_2 20:5f79fb4565a7 292 //if(!Check()) Mode_SECU();
POTLESS_2 20:5f79fb4565a7 293 }
POTLESS_2 20:5f79fb4565a7 294 }
POTLESS_2 20:5f79fb4565a7 295
POTLESS_2 7:ad15c386e960 296 void Affichage_moniteur()
POTLESS_2 4:d84250f67dec 297 {
POTLESS_2 19:cac3761a5d0b 298
POTLESS_2 9:04bfdfc029cb 299 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 300 printf(" CO2 = %d ppm\r\n" , co2);
POTLESS_2 9:04bfdfc029cb 301 printf(" PPO2 = %d mb\r\n", ppO2);
POTLESS_2 18:bfd78c05b589 302 printf(" OTU = %d \r\n", OTU);
POTLESS_2 9:04bfdfc029cb 303 printf(" Pression = %f msw\r\n", pression);
POTLESS_2 10:aca745a66d51 304 printf(" Temp MS5837 = %f C\r\n", Temp1);
POTLESS_2 10:aca745a66d51 305 printf(" Temp HTU21D = %f C\n\r", Temp2);
POTLESS_2 9:04bfdfc029cb 306 printf(" Humidity = %d %%\n\r", Humid);
POTLESS_2 8:a750d531b381 307 printf("\n\r");
POTLESS_2 8:a750d531b381 308 printf(" Cell O2 n 1 = %d\r\n" , CellO2_1);
POTLESS_2 8:a750d531b381 309 printf(" Cell O2 n 2 = %d\r\n" , CellO2_2);
POTLESS_2 7:ad15c386e960 310 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 311 printf("\n");
POTLESS_2 17:bef8abc445f2 312 printf(" Volet Poumon = %f\r\n" , volet_poumon_Position);
POTLESS_2 17:bef8abc445f2 313 printf(" Volet Fuite = %f\r\n" , volet_fuite_Position);
POTLESS_2 10:aca745a66d51 314 printf("\r\n");
POTLESS_2 12:7f3aadd79f89 315 printf("Temps d execution de la boucle = %f seconde(s)\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 17:bef8abc445f2 316 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 317 printf("A enregistrer = %s\n", to_store);
POTLESS_2 9:04bfdfc029cb 318 printf("\r\n");
POTLESS_2 20:5f79fb4565a7 319 printf("V_USB = %f", Vusb);
POTLESS_2 20:5f79fb4565a7 320 printf("\r\n");
POTLESS_2 4:d84250f67dec 321 }
POTLESS_2 4:d84250f67dec 322
POTLESS_2 11:b2feed92584a 323 //Callback de l'intérruption des envois de commandes depuis le terminal
POTLESS_2 6:ebed9093d661 324 void callbackParam()
POTLESS_2 4:d84250f67dec 325 {
POTLESS_2 6:ebed9093d661 326 while(serialMonit.readable()) {
POTLESS_2 6:ebed9093d661 327 if (indexParam == sizeParam) //éviter la saturation du buffer
POTLESS_2 6:ebed9093d661 328 serialMonit.getc();
POTLESS_2 6:ebed9093d661 329 else
POTLESS_2 6:ebed9093d661 330 param [indexParam++] = serialMonit.getc();//chargement du buffer dans le message
POTLESS_2 6:ebed9093d661 331 if ((indexParam == sizeParam) || (param[indexParam -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 6:ebed9093d661 332 param[indexParam] = 0;
POTLESS_2 6:ebed9093d661 333 newParamFlag = true;
POTLESS_2 6:ebed9093d661 334 }
POTLESS_2 4:d84250f67dec 335 }
POTLESS_2 6:ebed9093d661 336 }
POTLESS_2 4:d84250f67dec 337
POTLESS_2 9:04bfdfc029cb 338 //Callback de l'intérruption des envois de commandes depuis Android
POTLESS_2 9:04bfdfc029cb 339 void callbackAndroid()
POTLESS_2 9:04bfdfc029cb 340 {
POTLESS_2 9:04bfdfc029cb 341 while(android.readable()) {
POTLESS_2 9:04bfdfc029cb 342 if (indexAndroid == sizeAndroid) //éviter la saturation du buffer
POTLESS_2 9:04bfdfc029cb 343 android.getc();
POTLESS_2 9:04bfdfc029cb 344 else
POTLESS_2 9:04bfdfc029cb 345 Android [indexAndroid++] = android.getc();//chargement du buffer dans le message
