Olivier Nastorg
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@39:65ff3c4f9675, 2018-03-21 (annotated)
- Committer:
- POTLESS_2
- Date:
- Wed Mar 21 07:07:50 2018 +0000
- Revision:
- 39:65ff3c4f9675
- Parent:
- 38:fe77b68eec37
- Child:
- 40:32d89e04ead1
version qui sort du sleep mode par PA_0.; Mettre une pulldown externe.
Who changed what in which revision?
| User | Revision | Line number | New 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 | 4:d84250f67dec | 8 | |
| POTLESS_2 | 17:bef8abc445f2 | 9 | //Commandes des servos |
| POTLESS_2 | 19:cac3761a5d0b | 10 | #define PWM_SERVO_POUMON PB_15 |
| POTLESS_2 | 19:cac3761a5d0b | 11 | #define nSleep_SERVO_POUMON PC_6 |
| POTLESS_2 | 19:cac3761a5d0b | 12 | #define FWD_SERVO_POUMON PB_14 |
| POTLESS_2 | 19:cac3761a5d0b | 13 | #define REV_SERVO_POUMON PB_13 |
| POTLESS_2 | 19:cac3761a5d0b | 14 | #define Channel_A_SERVO_POUMON PB_1 |
| POTLESS_2 | 19:cac3761a5d0b | 15 | #define Channel_B_SERVO_POUMON PB_2 |
| POTLESS_2 | 19:cac3761a5d0b | 16 | #define HOME_SERVO_POUMON 0 |
| POTLESS_2 | 17:bef8abc445f2 | 17 | |
| POTLESS_2 | 19:cac3761a5d0b | 18 | #define PWM_SERVO_FUITE PB_10 |
| POTLESS_2 | 19:cac3761a5d0b | 19 | #define nSleep_SERVO_FUITE PC_5 |
| POTLESS_2 | 19:cac3761a5d0b | 20 | #define FWD_SERVO_FUITE PB_4 |
| POTLESS_2 | 19:cac3761a5d0b | 21 | #define REV_SERVO_FUITE PB_5 |
| POTLESS_2 | 19:cac3761a5d0b | 22 | #define Channel_A_SERVO_FUITE PB_8 |
| POTLESS_2 | 19:cac3761a5d0b | 23 | #define Channel_B_SERVO_FUITE PB_9 |
| POTLESS_2 | 19:cac3761a5d0b | 24 | #define HOME_SERVO_FUITE 90 |
| POTLESS_2 | 17:bef8abc445f2 | 25 | |
| POTLESS_2 | 17:bef8abc445f2 | 26 | //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 | 27 | #define NEED_ANDROID_OUTPUT 1 |
| POTLESS_2 | 9:04bfdfc029cb | 28 | |
| POTLESS_2 | 17:bef8abc445f2 | 29 | //Mode PID, STD à commenter / décommenter |
| POTLESS_2 | 17:bef8abc445f2 | 30 | #define STD_MODE |
| POTLESS_2 | 17:bef8abc445f2 | 31 | //#define PID_MODE |
| POTLESS_2 | 11:b2feed92584a | 32 | |
| POTLESS_2 | 12:7f3aadd79f89 | 33 | #ifdef STD_MODE |
| POTLESS_2 | 12:7f3aadd79f89 | 34 | int MODE_FLAG = 0; |
| POTLESS_2 | 11:b2feed92584a | 35 | #endif |
| POTLESS_2 | 11:b2feed92584a | 36 | |
| POTLESS_2 | 12:7f3aadd79f89 | 37 | #ifdef PID_MODE |
| POTLESS_2 | 12:7f3aadd79f89 | 38 | int MODE_FLAG = 2; |
| POTLESS_2 | 11:b2feed92584a | 39 | #endif |
| POTLESS_2 | 11:b2feed92584a | 40 | |
| POTLESS_2 | 9:04bfdfc029cb | 41 | #if NEED_ANDROID_OUTPUT |
| POTLESS_2 | 9:04bfdfc029cb | 42 | #define ANDROID(...) { android.printf(__VA_ARGS__); } |
| POTLESS_2 | 9:04bfdfc029cb | 43 | #else |
| POTLESS_2 | 9:04bfdfc029cb | 44 | #define ANDROID(...) |
| POTLESS_2 | 9:04bfdfc029cb | 45 | #endif |
| POTLESS_2 | 9:04bfdfc029cb | 46 | |
| POTLESS_2 | 33:f5d4bae05f16 | 47 | #if DEBUG_MODE |
| POTLESS_2 | 33:f5d4bae05f16 | 48 | #define DEBUG(...) { serialMonit.printf(__VA_ARGS__); fflush(stdout);} |
| POTLESS_2 | 29:5b822d18bce6 | 49 | #else |
| POTLESS_2 | 33:f5d4bae05f16 | 50 | #define DEBUG(...) |
| POTLESS_2 | 29:5b822d18bce6 | 51 | #endif |
| POTLESS_2 | 29:5b822d18bce6 | 52 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 53 | |
| POTLESS_2 | 25:322ef9488e65 | 54 | //PinName pwm, PinName nSleep, PinName fwd, PinName rev, PinName channelA, PinName channelB, int pulsesPerRev, int Rapport, Encoding encoding = X2_ENCODING |
| POTLESS_2 | 25:322ef9488e65 | 55 | Faulhaber Servo_Poumon("Servo_Poumon", PWM_SERVO_POUMON, nSleep_SERVO_POUMON, FWD_SERVO_POUMON, REV_SERVO_POUMON, Channel_A_SERVO_POUMON, Channel_B_SERVO_POUMON, 16, 207, Faulhaber::X2_ENCODING); |
| POTLESS_2 | 22:555c2930e8e0 | 56 | //Faulhaber Servo_Fuite("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 | 57 | |
| POTLESS_2 | 17:bef8abc445f2 | 58 | //Moniteur série, Serial 2 |
| POTLESS_2 | 17:bef8abc445f2 | 59 | Serial serialMonit(USBTX,USBRX,115200); |
| POTLESS_2 | 10:aca745a66d51 | 60 | |
| POTLESS_2 | 9:04bfdfc029cb | 61 | //COM Série vers Android, Serial 3 |
| POTLESS_2 | 17:bef8abc445f2 | 62 | Serial android(PC_10,PC_11,115200); |
| POTLESS_2 | 4:d84250f67dec | 63 | |
| POTLESS_2 | 7:ad15c386e960 | 64 | //Init de la lib ARNSRS; |
| POTLESS_2 | 7:ad15c386e960 | 65 | SENSOR_HEAD_REV_B sensors; |
| potless | 2:4a8bf1d53439 | 66 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 67 | //pour Param Venant du PV |
| POTLESS_2 | 34:26f6e3dbefb9 | 68 | const int sizeParam = 30; |
| POTLESS_2 | 11:b2feed92584a | 69 | char param[sizeParam]; |
| POTLESS_2 | 11:b2feed92584a | 70 | volatile int indexParam = 0; |
| POTLESS_2 | 6:ebed9093d661 | 71 | bool newParamFlag = false; |
| potless | 2:4a8bf1d53439 | 72 | |
| POTLESS_2 | 9:04bfdfc029cb | 73 | //pour Commandes Android |
| POTLESS_2 | 9:04bfdfc029cb | 74 | const int sizeAndroid = 20; |
| POTLESS_2 | 11:b2feed92584a | 75 | char Android[sizeAndroid]; |
| POTLESS_2 | 11:b2feed92584a | 76 | volatile int indexAndroid = 0; |
| POTLESS_2 | 9:04bfdfc029cb | 77 | bool newAndroidFlag = false; |
| POTLESS_2 | 12:7f3aadd79f89 | 78 | char to_android[100]; |
| POTLESS_2 | 9:04bfdfc029cb | 79 | |
| POTLESS_2 | 25:322ef9488e65 | 80 | //Flag pour interrompre l'affichage si on veut... |
| POTLESS_2 | 25:322ef9488e65 | 81 | bool FLAG_AFF = true; |
| POTLESS_2 | 25:322ef9488e65 | 82 | |
| POTLESS_2 | 29:5b822d18bce6 | 83 | //Flag pour interrompre l'enregistrement si on veut... |
| POTLESS_2 | 29:5b822d18bce6 | 84 | bool FLAG_REC = true; |
| POTLESS_2 | 29:5b822d18bce6 | 85 | |
| POTLESS_2 | 33:f5d4bae05f16 | 86 | //Flag pour interrompre les demandes O2 en cours ed calibration... |
| POTLESS_2 | 33:f5d4bae05f16 | 87 | bool FLAG_O2 = true; |
| POTLESS_2 | 33:f5d4bae05f16 | 88 | |
| POTLESS_2 | 7:ad15c386e960 | 89 | //Variables de stockage des infos capteurs |
| POTLESS_2 | 7:ad15c386e960 | 90 | int co2 = 0; |
| POTLESS_2 | 7:ad15c386e960 | 91 | float pression = 0; |
| POTLESS_2 | 9:04bfdfc029cb | 92 | float Temp1 = 0; |
| POTLESS_2 | 7:ad15c386e960 | 93 | int ppO2 = 0; |
| POTLESS_2 | 7:ad15c386e960 | 94 | int CellO2_1 = 0; |
| POTLESS_2 | 7:ad15c386e960 | 95 | int CellO2_2 = 0; |
| POTLESS_2 | 36:1f5e2247b073 | 96 | |
| POTLESS_2 | 18:bfd78c05b589 | 97 | //Variables et constantes OTU |
| POTLESS_2 | 18:bfd78c05b589 | 98 | float OTU = 0; |
| POTLESS_2 | 18:bfd78c05b589 | 99 | float COEF_OTU = 0.83; |
| POTLESS_2 | 18:bfd78c05b589 | 100 | |
| POTLESS_2 | 17:bef8abc445f2 | 101 | //Mesure du temps d'éxecution du loop |
| POTLESS_2 | 7:ad15c386e960 | 102 | Timer REAL_RATE; |
| POTLESS_2 | 7:ad15c386e960 | 103 | float RATE = 0; |
| POTLESS_2 | 11:b2feed92584a | 104 | float RATE_TRUE = 0; |
| POTLESS_2 | 29:5b822d18bce6 | 105 | float Ref_Time = 2.0; //La durée de la boucle désirée... |
| POTLESS_2 | 7:ad15c386e960 | 106 | |
| POTLESS_2 | 17:bef8abc445f2 | 107 | //HTU21D sur l'I2C |
| POTLESS_2 | 8:a750d531b381 | 108 | HTU21D temphumid(PB_9, PB_8); //Temp humid sensor || SDA, SCL |
| POTLESS_2 | 9:04bfdfc029cb | 109 | float Temp2; |
| POTLESS_2 | 9:04bfdfc029cb | 110 | int Humid; |
| POTLESS_2 | 9:04bfdfc029cb | 111 | |
| POTLESS_2 | 9:04bfdfc029cb | 112 | //Data LOG |
| POTLESS_2 | 9:04bfdfc029cb | 113 | char to_store[50]; |
| POTLESS_2 | 9:04bfdfc029cb | 114 | time_t seconds; |
| POTLESS_2 | 25:322ef9488e65 | 115 | char Log_File_Name[] = " "; |
| POTLESS_2 | 8:a750d531b381 | 116 | |
| POTLESS_2 | 10:aca745a66d51 | 117 | //Contrôle des servos |
