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@76:9dc83d5cf075, 2018-07-19 (annotated)

Committer:
POTLESS_2
Date:
Thu Jul 19 13:35:04 2018 +0000
Revision:
76:9dc83d5cf075
Parent:
75:eec3e587c8b8
Child:
77:0cecc4adbab2
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Who changed what in which revision?

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