POTLESS_2 9:04bfdfc029cb 346 if ((indexAndroid == sizeAndroid) || (Android[indexAndroid -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 9:04bfdfc029cb 347 Android[indexAndroid] = 0;
POTLESS_2 9:04bfdfc029cb 348 newAndroidFlag = true;
POTLESS_2 9:04bfdfc029cb 349 }
POTLESS_2 9:04bfdfc029cb 350 }
POTLESS_2 9:04bfdfc029cb 351 }
POTLESS_2 11:b2feed92584a 352
POTLESS_2 9:04bfdfc029cb 353 void Decoding_Message(char message [])
POTLESS_2 9:04bfdfc029cb 354 {
POTLESS_2 9:04bfdfc029cb 355 char *commande = 0;
POTLESS_2 14:b5e0e882205e 356 float valeur = 0;
POTLESS_2 9:04bfdfc029cb 357
POTLESS_2 14:b5e0e882205e 358 sscanf(message,"%s %f",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 359
POTLESS_2 19:cac3761a5d0b 360 if ((char)commande == 'S') {
POTLESS_2 19:cac3761a5d0b 361 Mode_SECU();
POTLESS_2 20:5f79fb4565a7 362 } else if ((char)commande == 'r') {
POTLESS_2 20:5f79fb4565a7 363 Consigne_poumon = 0;
POTLESS_2 20:5f79fb4565a7 364 volet_poumon_Position = 0;
POTLESS_2 19:cac3761a5d0b 365 Servo_Poumon.reset();
POTLESS_2 19:cac3761a5d0b 366 } else if ((char)commande == 'Q') {
POTLESS_2 19:cac3761a5d0b 367 Stop_Sequence();
POTLESS_2 19:cac3761a5d0b 368 } else if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 369 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 370 } else if ((char)commande == 'I') {
POTLESS_2 17:bef8abc445f2 371 Consigne_poumon = (float)valeur;
POTLESS_2 17:bef8abc445f2 372 printf(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 12:7f3aadd79f89 373 } else if ((char)commande == 'O') {
POTLESS_2 17:bef8abc445f2 374 Consigne_fuite = (float)valeur;
POTLESS_2 17:bef8abc445f2 375 printf(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 10:aca745a66d51 376 } else if ((char)commande == 'R') {
POTLESS_2 10:aca745a66d51 377 NVIC_SystemReset();
POTLESS_2 12:7f3aadd79f89 378 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 379 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 380 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 381 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 382 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 383 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 384 } else {
POTLESS_2 9:04bfdfc029cb 385 sensors.cozirSend(message);
POTLESS_2 9:04bfdfc029cb 386 }
POTLESS_2 9:04bfdfc029cb 387
POTLESS_2 9:04bfdfc029cb 388 strcpy(param," ");
POTLESS_2 9:04bfdfc029cb 389 indexParam = 0;
POTLESS_2 9:04bfdfc029cb 390 newParamFlag = false;
POTLESS_2 9:04bfdfc029cb 391 }
POTLESS_2 9:04bfdfc029cb 392
POTLESS_2 9:04bfdfc029cb 393 void Decoding_Message_Android(char message [])
POTLESS_2 9:04bfdfc029cb 394 {
POTLESS_2 9:04bfdfc029cb 395 char *commande = 0;
POTLESS_2 14:b5e0e882205e 396 float valeur = 0;
POTLESS_2 9:04bfdfc029cb 397
POTLESS_2 14:b5e0e882205e 398 sscanf(message,"%s %f",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 399
POTLESS_2 9:04bfdfc029cb 400 if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 401 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 402 } else if ((char)commande == 'I') {
POTLESS_2 17:bef8abc445f2 403 Consigne_poumon = (float)valeur;