| POTLESS_2 | 19:cac3761a5d0b | 118 | float Consigne_poumon = 0; |
| POTLESS_2 | 19:cac3761a5d0b | 119 | float volet_poumon_Position = 0; |
| POTLESS_2 | 19:cac3761a5d0b | 120 | float Consigne_fuite = 0; |
| POTLESS_2 | 19:cac3761a5d0b | 121 | float volet_fuite_Position = 0; |
| POTLESS_2 | 25:322ef9488e65 | 122 | float Volets_Speed = 0.1; |
| POTLESS_2 | 26:a2fe19341f92 | 123 | float Volet_DeadBand = 5; |
| POTLESS_2 | 10:aca745a66d51 | 124 | |
| POTLESS_2 | 12:7f3aadd79f89 | 125 | #ifdef PID_MODE |
| POTLESS_2 | 12:7f3aadd79f89 | 126 | //Paramètre du PID |
| POTLESS_2 | 12:7f3aadd79f89 | 127 | float Kc = 40; |
| POTLESS_2 | 12:7f3aadd79f89 | 128 | float Ti = 0; |
| POTLESS_2 | 12:7f3aadd79f89 | 129 | float Td = 0; |
| POTLESS_2 | 12:7f3aadd79f89 | 130 | float RATE_PID = Ref_Time; |
| POTLESS_2 | 12:7f3aadd79f89 | 131 | float Commande_PID; |
| POTLESS_2 | 15:efd3b3bf3f37 | 132 | float consigne = 210; |
| POTLESS_2 | 15:efd3b3bf3f37 | 133 | float Max_Input = 1000; |
| POTLESS_2 | 15:efd3b3bf3f37 | 134 | float Min_Input = 80; |
| POTLESS_2 | 19:cac3761a5d0b | 135 | float Max_Output = 85;//Vérifier la valeur pour angle à laisser ouvert... |
| POTLESS_2 | 19:cac3761a5d0b | 136 | float Min_Output = 5; |
| POTLESS_2 | 10:aca745a66d51 | 137 | |
| POTLESS_2 | 12:7f3aadd79f89 | 138 | //Init PID |
| POTLESS_2 | 17:bef8abc445f2 | 139 | PID control_Servo(Kc, Ti, Td, RATE_PID); |
| POTLESS_2 | 12:7f3aadd79f89 | 140 | #endif |
| POTLESS_2 | 10:aca745a66d51 | 141 | |
| POTLESS_2 | 19:cac3761a5d0b | 142 | //Boolean du status de l'appareil, en mode SECU ou nominal |
| POTLESS_2 | 19:cac3761a5d0b | 143 | bool EN_MODE_SECU = false; |
| POTLESS_2 | 31:231a96d1d1c8 | 144 | |
| POTLESS_2 | 31:231a96d1d1c8 | 145 | //Test des alim |
| POTLESS_2 | 39:65ff3c4f9675 | 146 | //DigitalIn V_USB(PA_0, PullUp); |
| POTLESS_2 | 39:65ff3c4f9675 | 147 | |
| POTLESS_2 | 31:231a96d1d1c8 | 148 | DigitalIn V_PILES_2(PC_3); |
| POTLESS_2 | 31:231a96d1d1c8 | 149 | AnalogIn V_PILES(PA_1); |
| POTLESS_2 | 31:231a96d1d1c8 | 150 | |
| POTLESS_2 | 31:231a96d1d1c8 | 151 | int Vusb = 1; |
| POTLESS_2 | 31:231a96d1d1c8 | 152 | int VPiles = 1; |
| POTLESS_2 | 31:231a96d1d1c8 | 153 | float VPiles_2 = 1; |
| POTLESS_2 | 18:bfd78c05b589 | 154 | |
| POTLESS_2 | 21:b8900130ca05 | 155 | //Interruption user button |
| POTLESS_2 | 21:b8900130ca05 | 156 | InterruptIn button(USER_BUTTON); |
| potless | 38:fe77b68eec37 | 157 | InterruptIn vpile_off_on(PA_0); // TODO mettre un define sur PA_0 |
| POTLESS_2 | 23:7477dc855fad | 158 | volatile int GO = 0; |
| POTLESS_2 | 21:b8900130ca05 | 159 | |
| POTLESS_2 | 29:5b822d18bce6 | 160 | void Affichage() |
| POTLESS_2 | 29:5b822d18bce6 | 161 | { |
| POTLESS_2 | 29:5b822d18bce6 | 162 | |
| POTLESS_2 | 29:5b822d18bce6 | 163 | serialMonit.printf("\r\n"); |
| POTLESS_2 | 29:5b822d18bce6 | 164 | serialMonit.printf(" CO2 = %d ppm\r\n" , co2); |
| POTLESS_2 | 29:5b822d18bce6 | 165 | serialMonit.printf(" PPO2 = %d mb\r\n", ppO2); |
| POTLESS_2 | 31:231a96d1d1c8 | 166 | serialMonit.printf(" OTU = %d \r\n", (int)OTU); |
| POTLESS_2 | 29:5b822d18bce6 | 167 | serialMonit.printf(" Pression = %f msw\r\n", pression); |
| POTLESS_2 | 29:5b822d18bce6 | 168 | serialMonit.printf(" Temp MS5837 = %f C\r\n", Temp1); |
| POTLESS_2 | 29:5b822d18bce6 | 169 | serialMonit.printf(" Temp HTU21D = %f C\n\r", Temp2); |
| POTLESS_2 | 29:5b822d18bce6 | 170 | serialMonit.printf(" Humidity = %d %%\n\r", Humid); |
| POTLESS_2 | 29:5b822d18bce6 | 171 | serialMonit.printf("\n\r"); |
| POTLESS_2 | 29:5b822d18bce6 | 172 | serialMonit.printf(" Cell O2 n 1 = %d\r\n" , CellO2_1); |
| POTLESS_2 | 29:5b822d18bce6 | 173 | serialMonit.printf(" Cell O2 n 2 = %d\r\n" , CellO2_2); |
| POTLESS_2 | 29:5b822d18bce6 | 174 | serialMonit.printf("\r\n"); |
| POTLESS_2 | 29:5b822d18bce6 | 175 | serialMonit.printf(" Volet Poumon = %f\r\n" , volet_poumon_Position); |
| POTLESS_2 | 29:5b822d18bce6 | 176 | serialMonit.printf(" Volet Fuite = %f\r\n" , volet_fuite_Position); |
| POTLESS_2 | 29:5b822d18bce6 | 177 | serialMonit.printf("\r\n"); |
| POTLESS_2 | 29:5b822d18bce6 | 178 | serialMonit.printf(" Temps d execution de la boucle = %f seconde(s)\n", (RATE + RATE_TRUE / 1000)); |
| POTLESS_2 | 29:5b822d18bce6 | 179 | serialMonit.printf("\r\n"); |
| POTLESS_2 | 30:7a16a66d76f3 | 180 | if (FLAG_REC) serialMonit.printf(" Chaine enregistrée = %s\n", to_store); |
| POTLESS_2 | 30:7a16a66d76f3 | 181 | else serialMonit.printf(" Pas d'enregistrement en cours."); |
| POTLESS_2 | 29:5b822d18bce6 | 182 | serialMonit.printf("\r\n"); |
| POTLESS_2 | 29:5b822d18bce6 | 183 | serialMonit.printf(" V_USB = %f", Vusb); |
| POTLESS_2 | 29:5b822d18bce6 | 184 | serialMonit.printf("\r\n\r\n"); |
| POTLESS_2 | 29:5b822d18bce6 | 185 | fflush(stdout); |
| POTLESS_2 | 29:5b822d18bce6 | 186 | } |
| POTLESS_2 | 29:5b822d18bce6 | 187 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 188 | void pressed() |
| POTLESS_2 | 34:26f6e3dbefb9 | 189 | { |
| POTLESS_2 | 34:26f6e3dbefb9 | 190 | GO = GO + 1; |
| POTLESS_2 | 34:26f6e3dbefb9 | 191 | if (GO > 1) NVIC_SystemReset(); |
| POTLESS_2 | 21:b8900130ca05 | 192 | } |
| POTLESS_2 | 21:b8900130ca05 | 193 | |
| POTLESS_2 | 39:65ff3c4f9675 | 194 | //Pas nécessaire |
| POTLESS_2 | 39:65ff3c4f9675 | 195 | /* |
| potless | 38:fe77b68eec37 | 196 | void retour_alim() |
| potless | 38:fe77b68eec37 | 197 | { |
| potless | 38:fe77b68eec37 | 198 | DEBUG("-------------- interruption retour alim en cours ---------------\r\n"); |
| potless | 38:fe77b68eec37 | 199 | NVIC_SystemReset(); |
| potless | 38:fe77b68eec37 | 200 | } |
| POTLESS_2 | 39:65ff3c4f9675 | 201 | */ |
| POTLESS_2 | 39:65ff3c4f9675 | 202 | |
| potless | 38:fe77b68eec37 | 203 | |
| POTLESS_2 | 19:cac3761a5d0b | 204 | //Passage en mode SECU |
| POTLESS_2 | 19:cac3761a5d0b | 205 | void Mode_SECU() |
| POTLESS_2 | 18:bfd78c05b589 | 206 | { |
| POTLESS_2 | 19:cac3761a5d0b | 207 | #ifdef PID_MODE |
| POTLESS_2 | 18:bfd78c05b589 | 208 | //Mise du PID en mode manuel (desactivation...) |
| POTLESS_2 | 18:bfd78c05b589 | 209 | control_Servo.setMode(MANUAL_MODE); |
| POTLESS_2 | 18:bfd78c05b589 | 210 | #endif |
| POTLESS_2 | 19:cac3761a5d0b | 211 | Consigne_poumon = HOME_SERVO_POUMON; |
| POTLESS_2 | 19:cac3761a5d0b | 212 | Consigne_fuite = HOME_SERVO_FUITE; |
| POTLESS_2 | 34:26f6e3dbefb9 | 213 | |
| POTLESS_2 | 25:322ef9488e65 | 214 | Volets_Speed = 0.1; |
| POTLESS_2 | 25:322ef9488e65 | 215 | Volet_DeadBand = 10; |
| POTLESS_2 | 25:322ef9488e65 | 216 | |
| POTLESS_2 | 19:cac3761a5d0b | 217 | while(1) { |
| POTLESS_2 | 25:322ef9488e65 | 218 | wait_ms(100); |
| POTLESS_2 | 19:cac3761a5d0b | 219 | if (Servo_Poumon.Pos_OK() == true) break; |
| POTLESS_2 | 19:cac3761a5d0b | 220 | //if (Servo_Poumon.Pos_OK() == true && Servo_Fuite.Pos_OK() == true) break; |
| POTLESS_2 | 19:cac3761a5d0b | 221 | } |
| POTLESS_2 | 33:f5d4bae05f16 | 222 | DEBUG("-------------- Appareil en mode SECU ---------------\r\n"); |
| POTLESS_2 | 34:26f6e3dbefb9 | 223 | |
| POTLESS_2 | 25:322ef9488e65 | 224 | wait_ms(100); |
| POTLESS_2 | 34:26f6e3dbefb9 | 225 | |
| POTLESS_2 | 19:cac3761a5d0b | 226 | EN_MODE_SECU = true; |
| POTLESS_2 | 25:322ef9488e65 | 227 | wait_ms(100); |
| POTLESS_2 | 19:cac3761a5d0b | 228 | int Pos = Servo_Poumon.getPulses(); |
| POTLESS_2 | 19:cac3761a5d0b | 229 | UTILS::Store_A_Val((float)Pos, "Servo_Poumon"); |
