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@30:7a16a66d76f3, 2018-02-21 (annotated)

Committer:
POTLESS_2
Date:
Wed Feb 21 06:58:28 2018 +0000
Revision:
30:7a16a66d76f3
Parent:
29:5b822d18bce6
Child:
31:231a96d1d1c8
ajout de fonctions

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 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 29:5b822d18bce6 26 //Un peu plus ou un peu moins de sortie moniteurs pour du debug....
POTLESS_2 29:5b822d18bce6 27 #define DEBUG_MAIN 0
POTLESS_2 29:5b822d18bce6 28
POTLESS_2 17:bef8abc445f2 29 //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 30 #define NEED_ANDROID_OUTPUT 1
POTLESS_2 9:04bfdfc029cb 31
POTLESS_2 17:bef8abc445f2 32 //Mode PID, STD à commenter / décommenter
POTLESS_2 17:bef8abc445f2 33 #define STD_MODE
POTLESS_2 17:bef8abc445f2 34 //#define PID_MODE
POTLESS_2 11:b2feed92584a 35
POTLESS_2 12:7f3aadd79f89 36 #ifdef STD_MODE
POTLESS_2 12:7f3aadd79f89 37 int MODE_FLAG = 0;
POTLESS_2 11:b2feed92584a 38 #endif
POTLESS_2 11:b2feed92584a 39
POTLESS_2 12:7f3aadd79f89 40 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 41 int MODE_FLAG = 2;
POTLESS_2 11:b2feed92584a 42 #endif
POTLESS_2 11:b2feed92584a 43
POTLESS_2 9:04bfdfc029cb 44 #if NEED_ANDROID_OUTPUT
POTLESS_2 9:04bfdfc029cb 45 #define ANDROID(...) { android.printf(__VA_ARGS__); }
POTLESS_2 9:04bfdfc029cb 46 #else
POTLESS_2 9:04bfdfc029cb 47 #define ANDROID(...)
POTLESS_2 9:04bfdfc029cb 48 #endif
POTLESS_2 9:04bfdfc029cb 49
POTLESS_2 29:5b822d18bce6 50 #if DEBUG_MAIN
POTLESS_2 29:5b822d18bce6 51 #define DEBUG_M(...) { serialMonit.printf(__VA_ARGS__); fflush(stdout);}
POTLESS_2 29:5b822d18bce6 52 #else
POTLESS_2 29:5b822d18bce6 53 #define DEBUG_M(...)
POTLESS_2 29:5b822d18bce6 54 #endif
POTLESS_2 29:5b822d18bce6 55
POTLESS_2 29:5b822d18bce6 56
POTLESS_2 25:322ef9488e65 57 //PinName pwm, PinName nSleep, PinName fwd, PinName rev, PinName channelA, PinName channelB, int pulsesPerRev, int Rapport, Encoding encoding = X2_ENCODING
POTLESS_2 25:322ef9488e65 58 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 59 //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 60
POTLESS_2 17:bef8abc445f2 61 //Moniteur série, Serial 2
POTLESS_2 17:bef8abc445f2 62 Serial serialMonit(USBTX,USBRX,115200);
POTLESS_2 10:aca745a66d51 63
POTLESS_2 9:04bfdfc029cb 64 //COM Série vers Android, Serial 3
POTLESS_2 17:bef8abc445f2 65 Serial android(PC_10,PC_11,115200);
POTLESS_2 4:d84250f67dec 66
POTLESS_2 7:ad15c386e960 67 //Init de la lib ARNSRS;
POTLESS_2 7:ad15c386e960 68 SENSOR_HEAD_REV_B sensors;
potless 2:4a8bf1d53439 69
POTLESS_2 6:ebed9093d661 70 //pour Param Cozir
POTLESS_2 9:04bfdfc029cb 71 const int sizeParam = 20;
POTLESS_2 11:b2feed92584a 72 char param[sizeParam];
POTLESS_2 11:b2feed92584a 73 volatile int indexParam = 0;
POTLESS_2 6:ebed9093d661 74 bool newParamFlag = false;
potless 2:4a8bf1d53439 75
POTLESS_2 9:04bfdfc029cb 76 //pour Commandes Android
POTLESS_2 9:04bfdfc029cb 77 const int sizeAndroid = 20;
POTLESS_2 11:b2feed92584a 78 char Android[sizeAndroid];
POTLESS_2 11:b2feed92584a 79 volatile int indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 80 bool newAndroidFlag = false;
POTLESS_2 12:7f3aadd79f89 81 char to_android[100];
POTLESS_2 9:04bfdfc029cb 82
POTLESS_2 25:322ef9488e65 83 //Flag pour interrompre l'affichage si on veut...
POTLESS_2 25:322ef9488e65 84 bool FLAG_AFF = true;
POTLESS_2 25:322ef9488e65 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 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 7:ad15c386e960 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 17:bef8abc445f2 117 //Thread d'intérogation des capteurs et de positionnement des volets
POTLESS_2 19:cac3761a5d0b 118 Thread thread_Sensors;
POTLESS_2 19:cac3761a5d0b 119 Thread thread_Volets;
POTLESS_2 20:5f79fb4565a7 120 Thread thread_Secu;
POTLESS_2 7:ad15c386e960 121
POTLESS_2 10:aca745a66d51 122 //Contrôle des servos
POTLESS_2 19:cac3761a5d0b 123 float Consigne_poumon = 0;
POTLESS_2 19:cac3761a5d0b 124 float volet_poumon_Position = 0;
POTLESS_2 19:cac3761a5d0b 125 float Consigne_fuite = 0;
POTLESS_2 19:cac3761a5d0b 126 float volet_fuite_Position = 0;
POTLESS_2 25:322ef9488e65 127 float Volets_Speed = 0.1;
POTLESS_2 26:a2fe19341f92 128 float Volet_DeadBand = 5;
POTLESS_2 10:aca745a66d51 129
POTLESS_2 12:7f3aadd79f89 130 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 131 //Paramètre du PID
POTLESS_2 12:7f3aadd79f89 132 float Kc = 40;
POTLESS_2 12:7f3aadd79f89 133 float Ti = 0;
POTLESS_2 12:7f3aadd79f89 134 float Td = 0;
POTLESS_2 12:7f3aadd79f89 135 float RATE_PID = Ref_Time;
POTLESS_2 12:7f3aadd79f89 136 float Commande_PID;
POTLESS_2 15:efd3b3bf3f37 137 float consigne = 210;
POTLESS_2 15:efd3b3bf3f37 138 float Max_Input = 1000;
POTLESS_2 15:efd3b3bf3f37 139 float Min_Input = 80;
POTLESS_2 19:cac3761a5d0b 140 float Max_Output = 85;//Vérifier la valeur pour angle à laisser ouvert...
