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@12:7f3aadd79f89, 2017-11-09 (annotated)

Committer:
POTLESS_2
Date:
Thu Nov 09 15:47:49 2017 +0000
Revision:
12:7f3aadd79f89
Parent:
11:b2feed92584a
Child:
13:22a96dc67e85
Version avec contr?le PID en plus...a tester...

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 4:d84250f67dec 6
POTLESS_2 10:aca745a66d51 7 //Commandes des servos
POTLESS_2 10:aca745a66d51 8 #define PWM_SERVO_POUMON PB_15
POTLESS_2 10:aca745a66d51 9 #define PWM_SERVO_FUITE PB_1
POTLESS_2 10:aca745a66d51 10 //Retour des servos
POTLESS_2 10:aca745a66d51 11 #define FEED_BACK_SERVO_POUMON PC_2
POTLESS_2 10:aca745a66d51 12 #define FEED_BACK_SERVO_FUITE PC_3
POTLESS_2 9:04bfdfc029cb 13
POTLESS_2 9:04bfdfc029cb 14 //Ecrit dans le moniteur série de la tablette à 9600 bds si sur 1, penser à mettre NEED_CONSOLE_OUTPUT à 0
POTLESS_2 9:04bfdfc029cb 15 #define NEED_ANDROID_OUTPUT 1
POTLESS_2 9:04bfdfc029cb 16
POTLESS_2 10:aca745a66d51 17 //Sortie en mode VT100, à commenter si on veut une sortie type Arduino
POTLESS_2 10:aca745a66d51 18 //#define VT100
POTLESS_2 9:04bfdfc029cb 19
POTLESS_2 12:7f3aadd79f89 20 //Mode PID, STD et DELTA, à commenter / décommenter
POTLESS_2 12:7f3aadd79f89 21 //#define STD_MODE
POTLESS_2 12:7f3aadd79f89 22 #define PID_MODE
POTLESS_2 11:b2feed92584a 23 //#define DELTA_MODE
POTLESS_2 12:7f3aadd79f89 24
POTLESS_2 11:b2feed92584a 25 float delta = 0.0f;
POTLESS_2 11:b2feed92584a 26
POTLESS_2 12:7f3aadd79f89 27 #ifdef STD_MODE
POTLESS_2 12:7f3aadd79f89 28 int MODE_FLAG = 0;
POTLESS_2 11:b2feed92584a 29 #endif
POTLESS_2 11:b2feed92584a 30
POTLESS_2 11:b2feed92584a 31 #ifdef DELTA_MODE
POTLESS_2 12:7f3aadd79f89 32 int MODE_FLAG = 1;
POTLESS_2 12:7f3aadd79f89 33 #endif
POTLESS_2 12:7f3aadd79f89 34
POTLESS_2 12:7f3aadd79f89 35 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 36 int MODE_FLAG = 2;
POTLESS_2 11:b2feed92584a 37 #endif
POTLESS_2 11:b2feed92584a 38
POTLESS_2 9:04bfdfc029cb 39 #if NEED_ANDROID_OUTPUT
POTLESS_2 9:04bfdfc029cb 40 #define ANDROID(...) { android.printf(__VA_ARGS__); }
POTLESS_2 9:04bfdfc029cb 41 #else
POTLESS_2 9:04bfdfc029cb 42 #define ANDROID(...)
POTLESS_2 9:04bfdfc029cb 43 #endif
POTLESS_2 9:04bfdfc029cb 44
POTLESS_2 7:ad15c386e960 45 //Moniteur série
POTLESS_2 9:04bfdfc029cb 46 Serial serialMonit(USBTX,USBRX,9600);
POTLESS_2 10:aca745a66d51 47
POTLESS_2 9:04bfdfc029cb 48 //COM Série vers Android, Serial 3
POTLESS_2 9:04bfdfc029cb 49 Serial android(PC_10,PC_11,9600);
POTLESS_2 4:d84250f67dec 50
POTLESS_2 7:ad15c386e960 51 //Init de la lib ARNSRS;
POTLESS_2 7:ad15c386e960 52 SENSOR_HEAD_REV_B sensors;
potless 2:4a8bf1d53439 53
POTLESS_2 6:ebed9093d661 54 //pour Param Cozir
POTLESS_2 9:04bfdfc029cb 55 const int sizeParam = 20;
POTLESS_2 11:b2feed92584a 56 char param[sizeParam];
POTLESS_2 11:b2feed92584a 57 volatile int indexParam = 0;
POTLESS_2 6:ebed9093d661 58 bool newParamFlag = false;
potless 2:4a8bf1d53439 59
POTLESS_2 9:04bfdfc029cb 60 //pour Commandes Android
POTLESS_2 9:04bfdfc029cb 61 const int sizeAndroid = 20;
POTLESS_2 11:b2feed92584a 62 char Android[sizeAndroid];
POTLESS_2 11:b2feed92584a 63 volatile int indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 64 bool newAndroidFlag = false;
POTLESS_2 12:7f3aadd79f89 65 char to_android[100];
POTLESS_2 9:04bfdfc029cb 66
POTLESS_2 7:ad15c386e960 67 //Variables de stockage des infos capteurs
POTLESS_2 7:ad15c386e960 68 int co2 = 0;
POTLESS_2 7:ad15c386e960 69 float pression = 0;
POTLESS_2 9:04bfdfc029cb 70 float Temp1 = 0;
POTLESS_2 7:ad15c386e960 71 int ppO2 = 0;
POTLESS_2 7:ad15c386e960 72 int CellO2_1 = 0;
POTLESS_2 7:ad15c386e960 73 int CellO2_2 = 0;
POTLESS_2 7:ad15c386e960 74
POTLESS_2 7:ad15c386e960 75 //Mesure du tempsd'éxecution du loop
POTLESS_2 7:ad15c386e960 76 Timer REAL_RATE;
POTLESS_2 7:ad15c386e960 77 float RATE = 0;
POTLESS_2 11:b2feed92584a 78 float RATE_TRUE = 0;
POTLESS_2 12:7f3aadd79f89 79 float Ref_Time = 1.0; //La durée de la boucle désirée...