| POTLESS_2 | 33:f5d4bae05f16 | 230 | DEBUG(" position volet poumon sauvegardée = %d pulse(s)\r\n", Pos); |
| POTLESS_2 | 19:cac3761a5d0b | 231 | //Pos = Servo_Fuite.getPulses(); |
| POTLESS_2 | 19:cac3761a5d0b | 232 | //UTILS::Store_A_Val((float)Pos, "Servo_Fuite"); |
| POTLESS_2 | 33:f5d4bae05f16 | 233 | //DEBUG(" position volet fuite sauvegardée = %d pulse(s)\r\n", Pos); |
| POTLESS_2 | 23:7477dc855fad | 234 | Servo_Poumon.Sleep(); |
| POTLESS_2 | 19:cac3761a5d0b | 235 | } |
| POTLESS_2 | 19:cac3761a5d0b | 236 | |
| POTLESS_2 | 19:cac3761a5d0b | 237 | //Sequence d'arrêt |
| POTLESS_2 | 19:cac3761a5d0b | 238 | void Stop_Sequence() |
| POTLESS_2 | 34:26f6e3dbefb9 | 239 | { |
| POTLESS_2 | 34:26f6e3dbefb9 | 240 | Mode_SECU(); |
| POTLESS_2 | 39:65ff3c4f9675 | 241 | //ejection de la flash pour pas crasher le system de fichiers |
| POTLESS_2 | 39:65ff3c4f9675 | 242 | UTILS::UnMount_Flash(); |
| POTLESS_2 | 39:65ff3c4f9675 | 243 | |
| POTLESS_2 | 33:f5d4bae05f16 | 244 | DEBUG("----------------ARRET DE L'APPAREIL--------------------\r\n"); |
| potless | 37:f9461c6592f2 | 245 | |
| potless | 37:f9461c6592f2 | 246 | // préparation deepsleep |
| potless | 37:f9461c6592f2 | 247 | |
| potless | 37:f9461c6592f2 | 248 | /* |
| potless | 37:f9461c6592f2 | 249 | //première méthode mais je ne sais pas ce que ça consomme et il faut normalement reduire le frequence d'horloge avant |
| potless | 37:f9461c6592f2 | 250 | //il est possible que ça génère un plantage et la rtc ne fonctionnera pas? |
| potless | 37:f9461c6592f2 | 251 | HAL_PWREx_EnableLowPowerRunMode(); |
| potless | 37:f9461c6592f2 | 252 | DEBUG("----------------LOW POWER RUN MODE--------------------\r\n"); |
| potless | 37:f9461c6592f2 | 253 | |
| potless | 37:f9461c6592f2 | 254 | bool isDSallowed; |
| potless | 37:f9461c6592f2 | 255 | isDSallowed = sleep_manager_can_deep_sleep(); |
| potless | 37:f9461c6592f2 | 256 | DEBUG(" Deep sleep autorisé ? %i\r\n", isDSallowed); |
| potless | 37:f9461c6592f2 | 257 | wait(1.0); |
| POTLESS_2 | 34:26f6e3dbefb9 | 258 | |
| potless | 37:f9461c6592f2 | 259 | DEBUG("\n\r Deepsleep tentative normale !(bouton bleu pour ressortir)\n"); |
| potless | 37:f9461c6592f2 | 260 | wait(0.1); |
| potless | 37:f9461c6592f2 | 261 | |
| potless | 37:f9461c6592f2 | 262 | sleep_manager_sleep_auto(); // ne marche pas, je ne sais pas pk |
| potless | 37:f9461c6592f2 | 263 | */ |
| potless | 37:f9461c6592f2 | 264 | |
| potless | 37:f9461c6592f2 | 265 | |
| potless | 37:f9461c6592f2 | 266 | DEBUG("\n\r Deepsleep méthode offensive !\n"); |
| potless | 37:f9461c6592f2 | 267 | |
| POTLESS_2 | 39:65ff3c4f9675 | 268 | /* |
| potless | 38:fe77b68eec37 | 269 | HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN2); // pour PC_13 |
| potless | 37:f9461c6592f2 | 270 | // Clear wake up Flag |
| potless | 37:f9461c6592f2 | 271 | __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WUF2); |
| potless | 37:f9461c6592f2 | 272 | // Enable wakeup pin WKUP2 |
| potless | 38:fe77b68eec37 | 273 | HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN2_LOW); // low parce qu'on veut que ça redémarre avec le user button TODO à passer sur High pour que ça redémarrage avec l'arrivée du hus sur l'USB |
| POTLESS_2 | 39:65ff3c4f9675 | 274 | */ |
| POTLESS_2 | 39:65ff3c4f9675 | 275 | |
| potless | 38:fe77b68eec37 | 276 | HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1); // pour PA_0 |
| potless | 38:fe77b68eec37 | 277 | // Clear wake up Flag |
| potless | 38:fe77b68eec37 | 278 | __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WUF1); |
| potless | 38:fe77b68eec37 | 279 | // Enable wakeup pin WKUP2 |
| POTLESS_2 | 39:65ff3c4f9675 | 280 | HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1); // high est la valeur par défaut |
| POTLESS_2 | 39:65ff3c4f9675 | 281 | |
| potless | 37:f9461c6592f2 | 282 | // Set RTC back-up register RTC_BKP31R to indicate |
| potless | 37:f9461c6592f2 | 283 | //later on that system has entered shutdown mode |
| potless | 37:f9461c6592f2 | 284 | WRITE_REG( RTC->BKP31R, 0x1 ); |
| potless | 37:f9461c6592f2 | 285 | //Enter shutdown mode |
| potless | 37:f9461c6592f2 | 286 | DEBUG("\n\r Attention c'est du brutal ! bouton bleu pour ressort.... ZZZZZZZ ZZZZZ !!!\n"); |
| POTLESS_2 | 39:65ff3c4f9675 | 287 | |
| potless | 37:f9461c6592f2 | 288 | HAL_PWREx_EnterSHUTDOWNMode(); |
| POTLESS_2 | 18:bfd78c05b589 | 289 | } |
| POTLESS_2 | 18:bfd78c05b589 | 290 | |
| POTLESS_2 | 31:231a96d1d1c8 | 291 | //Fonction test de valeur d'entrée digitale |
| POTLESS_2 | 29:5b822d18bce6 | 292 | int Power_Test(DigitalIn& pin) |
| POTLESS_2 | 20:5f79fb4565a7 | 293 | { |
| POTLESS_2 | 29:5b822d18bce6 | 294 | pin.mode(PullDown); |
| POTLESS_2 | 34:26f6e3dbefb9 | 295 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 296 | if(!pin) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 297 | Stop_Sequence(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 298 | return 0; |
| POTLESS_2 | 34:26f6e3dbefb9 | 299 | } else { |
| POTLESS_2 | 34:26f6e3dbefb9 | 300 | return 1; |
| POTLESS_2 | 34:26f6e3dbefb9 | 301 | } |
| POTLESS_2 | 20:5f79fb4565a7 | 302 | } |
| POTLESS_2 | 20:5f79fb4565a7 | 303 | |
| POTLESS_2 | 31:231a96d1d1c8 | 304 | //Fonction test de valeur d'entrée analogique |
| POTLESS_2 | 31:231a96d1d1c8 | 305 | float Power_Test(AnalogIn& pin) |
| POTLESS_2 | 31:231a96d1d1c8 | 306 | { |
| POTLESS_2 | 31:231a96d1d1c8 | 307 | float Val = pin.read(); |
| POTLESS_2 | 31:231a96d1d1c8 | 308 | return Val; |
| POTLESS_2 | 31:231a96d1d1c8 | 309 | } |
| POTLESS_2 | 31:231a96d1d1c8 | 310 | |
| POTLESS_2 | 18:bfd78c05b589 | 311 | //Contrôle du status de l'appareil / des constantes |
| POTLESS_2 | 18:bfd78c05b589 | 312 | bool Check() |
| POTLESS_2 | 18:bfd78c05b589 | 313 | { |
| POTLESS_2 | 18:bfd78c05b589 | 314 | if (ppO2 > 100) |
| POTLESS_2 | 19:cac3761a5d0b | 315 | return true;//Situation OK |
| POTLESS_2 | 18:bfd78c05b589 | 316 | else |
| POTLESS_2 | 19:cac3761a5d0b | 317 | return false;//Situation dégradée |
| POTLESS_2 | 18:bfd78c05b589 | 318 | } |
| POTLESS_2 | 18:bfd78c05b589 | 319 | |
| POTLESS_2 | 18:bfd78c05b589 | 320 | //Calcul des OTU |
| POTLESS_2 | 18:bfd78c05b589 | 321 | float Calcul_OTU() |
| POTLESS_2 | 18:bfd78c05b589 | 322 | { |
| POTLESS_2 | 18:bfd78c05b589 | 323 | /* |
| POTLESS_2 | 18:bfd78c05b589 | 324 | La formule suivante permet de calculer la quantité d' OTU accumulée |
| POTLESS_2 | 18:bfd78c05b589 | 325 | OTU = T * (2* PpO2 -1)0,83 |
| POTLESS_2 | 18:bfd78c05b589 | 326 | avec : |
| POTLESS_2 | 18:bfd78c05b589 | 327 | T = temps de plongée en minutes |
| POTLESS_2 | 18:bfd78c05b589 | 328 | PpO2 = pression partielle d’ oxygène en bars |
| POTLESS_2 | 18:bfd78c05b589 | 329 | */ |
| POTLESS_2 | 18:bfd78c05b589 | 330 | |
| POTLESS_2 | 19:cac3761a5d0b | 331 | if (ppO2 > 500) { |
| POTLESS_2 | 18:bfd78c05b589 | 332 | float val = (2 * (float)ppO2/1000 - 1);//je divise par 1000 car la PP est en mb... |
| POTLESS_2 | 18:bfd78c05b589 | 333 | OTU += Ref_Time * pow(val, COEF_OTU); |
| POTLESS_2 | 19:cac3761a5d0b | 334 | } |
| POTLESS_2 | 18:bfd78c05b589 | 335 | } |
| POTLESS_2 | 10:aca745a66d51 | 336 | |
| POTLESS_2 | 17:bef8abc445f2 | 337 | //Thread d'intérogation des capteurs, positions servo |
| POTLESS_2 | 34:26f6e3dbefb9 | 338 | void SENSORS_thread() |
| POTLESS_2 | 6:ebed9093d661 | 339 | { |