POTLESS_2 19:cac3761a5d0b 141 float Min_Output = 5;
POTLESS_2 10:aca745a66d51 142
POTLESS_2 12:7f3aadd79f89 143 //Init PID
POTLESS_2 17:bef8abc445f2 144 PID control_Servo(Kc, Ti, Td, RATE_PID);
POTLESS_2 12:7f3aadd79f89 145 #endif
POTLESS_2 10:aca745a66d51 146
POTLESS_2 19:cac3761a5d0b 147 //Boolean du status de l'appareil, en mode SECU ou nominal
POTLESS_2 19:cac3761a5d0b 148 bool EN_MODE_SECU = false;
POTLESS_2 29:5b822d18bce6 149 DigitalIn V_USB(PA_0);
POTLESS_2 20:5f79fb4565a7 150 float Vusb = 1;
POTLESS_2 18:bfd78c05b589 151
POTLESS_2 21:b8900130ca05 152 //Interruption user button
POTLESS_2 21:b8900130ca05 153 InterruptIn button(USER_BUTTON);
POTLESS_2 23:7477dc855fad 154 volatile int GO = 0;
POTLESS_2 21:b8900130ca05 155
POTLESS_2 29:5b822d18bce6 156 void Affichage()
POTLESS_2 29:5b822d18bce6 157 {
POTLESS_2 29:5b822d18bce6 158
POTLESS_2 29:5b822d18bce6 159 serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 160 serialMonit.printf(" CO2 = %d ppm\r\n" , co2);
POTLESS_2 29:5b822d18bce6 161 serialMonit.printf(" PPO2 = %d mb\r\n", ppO2);
POTLESS_2 29:5b822d18bce6 162 serialMonit.printf(" OTU = %d \r\n", OTU);
POTLESS_2 29:5b822d18bce6 163 serialMonit.printf(" Pression = %f msw\r\n", pression);
POTLESS_2 29:5b822d18bce6 164 serialMonit.printf(" Temp MS5837 = %f C\r\n", Temp1);
POTLESS_2 29:5b822d18bce6 165 serialMonit.printf(" Temp HTU21D = %f C\n\r", Temp2);
POTLESS_2 29:5b822d18bce6 166 serialMonit.printf(" Humidity = %d %%\n\r", Humid);
POTLESS_2 29:5b822d18bce6 167 serialMonit.printf("\n\r");
POTLESS_2 29:5b822d18bce6 168 serialMonit.printf(" Cell O2 n 1 = %d\r\n" , CellO2_1);
POTLESS_2 29:5b822d18bce6 169 serialMonit.printf(" Cell O2 n 2 = %d\r\n" , CellO2_2);
POTLESS_2 29:5b822d18bce6 170 serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 171 serialMonit.printf(" Volet Poumon = %f\r\n" , volet_poumon_Position);
POTLESS_2 29:5b822d18bce6 172 serialMonit.printf(" Volet Fuite = %f\r\n" , volet_fuite_Position);
POTLESS_2 29:5b822d18bce6 173 serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 174 serialMonit.printf(" Temps d execution de la boucle = %f seconde(s)\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 29:5b822d18bce6 175 serialMonit.printf("\r\n");
POTLESS_2 30:7a16a66d76f3 176 if (FLAG_REC) serialMonit.printf(" Chaine enregistrée = %s\n", to_store);
POTLESS_2 30:7a16a66d76f3 177 else serialMonit.printf(" Pas d'enregistrement en cours.");
POTLESS_2 29:5b822d18bce6 178 serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 179 serialMonit.printf(" V_USB = %f", Vusb);
POTLESS_2 29:5b822d18bce6 180 serialMonit.printf("\r\n\r\n");
POTLESS_2 29:5b822d18bce6 181 fflush(stdout);
POTLESS_2 29:5b822d18bce6 182 }
POTLESS_2 29:5b822d18bce6 183
POTLESS_2 21:b8900130ca05 184 void pressed() {
POTLESS_2 23:7477dc855fad 185 GO = GO + 1;
POTLESS_2 24:44ef919899c1 186 if (GO > 1) NVIC_SystemReset();
POTLESS_2 21:b8900130ca05 187 }
POTLESS_2 21:b8900130ca05 188
POTLESS_2 19:cac3761a5d0b 189 //Passage en mode SECU
POTLESS_2 19:cac3761a5d0b 190 void Mode_SECU()
POTLESS_2 18:bfd78c05b589 191 {
POTLESS_2 19:cac3761a5d0b 192 #ifdef PID_MODE
POTLESS_2 18:bfd78c05b589 193 //Mise du PID en mode manuel (desactivation...)
POTLESS_2 18:bfd78c05b589 194 control_Servo.setMode(MANUAL_MODE);
POTLESS_2 18:bfd78c05b589 195 #endif
POTLESS_2 19:cac3761a5d0b 196 Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 19:cac3761a5d0b 197 Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 25:322ef9488e65 198
POTLESS_2 25:322ef9488e65 199 Volets_Speed = 0.1;
POTLESS_2 25:322ef9488e65 200 Volet_DeadBand = 10;
POTLESS_2 25:322ef9488e65 201
POTLESS_2 19:cac3761a5d0b 202 while(1) {
POTLESS_2 25:322ef9488e65 203 wait_ms(100);
POTLESS_2 19:cac3761a5d0b 204 if (Servo_Poumon.Pos_OK() == true) break;
POTLESS_2 19:cac3761a5d0b 205 //if (Servo_Poumon.Pos_OK() == true && Servo_Fuite.Pos_OK() == true) break;
POTLESS_2 19:cac3761a5d0b 206 }
POTLESS_2 29:5b822d18bce6 207 DEBUG_M("-------------- Appareil en mode SECU ---------------\r\n");
POTLESS_2 25:322ef9488e65 208
POTLESS_2 25:322ef9488e65 209 wait_ms(100);
POTLESS_2 25:322ef9488e65 210
POTLESS_2 19:cac3761a5d0b 211 EN_MODE_SECU = true;
POTLESS_2 25:322ef9488e65 212 wait_ms(100);
POTLESS_2 19:cac3761a5d0b 213 int Pos = Servo_Poumon.getPulses();
POTLESS_2 19:cac3761a5d0b 214 UTILS::Store_A_Val((float)Pos, "Servo_Poumon");
POTLESS_2 29:5b822d18bce6 215 DEBUG_M(" position volet poumon sauvegardée = %d pulse(s)\r\n", Pos);
POTLESS_2 19:cac3761a5d0b 216 //Pos = Servo_Fuite.getPulses();
POTLESS_2 19:cac3761a5d0b 217 //UTILS::Store_A_Val((float)Pos, "Servo_Fuite");