POTLESS_2 7:ad15c386e960 80
POTLESS_2 8:a750d531b381 81 //HTU21D
POTLESS_2 8:a750d531b381 82 HTU21D temphumid(PB_9, PB_8); //Temp humid sensor || SDA, SCL
POTLESS_2 9:04bfdfc029cb 83 float Temp2;
POTLESS_2 9:04bfdfc029cb 84 int Humid;
POTLESS_2 9:04bfdfc029cb 85
POTLESS_2 9:04bfdfc029cb 86 //Data LOG
POTLESS_2 9:04bfdfc029cb 87 char to_store[50];
POTLESS_2 9:04bfdfc029cb 88 time_t seconds;
POTLESS_2 8:a750d531b381 89
POTLESS_2 8:a750d531b381 90 //VT100
POTLESS_2 8:a750d531b381 91 static const char CLS[] = "\x1B[2J";
POTLESS_2 8:a750d531b381 92 static const char HOME[] = "\x1B[H";
POTLESS_2 8:a750d531b381 93
POTLESS_2 7:ad15c386e960 94 //Thread d'intérogation des capteurs
POTLESS_2 7:ad15c386e960 95 Thread thread;
POTLESS_2 7:ad15c386e960 96
POTLESS_2 10:aca745a66d51 97 //Contrôle des servos
POTLESS_2 10:aca745a66d51 98 PwmOut servo_poumon(PWM_SERVO_POUMON);
POTLESS_2 10:aca745a66d51 99 AnalogIn FeedBack_Servo_Poumon(FEED_BACK_SERVO_POUMON);
POTLESS_2 10:aca745a66d51 100 float volet_poumon_Position;
POTLESS_2 10:aca745a66d51 101 float Limit_min_Servo_Poumon, Limit_max_Servo_Poumon;
POTLESS_2 10:aca745a66d51 102 float Delta_FB_1;
POTLESS_2 10:aca745a66d51 103
POTLESS_2 10:aca745a66d51 104 PwmOut servo_fuite(PWM_SERVO_FUITE);
POTLESS_2 10:aca745a66d51 105 AnalogIn FeedBack_Servo_Fuite(FEED_BACK_SERVO_FUITE);
POTLESS_2 10:aca745a66d51 106 float volet_fuite_Position;
POTLESS_2 10:aca745a66d51 107 float Limit_min_Servo_Fuite, Limit_max_Servo_Fuite;
POTLESS_2 10:aca745a66d51 108 float Delta_FB_2;
POTLESS_2 10:aca745a66d51 109
POTLESS_2 12:7f3aadd79f89 110 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 111 //Paramètre du PID
POTLESS_2 12:7f3aadd79f89 112 float Kc = 40;
POTLESS_2 12:7f3aadd79f89 113 float Ti = 0;
POTLESS_2 12:7f3aadd79f89 114 float Td = 0;
POTLESS_2 12:7f3aadd79f89 115 float RATE_PID = Ref_Time;
POTLESS_2 12:7f3aadd79f89 116 float Commande_PID;
POTLESS_2 12:7f3aadd79f89 117 int consigne = 210;
POTLESS_2 12:7f3aadd79f89 118 int Max_Input = 1000;
POTLESS_2 12:7f3aadd79f89 119 int Min_Input = 100;
POTLESS_2 12:7f3aadd79f89 120 int Max_Output = 100;
POTLESS_2 12:7f3aadd79f89 121 int Min_Output = 0;
POTLESS_2 10:aca745a66d51 122
POTLESS_2 12:7f3aadd79f89 123 //Init PID
POTLESS_2 12:7f3aadd79f89 124 PID control_Servo(Kc, Ti, Td, RATE_PID);//Kc, Ti, Td, interval
POTLESS_2 12:7f3aadd79f89 125 #endif
POTLESS_2 10:aca745a66d51 126
POTLESS_2 10:aca745a66d51 127 //Remap d'une valeur
POTLESS_2 10:aca745a66d51 128 float remap(float x, float in_min, float in_max, float out_min, float out_max)
POTLESS_2 10:aca745a66d51 129 {
POTLESS_2 10:aca745a66d51 130 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
POTLESS_2 10:aca745a66d51 131 }
POTLESS_2 10:aca745a66d51 132
POTLESS_2 10:aca745a66d51 133
POTLESS_2 12:7f3aadd79f89 134 //Thread d'intérogation des capteurs, positions servo et constitution de la chaine
POTLESS_2 10:aca745a66d51 135 void Get_Info_thread()
POTLESS_2 6:ebed9093d661 136 {
POTLESS_2 7:ad15c386e960 137 while (true) {
POTLESS_2 7:ad15c386e960 138
POTLESS_2 7:ad15c386e960 139 //CO2 sur Cozir
POTLESS_2 7:ad15c386e960 140 co2 = sensors.requestCO2();
POTLESS_2 7:ad15c386e960 141 //P / T sur MS5837
POTLESS_2 7:ad15c386e960 142 pression = sensors.requestPress();
POTLESS_2 9:04bfdfc029cb 143 Temp1 = sensors.requestTemp();