| POTLESS_2 | 7:ad15c386e960 | 340 | while (true) { |
| POTLESS_2 | 36:1f5e2247b073 | 341 | //DEEP_DEBUG(" SENSORS_thread\r\n"); |
| POTLESS_2 | 7:ad15c386e960 | 342 | |
| POTLESS_2 | 7:ad15c386e960 | 343 | //CO2 sur Cozir |
| POTLESS_2 | 7:ad15c386e960 | 344 | co2 = sensors.requestCO2(); |
| POTLESS_2 | 7:ad15c386e960 | 345 | //P / T sur MS5837 |
| POTLESS_2 | 7:ad15c386e960 | 346 | pression = sensors.requestPress(); |
| POTLESS_2 | 9:04bfdfc029cb | 347 | Temp1 = sensors.requestTemp(); |
| POTLESS_2 | 7:ad15c386e960 | 348 | //PPO2 sur ADS1015 |
| POTLESS_2 | 33:f5d4bae05f16 | 349 | if (FLAG_O2) ppO2 = sensors.requestPpO2(); |
| POTLESS_2 | 7:ad15c386e960 | 350 | //Cell O2 en mV |
| POTLESS_2 | 33:f5d4bae05f16 | 351 | if (FLAG_O2) CellO2_1 = sensors.requestCellO2_1(); |
| POTLESS_2 | 33:f5d4bae05f16 | 352 | if (FLAG_O2) CellO2_2 = sensors.requestCellO2_2(); |
| POTLESS_2 | 9:04bfdfc029cb | 353 | |
| POTLESS_2 | 8:a750d531b381 | 354 | //HTU21D |
| POTLESS_2 | 9:04bfdfc029cb | 355 | Temp2 = temphumid.sample_ctemp(); |
| POTLESS_2 | 9:04bfdfc029cb | 356 | Humid = temphumid.sample_humid(); |
| POTLESS_2 | 9:04bfdfc029cb | 357 | |
| POTLESS_2 | 10:aca745a66d51 | 358 | //Retour position des servos |
| POTLESS_2 | 17:bef8abc445f2 | 359 | volet_poumon_Position = Servo_Poumon.Get_Position(); |
| POTLESS_2 | 20:5f79fb4565a7 | 360 | //volet_fuite_Position = Servo_Fuite.Get_Position(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 361 | |
| POTLESS_2 | 19:cac3761a5d0b | 362 | } |
| POTLESS_2 | 19:cac3761a5d0b | 363 | } |
| POTLESS_2 | 12:7f3aadd79f89 | 364 | |
| POTLESS_2 | 19:cac3761a5d0b | 365 | void GO_TO_thread() |
| POTLESS_2 | 19:cac3761a5d0b | 366 | { |
| POTLESS_2 | 19:cac3761a5d0b | 367 | while (true) { |
| POTLESS_2 | 36:1f5e2247b073 | 368 | //DEEP_DEBUG(" GO_TO_Thread\r\n"); |
| POTLESS_2 | 34:26f6e3dbefb9 | 369 | |
| POTLESS_2 | 19:cac3761a5d0b | 370 | //Servo_Poumon.Go_To_Prop(Consigne_poumon); |
| POTLESS_2 | 26:a2fe19341f92 | 371 | //Servo_Poumon.Go_To_PID(Consigne_poumon, Volet_DeadBand); |
| POTLESS_2 | 34:26f6e3dbefb9 | 372 | Servo_Poumon.Go_To(Consigne_poumon, Volets_Speed, Volet_DeadBand); |
| POTLESS_2 | 34:26f6e3dbefb9 | 373 | |
| POTLESS_2 | 19:cac3761a5d0b | 374 | //Servo_Fuite.Go_To_Prop(Consigne_fuite); |
| POTLESS_2 | 19:cac3761a5d0b | 375 | //Servo_Fuite.Go_To_PID(Consigne_fuite); |
| POTLESS_2 | 29:5b822d18bce6 | 376 | //Servo_Fuite.Go_To(Consigne_fuite, Volets_Speed, Volet_DeadBand ); |
| POTLESS_2 | 15:efd3b3bf3f37 | 377 | } |
| potless | 2:4a8bf1d53439 | 378 | } |
| POTLESS_2 | 4:d84250f67dec | 379 | |
| POTLESS_2 | 20:5f79fb4565a7 | 380 | void SECU_thread() |
| POTLESS_2 | 20:5f79fb4565a7 | 381 | { |
| POTLESS_2 | 34:26f6e3dbefb9 | 382 | while (true) { |
| POTLESS_2 | 36:1f5e2247b073 | 383 | //DEEP_DEBUG(" SECU_Thread\r\n"); |
| POTLESS_2 | 34:26f6e3dbefb9 | 384 | |
| POTLESS_2 | 20:5f79fb4565a7 | 385 | //Alim USB |
| POTLESS_2 | 33:f5d4bae05f16 | 386 | //Vusb = Power_Test(V_USB); |
| POTLESS_2 | 33:f5d4bae05f16 | 387 | //VPiles = Power_Test(V_PILES); |
| POTLESS_2 | 20:5f79fb4565a7 | 388 | //Divers problèmes à implémenter |
| POTLESS_2 | 20:5f79fb4565a7 | 389 | //if(!Check()) Mode_SECU(); |
| POTLESS_2 | 20:5f79fb4565a7 | 390 | } |
| POTLESS_2 | 20:5f79fb4565a7 | 391 | } |
| POTLESS_2 | 20:5f79fb4565a7 | 392 | |
| POTLESS_2 | 11:b2feed92584a | 393 | //Callback de l'intérruption des envois de commandes depuis le terminal |
| POTLESS_2 | 6:ebed9093d661 | 394 | void callbackParam() |
| POTLESS_2 | 34:26f6e3dbefb9 | 395 | { |
| POTLESS_2 | 34:26f6e3dbefb9 | 396 | while(serialMonit.readable()) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 397 | if ((indexParam == sizeParam) || newParamFlag == true) //éviter la saturation du buffer |
| POTLESS_2 | 29:5b822d18bce6 | 398 | char char_flush = serialMonit.getc(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 399 | else |
| POTLESS_2 | 29:5b822d18bce6 | 400 | param [indexParam ++] = serialMonit.getc();//chargement du buffer dans le message |
| POTLESS_2 | 34:26f6e3dbefb9 | 401 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 402 | if ((indexParam == sizeParam) || (param[indexParam - 1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut... |
| POTLESS_2 | 34:26f6e3dbefb9 | 403 | param[indexParam] = 0; |
| POTLESS_2 | 34:26f6e3dbefb9 | 404 | newParamFlag = true; |
| POTLESS_2 | 34:26f6e3dbefb9 | 405 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 406 | } |
| POTLESS_2 | 6:ebed9093d661 | 407 | } |
| POTLESS_2 | 4:d84250f67dec | 408 | |
| POTLESS_2 | 9:04bfdfc029cb | 409 | //Callback de l'intérruption des envois de commandes depuis Android |
| POTLESS_2 | 9:04bfdfc029cb | 410 | void callbackAndroid() |
| POTLESS_2 | 9:04bfdfc029cb | 411 | { |
| POTLESS_2 | 9:04bfdfc029cb | 412 | while(android.readable()) { |
| POTLESS_2 | 9:04bfdfc029cb | 413 | if (indexAndroid == sizeAndroid) //éviter la saturation du buffer |
| POTLESS_2 | 9:04bfdfc029cb | 414 | android.getc(); |
| POTLESS_2 | 9:04bfdfc029cb | 415 | else |
| POTLESS_2 | 9:04bfdfc029cb | 416 | Android [indexAndroid++] = android.getc();//chargement du buffer dans le message |
| POTLESS_2 | 9:04bfdfc029cb | 417 | if ((indexAndroid == sizeAndroid) || (Android[indexAndroid -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut... |
| POTLESS_2 | 9:04bfdfc029cb | 418 | Android[indexAndroid] = 0; |
| POTLESS_2 | 9:04bfdfc029cb | 419 | newAndroidFlag = true; |
| POTLESS_2 | 9:04bfdfc029cb | 420 | } |
| POTLESS_2 | 9:04bfdfc029cb | 421 | } |
| POTLESS_2 | 9:04bfdfc029cb | 422 | } |
| POTLESS_2 | 11:b2feed92584a | 423 | |
| POTLESS_2 | 9:04bfdfc029cb | 424 | void Decoding_Message(char message []) |
| POTLESS_2 | 9:04bfdfc029cb | 425 | { |
| POTLESS_2 | 9:04bfdfc029cb | 426 | |
| POTLESS_2 | 29:5b822d18bce6 | 427 | char com[sizeParam] = ""; |
| POTLESS_2 | 34:26f6e3dbefb9 | 428 | char numb[] = ""; |
| POTLESS_2 | 36:1f5e2247b073 | 429 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 430 | sscanf(message,"%s %s",&com , &numb); |
| POTLESS_2 | 36:1f5e2247b073 | 431 | |
| POTLESS_2 | 35:a209a192f431 | 432 | DEEP_DEBUG("\r\n Commande = %s Valeur = %s \r\n\r\n", com, numb); |
| POTLESS_2 | 36:1f5e2247b073 | 433 | |
| POTLESS_2 | 30:7a16a66d76f3 | 434 | if (0 == strcmp(com, "secu")) { |
| POTLESS_2 | 19:cac3761a5d0b | 435 | Mode_SECU(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 436 | } else if (0 == strcmp(com, "ARNSRS_ID")) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 437 | UTILS::Store_A_Val(atoi(numb), "ARNSRS_ID"); |
| POTLESS_2 | 34:26f6e3dbefb9 | 438 | } else if (0 == strcmp(com, "Head_ID")) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 439 | //On l'enregistre dans l'eeprom |
| POTLESS_2 | 34:26f6e3dbefb9 | 440 | UTILS::write_EEPROM(numb, HEAD_ID); |
| POTLESS_2 | 34:26f6e3dbefb9 | 441 | } else if (0 == strcmp(com, "O2_1_ID")) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 442 | //On l'enregistre dans l'eeprom |
| POTLESS_2 | 34:26f6e3dbefb9 | 443 | UTILS::write_EEPROM(numb, CELL_O2_1_ID); |
| POTLESS_2 | 34:26f6e3dbefb9 | 444 | } else if (0 == strcmp(com, "O2_2_ID")) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 445 | //On l'enregistre dans l'eeprom |
| POTLESS_2 | 34:26f6e3dbefb9 | 446 | UTILS::write_EEPROM(numb, CELL_O2_2_ID); |
| POTLESS_2 | 34:26f6e3dbefb9 | 447 | } else if (0 == strcmp(com, "CO2_ID")) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 448 | //On l'enregistre dans l'eeprom |