POTLESS_2 17:bef8abc445f2 404 printf(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 12:7f3aadd79f89 405 } else if ((char)commande == 'O') {
POTLESS_2 17:bef8abc445f2 406 Consigne_fuite = (float)valeur;
POTLESS_2 17:bef8abc445f2 407 printf(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 12:7f3aadd79f89 408 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 409 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 410 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 411 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 412 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 413 /////////////////////////////////////////
POTLESS_2 9:04bfdfc029cb 414 } else if ((char)commande == 'R') {
POTLESS_2 9:04bfdfc029cb 415 NVIC_SystemReset();
POTLESS_2 9:04bfdfc029cb 416 }
POTLESS_2 12:7f3aadd79f89 417 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 418 else if ((char)commande == 'p') {
POTLESS_2 12:7f3aadd79f89 419 Kc = (float)valeur;
POTLESS_2 16:917656586772 420 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 421 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 14:b5e0e882205e 422 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 423 } else if ((char)commande == 'i') {
POTLESS_2 12:7f3aadd79f89 424 Ti = (float)valeur;
POTLESS_2 16:917656586772 425 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 426 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 14:b5e0e882205e 427 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 428 } else if ((char)commande == 'd') {
POTLESS_2 12:7f3aadd79f89 429 Td = (float)valeur;
POTLESS_2 16:917656586772 430 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 431 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 14:b5e0e882205e 432 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 433 } else if ((char)commande == 'c') {
POTLESS_2 12:7f3aadd79f89 434 consigne = valeur;
POTLESS_2 15:efd3b3bf3f37 435 control_Servo.setSetPoint(consigne);
POTLESS_2 14:b5e0e882205e 436 printf(" UPDATE CONSIGNE PID --> Consigne = %d\r\n\n", consigne);
POTLESS_2 12:7f3aadd79f89 437 }
POTLESS_2 15:efd3b3bf3f37 438 #endif
POTLESS_2 18:bfd78c05b589 439
POTLESS_2 9:04bfdfc029cb 440 strcpy(Android," ");
POTLESS_2 9:04bfdfc029cb 441 indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 442 newAndroidFlag = false;
POTLESS_2 9:04bfdfc029cb 443 }
POTLESS_2 9:04bfdfc029cb 444
POTLESS_2 4:d84250f67dec 445 int main()
POTLESS_2 12:7f3aadd79f89 446 {
POTLESS_2 19:cac3761a5d0b 447 serialMonit.attach(&callbackParam, Serial::RxIrq);
POTLESS_2 12:7f3aadd79f89 448
POTLESS_2 19:cac3761a5d0b 449 android.attach(&callbackAndroid, Serial::RxIrq);
POTLESS_2 12:7f3aadd79f89 450
POTLESS_2 18:bfd78c05b589 451 /*
POTLESS_2 18:bfd78c05b589 452 Par défaut les valeur en cas de calibration sur true sont les suivant
POTLESS_2 18:bfd78c05b589 453
POTLESS_2 19:cac3761a5d0b 454 nbCalibO2 = 5
POTLESS_2 19:cac3761a5d0b 455 Mode = SPOOLING
POTLESS_2 19:cac3761a5d0b 456 Filtre = DIGI_FILTER32
POTLESS_2 19:cac3761a5d0b 457 CalibrationCO2 = "CALIB_AIR"
POTLESS_2 18:bfd78c05b589 458
POTLESS_2 19:cac3761a5d0b 459 Parfois la calibration du Cozir coince...faire reset et relancer...