POTLESS_2 7:ad15c386e960 144 //PPO2 sur ADS1015
POTLESS_2 7:ad15c386e960 145 ppO2 = sensors.requestPpO2();
POTLESS_2 7:ad15c386e960 146 //Cell O2 en mV
POTLESS_2 7:ad15c386e960 147 CellO2_1 = sensors.requestCellO2_1();
POTLESS_2 7:ad15c386e960 148 CellO2_2 = sensors.requestCellO2_2();
POTLESS_2 9:04bfdfc029cb 149
POTLESS_2 8:a750d531b381 150 //HTU21D
POTLESS_2 9:04bfdfc029cb 151 Temp2 = temphumid.sample_ctemp();
POTLESS_2 9:04bfdfc029cb 152 Humid = temphumid.sample_humid();
POTLESS_2 9:04bfdfc029cb 153
POTLESS_2 10:aca745a66d51 154 //Retour position des servos
POTLESS_2 10:aca745a66d51 155 volet_poumon_Position = 90 - remap(FeedBack_Servo_Poumon, Limit_max_Servo_Poumon, Limit_min_Servo_Poumon, 0, 90);
POTLESS_2 10:aca745a66d51 156 volet_fuite_Position = remap(FeedBack_Servo_Fuite, Limit_max_Servo_Fuite, Limit_min_Servo_Fuite, 0, 90);
POTLESS_2 12:7f3aadd79f89 157
POTLESS_2 9:04bfdfc029cb 158 //Fabrication de la chaine Date / heure
POTLESS_2 9:04bfdfc029cb 159 seconds = time(NULL);
POTLESS_2 9:04bfdfc029cb 160 char Time_buf[32];
POTLESS_2 9:04bfdfc029cb 161 strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds));
POTLESS_2 9:04bfdfc029cb 162
POTLESS_2 9:04bfdfc029cb 163 //Fabrication de la chaine à enregistrer
POTLESS_2 12:7f3aadd79f89 164 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%3.2f:%3.2f:%d",
POTLESS_2 9:04bfdfc029cb 165 Time_buf,
POTLESS_2 9:04bfdfc029cb 166 co2,
POTLESS_2 9:04bfdfc029cb 167 ppO2,
POTLESS_2 9:04bfdfc029cb 168 pression,
POTLESS_2 9:04bfdfc029cb 169 Temp1,
POTLESS_2 9:04bfdfc029cb 170 Temp2,
POTLESS_2 9:04bfdfc029cb 171 Humid,
POTLESS_2 9:04bfdfc029cb 172 CellO2_1,
POTLESS_2 10:aca745a66d51 173 CellO2_2,
POTLESS_2 10:aca745a66d51 174 volet_poumon_Position,
POTLESS_2 11:b2feed92584a 175 volet_fuite_Position,
POTLESS_2 12:7f3aadd79f89 176 MODE_FLAG);
POTLESS_2 12:7f3aadd79f89 177
POTLESS_2 12:7f3aadd79f89 178 if (NEED_ANDROID_OUTPUT == 1) {
POTLESS_2 12:7f3aadd79f89 179 sprintf(to_android,"<%s>",to_store);
POTLESS_2 12:7f3aadd79f89 180 }
POTLESS_2 12:7f3aadd79f89 181
POTLESS_2 12:7f3aadd79f89 182 }
potless 2:4a8bf1d53439 183 }
POTLESS_2 4:d84250f67dec 184
POTLESS_2 7:ad15c386e960 185 void Affichage_moniteur()
POTLESS_2 4:d84250f67dec 186 {
POTLESS_2 12:7f3aadd79f89 187 #ifndef VT100
POTLESS_2 9:04bfdfc029cb 188 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 189 printf(" CO2 = %d ppm\r\n" , co2);
POTLESS_2 9:04bfdfc029cb 190 printf(" PPO2 = %d mb\r\n", ppO2);
POTLESS_2 9:04bfdfc029cb 191 printf(" Pression = %f msw\r\n", pression);
POTLESS_2 10:aca745a66d51 192 printf(" Temp MS5837 = %f C\r\n", Temp1);
POTLESS_2 10:aca745a66d51 193 printf(" Temp HTU21D = %f C\n\r", Temp2);
POTLESS_2 9:04bfdfc029cb 194 printf(" Humidity = %d %%\n\r", Humid);
POTLESS_2 8:a750d531b381 195 printf("\n\r");
POTLESS_2 8:a750d531b381 196 printf(" Cell O2 n 1 = %d\r\n" , CellO2_1);
POTLESS_2 8:a750d531b381 197 printf(" Cell O2 n 2 = %d\r\n" , CellO2_2);
POTLESS_2 7:ad15c386e960 198 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 199 printf("\n");
POTLESS_2 10:aca745a66d51 200 printf(" Volet Poumon = %3.2f%\r\n" , volet_poumon_Position);
POTLESS_2 10:aca745a66d51 201 printf(" Volet Fuite = %3.2f%\r\n" , volet_fuite_Position);
POTLESS_2 10:aca745a66d51 202 printf("\r\n");