| POTLESS_2 | 34:26f6e3dbefb9 | 449 | UTILS::write_EEPROM(numb, CO2_ID); |
| POTLESS_2 | 34:26f6e3dbefb9 | 450 | } else if (0 == strcmp(com, "calib_O2")) { |
| POTLESS_2 | 33:f5d4bae05f16 | 451 | FLAG_O2 = false; |
| POTLESS_2 | 33:f5d4bae05f16 | 452 | wait_ms(100); |
| POTLESS_2 | 34:26f6e3dbefb9 | 453 | sensors.Calibrate_O2(true, atoi(numb)); |
| POTLESS_2 | 33:f5d4bae05f16 | 454 | wait_ms(100); |
| POTLESS_2 | 33:f5d4bae05f16 | 455 | FLAG_O2 = true; |
| POTLESS_2 | 34:26f6e3dbefb9 | 456 | } else if (0 == strcmp(com, "flash_i")) { |
| POTLESS_2 | 31:231a96d1d1c8 | 457 | FLAG_REC = false; |
| POTLESS_2 | 31:231a96d1d1c8 | 458 | UTILS::Flash_Infos(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 459 | FLAG_REC = true; |
| POTLESS_2 | 36:1f5e2247b073 | 460 | } else if (0 == strcmp(com, "flash_u")) { |
| POTLESS_2 | 36:1f5e2247b073 | 461 | FLAG_REC = false; |
| POTLESS_2 | 36:1f5e2247b073 | 462 | UTILS::UnMount_Flash(); |
| POTLESS_2 | 36:1f5e2247b073 | 463 | } else if (0 == strcmp(com, "flash_m")) { |
| POTLESS_2 | 36:1f5e2247b073 | 464 | UTILS::Mount_Flash(); |
| POTLESS_2 | 35:a209a192f431 | 465 | } else if (0 == strcmp(com, "check_F")) { |
| POTLESS_2 | 30:7a16a66d76f3 | 466 | FLAG_REC = false; |
| POTLESS_2 | 35:a209a192f431 | 467 | serialMonit.printf(" ARNSRS_ID.txt = %d\r\n", (int)UTILS::Read_A_Val("ARNSRS_ID")); |
| POTLESS_2 | 35:a209a192f431 | 468 | //serialMonit.printf(" Calibration_O2.txt = %f\r\n", UTILS::Read_A_Val("Calibration_O2")); |
| POTLESS_2 | 34:26f6e3dbefb9 | 469 | serialMonit.printf(" Servo_Poumon.txt = %d\r\n", (int)UTILS::Read_A_Val("Servo_Poumon")); |
| POTLESS_2 | 34:26f6e3dbefb9 | 470 | //serialMonit.printf("Servo_Fuite.txt = %d\r\n", (int)UTILS::Read_A_Val("Servo_Fuite"); |
| POTLESS_2 | 30:7a16a66d76f3 | 471 | FLAG_REC = true; |
| POTLESS_2 | 35:a209a192f431 | 472 | } else if (0 == strcmp(com, "check_E")) { |
| POTLESS_2 | 35:a209a192f431 | 473 | sensors.Sensor_head_check(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 474 | } else if (0 == strcmp(com, "rec")) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 475 | if (FLAG_REC) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 476 | FLAG_REC = false; |
| POTLESS_2 | 34:26f6e3dbefb9 | 477 | serialMonit.printf("Arrêt du Data Logging."); |
| POTLESS_2 | 34:26f6e3dbefb9 | 478 | } else { |
| POTLESS_2 | 34:26f6e3dbefb9 | 479 | FLAG_REC = true; |
| POTLESS_2 | 34:26f6e3dbefb9 | 480 | serialMonit.printf("Démarrage Data Logging dans %s", Log_File_Name); |
| POTLESS_2 | 34:26f6e3dbefb9 | 481 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 482 | } else if (0 == strcmp(com, "help")) { |
| POTLESS_2 | 29:5b822d18bce6 | 483 | FLAG_AFF = false; |
| POTLESS_2 | 34:26f6e3dbefb9 | 484 | UTILS::Help(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 485 | } else if (0 == strcmp(com, "start")) { |
| POTLESS_2 | 29:5b822d18bce6 | 486 | FLAG_AFF = true; |
| POTLESS_2 | 34:26f6e3dbefb9 | 487 | } else if (0 == strcmp(com, "stop")) { |
| POTLESS_2 | 29:5b822d18bce6 | 488 | FLAG_AFF = false; |
| POTLESS_2 | 34:26f6e3dbefb9 | 489 | UTILS::Help(); |
| POTLESS_2 | 36:1f5e2247b073 | 490 | } else if (0 == strcmp(com, "flash_c")) { |
| POTLESS_2 | 29:5b822d18bce6 | 491 | FLAG_REC = false; |
| POTLESS_2 | 29:5b822d18bce6 | 492 | UTILS::Clean_Flash(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 493 | } else if (0 == strcmp(com, "dir")) { |
| POTLESS_2 | 29:5b822d18bce6 | 494 | FLAG_REC = false; |
| POTLESS_2 | 29:5b822d18bce6 | 495 | UTILS::Dir_Flash(); |
| POTLESS_2 | 29:5b822d18bce6 | 496 | FLAG_REC = true; |
| POTLESS_2 | 34:26f6e3dbefb9 | 497 | } else if (0 == strcmp(com, "get")) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 498 | FLAG_REC = false; |
| POTLESS_2 | 29:5b822d18bce6 | 499 | wait_ms(100); |
| POTLESS_2 | 26:a2fe19341f92 | 500 | char filename[20]; |
| POTLESS_2 | 34:26f6e3dbefb9 | 501 | sprintf(filename, "LOG_%d.txt", atoi(numb)); |
| POTLESS_2 | 29:5b822d18bce6 | 502 | UTILS::Read_Flash_File(filename); |
| POTLESS_2 | 29:5b822d18bce6 | 503 | wait_ms(100); |
| POTLESS_2 | 29:5b822d18bce6 | 504 | FLAG_REC = true; |
| POTLESS_2 | 34:26f6e3dbefb9 | 505 | } else if (0 == strcmp(com, "del")) { |
| POTLESS_2 | 29:5b822d18bce6 | 506 | FLAG_REC = false; |
| POTLESS_2 | 29:5b822d18bce6 | 507 | char filename[20]; |
| POTLESS_2 | 34:26f6e3dbefb9 | 508 | sprintf(filename, "LOG_%d.txt", atoi(numb)); |
| POTLESS_2 | 29:5b822d18bce6 | 509 | UTILS::Delete_Flash_File(filename); |
| POTLESS_2 | 29:5b822d18bce6 | 510 | UTILS::Dir_Flash(); |
| POTLESS_2 | 31:231a96d1d1c8 | 511 | FLAG_REC = true; |
| POTLESS_2 | 34:26f6e3dbefb9 | 512 | } else if (0 == strcmp(com, "file_s")) { |
| POTLESS_2 | 31:231a96d1d1c8 | 513 | FLAG_REC = false; |
| POTLESS_2 | 31:231a96d1d1c8 | 514 | char filename[20]; |
| POTLESS_2 | 34:26f6e3dbefb9 | 515 | sprintf(filename, "LOG_%d.txt", atoi(numb)); |
| POTLESS_2 | 31:231a96d1d1c8 | 516 | UTILS::Get_File_Size(filename); |
| POTLESS_2 | 31:231a96d1d1c8 | 517 | FLAG_REC = true; |
| POTLESS_2 | 29:5b822d18bce6 | 518 | } else if (0 == strcmp(com, "calib_p")) { |
| POTLESS_2 | 20:5f79fb4565a7 | 519 | Consigne_poumon = 0; |
| POTLESS_2 | 20:5f79fb4565a7 | 520 | volet_poumon_Position = 0; |
| POTLESS_2 | 19:cac3761a5d0b | 521 | Servo_Poumon.reset(); |
| POTLESS_2 | 29:5b822d18bce6 | 522 | } else if (0 == strcmp(com, "calib_f")) { |
| POTLESS_2 | 29:5b822d18bce6 | 523 | Consigne_fuite = 0; |
| POTLESS_2 | 29:5b822d18bce6 | 524 | volet_fuite_Position = 0; |
| POTLESS_2 | 34:26f6e3dbefb9 | 525 | //Servo_Fuite.reset(); |
| POTLESS_2 | 29:5b822d18bce6 | 526 | } else if (0 == strcmp(com, "sleep")) { |
| POTLESS_2 | 19:cac3761a5d0b | 527 | Stop_Sequence(); |
| POTLESS_2 | 29:5b822d18bce6 | 528 | } else if (0 == strcmp(com, "time")) {//Depuis terminal MAC taper : " date +%s " |
| POTLESS_2 | 34:26f6e3dbefb9 | 529 | set_time(atoi(numb)); |
| POTLESS_2 | 29:5b822d18bce6 | 530 | } else if (0 == strcmp(com, "c_pou")) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 531 | Consigne_poumon = atof(numb); |
| POTLESS_2 | 33:f5d4bae05f16 | 532 | DEBUG(" Servo Poumon = %f\r\n", Consigne_poumon); |
| POTLESS_2 | 29:5b822d18bce6 | 533 | } else if (0 == strcmp(com, "c_fui")) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 534 | Consigne_fuite = atof(numb); |
| POTLESS_2 | 33:f5d4bae05f16 | 535 | DEBUG(" Servo Fuite = %f\r\n", Consigne_fuite); |
| POTLESS_2 | 29:5b822d18bce6 | 536 | } else if (0 == strcmp(com, "reset")) { |
| POTLESS_2 | 36:1f5e2247b073 | 537 | UTILS::UnMount_Flash(); |
| POTLESS_2 | 10:aca745a66d51 | 538 | NVIC_SystemReset(); |
| POTLESS_2 | 12:7f3aadd79f89 | 539 | } else { |
| POTLESS_2 | 9:04bfdfc029cb | 540 | sensors.cozirSend(message); |
| POTLESS_2 | 9:04bfdfc029cb | 541 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 542 | |
| POTLESS_2 | 9:04bfdfc029cb | 543 | strcpy(param," "); |
| POTLESS_2 | 9:04bfdfc029cb | 544 | indexParam = 0; |
| POTLESS_2 | 9:04bfdfc029cb | 545 | newParamFlag = false; |
| POTLESS_2 | 9:04bfdfc029cb | 546 | } |
| POTLESS_2 | 9:04bfdfc029cb | 547 | |
| POTLESS_2 | 9:04bfdfc029cb | 548 | void Decoding_Message_Android(char message []) |
| POTLESS_2 | 9:04bfdfc029cb | 549 | { |
| POTLESS_2 | 9:04bfdfc029cb | 550 | char *commande = 0; |
| POTLESS_2 | 14:b5e0e882205e | 551 | float valeur = 0; |