POTLESS_2 6:ebed9093d661 460
POTLESS_2 19:cac3761a5d0b 461 Pour calibrer avec ces paramètres :
POTLESS_2 18:bfd78c05b589 462
POTLESS_2 19:cac3761a5d0b 463 sensors.Sensors_INIT(true, true);
POTLESS_2 18:bfd78c05b589 464
POTLESS_2 19:cac3761a5d0b 465 Pour changer utiliser la syntaxe suivante :
POTLESS_2 18:bfd78c05b589 466
POTLESS_2 19:cac3761a5d0b 467 sensors.Sensors_INIT(true, true, true, 5, SPOOLING, DIGI_FILTER32, CALIB_AIR);
POTLESS_2 18:bfd78c05b589 468
POTLESS_2 19:cac3761a5d0b 469 */
POTLESS_2 20:5f79fb4565a7 470 sensors.Sensors_INIT(false, false);
POTLESS_2 18:bfd78c05b589 471
POTLESS_2 19:cac3761a5d0b 472 wait(1);
POTLESS_2 6:ebed9093d661 473
POTLESS_2 20:5f79fb4565a7 474 Servo_Poumon.Init();
POTLESS_2 20:5f79fb4565a7 475 //Servo_Fuite.Init();
POTLESS_2 9:04bfdfc029cb 476
POTLESS_2 7:ad15c386e960 477 serialMonit.printf(" Demarrage...\r\n\r\n Entrez les comandes COZIR si besoin :\r\n");
POTLESS_2 6:ebed9093d661 478
POTLESS_2 18:bfd78c05b589 479 /*
POTLESS_2 15:efd3b3bf3f37 480
POTLESS_2 18:bfd78c05b589 481 Pour mémoire, les réglage de priorité des thread
POTLESS_2 15:efd3b3bf3f37 482
POTLESS_2 18:bfd78c05b589 483 osPriorityIdle = -3, ///< priority: idle (lowest)
POTLESS_2 18:bfd78c05b589 484 osPriorityLow = -2, ///< priority: low
POTLESS_2 18:bfd78c05b589 485 osPriorityBelowNormal = -1, ///< priority: below normal
POTLESS_2 18:bfd78c05b589 486 osPriorityNormal = 0, ///< priority: normal (default)
POTLESS_2 18:bfd78c05b589 487 osPriorityAboveNormal = +1, ///< priority: above normal
POTLESS_2 18:bfd78c05b589 488 osPriorityHigh = +2, ///< priority: high
POTLESS_2 18:bfd78c05b589 489 osPriorityRealtime = +3, ///< priority: realtime (highest)
POTLESS_2 18:bfd78c05b589 490 osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
POTLESS_2 18:bfd78c05b589 491 */
POTLESS_2 18:bfd78c05b589 492
POTLESS_2 19:cac3761a5d0b 493 thread_Sensors.start(Get_Info_thread);
POTLESS_2 19:cac3761a5d0b 494
POTLESS_2 19:cac3761a5d0b 495 thread_Sensors.set_priority(osPriorityNormal);
POTLESS_2 9:04bfdfc029cb 496
POTLESS_2 19:cac3761a5d0b 497 thread_Volets.start(GO_TO_thread);
POTLESS_2 19:cac3761a5d0b 498
POTLESS_2 19:cac3761a5d0b 499 thread_Volets.set_priority(osPriorityNormal);
POTLESS_2 20:5f79fb4565a7 500
POTLESS_2 20:5f79fb4565a7 501 thread_Secu.start(SECU_thread);
POTLESS_2 20:5f79fb4565a7 502
POTLESS_2 20:5f79fb4565a7 503 thread_Secu.set_priority(osPriorityNormal);
POTLESS_2 12:7f3aadd79f89 504
POTLESS_2 12:7f3aadd79f89 505 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 506 //Init PID
POTLESS_2 12:7f3aadd79f89 507 //Entrée PPO2 entre 100 et 1000 mb
POTLESS_2 12:7f3aadd79f89 508 control_Servo.setInputLimits(Min_Input, Max_Input);
POTLESS_2 12:7f3aadd79f89 509 //Sortie servo entre 0 et 100 %
POTLESS_2 12:7f3aadd79f89 510 control_Servo.setOutputLimits(Min_Output, Max_Output);