POTLESS_2 12:7f3aadd79f89 203 printf("Temps d execution de la boucle = %f seconde(s)\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 9:04bfdfc029cb 204 printf("\r\n", "");
POTLESS_2 9:04bfdfc029cb 205 printf("A enregistrer = %s\n", to_store);
POTLESS_2 9:04bfdfc029cb 206 printf("\r\n");
POTLESS_2 10:aca745a66d51 207 #endif
POTLESS_2 9:04bfdfc029cb 208
POTLESS_2 12:7f3aadd79f89 209 #ifdef VT100
POTLESS_2 8:a750d531b381 210 printf(HOME);
POTLESS_2 8:a750d531b381 211 printf("\x1b[30m");
POTLESS_2 9:04bfdfc029cb 212 printf("\x1b[0m\r CO2 = \x1b[1m\x1b[K%d ppm\n", co2);
POTLESS_2 9:04bfdfc029cb 213 printf("\x1b[0m\r PPO2 = \x1b[1m\x1b[K%d mb\n", ppO2);
POTLESS_2 9:04bfdfc029cb 214 printf("\n");
POTLESS_2 9:04bfdfc029cb 215 printf("\x1b[0m\r Pression = \x1b[1m\x1b[K%.2f msw\n", pression);
POTLESS_2 9:04bfdfc029cb 216 printf("\n");
POTLESS_2 10:aca745a66d51 217 printf("\x1b[0m\r Temp MS5837 = \x1b[1m\x1b[K%.2f C\n", Temp1);
POTLESS_2 10:aca745a66d51 218 printf("\x1b[0m\r Temp HTU21D = \x1b[1m\x1b[K%.2f C\n", Temp2);
POTLESS_2 9:04bfdfc029cb 219 printf("\n");
POTLESS_2 9:04bfdfc029cb 220 printf("\x1b[0m\r Humidity = \x1b[1m\x1b[K%d %\n", Humid);
POTLESS_2 9:04bfdfc029cb 221 printf("\n");
POTLESS_2 8:a750d531b381 222 printf("\x1b[0m\r Cell O2 n 1 = \x1b[1m\x1b[K%d\n", CellO2_1);
POTLESS_2 8:a750d531b381 223 printf("\x1b[0m\r Cell O2 n 2 = \x1b[1m\x1b[K%d\n", CellO2_2);
POTLESS_2 8:a750d531b381 224 printf("\n");
POTLESS_2 10:aca745a66d51 225 printf("\x1b[0m\r Volet Poumon = \x1b[1m\x1b[K%3.2f%\n", volet_poumon_Position);
POTLESS_2 10:aca745a66d51 226 printf("\x1b[0m\r Volet Fuite = \x1b[1m\x1b[K%3.2f%\n", volet_fuite_Position);
POTLESS_2 10:aca745a66d51 227 printf("\n");
POTLESS_2 12:7f3aadd79f89 228 printf("\x1b[0m\r Temps d execution de la boucle = \x1b[1m\x1b[K%f seconde(s)\n", (RATE + RATE_TRUE) / 1000);
POTLESS_2 9:04bfdfc029cb 229 printf("\r\n", "");
POTLESS_2 9:04bfdfc029cb 230 printf("\x1b[0m\r A enregistrer = \x1b[1m\x1b[K%s\n", to_store);
POTLESS_2 9:04bfdfc029cb 231 printf("\r\n", "");
POTLESS_2 12:7f3aadd79f89 232 #endif
POTLESS_2 4:d84250f67dec 233 }
POTLESS_2 4:d84250f67dec 234
POTLESS_2 11:b2feed92584a 235 //Callback de l'intérruption des envois de commandes depuis le terminal
POTLESS_2 6:ebed9093d661 236 void callbackParam()
POTLESS_2 4:d84250f67dec 237 {
POTLESS_2 6:ebed9093d661 238 while(serialMonit.readable()) {
POTLESS_2 6:ebed9093d661 239 if (indexParam == sizeParam) //éviter la saturation du buffer
POTLESS_2 6:ebed9093d661 240 serialMonit.getc();
POTLESS_2 6:ebed9093d661 241 else
POTLESS_2 6:ebed9093d661 242 param [indexParam++] = serialMonit.getc();//chargement du buffer dans le message
POTLESS_2 6:ebed9093d661 243 if ((indexParam == sizeParam) || (param[indexParam -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 6:ebed9093d661 244 param[indexParam] = 0;
POTLESS_2 6:ebed9093d661 245 newParamFlag = true;
POTLESS_2 6:ebed9093d661 246 }
POTLESS_2 4:d84250f67dec 247 }
POTLESS_2 6:ebed9093d661 248 }
POTLESS_2 4:d84250f67dec 249
POTLESS_2 9:04bfdfc029cb 250 //Callback de l'intérruption des envois de commandes depuis Android
POTLESS_2 9:04bfdfc029cb 251 void callbackAndroid()
POTLESS_2 9:04bfdfc029cb 252 {
POTLESS_2 9:04bfdfc029cb 253 while(android.readable()) {
POTLESS_2 9:04bfdfc029cb 254 if (indexAndroid == sizeAndroid) //éviter la saturation du buffer
POTLESS_2 9:04bfdfc029cb 255 android.getc();