| POTLESS_2 | 9:04bfdfc029cb | 552 | |
| POTLESS_2 | 14:b5e0e882205e | 553 | sscanf(message,"%s %f",&commande , &valeur); |
| POTLESS_2 | 9:04bfdfc029cb | 554 | |
| POTLESS_2 | 9:04bfdfc029cb | 555 | if ((char)commande == 'T') { |
| POTLESS_2 | 9:04bfdfc029cb | 556 | set_time(valeur); |
| POTLESS_2 | 12:7f3aadd79f89 | 557 | } else if ((char)commande == 'I') { |
| POTLESS_2 | 17:bef8abc445f2 | 558 | Consigne_poumon = (float)valeur; |
| POTLESS_2 | 33:f5d4bae05f16 | 559 | DEBUG(" Servo Poumon = %f\r\n", Consigne_poumon); |
| POTLESS_2 | 12:7f3aadd79f89 | 560 | } else if ((char)commande == 'O') { |
| POTLESS_2 | 17:bef8abc445f2 | 561 | Consigne_fuite = (float)valeur; |
| POTLESS_2 | 33:f5d4bae05f16 | 562 | DEBUG(" Servo Fuite = %f\r\n", Consigne_fuite); |
| POTLESS_2 | 12:7f3aadd79f89 | 563 | ///////////////////////////////////////// |
| POTLESS_2 | 12:7f3aadd79f89 | 564 | //Pour rajouter une commande |
| POTLESS_2 | 12:7f3aadd79f89 | 565 | //} else if ((char)commande == 'X') { |
| POTLESS_2 | 12:7f3aadd79f89 | 566 | // attribuer à une VARIABLE = valeur; |
| POTLESS_2 | 12:7f3aadd79f89 | 567 | // ou une action, avec ou sans valeur |
| POTLESS_2 | 12:7f3aadd79f89 | 568 | ///////////////////////////////////////// |
| POTLESS_2 | 9:04bfdfc029cb | 569 | } else if ((char)commande == 'R') { |
| POTLESS_2 | 9:04bfdfc029cb | 570 | NVIC_SystemReset(); |
| POTLESS_2 | 9:04bfdfc029cb | 571 | } |
| POTLESS_2 | 12:7f3aadd79f89 | 572 | #ifdef PID_MODE |
| POTLESS_2 | 12:7f3aadd79f89 | 573 | else if ((char)commande == 'p') { |
| POTLESS_2 | 12:7f3aadd79f89 | 574 | Kc = (float)valeur; |
| POTLESS_2 | 16:917656586772 | 575 | control_Servo.reset(); |
| POTLESS_2 | 12:7f3aadd79f89 | 576 | control_Servo.setTunings(Kc, Ti, Td); |
| POTLESS_2 | 33:f5d4bae05f16 | 577 | DEBUG" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td); |
| POTLESS_2 | 15:efd3b3bf3f37 | 578 | } else if ((char)commande == 'i') { |
| POTLESS_2 | 12:7f3aadd79f89 | 579 | Ti = (float)valeur; |
| POTLESS_2 | 16:917656586772 | 580 | control_Servo.reset(); |
| POTLESS_2 | 12:7f3aadd79f89 | 581 | control_Servo.setTunings(Kc, Ti, Td); |
| POTLESS_2 | 33:f5d4bae05f16 | 582 | DEBUG(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td); |
| POTLESS_2 | 15:efd3b3bf3f37 | 583 | } else if ((char)commande == 'd') { |
| POTLESS_2 | 12:7f3aadd79f89 | 584 | Td = (float)valeur; |
| POTLESS_2 | 16:917656586772 | 585 | control_Servo.reset(); |
| POTLESS_2 | 12:7f3aadd79f89 | 586 | control_Servo.setTunings(Kc, Ti, Td); |
| POTLESS_2 | 33:f5d4bae05f16 | 587 | DEBUG(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td); |
| POTLESS_2 | 15:efd3b3bf3f37 | 588 | } else if ((char)commande == 'c') { |
| POTLESS_2 | 12:7f3aadd79f89 | 589 | consigne = valeur; |
| POTLESS_2 | 15:efd3b3bf3f37 | 590 | control_Servo.setSetPoint(consigne); |
| POTLESS_2 | 33:f5d4bae05f16 | 591 | DEBUG(" UPDATE CONSIGNE PID --> Consigne = %d\r\n\n", consigne); |
| POTLESS_2 | 12:7f3aadd79f89 | 592 | } |
| POTLESS_2 | 15:efd3b3bf3f37 | 593 | #endif |
| POTLESS_2 | 18:bfd78c05b589 | 594 | |
| POTLESS_2 | 9:04bfdfc029cb | 595 | strcpy(Android," "); |
| POTLESS_2 | 9:04bfdfc029cb | 596 | indexAndroid = 0; |
| POTLESS_2 | 9:04bfdfc029cb | 597 | newAndroidFlag = false; |
| POTLESS_2 | 9:04bfdfc029cb | 598 | } |
| POTLESS_2 | 9:04bfdfc029cb | 599 | |
| POTLESS_2 | 26:a2fe19341f92 | 600 | void Create_File_Name_Date() |
| POTLESS_2 | 25:322ef9488e65 | 601 | { |
| POTLESS_2 | 25:322ef9488e65 | 602 | //Du nom du fichier Date / heure |
| POTLESS_2 | 25:322ef9488e65 | 603 | seconds = time(NULL); |
| POTLESS_2 | 25:322ef9488e65 | 604 | char Time[40]; |
| POTLESS_2 | 25:322ef9488e65 | 605 | strftime(Time, 40, "%a_%d_%m_%Y_%H%M", localtime(&seconds)); |
| POTLESS_2 | 25:322ef9488e65 | 606 | sprintf(Log_File_Name, "%s_LOG.txt", Time); |
| POTLESS_2 | 34:26f6e3dbefb9 | 607 | DEBUG("Nouveau fichier LOG = %s \r\n", Log_File_Name); |
| POTLESS_2 | 34:26f6e3dbefb9 | 608 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 609 | |
| POTLESS_2 | 26:a2fe19341f92 | 610 | void Create_File_Name_Index() |
| POTLESS_2 | 26:a2fe19341f92 | 611 | { |
| POTLESS_2 | 26:a2fe19341f92 | 612 | //Du nom du fichier par Index |
| POTLESS_2 | 26:a2fe19341f92 | 613 | sprintf(Log_File_Name, "LOG_%d.txt", UTILS::File_Index()); |
| POTLESS_2 | 34:26f6e3dbefb9 | 614 | DEBUG(" Nouveau fichier LOG = %s \r\n", Log_File_Name); |
| POTLESS_2 | 34:26f6e3dbefb9 | 615 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 616 | |
| POTLESS_2 | 4:d84250f67dec | 617 | int main() |
| POTLESS_2 | 12:7f3aadd79f89 | 618 | { |
| potless | 37:f9461c6592f2 | 619 | |
| potless | 37:f9461c6592f2 | 620 | HAL_Init(); |
| potless | 38:fe77b68eec37 | 621 | |
| POTLESS_2 | 39:65ff3c4f9675 | 622 | //V_USB.mode(PullDown); // on force à zero tant que l'alim par les piles n'est pas en place |
| POTLESS_2 | 34:26f6e3dbefb9 | 623 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 624 | button.fall(&pressed); |
| POTLESS_2 | 39:65ff3c4f9675 | 625 | //vpile_off_on.rise (&retour_alim); |
| potless | 37:f9461c6592f2 | 626 | |
| potless | 37:f9461c6592f2 | 627 | __HAL_RCC_PWR_CLK_ENABLE(); |
| potless | 37:f9461c6592f2 | 628 | HAL_PWR_EnableBkUpAccess(); |
| POTLESS_2 | 39:65ff3c4f9675 | 629 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 630 | int count = 0; |
| POTLESS_2 | 12:7f3aadd79f89 | 631 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 632 | while (1) { |
| POTLESS_2 | 12:7f3aadd79f89 | 633 | |
| POTLESS_2 | 35:a209a192f431 | 634 | if (count == 0) serialMonit.printf("\r\n Appuyez sur le User Button pour commencer...\r\n\r\n"); |
| POTLESS_2 | 34:26f6e3dbefb9 | 635 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 636 | count = 1; |
| POTLESS_2 | 26:a2fe19341f92 | 637 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 638 | if (GO == 1) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 639 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 640 | wait(1); |
| POTLESS_2 | 34:26f6e3dbefb9 | 641 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 642 | serialMonit.attach(&callbackParam, Serial::RxIrq); |
| POTLESS_2 | 18:bfd78c05b589 | 643 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 644 | android.attach(&callbackAndroid, Serial::RxIrq); |
| POTLESS_2 | 18:bfd78c05b589 | 645 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 646 | //Ci-dessous commande pour formater une nouvelle carte |
| POTLESS_2 | 34:26f6e3dbefb9 | 647 | //UTILS::Format_Flash(); |
| POTLESS_2 | 18:bfd78c05b589 | 648 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 649 | //Montage Flash |
| POTLESS_2 | 34:26f6e3dbefb9 | 650 | UTILS::Mount_Flash(); |
| POTLESS_2 | 18:bfd78c05b589 | 651 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 652 | //Liste des fichiers sur la Flash |
| POTLESS_2 | 34:26f6e3dbefb9 | 653 | UTILS::Dir_Flash(); |
| POTLESS_2 | 18:bfd78c05b589 | 654 | |
| POTLESS_2 | 36:1f5e2247b073 | 655 | //Vérification RTC, si on est le 01/01/70, c'est qu'il y a un problème |
| POTLESS_2 | 36:1f5e2247b073 | 656 | seconds = time(NULL); |
| POTLESS_2 | 36:1f5e2247b073 | 657 | char YEAR[10]; |
| POTLESS_2 | 36:1f5e2247b073 | 658 | strftime(YEAR, 10, "%D", localtime(&seconds)); |
| POTLESS_2 | 36:1f5e2247b073 | 659 | if (0 == strcmp(YEAR, "01/01/70")) serialMonit.printf(" Vous devez régler la RTC...\r\n"); |