POTLESS_2 29:5b822d18bce6 218 //DEBUG_M(" position volet fuite sauvegardée = %d pulse(s)\r\n", Pos);
POTLESS_2 29:5b822d18bce6 219 UTILS::UnMount_Flash();
POTLESS_2 23:7477dc855fad 220 Servo_Poumon.Sleep();
POTLESS_2 19:cac3761a5d0b 221 }
POTLESS_2 19:cac3761a5d0b 222
POTLESS_2 19:cac3761a5d0b 223 //Sequence d'arrêt
POTLESS_2 19:cac3761a5d0b 224 void Stop_Sequence()
POTLESS_2 29:5b822d18bce6 225 {
POTLESS_2 26:a2fe19341f92 226 Mode_SECU();
POTLESS_2 29:5b822d18bce6 227 DEBUG_M("----------------ARRET DE L'APPAREIL--------------------\r\n");
POTLESS_2 29:5b822d18bce6 228
POTLESS_2 29:5b822d18bce6 229 DEBUG_M(" Deep sleep autorisé : %i\r\n", sleep_manager_can_deep_sleep());
POTLESS_2 29:5b822d18bce6 230 wait(1.0);
POTLESS_2 29:5b822d18bce6 231 sleep_manager_sleep_auto();
POTLESS_2 18:bfd78c05b589 232 }
POTLESS_2 18:bfd78c05b589 233
POTLESS_2 20:5f79fb4565a7 234 //Fonction test de valeur d'entrée convertie en Hight / Low
POTLESS_2 29:5b822d18bce6 235 int Power_Test(DigitalIn& pin)
POTLESS_2 20:5f79fb4565a7 236 {
POTLESS_2 29:5b822d18bce6 237 pin.mode(PullDown);
POTLESS_2 29:5b822d18bce6 238
POTLESS_2 29:5b822d18bce6 239 if(!pin){
POTLESS_2 29:5b822d18bce6 240 Stop_Sequence();
POTLESS_2 29:5b822d18bce6 241 return 0;
POTLESS_2 29:5b822d18bce6 242 }else{
POTLESS_2 29:5b822d18bce6 243 return 1;
POTLESS_2 29:5b822d18bce6 244 }
POTLESS_2 20:5f79fb4565a7 245 }
POTLESS_2 20:5f79fb4565a7 246
POTLESS_2 18:bfd78c05b589 247 //Contrôle du status de l'appareil / des constantes
POTLESS_2 18:bfd78c05b589 248 bool Check()
POTLESS_2 18:bfd78c05b589 249 {
POTLESS_2 18:bfd78c05b589 250 if (ppO2 > 100)
POTLESS_2 19:cac3761a5d0b 251 return true;//Situation OK
POTLESS_2 18:bfd78c05b589 252 else
POTLESS_2 19:cac3761a5d0b 253 return false;//Situation dégradée
POTLESS_2 18:bfd78c05b589 254 }
POTLESS_2 18:bfd78c05b589 255
POTLESS_2 18:bfd78c05b589 256 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 257 float Calcul_OTU()
POTLESS_2 18:bfd78c05b589 258 {
POTLESS_2 18:bfd78c05b589 259 /*
POTLESS_2 18:bfd78c05b589 260 La formule suivante permet de calculer la quantité d' OTU accumulée
POTLESS_2 18:bfd78c05b589 261 OTU = T * (2* PpO2 -1)0,83
POTLESS_2 18:bfd78c05b589 262 avec :
POTLESS_2 18:bfd78c05b589 263 T = temps de plongée en minutes
POTLESS_2 18:bfd78c05b589 264 PpO2 = pression partielle d’ oxygène en bars
POTLESS_2 18:bfd78c05b589 265 */
POTLESS_2 18:bfd78c05b589 266
POTLESS_2 19:cac3761a5d0b 267 if (ppO2 > 500) {
POTLESS_2 18:bfd78c05b589 268 float val = (2 * (float)ppO2/1000 - 1);//je divise par 1000 car la PP est en mb...
POTLESS_2 18:bfd78c05b589 269 OTU += Ref_Time * pow(val, COEF_OTU);
POTLESS_2 19:cac3761a5d0b 270 }
POTLESS_2 18:bfd78c05b589 271 }
POTLESS_2 10:aca745a66d51 272
POTLESS_2 17:bef8abc445f2 273 //Thread d'intérogation des capteurs, positions servo
POTLESS_2 10:aca745a66d51 274 void Get_Info_thread()
POTLESS_2 6:ebed9093d661 275 {
POTLESS_2 7:ad15c386e960 276 while (true) {
POTLESS_2 7:ad15c386e960 277
POTLESS_2 7:ad15c386e960 278 //CO2 sur Cozir
POTLESS_2 7:ad15c386e960 279 co2 = sensors.requestCO2();
POTLESS_2 7:ad15c386e960 280 //P / T sur MS5837
POTLESS_2 7:ad15c386e960 281 pression = sensors.requestPress();
POTLESS_2 9:04bfdfc029cb 282 Temp1 = sensors.requestTemp();
POTLESS_2 7:ad15c386e960 283 //PPO2 sur ADS1015
POTLESS_2 7:ad15c386e960 284 ppO2 = sensors.requestPpO2();
POTLESS_2 7:ad15c386e960 285 //Cell O2 en mV
POTLESS_2 7:ad15c386e960 286 CellO2_1 = sensors.requestCellO2_1();
POTLESS_2 7:ad15c386e960 287 CellO2_2 = sensors.requestCellO2_2();
POTLESS_2 9:04bfdfc029cb 288
POTLESS_2 8:a750d531b381 289 //HTU21D
POTLESS_2 9:04bfdfc029cb 290 Temp2 = temphumid.sample_ctemp();
POTLESS_2 9:04bfdfc029cb 291 Humid = temphumid.sample_humid();
POTLESS_2 9:04bfdfc029cb 292
POTLESS_2 10:aca745a66d51 293 //Retour position des servos
POTLESS_2 17:bef8abc445f2 294 volet_poumon_Position = Servo_Poumon.Get_Position();
POTLESS_2 20:5f79fb4565a7 295 //volet_fuite_Position = Servo_Fuite.Get_Position();
POTLESS_2 22:555c2930e8e0 296
POTLESS_2 19:cac3761a5d0b 297 }
POTLESS_2 19:cac3761a5d0b 298 }
POTLESS_2 12:7f3aadd79f89 299
POTLESS_2 19:cac3761a5d0b 300 void GO_TO_thread()
POTLESS_2 19:cac3761a5d0b 301 {
POTLESS_2 19:cac3761a5d0b 302 while (true) {
POTLESS_2 19:cac3761a5d0b 303 //Servo_Poumon.Go_To_Prop(Consigne_poumon);
POTLESS_2 26:a2fe19341f92 304 //Servo_Poumon.Go_To_PID(Consigne_poumon, Volet_DeadBand);
POTLESS_2 25:322ef9488e65 305 Servo_Poumon.Go_To(Consigne_poumon, Volets_Speed, Volet_DeadBand );
POTLESS_2 20:5f79fb4565a7 306
POTLESS_2 19:cac3761a5d0b 307 //Servo_Fuite.Go_To_Prop(Consigne_fuite);
POTLESS_2 19:cac3761a5d0b 308 //Servo_Fuite.Go_To_PID(Consigne_fuite);