POTLESS_2 15:efd3b3bf3f37 511 //Mode auto au démarrage
POTLESS_2 12:7f3aadd79f89 512 control_Servo.setMode(AUTO_MODE);
POTLESS_2 12:7f3aadd79f89 513 //Consigne à x mb
POTLESS_2 12:7f3aadd79f89 514 control_Servo.setSetPoint(consigne);
POTLESS_2 15:efd3b3bf3f37 515 #endif
POTLESS_2 15:efd3b3bf3f37 516
POTLESS_2 7:ad15c386e960 517 while (true) {
POTLESS_2 6:ebed9093d661 518
POTLESS_2 7:ad15c386e960 519 //Démarrage du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 520 REAL_RATE.start();
POTLESS_2 7:ad15c386e960 521
POTLESS_2 6:ebed9093d661 522 if (newParamFlag) {
POTLESS_2 6:ebed9093d661 523 serialMonit.printf("Param = %s\r\n", param);
POTLESS_2 9:04bfdfc029cb 524 Decoding_Message(param);
POTLESS_2 9:04bfdfc029cb 525 }
POTLESS_2 9:04bfdfc029cb 526
POTLESS_2 9:04bfdfc029cb 527 if (newAndroidFlag) {
POTLESS_2 9:04bfdfc029cb 528 serialMonit.printf("Android = %s\r\n", Android);
POTLESS_2 9:04bfdfc029cb 529 Decoding_Message_Android(Android);
POTLESS_2 6:ebed9093d661 530 }
POTLESS_2 7:ad15c386e960 531
POTLESS_2 15:efd3b3bf3f37 532 //Fabrication de la chaine Date / heure
POTLESS_2 15:efd3b3bf3f37 533 seconds = time(NULL);
POTLESS_2 15:efd3b3bf3f37 534 char Time_buf[32];
POTLESS_2 15:efd3b3bf3f37 535 strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds));
POTLESS_2 15:efd3b3bf3f37 536
POTLESS_2 17:bef8abc445f2 537 #ifdef PID_MODE
POTLESS_2 15:efd3b3bf3f37 538 //Fabrication de la chaine à enregistrer
POTLESS_2 17:bef8abc445f2 539 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d",
POTLESS_2 15:efd3b3bf3f37 540 Time_buf,
POTLESS_2 15:efd3b3bf3f37 541 co2,
POTLESS_2 15:efd3b3bf3f37 542 ppO2,
POTLESS_2 15:efd3b3bf3f37 543 pression,
POTLESS_2 15:efd3b3bf3f37 544 Temp1,
POTLESS_2 15:efd3b3bf3f37 545 Temp2,
POTLESS_2 15:efd3b3bf3f37 546 Humid,
POTLESS_2 15:efd3b3bf3f37 547 CellO2_1,
POTLESS_2 15:efd3b3bf3f37 548 CellO2_2,
POTLESS_2 15:efd3b3bf3f37 549 volet_poumon_Position,
POTLESS_2 15:efd3b3bf3f37 550 volet_fuite_Position,
POTLESS_2 15:efd3b3bf3f37 551 MODE_FLAG,
POTLESS_2 15:efd3b3bf3f37 552 Kc,
POTLESS_2 15:efd3b3bf3f37 553 Ti,
POTLESS_2 18:bfd78c05b589 554 Td,
POTLESS_2 17:bef8abc445f2 555 (int)consigne
POTLESS_2 18:bfd78c05b589 556 );
POTLESS_2 17:bef8abc445f2 557 #endif
POTLESS_2 17:bef8abc445f2 558 #ifndef PID_MODE
POTLESS_2 17:bef8abc445f2 559 //Fabrication de la chaine à enregistrer sans les variables du PID
POTLESS_2 17:bef8abc445f2 560 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d",
POTLESS_2 17:bef8abc445f2 561 Time_buf,
POTLESS_2 17:bef8abc445f2 562 co2,
POTLESS_2 17:bef8abc445f2 563 ppO2,
POTLESS_2 17:bef8abc445f2 564 pression,
POTLESS_2 17:bef8abc445f2 565 Temp1,
POTLESS_2 17:bef8abc445f2 566 Temp2,
POTLESS_2 17:bef8abc445f2 567 Humid,
POTLESS_2 17:bef8abc445f2 568 CellO2_1,