| POTLESS_2 | 36:1f5e2247b073 | 660 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 661 | if (UTILS::File_Exist("ARNSRS_ID") == false) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 662 | UTILS::Store_A_Val(000, "ARNSRS_ID"); |
| POTLESS_2 | 36:1f5e2247b073 | 663 | DEBUG("ARNSRS ID forcée à 000\r\n"); |
| POTLESS_2 | 34:26f6e3dbefb9 | 664 | } |
| POTLESS_2 | 6:ebed9093d661 | 665 | |
| POTLESS_2 | 36:1f5e2247b073 | 666 | bool calib_O2 = true; |
| POTLESS_2 | 36:1f5e2247b073 | 667 | bool calib_CO2 = true; |
| POTLESS_2 | 15:efd3b3bf3f37 | 668 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 669 | /* |
| POTLESS_2 | 34:26f6e3dbefb9 | 670 | Par défaut les valeur en cas de calibration sur true sont les suivant |
| POTLESS_2 | 15:efd3b3bf3f37 | 671 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 672 | nbCalibO2 = 5 |
| POTLESS_2 | 34:26f6e3dbefb9 | 673 | Mode = SPOOLING |
| POTLESS_2 | 34:26f6e3dbefb9 | 674 | Filtre = DIGI_FILTER32 |
| POTLESS_2 | 34:26f6e3dbefb9 | 675 | CalibrationCO2 = "CALIB_AIR" |
| POTLESS_2 | 18:bfd78c05b589 | 676 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 677 | Parfois la calibration du Cozir coince...faire reset et relancer... |
| POTLESS_2 | 19:cac3761a5d0b | 678 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 679 | Pour calibrer avec ces paramètres : |
| POTLESS_2 | 9:04bfdfc029cb | 680 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 681 | sensors.Sensors_INIT(true, true); |
| POTLESS_2 | 19:cac3761a5d0b | 682 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 683 | Pour changer utiliser la syntaxe suivante : |
| POTLESS_2 | 20:5f79fb4565a7 | 684 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 685 | sensors.Sensors_INIT(true, true, true, 5, SPOOLING, DIGI_FILTER32, CALIB_AIR); |
| POTLESS_2 | 12:7f3aadd79f89 | 686 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 687 | */ |
| POTLESS_2 | 34:26f6e3dbefb9 | 688 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 689 | sensors.Sensors_INIT(calib_O2, calib_CO2); |
| POTLESS_2 | 34:26f6e3dbefb9 | 690 | wait(1); |
| POTLESS_2 | 34:26f6e3dbefb9 | 691 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 692 | //Création du nouveau fichier LOG par index / par date. |
| POTLESS_2 | 34:26f6e3dbefb9 | 693 | Create_File_Name_Index(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 694 | //Create_File_Name_Date() |
| POTLESS_2 | 36:1f5e2247b073 | 695 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 696 | //Création et écriture du header du fichier LOG |
| POTLESS_2 | 35:a209a192f431 | 697 | sensors.Create_Header(Log_File_Name); |
| POTLESS_2 | 36:1f5e2247b073 | 698 | |
| POTLESS_2 | 35:a209a192f431 | 699 | Servo_Poumon.Init("Servo_Poumon"); |
| POTLESS_2 | 35:a209a192f431 | 700 | //Servo_Fuite.Init("Servo_Fuite"); |
| POTLESS_2 | 9:04bfdfc029cb | 701 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 702 | DEBUG(" Demarrage des threads...\r\n\r\n"); |
| POTLESS_2 | 34:26f6e3dbefb9 | 703 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 704 | /* |
| POTLESS_2 | 34:26f6e3dbefb9 | 705 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 706 | Pour mémoire, les réglage de priorité des thread |
| POTLESS_2 | 7:ad15c386e960 | 707 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 708 | osPriorityIdle = -3, ///< priority: idle (lowest) |
| POTLESS_2 | 34:26f6e3dbefb9 | 709 | osPriorityLow = -2, ///< priority: low |
| POTLESS_2 | 34:26f6e3dbefb9 | 710 | osPriorityBelowNormal = -1, ///< priority: below normal |
| POTLESS_2 | 34:26f6e3dbefb9 | 711 | osPriorityNormal = 0, ///< priority: normal (default) |
| POTLESS_2 | 34:26f6e3dbefb9 | 712 | osPriorityAboveNormal = +1, ///< priority: above normal |
| POTLESS_2 | 34:26f6e3dbefb9 | 713 | osPriorityHigh = +2, ///< priority: high |
| POTLESS_2 | 34:26f6e3dbefb9 | 714 | osPriorityRealtime = +3, ///< priority: realtime (highest) |
| POTLESS_2 | 34:26f6e3dbefb9 | 715 | osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority |
| POTLESS_2 | 34:26f6e3dbefb9 | 716 | */ |
| POTLESS_2 | 36:1f5e2247b073 | 717 | wait(1); |
| POTLESS_2 | 36:1f5e2247b073 | 718 | |
| POTLESS_2 | 36:1f5e2247b073 | 719 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 720 | Thread thread_Volets(osPriorityNormal); |
| POTLESS_2 | 36:1f5e2247b073 | 721 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 722 | thread_Volets.start(callback(GO_TO_thread)); |
| POTLESS_2 | 34:26f6e3dbefb9 | 723 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 724 | DEBUG(" Volets thread démarré\r\n\r\n"); |
| POTLESS_2 | 15:efd3b3bf3f37 | 725 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 726 | wait(1); |
| POTLESS_2 | 36:1f5e2247b073 | 727 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 728 | Thread thread_Secu(osPriorityNormal); |
| POTLESS_2 | 34:26f6e3dbefb9 | 729 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 730 | thread_Secu.start(callback(SECU_thread)); |
| POTLESS_2 | 34:26f6e3dbefb9 | 731 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 732 | DEBUG(" Secu thread démarré\r\n\r\n"); |
| POTLESS_2 | 19:cac3761a5d0b | 733 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 734 | wait(1); |
| POTLESS_2 | 34:26f6e3dbefb9 | 735 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 736 | Thread thread_Head(osPriorityNormal); |
| POTLESS_2 | 36:1f5e2247b073 | 737 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 738 | thread_Head.start(callback(SENSORS_thread)); |
| POTLESS_2 | 34:26f6e3dbefb9 | 739 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 740 | DEBUG(" Info thread démarré\r\n\r\n"); |
| POTLESS_2 | 34:26f6e3dbefb9 | 741 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 742 | wait(1); |
| POTLESS_2 | 15:efd3b3bf3f37 | 743 | |
| POTLESS_2 | 15:efd3b3bf3f37 | 744 | |
| POTLESS_2 | 15:efd3b3bf3f37 | 745 | #ifdef PID_MODE |
| POTLESS_2 | 34:26f6e3dbefb9 | 746 | //Init PID |
| POTLESS_2 | 34:26f6e3dbefb9 | 747 | //Entrée PPO2 entre 100 et 1000 mb |
| POTLESS_2 | 34:26f6e3dbefb9 | 748 | control_Servo.setInputLimits(Min_Input, Max_Input); |
| POTLESS_2 | 34:26f6e3dbefb9 | 749 | //Sortie servo entre 0 et 100 % |
| POTLESS_2 | 34:26f6e3dbefb9 | 750 | control_Servo.setOutputLimits(Min_Output, Max_Output); |
| POTLESS_2 | 34:26f6e3dbefb9 | 751 | //Mode auto au démarrage |
| POTLESS_2 | 34:26f6e3dbefb9 | 752 | control_Servo.setMode(AUTO_MODE); |
| POTLESS_2 | 34:26f6e3dbefb9 | 753 | //Consigne à x mb |
| POTLESS_2 | 34:26f6e3dbefb9 | 754 | control_Servo.setSetPoint(consigne); |
| POTLESS_2 | 12:7f3aadd79f89 | 755 | #endif |
| POTLESS_2 | 15:efd3b3bf3f37 | 756 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 757 | DEBUG(" Threads démarrés.....\r\n\r\n Tapez help pour voir la liste des commandes disponibles.\r\n "); |
| POTLESS_2 | 34:26f6e3dbefb9 | 758 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 759 | while (true) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 760 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 761 | //Démarrage du Timer mesurant le temps d'éxecution du code |
| POTLESS_2 | 34:26f6e3dbefb9 | 762 | REAL_RATE.start(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 763 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 764 | if (newParamFlag) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 765 | DEBUG(" From PC = %s\r\n", param); |
| POTLESS_2 | 34:26f6e3dbefb9 | 766 | Decoding_Message(param); |