POTLESS_2 29:5b822d18bce6 309 //Servo_Fuite.Go_To(Consigne_fuite, Volets_Speed, Volet_DeadBand );
POTLESS_2 15:efd3b3bf3f37 310 }
potless 2:4a8bf1d53439 311 }
POTLESS_2 4:d84250f67dec 312
POTLESS_2 20:5f79fb4565a7 313 void SECU_thread()
POTLESS_2 20:5f79fb4565a7 314 {
POTLESS_2 20:5f79fb4565a7 315 while (true) {
POTLESS_2 20:5f79fb4565a7 316 //Alim USB
POTLESS_2 22:555c2930e8e0 317 Vusb = Power_Test(V_USB);
POTLESS_2 20:5f79fb4565a7 318 //Divers problèmes à implémenter
POTLESS_2 20:5f79fb4565a7 319 //if(!Check()) Mode_SECU();
POTLESS_2 20:5f79fb4565a7 320 }
POTLESS_2 20:5f79fb4565a7 321 }
POTLESS_2 20:5f79fb4565a7 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 29:5b822d18bce6 325 {
POTLESS_2 29:5b822d18bce6 326 while(serialMonit.readable())
POTLESS_2 29:5b822d18bce6 327 {
POTLESS_2 29:5b822d18bce6 328 if ((indexParam == sizeParam) || newParamFlag == true) //éviter la saturation du buffer
POTLESS_2 29:5b822d18bce6 329 char char_flush = serialMonit.getc();
POTLESS_2 29:5b822d18bce6 330 else
POTLESS_2 29:5b822d18bce6 331 param [indexParam ++] = serialMonit.getc();//chargement du buffer dans le message
POTLESS_2 29:5b822d18bce6 332
POTLESS_2 29:5b822d18bce6 333 if ((indexParam == sizeParam) || (param[indexParam - 1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 29:5b822d18bce6 334 param[indexParam] = 0;
POTLESS_2 29:5b822d18bce6 335 newParamFlag = true;
POTLESS_2 29:5b822d18bce6 336 }
POTLESS_2 29:5b822d18bce6 337 }
POTLESS_2 6:ebed9093d661 338 }
POTLESS_2 4:d84250f67dec 339
POTLESS_2 9:04bfdfc029cb 340 //Callback de l'intérruption des envois de commandes depuis Android
POTLESS_2 9:04bfdfc029cb 341 void callbackAndroid()
POTLESS_2 9:04bfdfc029cb 342 {
POTLESS_2 9:04bfdfc029cb 343 while(android.readable()) {
POTLESS_2 9:04bfdfc029cb 344 if (indexAndroid == sizeAndroid) //éviter la saturation du buffer
POTLESS_2 9:04bfdfc029cb 345 android.getc();
POTLESS_2 9:04bfdfc029cb 346 else
POTLESS_2 9:04bfdfc029cb 347 Android [indexAndroid++] = android.getc();//chargement du buffer dans le message
POTLESS_2 9:04bfdfc029cb 348 if ((indexAndroid == sizeAndroid) || (Android[indexAndroid -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 9:04bfdfc029cb 349 Android[indexAndroid] = 0;
POTLESS_2 9:04bfdfc029cb 350 newAndroidFlag = true;
POTLESS_2 9:04bfdfc029cb 351 }
POTLESS_2 9:04bfdfc029cb 352 }
POTLESS_2 9:04bfdfc029cb 353 }
POTLESS_2 11:b2feed92584a 354
POTLESS_2 9:04bfdfc029cb 355 void Decoding_Message(char message [])
POTLESS_2 9:04bfdfc029cb 356 {
POTLESS_2 9:04bfdfc029cb 357
POTLESS_2 29:5b822d18bce6 358 char com[sizeParam] = "";
POTLESS_2 29:5b822d18bce6 359 float val = 0.0;
POTLESS_2 29:5b822d18bce6 360
POTLESS_2 29:5b822d18bce6 361 sscanf(message,"%s %f",&com , &val);
POTLESS_2 29:5b822d18bce6 362
POTLESS_2 29:5b822d18bce6 363 DEBUG_M("\r\n Commande = %s Valeur = %f \r\n\r\n", com, val);
POTLESS_2 9:04bfdfc029cb 364
POTLESS_2 30:7a16a66d76f3 365 if (0 == strcmp(com, "secu")) {
POTLESS_2 19:cac3761a5d0b 366 Mode_SECU();
POTLESS_2 30:7a16a66d76f3 367 }else if (0 == strcmp(com, "calib_O2")) {
POTLESS_2 30:7a16a66d76f3 368 sensors.Calibrate_O2(true, (int)val);
POTLESS_2 30:7a16a66d76f3 369 }else if (0 == strcmp(com, "check")) {
POTLESS_2 30:7a16a66d76f3 370 FLAG_REC = false;
POTLESS_2 30:7a16a66d76f3 371 serialMonit.printf(" Calibration_O2.txt = %f\r\n", UTILS::Read_A_Val("Calibration_O2"));
POTLESS_2 30:7a16a66d76f3 372 serialMonit.printf(" Servo_Poumon.txt = %d\r\n", (int)UTILS::Read_A_Val("Servo_Poumon"));
POTLESS_2 30:7a16a66d76f3 373 //serialMonit.printf("Servo_Fuite.txt = %d\r\n", (int)UTILS::Read_A_Val("Servo_Fuite");
POTLESS_2 30:7a16a66d76f3 374 FLAG_REC = true;
POTLESS_2 30:7a16a66d76f3 375 }else if (0 == strcmp(com, "rec")) {
POTLESS_2 30:7a16a66d76f3 376 if (FLAG_REC){
POTLESS_2 30:7a16a66d76f3 377 FLAG_REC = false;
POTLESS_2 30:7a16a66d76f3 378 serialMonit.printf("Arrêt du Data Logging.");
POTLESS_2 30:7a16a66d76f3 379 }else {
POTLESS_2 30:7a16a66d76f3 380 FLAG_REC = true;
POTLESS_2 30:7a16a66d76f3 381 serialMonit.printf("Démarrage Data Logging dans %s", Log_File_Name);}
POTLESS_2 29:5b822d18bce6 382 }else if (0 == strcmp(com, "help")) {
POTLESS_2 29:5b822d18bce6 383 FLAG_AFF = false;
POTLESS_2 29:5b822d18bce6 384 UTILS::Help();
POTLESS_2 29:5b822d18bce6 385 }else if (0 == strcmp(com, "start")) {
POTLESS_2 29:5b822d18bce6 386 FLAG_AFF = true;
POTLESS_2 29:5b822d18bce6 387 }else if (0 == strcmp(com, "stop")) {
POTLESS_2 29:5b822d18bce6 388 FLAG_AFF = false;
POTLESS_2 29:5b822d18bce6 389 UTILS::Help();
POTLESS_2 29:5b822d18bce6 390 }else if (0 == strcmp(com, "clean")) {