POTLESS_2 9:04bfdfc029cb 256 else
POTLESS_2 9:04bfdfc029cb 257 Android [indexAndroid++] = android.getc();//chargement du buffer dans le message
POTLESS_2 9:04bfdfc029cb 258 if ((indexAndroid == sizeAndroid) || (Android[indexAndroid -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 9:04bfdfc029cb 259 Android[indexAndroid] = 0;
POTLESS_2 9:04bfdfc029cb 260 newAndroidFlag = true;
POTLESS_2 9:04bfdfc029cb 261 }
POTLESS_2 9:04bfdfc029cb 262 }
POTLESS_2 9:04bfdfc029cb 263 }
POTLESS_2 11:b2feed92584a 264
POTLESS_2 9:04bfdfc029cb 265 void Decoding_Message(char message [])
POTLESS_2 9:04bfdfc029cb 266 {
POTLESS_2 9:04bfdfc029cb 267 char *commande = 0;
POTLESS_2 9:04bfdfc029cb 268 int valeur = 0;
POTLESS_2 9:04bfdfc029cb 269
POTLESS_2 9:04bfdfc029cb 270 sscanf(message,"%s %d",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 271
POTLESS_2 9:04bfdfc029cb 272 if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 273 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 274 } else if ((char)commande == 'I') {
POTLESS_2 10:aca745a66d51 275 servo_poumon = remap(valeur, 0, 90, 0, 100) / 100.f;
POTLESS_2 12:7f3aadd79f89 276 #ifdef DELTA_MODE
POTLESS_2 11:b2feed92584a 277 float Sf = servo_poumon + remap(delta, 0, 90, 0, 100) / 100.f;
POTLESS_2 11:b2feed92584a 278 if(Sf >= 0 && Sf <= 90)
POTLESS_2 12:7f3aadd79f89 279 servo_fuite = Sf;
POTLESS_2 12:7f3aadd79f89 280 #endif
POTLESS_2 10:aca745a66d51 281 printf(" Servo Poumon = %f\r\n", remap(valeur, 0, 90, 0, 100) / 100.f);
POTLESS_2 12:7f3aadd79f89 282 } else if ((char)commande == 'O') {
POTLESS_2 10:aca745a66d51 283 servo_fuite = 1 - remap(valeur, 0, 90, 0, 100) / 100.f;
POTLESS_2 12:7f3aadd79f89 284 printf(" Servo Fuite = %f\r\n", 1 - remap(valeur, 0, 90, 0, 100) / 100.f);
POTLESS_2 11:b2feed92584a 285 } else if ((char)commande == 'D') {
POTLESS_2 11:b2feed92584a 286 delta = valeur;
POTLESS_2 12:7f3aadd79f89 287 #ifdef DELTA_MODE
POTLESS_2 11:b2feed92584a 288 float Sf = servo_poumon + remap(delta, 0, 90, 0, 100) / 100.f;
POTLESS_2 11:b2feed92584a 289 if(Sf >= 0 && Sf <= 90)
POTLESS_2 12:7f3aadd79f89 290 servo_fuite = Sf;
POTLESS_2 12:7f3aadd79f89 291 #endif
POTLESS_2 10:aca745a66d51 292 } else if ((char)commande == 'R') {
POTLESS_2 10:aca745a66d51 293 NVIC_SystemReset();
POTLESS_2 12:7f3aadd79f89 294 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 295 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 296 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 297 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 298 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 299 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 300 } else {
POTLESS_2 9:04bfdfc029cb 301 sensors.cozirSend(message);
POTLESS_2 9:04bfdfc029cb 302 }
POTLESS_2 9:04bfdfc029cb 303
POTLESS_2 11:b2feed92584a 304 //wait_ms(100);
POTLESS_2 9:04bfdfc029cb 305 strcpy(param," ");
POTLESS_2 9:04bfdfc029cb 306 indexParam = 0;
POTLESS_2 9:04bfdfc029cb 307 newParamFlag = false;
POTLESS_2 9:04bfdfc029cb 308 }
POTLESS_2 9:04bfdfc029cb 309
POTLESS_2 9:04bfdfc029cb 310 void Decoding_Message_Android(char message [])
POTLESS_2 9:04bfdfc029cb 311 {
POTLESS_2 9:04bfdfc029cb 312 char *commande = 0;
POTLESS_2 9:04bfdfc029cb 313 int valeur = 0;
POTLESS_2 9:04bfdfc029cb 314
POTLESS_2 9:04bfdfc029cb 315 sscanf(message,"%s %d",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 316