| POTLESS_2 | 34:26f6e3dbefb9 | 767 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 768 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 769 | if (newAndroidFlag) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 770 | DEBUG(" From Android = %s\r\n", Android); |
| POTLESS_2 | 34:26f6e3dbefb9 | 771 | Decoding_Message_Android(Android); |
| POTLESS_2 | 34:26f6e3dbefb9 | 772 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 773 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 774 | //Fabrication de la chaine Date / heure |
| POTLESS_2 | 34:26f6e3dbefb9 | 775 | seconds = time(NULL); |
| POTLESS_2 | 34:26f6e3dbefb9 | 776 | char Time_buf[32]; |
| POTLESS_2 | 34:26f6e3dbefb9 | 777 | strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds)); |
| POTLESS_2 | 12:7f3aadd79f89 | 778 | |
| POTLESS_2 | 16:917656586772 | 779 | #ifdef PID_MODE |
| POTLESS_2 | 34:26f6e3dbefb9 | 780 | //Fabrication de la chaine à enregistrer |
| POTLESS_2 | 34:26f6e3dbefb9 | 781 | sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d", |
| POTLESS_2 | 34:26f6e3dbefb9 | 782 | Time_buf, |
| POTLESS_2 | 34:26f6e3dbefb9 | 783 | co2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 784 | ppO2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 785 | pression, |
| POTLESS_2 | 34:26f6e3dbefb9 | 786 | Temp1, |
| POTLESS_2 | 34:26f6e3dbefb9 | 787 | Temp2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 788 | Humid, |
| POTLESS_2 | 34:26f6e3dbefb9 | 789 | CellO2_1, |
| POTLESS_2 | 34:26f6e3dbefb9 | 790 | CellO2_2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 791 | volet_poumon_Position, |
| POTLESS_2 | 34:26f6e3dbefb9 | 792 | volet_fuite_Position, |
| POTLESS_2 | 34:26f6e3dbefb9 | 793 | MODE_FLAG, |
| POTLESS_2 | 34:26f6e3dbefb9 | 794 | Kc, |
| POTLESS_2 | 34:26f6e3dbefb9 | 795 | Ti, |
| POTLESS_2 | 34:26f6e3dbefb9 | 796 | Td, |
| POTLESS_2 | 34:26f6e3dbefb9 | 797 | (int)consigne |
| POTLESS_2 | 34:26f6e3dbefb9 | 798 | ); |
| POTLESS_2 | 34:26f6e3dbefb9 | 799 | #endif |
| POTLESS_2 | 34:26f6e3dbefb9 | 800 | #ifndef PID_MODE |
| POTLESS_2 | 34:26f6e3dbefb9 | 801 | //Fabrication de la chaine à enregistrer sans les variables du PID |
| POTLESS_2 | 34:26f6e3dbefb9 | 802 | sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d", |
| POTLESS_2 | 34:26f6e3dbefb9 | 803 | Time_buf, |
| POTLESS_2 | 34:26f6e3dbefb9 | 804 | co2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 805 | ppO2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 806 | pression, |
| POTLESS_2 | 34:26f6e3dbefb9 | 807 | Temp1, |
| POTLESS_2 | 34:26f6e3dbefb9 | 808 | Temp2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 809 | Humid, |
| POTLESS_2 | 34:26f6e3dbefb9 | 810 | CellO2_1, |
| POTLESS_2 | 34:26f6e3dbefb9 | 811 | CellO2_2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 812 | volet_poumon_Position, |
| POTLESS_2 | 34:26f6e3dbefb9 | 813 | volet_fuite_Position, |
| POTLESS_2 | 34:26f6e3dbefb9 | 814 | MODE_FLAG, |
| POTLESS_2 | 34:26f6e3dbefb9 | 815 | 0.0, |
| POTLESS_2 | 34:26f6e3dbefb9 | 816 | 0.0, |
| POTLESS_2 | 34:26f6e3dbefb9 | 817 | 0.0, |
| POTLESS_2 | 34:26f6e3dbefb9 | 818 | 0 |
| POTLESS_2 | 34:26f6e3dbefb9 | 819 | ); |
| POTLESS_2 | 18:bfd78c05b589 | 820 | #endif |
| POTLESS_2 | 34:26f6e3dbefb9 | 821 | char to_slave[50]; |
| POTLESS_2 | 34:26f6e3dbefb9 | 822 | //Fabrication de la chaine pour l'IHM |
| POTLESS_2 | 34:26f6e3dbefb9 | 823 | sprintf(to_slave,"%d:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f\r\n", |
| POTLESS_2 | 34:26f6e3dbefb9 | 824 | co2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 825 | ppO2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 826 | (int)OTU, |
| POTLESS_2 | 34:26f6e3dbefb9 | 827 | pression, |
| POTLESS_2 | 34:26f6e3dbefb9 | 828 | Temp1, |
| POTLESS_2 | 34:26f6e3dbefb9 | 829 | Temp2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 830 | Humid, |
| POTLESS_2 | 34:26f6e3dbefb9 | 831 | CellO2_1, |
| POTLESS_2 | 34:26f6e3dbefb9 | 832 | CellO2_2, |
| POTLESS_2 | 34:26f6e3dbefb9 | 833 | volet_poumon_Position, |
| POTLESS_2 | 34:26f6e3dbefb9 | 834 | volet_fuite_Position); |
| POTLESS_2 | 34:26f6e3dbefb9 | 835 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 836 | //Pour Android on ajoute < et > pour décoder l'arrivée du message |
| POTLESS_2 | 34:26f6e3dbefb9 | 837 | if (NEED_ANDROID_OUTPUT == 1) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 838 | //sprintf(to_android,"<%s>",to_store); |
| POTLESS_2 | 34:26f6e3dbefb9 | 839 | ANDROID(to_slave); |
| POTLESS_2 | 34:26f6e3dbefb9 | 840 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 841 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 842 | //Calcul des OTU |
| POTLESS_2 | 34:26f6e3dbefb9 | 843 | Calcul_OTU(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 844 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 845 | //Vers le moniteur série |
| POTLESS_2 | 34:26f6e3dbefb9 | 846 | if (FLAG_AFF) Affichage(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 847 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 848 | //Enregistrement de la chaine |
| POTLESS_2 | 34:26f6e3dbefb9 | 849 | if (FLAG_REC) UTILS::Write_Flash_File(to_store, Log_File_Name); |
| POTLESS_2 | 34:26f6e3dbefb9 | 850 | |
| POTLESS_2 | 18:bfd78c05b589 | 851 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 852 | #ifdef PID_MODE |
| POTLESS_2 | 34:26f6e3dbefb9 | 853 | //Update du PID |
| POTLESS_2 | 34:26f6e3dbefb9 | 854 | control_Servo.setProcessValue(ppO2); |
| POTLESS_2 | 34:26f6e3dbefb9 | 855 | //Nouvelle sortie servo fuite si on est pas en mode SECU |
| POTLESS_2 | 34:26f6e3dbefb9 | 856 | if(!EN_MODE_SECU) Consigne_fuite = control_Servo.compute(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 857 | #endif |
| POTLESS_2 | 34:26f6e3dbefb9 | 858 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 859 | //Arrêt du Timer mesurant le temps d'éxecution du code |
| POTLESS_2 | 34:26f6e3dbefb9 | 860 | REAL_RATE.stop(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 861 | //Définition de la nouvelle valeur du temps d'échantillonage du PID. |
| POTLESS_2 | 34:26f6e3dbefb9 | 862 | RATE = REAL_RATE.read(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 863 | //Reset du Timer |
| POTLESS_2 | 34:26f6e3dbefb9 | 864 | REAL_RATE.reset(); |
| POTLESS_2 | 34:26f6e3dbefb9 | 865 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 866 | //Pour ralentir le code à Ref_Time seconde fixe quelque soit les intéruptions du loop.... |
| POTLESS_2 | 34:26f6e3dbefb9 | 867 | if (Ref_Time > RATE) { |
| POTLESS_2 | 34:26f6e3dbefb9 | 868 | RATE_TRUE = (Ref_Time - RATE) * 1000; |
| POTLESS_2 | 34:26f6e3dbefb9 | 869 | } else { |
| POTLESS_2 | 34:26f6e3dbefb9 | 870 | RATE_TRUE = 0; |
| POTLESS_2 | 34:26f6e3dbefb9 | 871 | #ifdef PID_MODE |
| POTLESS_2 | 34:26f6e3dbefb9 | 872 | control_Servo.setInterval(RATE); |
| POTLESS_2 | 34:26f6e3dbefb9 | 873 | #endif |
| POTLESS_2 | 34:26f6e3dbefb9 | 874 | DEBUG("Pour ralentir le code, Ref_Time doit être supérieur à %f seconde(s)\r\n\n", RATE); |
| POTLESS_2 | 34:26f6e3dbefb9 | 875 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 876 | |
| POTLESS_2 | 34:26f6e3dbefb9 | 877 | wait_ms(RATE_TRUE); |
| POTLESS_2 | 34:26f6e3dbefb9 | 878 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 879 | } |
| POTLESS_2 | 34:26f6e3dbefb9 | 880 | } |
| POTLESS_2 | 4:d84250f67dec | 881 | } |