POTLESS_2 29:5b822d18bce6 391 //Enregistrement de la chaine
POTLESS_2 29:5b822d18bce6 392 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 393 UTILS::Clean_Flash();
POTLESS_2 29:5b822d18bce6 394 }else if (0 == strcmp(com, "dir")) {
POTLESS_2 29:5b822d18bce6 395 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 396 UTILS::Dir_Flash();
POTLESS_2 29:5b822d18bce6 397 FLAG_REC = true;
POTLESS_2 29:5b822d18bce6 398 }else if (0 == strcmp(com, "get")) {
POTLESS_2 29:5b822d18bce6 399 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 400 wait_ms(100);
POTLESS_2 26:a2fe19341f92 401 char filename[20];
POTLESS_2 29:5b822d18bce6 402 sprintf(filename, "LOG_%d.txt", (int)val);
POTLESS_2 29:5b822d18bce6 403 UTILS::Read_Flash_File(filename);
POTLESS_2 29:5b822d18bce6 404 wait_ms(100);
POTLESS_2 29:5b822d18bce6 405 FLAG_REC = true;
POTLESS_2 29:5b822d18bce6 406 }else if (0 == strcmp(com, "del")) {
POTLESS_2 29:5b822d18bce6 407 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 408 char filename[20];
POTLESS_2 29:5b822d18bce6 409 sprintf(filename, "LOG_%d.txt", (int)val);
POTLESS_2 29:5b822d18bce6 410 UTILS::Delete_Flash_File(filename);
POTLESS_2 29:5b822d18bce6 411 UTILS::Dir_Flash();
POTLESS_2 29:5b822d18bce6 412 FLAG_REC = true;
POTLESS_2 29:5b822d18bce6 413 } else if (0 == strcmp(com, "calib_p")) {
POTLESS_2 20:5f79fb4565a7 414 Consigne_poumon = 0;
POTLESS_2 20:5f79fb4565a7 415 volet_poumon_Position = 0;
POTLESS_2 19:cac3761a5d0b 416 Servo_Poumon.reset();
POTLESS_2 29:5b822d18bce6 417 } else if (0 == strcmp(com, "calib_f")) {
POTLESS_2 29:5b822d18bce6 418 Consigne_fuite = 0;
POTLESS_2 29:5b822d18bce6 419 volet_fuite_Position = 0;
POTLESS_2 29:5b822d18bce6 420 //Servo_Fuite.reset();
POTLESS_2 29:5b822d18bce6 421 } else if (0 == strcmp(com, "sleep")) {
POTLESS_2 19:cac3761a5d0b 422 Stop_Sequence();
POTLESS_2 29:5b822d18bce6 423 } else if (0 == strcmp(com, "time")) {//Depuis terminal MAC taper : " date +%s "
POTLESS_2 29:5b822d18bce6 424 set_time(val);
POTLESS_2 29:5b822d18bce6 425 } else if (0 == strcmp(com, "c_pou")) {
POTLESS_2 29:5b822d18bce6 426 Consigne_poumon = (float)val;
POTLESS_2 29:5b822d18bce6 427 DEBUG_M(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 29:5b822d18bce6 428 } else if (0 == strcmp(com, "c_fui")) {
POTLESS_2 29:5b822d18bce6 429 Consigne_fuite = (float)val;
POTLESS_2 29:5b822d18bce6 430 DEBUG_M(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 29:5b822d18bce6 431 } else if (0 == strcmp(com, "reset")) {
POTLESS_2 10:aca745a66d51 432 NVIC_SystemReset();
POTLESS_2 12:7f3aadd79f89 433 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 434 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 435 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 436 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 437 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 438 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 439 } else {
POTLESS_2 9:04bfdfc029cb 440 sensors.cozirSend(message);
POTLESS_2 9:04bfdfc029cb 441 }
POTLESS_2 29:5b822d18bce6 442
POTLESS_2 9:04bfdfc029cb 443 strcpy(param," ");
POTLESS_2 9:04bfdfc029cb 444 indexParam = 0;
POTLESS_2 9:04bfdfc029cb 445 newParamFlag = false;
POTLESS_2 9:04bfdfc029cb 446 }
POTLESS_2 9:04bfdfc029cb 447
POTLESS_2 9:04bfdfc029cb 448 void Decoding_Message_Android(char message [])
POTLESS_2 9:04bfdfc029cb 449 {
POTLESS_2 9:04bfdfc029cb 450 char *commande = 0;
POTLESS_2 14:b5e0e882205e 451 float valeur = 0;
POTLESS_2 9:04bfdfc029cb 452
POTLESS_2 14:b5e0e882205e 453 sscanf(message,"%s %f",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 454
POTLESS_2 9:04bfdfc029cb 455 if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 456 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 457 } else if ((char)commande == 'I') {
POTLESS_2 17:bef8abc445f2 458 Consigne_poumon = (float)valeur;
POTLESS_2 29:5b822d18bce6 459 DEBUG_M(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 12:7f3aadd79f89 460 } else if ((char)commande == 'O') {
POTLESS_2 17:bef8abc445f2 461 Consigne_fuite = (float)valeur;
POTLESS_2 29:5b822d18bce6 462 DEBUG_M(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 12:7f3aadd79f89 463 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 464 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 465 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 466 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 467 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 468 /////////////////////////////////////////
POTLESS_2 9:04bfdfc029cb 469 } else if ((char)commande == 'R') {
POTLESS_2 9:04bfdfc029cb 470 NVIC_SystemReset();