POTLESS_2 9:04bfdfc029cb 317 if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 318 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 319 } else if ((char)commande == 'I') {
POTLESS_2 10:aca745a66d51 320 servo_poumon = remap(valeur, 0, 90, 0, 100) / 100.f;
POTLESS_2 12:7f3aadd79f89 321 #ifdef DELTA_MODE
POTLESS_2 11:b2feed92584a 322 float Sf = servo_poumon + remap(delta, 0, 90, 0, 100) / 100.f;
POTLESS_2 11:b2feed92584a 323 if(Sf >= 0 && Sf <= 90)
POTLESS_2 12:7f3aadd79f89 324 servo_fuite = Sf;
POTLESS_2 12:7f3aadd79f89 325 #endif
POTLESS_2 10:aca745a66d51 326 printf(" Servo Poumon = %f\r\n", remap(valeur, 0, 90, 0, 100) / 100.f);
POTLESS_2 12:7f3aadd79f89 327 } else if ((char)commande == 'O') {
POTLESS_2 10:aca745a66d51 328 servo_fuite = 1 - remap(valeur, 0, 90, 0, 100) / 100.f;
POTLESS_2 11:b2feed92584a 329 printf(" Servo Fuite = %f\r\n", 1 - remap(valeur, 0, 90, 0, 100) / 100.f);
POTLESS_2 11:b2feed92584a 330 } else if ((char)commande == 'D') {
POTLESS_2 11:b2feed92584a 331 delta = valeur;
POTLESS_2 12:7f3aadd79f89 332 #ifdef DELTA_MODE
POTLESS_2 11:b2feed92584a 333 float Sf = servo_poumon + remap(delta, 0, 90, 0, 100) / 100.f;
POTLESS_2 11:b2feed92584a 334 if(Sf >= 0 && Sf <= 90)
POTLESS_2 12:7f3aadd79f89 335 servo_fuite = Sf;
POTLESS_2 12:7f3aadd79f89 336 #endif
POTLESS_2 12:7f3aadd79f89 337 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 338 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 339 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 340 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 341 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 342 /////////////////////////////////////////
POTLESS_2 9:04bfdfc029cb 343 } else if ((char)commande == 'R') {
POTLESS_2 9:04bfdfc029cb 344 NVIC_SystemReset();
POTLESS_2 9:04bfdfc029cb 345 }
POTLESS_2 12:7f3aadd79f89 346 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 347 else if ((char)commande == 'p') {
POTLESS_2 12:7f3aadd79f89 348 Kc = (float)valeur;
POTLESS_2 12:7f3aadd79f89 349 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 350 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 351 }else if ((char)commande == 'i') {
POTLESS_2 12:7f3aadd79f89 352 Ti = (float)valeur;
POTLESS_2 12:7f3aadd79f89 353 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 354 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 355 }else if ((char)commande == 'd') {
POTLESS_2 12:7f3aadd79f89 356 Td = (float)valeur;
POTLESS_2 12:7f3aadd79f89 357 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 358 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 359 }else if ((char)commande == 'c') {
POTLESS_2 12:7f3aadd79f89 360 consigne = valeur;
POTLESS_2 12:7f3aadd79f89 361 printf(" UPDATE CONSIGNE PID --> Consigne = %d\r\n", consigne);
POTLESS_2 12:7f3aadd79f89 362 }
POTLESS_2 12:7f3aadd79f89 363 #endif
POTLESS_2 11:b2feed92584a 364 //wait_ms(100);
POTLESS_2 9:04bfdfc029cb 365 strcpy(Android," ");
POTLESS_2 9:04bfdfc029cb 366 indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 367 newAndroidFlag = false;
POTLESS_2 9:04bfdfc029cb 368 }
POTLESS_2 9:04bfdfc029cb 369
POTLESS_2 10:aca745a66d51 370 //Calibration des limites de feedback des servos
POTLESS_2 10:aca745a66d51 371 void Calibration_servo()
POTLESS_2 10:aca745a66d51 372 {