POTLESS_2 17:bef8abc445f2 569 CellO2_2,
POTLESS_2 17:bef8abc445f2 570 volet_poumon_Position,
POTLESS_2 17:bef8abc445f2 571 volet_fuite_Position,
POTLESS_2 17:bef8abc445f2 572 MODE_FLAG,
POTLESS_2 20:5f79fb4565a7 573 0.0,
POTLESS_2 20:5f79fb4565a7 574 0.0,
POTLESS_2 20:5f79fb4565a7 575 0.0,
POTLESS_2 17:bef8abc445f2 576 0
POTLESS_2 18:bfd78c05b589 577 );
POTLESS_2 17:bef8abc445f2 578 #endif
POTLESS_2 15:efd3b3bf3f37 579
POTLESS_2 15:efd3b3bf3f37 580 //Enregistrement de la chaine
POTLESS_2 19:cac3761a5d0b 581 UTILS::Write_SD_File((string)to_store);
POTLESS_2 15:efd3b3bf3f37 582
POTLESS_2 15:efd3b3bf3f37 583 //Pour Android on ajoute < et > pour décoder l'arrivée du message
POTLESS_2 9:04bfdfc029cb 584 if (NEED_ANDROID_OUTPUT == 1) {
POTLESS_2 15:efd3b3bf3f37 585 sprintf(to_android,"<%s>",to_store);
POTLESS_2 12:7f3aadd79f89 586 ANDROID(to_android);
POTLESS_2 9:04bfdfc029cb 587 }
POTLESS_2 15:efd3b3bf3f37 588
POTLESS_2 18:bfd78c05b589 589 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 590 Calcul_OTU();
POTLESS_2 19:cac3761a5d0b 591
POTLESS_2 20:5f79fb4565a7 592 //Vers le moniteur série
POTLESS_2 13:22a96dc67e85 593 Affichage_moniteur();
POTLESS_2 15:efd3b3bf3f37 594
POTLESS_2 15:efd3b3bf3f37 595
POTLESS_2 15:efd3b3bf3f37 596 #ifdef PID_MODE
POTLESS_2 15:efd3b3bf3f37 597 //Update du PID
POTLESS_2 15:efd3b3bf3f37 598 control_Servo.setProcessValue(ppO2);
POTLESS_2 19:cac3761a5d0b 599 //Nouvelle sortie servo fuite si on est pas en mode SECU
POTLESS_2 19:cac3761a5d0b 600 if(!EN_MODE_SECU) Consigne_fuite = control_Servo.compute();
POTLESS_2 12:7f3aadd79f89 601 #endif
POTLESS_2 15:efd3b3bf3f37 602
POTLESS_2 7:ad15c386e960 603 //Arrêt du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 604 REAL_RATE.stop();
POTLESS_2 7:ad15c386e960 605 //Définition de la nouvelle valeur du temps d'échantillonage du PID.
POTLESS_2 7:ad15c386e960 606 RATE = REAL_RATE.read();
POTLESS_2 7:ad15c386e960 607 //Reset du Timer
POTLESS_2 7:ad15c386e960 608 REAL_RATE.reset();
POTLESS_2 12:7f3aadd79f89 609
POTLESS_2 16:917656586772 610 //Pour ralentir le code à Ref_Time seconde fixe quelque soit les intéruptions du loop....
POTLESS_2 18:bfd78c05b589 611 if (Ref_Time > RATE) {
POTLESS_2 18:bfd78c05b589 612 RATE_TRUE = (Ref_Time - RATE) * 1000;
POTLESS_2 18:bfd78c05b589 613 } else {
POTLESS_2 18:bfd78c05b589 614 RATE_TRUE = 0;
POTLESS_2 16:917656586772 615 #ifdef PID_MODE
POTLESS_2 18:bfd78c05b589 616 control_Servo.setInterval(RATE);
POTLESS_2 18:bfd78c05b589 617 #endif
POTLESS_2 18:bfd78c05b589 618 printf("Pour ralentir le code, Ref_Time doit être supérieur à %f seconde(s)\r\n\n", RATE);
POTLESS_2 16:917656586772 619 }
POTLESS_2 18:bfd78c05b589 620
POTLESS_2 11:b2feed92584a 621 wait_ms(RATE_TRUE);
POTLESS_2 4:d84250f67dec 622 }
POTLESS_2 4:d84250f67dec 623 }