POTLESS_2 9:04bfdfc029cb 471 }
POTLESS_2 12:7f3aadd79f89 472 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 473 else if ((char)commande == 'p') {
POTLESS_2 12:7f3aadd79f89 474 Kc = (float)valeur;
POTLESS_2 16:917656586772 475 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 476 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 29:5b822d18bce6 477 DEBUG_M" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 478 } else if ((char)commande == 'i') {
POTLESS_2 12:7f3aadd79f89 479 Ti = (float)valeur;
POTLESS_2 16:917656586772 480 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 481 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 29:5b822d18bce6 482 DEBUG_M(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 483 } else if ((char)commande == 'd') {
POTLESS_2 12:7f3aadd79f89 484 Td = (float)valeur;
POTLESS_2 16:917656586772 485 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 486 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 29:5b822d18bce6 487 DEBUG_M(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 488 } else if ((char)commande == 'c') {
POTLESS_2 12:7f3aadd79f89 489 consigne = valeur;
POTLESS_2 15:efd3b3bf3f37 490 control_Servo.setSetPoint(consigne);
POTLESS_2 29:5b822d18bce6 491 DEBUG_M(" UPDATE CONSIGNE PID --> Consigne = %d\r\n\n", consigne);
POTLESS_2 12:7f3aadd79f89 492 }
POTLESS_2 15:efd3b3bf3f37 493 #endif
POTLESS_2 18:bfd78c05b589 494
POTLESS_2 9:04bfdfc029cb 495 strcpy(Android," ");
POTLESS_2 9:04bfdfc029cb 496 indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 497 newAndroidFlag = false;
POTLESS_2 9:04bfdfc029cb 498 }
POTLESS_2 9:04bfdfc029cb 499
POTLESS_2 26:a2fe19341f92 500 void Create_File_Name_Date()
POTLESS_2 25:322ef9488e65 501 {
POTLESS_2 25:322ef9488e65 502 //Du nom du fichier Date / heure
POTLESS_2 25:322ef9488e65 503 seconds = time(NULL);
POTLESS_2 25:322ef9488e65 504 char Time[40];
POTLESS_2 25:322ef9488e65 505 strftime(Time, 40, "%a_%d_%m_%Y_%H%M", localtime(&seconds));
POTLESS_2 25:322ef9488e65 506 sprintf(Log_File_Name, "%s_LOG.txt", Time);
POTLESS_2 29:5b822d18bce6 507 DEBUG_M("Nouveau fichier LOG = %s \r\n", Log_File_Name);
POTLESS_2 25:322ef9488e65 508 }
POTLESS_2 25:322ef9488e65 509
POTLESS_2 26:a2fe19341f92 510 void Create_File_Name_Index()
POTLESS_2 26:a2fe19341f92 511 {
POTLESS_2 26:a2fe19341f92 512 //Du nom du fichier par Index
POTLESS_2 26:a2fe19341f92 513 sprintf(Log_File_Name, "LOG_%d.txt", UTILS::File_Index());
POTLESS_2 29:5b822d18bce6 514 DEBUG_M(" Nouveau fichier LOG = %s \r\n", Log_File_Name);
POTLESS_2 26:a2fe19341f92 515 }
POTLESS_2 26:a2fe19341f92 516
POTLESS_2 4:d84250f67dec 517 int main()
POTLESS_2 12:7f3aadd79f89 518 {
POTLESS_2 29:5b822d18bce6 519
POTLESS_2 21:b8900130ca05 520 button.fall(&pressed);
POTLESS_2 29:5b822d18bce6 521
POTLESS_2 21:b8900130ca05 522 int count = 0;
POTLESS_2 25:322ef9488e65 523
POTLESS_2 21:b8900130ca05 524 while (1) {
POTLESS_2 21:b8900130ca05 525
POTLESS_2 29:5b822d18bce6 526 if (count == 0) serialMonit.printf("\r\nAppuyez sur le User Button pour commencer...\r\n\r\n");
POTLESS_2 21:b8900130ca05 527
POTLESS_2 21:b8900130ca05 528 count = 1;
POTLESS_2 21:b8900130ca05 529
POTLESS_2 24:44ef919899c1 530 if (GO == 1) {
POTLESS_2 21:b8900130ca05 531
POTLESS_2 21:b8900130ca05 532 wait(1);
POTLESS_2 21:b8900130ca05 533
POTLESS_2 19:cac3761a5d0b 534 serialMonit.attach(&callbackParam, Serial::RxIrq);
POTLESS_2 12:7f3aadd79f89 535
POTLESS_2 19:cac3761a5d0b 536 android.attach(&callbackAndroid, Serial::RxIrq);
POTLESS_2 12:7f3aadd79f89 537
POTLESS_2 26:a2fe19341f92 538 //Ci-dessous commande pour formater une nouvelle carte
POTLESS_2 29:5b822d18bce6 539 //UTILS::Format_Flash();
POTLESS_2 26:a2fe19341f92 540
POTLESS_2 29:5b822d18bce6 541 //Montage Flash
POTLESS_2 29:5b822d18bce6 542 UTILS::Mount_Flash();
POTLESS_2 26:a2fe19341f92 543
POTLESS_2 29:5b822d18bce6 544 //Liste des fichiers sur la Flash
POTLESS_2 29:5b822d18bce6 545 UTILS::Dir_Flash();
POTLESS_2 26:a2fe19341f92 546
POTLESS_2 26:a2fe19341f92 547 bool calib_O2 = false;
POTLESS_2 26:a2fe19341f92 548 bool calib_CO2 = false;
POTLESS_2 26:a2fe19341f92 549
POTLESS_2 18:bfd78c05b589 550 /*
POTLESS_2 18:bfd78c05b589 551 Par défaut les valeur en cas de calibration sur true sont les suivant
POTLESS_2 18:bfd78c05b589 552
POTLESS_2 19:cac3761a5d0b 553 nbCalibO2 = 5
POTLESS_2 19:cac3761a5d0b 554 Mode = SPOOLING
POTLESS_2 19:cac3761a5d0b 555 Filtre = DIGI_FILTER32
POTLESS_2 19:cac3761a5d0b 556 CalibrationCO2 = "CALIB_AIR"
POTLESS_2 18:bfd78c05b589 557
POTLESS_2 19:cac3761a5d0b 558 Parfois la calibration du Cozir coince...faire reset et relancer...