POTLESS_2 10:aca745a66d51 373 //Servos, calibration du feedback
POTLESS_2 10:aca745a66d51 374 printf(" Check Servos :\r\n");
POTLESS_2 10:aca745a66d51 375 printf("\r\n");
POTLESS_2 10:aca745a66d51 376 servo_poumon.period(0.001); // à mettre dans le setup si cette calib n'est pas appelée (je l ai trouvée commentée)
POTLESS_2 10:aca745a66d51 377 servo_fuite.period(0.001);
POTLESS_2 10:aca745a66d51 378 //Rentrer les servos à fond
POTLESS_2 10:aca745a66d51 379 servo_poumon = 0;
POTLESS_2 10:aca745a66d51 380 servo_fuite = 0;
POTLESS_2 10:aca745a66d51 381 wait(4);
POTLESS_2 10:aca745a66d51 382
POTLESS_2 10:aca745a66d51 383 Limit_min_Servo_Poumon = FeedBack_Servo_Poumon.read();
POTLESS_2 10:aca745a66d51 384 wait_ms(100);
POTLESS_2 10:aca745a66d51 385 Limit_min_Servo_Fuite = FeedBack_Servo_Fuite.read();
POTLESS_2 10:aca745a66d51 386
POTLESS_2 10:aca745a66d51 387 printf(" FeedBack Servo POUMON min = %f\n", Limit_min_Servo_Poumon);
POTLESS_2 10:aca745a66d51 388 printf(" FeedBack Servo FUITE min = %f\n", Limit_min_Servo_Fuite);
POTLESS_2 10:aca745a66d51 389 printf("\r\n");
POTLESS_2 10:aca745a66d51 390
POTLESS_2 10:aca745a66d51 391 //Sortir les servos à fond
POTLESS_2 10:aca745a66d51 392 servo_poumon = 1;
POTLESS_2 10:aca745a66d51 393 servo_fuite = 1;
POTLESS_2 10:aca745a66d51 394 wait(4);
POTLESS_2 10:aca745a66d51 395
POTLESS_2 10:aca745a66d51 396 Limit_max_Servo_Poumon = FeedBack_Servo_Poumon.read();
POTLESS_2 10:aca745a66d51 397 wait_ms(100);
POTLESS_2 10:aca745a66d51 398 Limit_max_Servo_Fuite = FeedBack_Servo_Fuite.read();
POTLESS_2 10:aca745a66d51 399
POTLESS_2 10:aca745a66d51 400 printf(" FeedBack Servo POUMON Max = %f\n", Limit_max_Servo_Poumon);
POTLESS_2 10:aca745a66d51 401 printf(" FeedBack Servo FUITE Max = %f\n", Limit_max_Servo_Fuite);
POTLESS_2 10:aca745a66d51 402 printf("\r\n");
POTLESS_2 10:aca745a66d51 403
POTLESS_2 10:aca745a66d51 404 //Position milieu
POTLESS_2 10:aca745a66d51 405 servo_poumon = 0.5;
POTLESS_2 10:aca745a66d51 406 servo_fuite = 0.5;
POTLESS_2 10:aca745a66d51 407 wait(4);
POTLESS_2 10:aca745a66d51 408
POTLESS_2 10:aca745a66d51 409 //Mesure du delta consigne / feedback
POTLESS_2 10:aca745a66d51 410 Delta_FB_1 = abs(remap(FeedBack_Servo_Poumon.read(), Limit_max_Servo_Poumon, Limit_min_Servo_Poumon, 0, 90) - 45);
POTLESS_2 10:aca745a66d51 411 Delta_FB_2 = abs(remap(FeedBack_Servo_Fuite.read(), Limit_max_Servo_Fuite, Limit_min_Servo_Fuite, 0, 90) - 45);
POTLESS_2 10:aca745a66d51 412
POTLESS_2 10:aca745a66d51 413 printf(" Delta Servo 1 = %f\n", Delta_FB_1);
POTLESS_2 10:aca745a66d51 414 printf(" Delta Servo 2 = %f\n", Delta_FB_2);
POTLESS_2 10:aca745a66d51 415
POTLESS_2 10:aca745a66d51 416 if(Delta_FB_1 > 10 || Delta_FB_2 > 10) printf(" Delta Servos non satisfaisant...\r\n\r\n");
POTLESS_2 12:7f3aadd79f89 417
POTLESS_2 11:b2feed92584a 418 #ifdef DELTA_MODE
POTLESS_2 11:b2feed92584a 419 //Position initial delta
POTLESS_2 11:b2feed92584a 420 servo_poumon = 0.5;
POTLESS_2 11:b2feed92584a 421 servo_fuite = 0.5 + remap(delta, 0, 90, 0, 100) / 100.f;
POTLESS_2 12:7f3aadd79f89 422 #endif
POTLESS_2 10:aca745a66d51 423 }
POTLESS_2 10:aca745a66d51 424
POTLESS_2 4:d84250f67dec 425 int main()
POTLESS_2 12:7f3aadd79f89 426 {
POTLESS_2 11:b2feed92584a 427 //UNIX TIMESTAMP depuis le erminal MAC = date +%s + 7200 pour heure d'été.....