POTLESS_2 6:ebed9093d661 559
POTLESS_2 19:cac3761a5d0b 560 Pour calibrer avec ces paramètres :
POTLESS_2 18:bfd78c05b589 561
POTLESS_2 19:cac3761a5d0b 562 sensors.Sensors_INIT(true, true);
POTLESS_2 18:bfd78c05b589 563
POTLESS_2 19:cac3761a5d0b 564 Pour changer utiliser la syntaxe suivante :
POTLESS_2 18:bfd78c05b589 565
POTLESS_2 19:cac3761a5d0b 566 sensors.Sensors_INIT(true, true, true, 5, SPOOLING, DIGI_FILTER32, CALIB_AIR);
POTLESS_2 18:bfd78c05b589 567
POTLESS_2 19:cac3761a5d0b 568 */
POTLESS_2 26:a2fe19341f92 569
POTLESS_2 26:a2fe19341f92 570 sensors.Sensors_INIT(calib_O2, calib_CO2);
POTLESS_2 18:bfd78c05b589 571
POTLESS_2 19:cac3761a5d0b 572 wait(1);
POTLESS_2 25:322ef9488e65 573
POTLESS_2 27:1b1fd20a2793 574 Servo_Poumon.Init("Servo_Poumon");
POTLESS_2 29:5b822d18bce6 575 //Servo_Fuite.Init("Servo_Fuite");
POTLESS_2 27:1b1fd20a2793 576
POTLESS_2 26:a2fe19341f92 577 //Création du nouveau fichier LOG par index / par date.
POTLESS_2 26:a2fe19341f92 578 Create_File_Name_Index();
POTLESS_2 26:a2fe19341f92 579 //Create_File_Name_Date()
POTLESS_2 26:a2fe19341f92 580
POTLESS_2 29:5b822d18bce6 581 DEBUG_M(" Demarrage des threads...\r\n\r\n");
POTLESS_2 6:ebed9093d661 582
POTLESS_2 18:bfd78c05b589 583 /*
POTLESS_2 15:efd3b3bf3f37 584
POTLESS_2 18:bfd78c05b589 585 Pour mémoire, les réglage de priorité des thread
POTLESS_2 15:efd3b3bf3f37 586
POTLESS_2 18:bfd78c05b589 587 osPriorityIdle = -3, ///< priority: idle (lowest)
POTLESS_2 18:bfd78c05b589 588 osPriorityLow = -2, ///< priority: low
POTLESS_2 18:bfd78c05b589 589 osPriorityBelowNormal = -1, ///< priority: below normal
POTLESS_2 18:bfd78c05b589 590 osPriorityNormal = 0, ///< priority: normal (default)
POTLESS_2 18:bfd78c05b589 591 osPriorityAboveNormal = +1, ///< priority: above normal
POTLESS_2 18:bfd78c05b589 592 osPriorityHigh = +2, ///< priority: high
POTLESS_2 18:bfd78c05b589 593 osPriorityRealtime = +3, ///< priority: realtime (highest)
POTLESS_2 18:bfd78c05b589 594 osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
POTLESS_2 18:bfd78c05b589 595 */
POTLESS_2 18:bfd78c05b589 596
POTLESS_2 19:cac3761a5d0b 597 thread_Sensors.start(Get_Info_thread);
POTLESS_2 19:cac3761a5d0b 598
POTLESS_2 19:cac3761a5d0b 599 thread_Sensors.set_priority(osPriorityNormal);
POTLESS_2 21:b8900130ca05 600
POTLESS_2 21:b8900130ca05 601 wait_ms(300);
POTLESS_2 9:04bfdfc029cb 602
POTLESS_2 19:cac3761a5d0b 603 thread_Volets.start(GO_TO_thread);
POTLESS_2 19:cac3761a5d0b 604
POTLESS_2 19:cac3761a5d0b 605 thread_Volets.set_priority(osPriorityNormal);
POTLESS_2 20:5f79fb4565a7 606
POTLESS_2 21:b8900130ca05 607 wait_ms(300);
POTLESS_2 21:b8900130ca05 608
POTLESS_2 20:5f79fb4565a7 609 thread_Secu.start(SECU_thread);
POTLESS_2 20:5f79fb4565a7 610
POTLESS_2 20:5f79fb4565a7 611 thread_Secu.set_priority(osPriorityNormal);
POTLESS_2 21:b8900130ca05 612
POTLESS_2 21:b8900130ca05 613 wait_ms(300);
POTLESS_2 12:7f3aadd79f89 614
POTLESS_2 12:7f3aadd79f89 615 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 616 //Init PID
POTLESS_2 12:7f3aadd79f89 617 //Entrée PPO2 entre 100 et 1000 mb
POTLESS_2 12:7f3aadd79f89 618 control_Servo.setInputLimits(Min_Input, Max_Input);
POTLESS_2 12:7f3aadd79f89 619 //Sortie servo entre 0 et 100 %
POTLESS_2 12:7f3aadd79f89 620 control_Servo.setOutputLimits(Min_Output, Max_Output);
POTLESS_2 15:efd3b3bf3f37 621 //Mode auto au démarrage
POTLESS_2 12:7f3aadd79f89 622 control_Servo.setMode(AUTO_MODE);
POTLESS_2 12:7f3aadd79f89 623 //Consigne à x mb
POTLESS_2 12:7f3aadd79f89 624 control_Servo.setSetPoint(consigne);
POTLESS_2 15:efd3b3bf3f37 625 #endif
POTLESS_2 25:322ef9488e65 626
POTLESS_2 29:5b822d18bce6 627 DEBUG_M(" Threads démmarés.....\r\n\r\n Tapez help pour voir la liste des commandes disponibles.\r\n ");
POTLESS_2 29:5b822d18bce6 628
POTLESS_2 7:ad15c386e960 629 while (true) {
POTLESS_2 25:322ef9488e65 630
POTLESS_2 7:ad15c386e960 631 //Démarrage du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 632 REAL_RATE.start();
POTLESS_2 7:ad15c386e960 633
POTLESS_2 6:ebed9093d661 634 if (newParamFlag) {
POTLESS_2 29:5b822d18bce6 635 DEBUG_M(" From PC = %s\r\n", param);
POTLESS_2 9:04bfdfc029cb 636 Decoding_Message(param);
POTLESS_2 9:04bfdfc029cb 637 }
POTLESS_2 9:04bfdfc029cb 638
POTLESS_2 9:04bfdfc029cb 639 if (newAndroidFlag) {
POTLESS_2 29:5b822d18bce6 640 DEBUG_M(" From Android = %s\r\n", Android);
POTLESS_2 9:04bfdfc029cb 641 Decoding_Message_Android(Android);
POTLESS_2 6:ebed9093d661 642 }
POTLESS_2 7:ad15c386e960 643
POTLESS_2 15:efd3b3bf3f37 644 //Fabrication de la chaine Date / heure
POTLESS_2 15:efd3b3bf3f37 645 seconds = time(NULL);
POTLESS_2 15:efd3b3bf3f37 646 char Time_buf[32];
POTLESS_2 15:efd3b3bf3f37 647 strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds));
POTLESS_2 25:322ef9488e65 648
POTLESS_2 17:bef8abc445f2 649 #ifdef PID_MODE
POTLESS_2 15:efd3b3bf3f37 650 //Fabrication de la chaine à enregistrer
POTLESS_2 17:bef8abc445f2 651 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d",
POTLESS_2 15:efd3b3bf3f37 652 Time_buf,
POTLESS_2 15:efd3b3bf3f37 653 co2,
POTLESS_2 15:efd3b3bf3f37 654 ppO2,
POTLESS_2 15:efd3b3bf3f37 655 pression,
POTLESS_2 15:efd3b3bf3f37 656 Temp1,
POTLESS_2 15:efd3b3bf3f37 657 Temp2,
POTLESS_2 15:efd3b3bf3f37 658 Humid,
POTLESS_2 15:efd3b3bf3f37 659 CellO2_1,
POTLESS_2 15:efd3b3bf3f37 660 CellO2_2,
POTLESS_2 15:efd3b3bf3f37 661 volet_poumon_Position,
POTLESS_2 15:efd3b3bf3f37 662 volet_fuite_Position,
POTLESS_2 15:efd3b3bf3f37 663 MODE_FLAG,
POTLESS_2 15:efd3b3bf3f37 664 Kc,
POTLESS_2 15:efd3b3bf3f37 665 Ti,
POTLESS_2 18:bfd78c05b589 666 Td,
POTLESS_2 17:bef8abc445f2 667 (int)consigne
POTLESS_2 18:bfd78c05b589 668 );
POTLESS_2 17:bef8abc445f2 669 #endif
POTLESS_2 17:bef8abc445f2 670 #ifndef PID_MODE
POTLESS_2 17:bef8abc445f2 671 //Fabrication de la chaine à enregistrer sans les variables du PID
POTLESS_2 17:bef8abc445f2 672 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d",
POTLESS_2 17:bef8abc445f2 673 Time_buf,
POTLESS_2 17:bef8abc445f2 674 co2,
POTLESS_2 17:bef8abc445f2 675 ppO2,
POTLESS_2 17:bef8abc445f2 676 pression,
POTLESS_2 17:bef8abc445f2 677 Temp1,
POTLESS_2 17:bef8abc445f2 678 Temp2,
POTLESS_2 17:bef8abc445f2 679 Humid,
POTLESS_2 17:bef8abc445f2 680 CellO2_1,
POTLESS_2 17:bef8abc445f2 681 CellO2_2,
POTLESS_2 17:bef8abc445f2 682 volet_poumon_Position,
POTLESS_2 17:bef8abc445f2 683 volet_fuite_Position,
POTLESS_2 17:bef8abc445f2 684 MODE_FLAG,
POTLESS_2 20:5f79fb4565a7 685 0.0,
POTLESS_2 20:5f79fb4565a7 686 0.0,
POTLESS_2 20:5f79fb4565a7 687 0.0,
POTLESS_2 17:bef8abc445f2 688 0
POTLESS_2 18:bfd78c05b589 689 );
POTLESS_2 17:bef8abc445f2 690 #endif
POTLESS_2 15:efd3b3bf3f37 691
POTLESS_2 15:efd3b3bf3f37 692 //Pour Android on ajoute < et > pour décoder l'arrivée du message
POTLESS_2 9:04bfdfc029cb 693 if (NEED_ANDROID_OUTPUT == 1) {
POTLESS_2 29:5b822d18bce6 694 sprintf(to_android,"<%s>",to_store);
POTLESS_2 12:7f3aadd79f89 695 ANDROID(to_android);
POTLESS_2 9:04bfdfc029cb 696 }
POTLESS_2 15:efd3b3bf3f37 697
POTLESS_2 18:bfd78c05b589 698 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 699 Calcul_OTU();
POTLESS_2 19:cac3761a5d0b 700
POTLESS_2 20:5f79fb4565a7 701 //Vers le moniteur série
POTLESS_2 29:5b822d18bce6 702 if (FLAG_AFF) Affichage();
POTLESS_2 29:5b822d18bce6 703
POTLESS_2 29:5b822d18bce6 704 //Enregistrement de la chaine
POTLESS_2 29:5b822d18bce6 705 if (FLAG_REC) UTILS::Write_Flash_File(to_store, Log_File_Name);
POTLESS_2 15:efd3b3bf3f37 706
POTLESS_2 15:efd3b3bf3f37 707
POTLESS_2 15:efd3b3bf3f37 708 #ifdef PID_MODE
POTLESS_2 15:efd3b3bf3f37 709 //Update du PID
POTLESS_2 15:efd3b3bf3f37 710 control_Servo.setProcessValue(ppO2);
POTLESS_2 19:cac3761a5d0b 711 //Nouvelle sortie servo fuite si on est pas en mode SECU
POTLESS_2 19:cac3761a5d0b 712 if(!EN_MODE_SECU) Consigne_fuite = control_Servo.compute();
POTLESS_2 12:7f3aadd79f89 713 #endif
POTLESS_2 15:efd3b3bf3f37 714
POTLESS_2 7:ad15c386e960 715 //Arrêt du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 716 REAL_RATE.stop();
POTLESS_2 7:ad15c386e960 717 //Définition de la nouvelle valeur du temps d'échantillonage du PID.
POTLESS_2 7:ad15c386e960 718 RATE = REAL_RATE.read();
POTLESS_2 7:ad15c386e960 719 //Reset du Timer
POTLESS_2 7:ad15c386e960 720 REAL_RATE.reset();
POTLESS_2 12:7f3aadd79f89 721
POTLESS_2 16:917656586772 722 //Pour ralentir le code à Ref_Time seconde fixe quelque soit les intéruptions du loop....
POTLESS_2 18:bfd78c05b589 723 if (Ref_Time > RATE) {
POTLESS_2 18:bfd78c05b589 724 RATE_TRUE = (Ref_Time - RATE) * 1000;
POTLESS_2 18:bfd78c05b589 725 } else {
POTLESS_2 18:bfd78c05b589 726 RATE_TRUE = 0;
POTLESS_2 16:917656586772 727 #ifdef PID_MODE
POTLESS_2 18:bfd78c05b589 728 control_Servo.setInterval(RATE);
POTLESS_2 18:bfd78c05b589 729 #endif
POTLESS_2 29:5b822d18bce6 730 DEBUG_M("Pour ralentir le code, Ref_Time doit être supérieur à %f seconde(s)\r\n\n", RATE);
POTLESS_2 16:917656586772 731 }
POTLESS_2 18:bfd78c05b589 732
POTLESS_2 11:b2feed92584a 733 wait_ms(RATE_TRUE);
POTLESS_2 21:b8900130ca05 734 }
POTLESS_2 27:1b1fd20a2793 735 }
POTLESS_2 21:b8900130ca05 736 }
POTLESS_2 4:d84250f67dec 737 }