POTLESS_2 12:7f3aadd79f89 428
POTLESS_2 10:aca745a66d51 429 Calibration_servo();
POTLESS_2 12:7f3aadd79f89 430
POTLESS_2 11:b2feed92584a 431 sensors.Sensors_INIT(false, true, 5, SPOOLING, DIGI_FILTER32, CALIB_AIR);
POTLESS_2 6:ebed9093d661 432
POTLESS_2 6:ebed9093d661 433 serialMonit.attach(&callbackParam, Serial::RxIrq);
POTLESS_2 6:ebed9093d661 434
POTLESS_2 9:04bfdfc029cb 435 android.attach(&callbackAndroid, Serial::RxIrq);
POTLESS_2 9:04bfdfc029cb 436
POTLESS_2 7:ad15c386e960 437 serialMonit.printf(" Demarrage...\r\n\r\n Entrez les comandes COZIR si besoin :\r\n");
POTLESS_2 6:ebed9093d661 438
POTLESS_2 10:aca745a66d51 439 thread.start(Get_Info_thread);
POTLESS_2 9:04bfdfc029cb 440
POTLESS_2 7:ad15c386e960 441 thread.set_priority(osPriorityRealtime);
POTLESS_2 12:7f3aadd79f89 442
POTLESS_2 12:7f3aadd79f89 443 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 444 //Init PID
POTLESS_2 12:7f3aadd79f89 445 //Entrée PPO2 entre 100 et 1000 mb
POTLESS_2 12:7f3aadd79f89 446 control_Servo.setInputLimits(Min_Input, Max_Input);
POTLESS_2 12:7f3aadd79f89 447 //Sortie servo entre 0 et 100 %
POTLESS_2 12:7f3aadd79f89 448 control_Servo.setOutputLimits(Min_Output, Max_Output);
POTLESS_2 12:7f3aadd79f89 449 //Mode manuel au démarrage
POTLESS_2 12:7f3aadd79f89 450 control_Servo.setMode(AUTO_MODE);
POTLESS_2 12:7f3aadd79f89 451 //Consigne à x mb
POTLESS_2 12:7f3aadd79f89 452 control_Servo.setSetPoint(consigne);
POTLESS_2 12:7f3aadd79f89 453
POTLESS_2 12:7f3aadd79f89 454 #endif
POTLESS_2 12:7f3aadd79f89 455
POTLESS_2 11:b2feed92584a 456 #ifdef VT100
POTLESS_2 8:a750d531b381 457 printf(CLS);
POTLESS_2 11:b2feed92584a 458 #endif
POTLESS_2 9:04bfdfc029cb 459
POTLESS_2 7:ad15c386e960 460 while (true) {
POTLESS_2 6:ebed9093d661 461
POTLESS_2 7:ad15c386e960 462 //Démarrage du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 463 REAL_RATE.start();
POTLESS_2 7:ad15c386e960 464
POTLESS_2 7:ad15c386e960 465 Affichage_moniteur();
POTLESS_2 9:04bfdfc029cb 466
POTLESS_2 6:ebed9093d661 467 if (newParamFlag) {
POTLESS_2 6:ebed9093d661 468 serialMonit.printf("Param = %s\r\n", param);
POTLESS_2 9:04bfdfc029cb 469 Decoding_Message(param);
POTLESS_2 9:04bfdfc029cb 470 }
POTLESS_2 9:04bfdfc029cb 471
POTLESS_2 9:04bfdfc029cb 472 if (newAndroidFlag) {
POTLESS_2 9:04bfdfc029cb 473 serialMonit.printf("Android = %s\r\n", Android);
POTLESS_2 9:04bfdfc029cb 474 Decoding_Message_Android(Android);
POTLESS_2 6:ebed9093d661 475 }
POTLESS_2 7:ad15c386e960 476
POTLESS_2 9:04bfdfc029cb 477 //Vers Android
POTLESS_2 9:04bfdfc029cb 478 if (NEED_ANDROID_OUTPUT == 1) {
POTLESS_2 12:7f3aadd79f89 479 ANDROID(to_android);
POTLESS_2 9:04bfdfc029cb 480 }
POTLESS_2 12:7f3aadd79f89 481
POTLESS_2 9:04bfdfc029cb 482 sensors.Write_SD((string)to_store);
POTLESS_2 12:7f3aadd79f89 483
POTLESS_2 12:7f3aadd79f89 484 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 485 //Adéquation du RATE du PID avec la contrainte du temps du loop
POTLESS_2 12:7f3aadd79f89 486 control_Servo.setInterval(RATE_PID);
POTLESS_2 12:7f3aadd79f89 487 //Update du PID
POTLESS_2 12:7f3aadd79f89 488 control_Servo.setProcessValue(ppO2);
POTLESS_2 12:7f3aadd79f89 489 //Nouvelle sortie servo
POTLESS_2 12:7f3aadd79f89 490 Commande_PID = control_Servo.compute();
POTLESS_2 12:7f3aadd79f89 491 //Appliquer la consigne
POTLESS_2 12:7f3aadd79f89 492 servo_fuite = Commande_PID / 100.0f;
POTLESS_2 12:7f3aadd79f89 493 #endif
POTLESS_2 12:7f3aadd79f89 494
POTLESS_2 7:ad15c386e960 495 //Arrêt du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 496 REAL_RATE.stop();
POTLESS_2 7:ad15c386e960 497 //Définition de la nouvelle valeur du temps d'échantillonage du PID.
POTLESS_2 7:ad15c386e960 498 RATE = REAL_RATE.read();
POTLESS_2 7:ad15c386e960 499 //Reset du Timer
POTLESS_2 7:ad15c386e960 500 REAL_RATE.reset();
POTLESS_2 12:7f3aadd79f89 501
POTLESS_2 11:b2feed92584a 502 //Pour ralentir le code à 1 seconde fixe quelque soit les intéruptions du loop....
POTLESS_2 12:7f3aadd79f89 503 RATE_TRUE = (Ref_Time - RATE) * 1000;
POTLESS_2 11:b2feed92584a 504 wait_ms(RATE_TRUE);
POTLESS_2 4:d84250f67dec 505 }
POTLESS_2 4:d84250f67dec 506 }