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@33:f5d4bae05f16, 2018-02-24 (annotated)

Committer:
POTLESS_2
Date:
Sat Feb 24 16:56:19 2018 +0000
Revision:
33:f5d4bae05f16
Parent:
31:231a96d1d1c8
Child:
34:26f6e3dbefb9
Avec O2 qui marche

Who changed what in which revision?

UserRevisionLine numberNew contents of line
potless 1:bef7856b5c0a 1 #include "mbed.h"
potless 2:4a8bf1d53439 2 #include <string>
POTLESS_2 7:ad15c386e960 3 #include "Sensor_head_revB.h"
POTLESS_2 8:a750d531b381 4 #include "HTU21D.h"
POTLESS_2 12:7f3aadd79f89 5 #include "PID.h"
POTLESS_2 19:cac3761a5d0b 6 #include "Faulhaber.h"
POTLESS_2 29:5b822d18bce6 7 #include "Utils.h"
POTLESS_2 4:d84250f67dec 8
POTLESS_2 17:bef8abc445f2 9 //Commandes des servos
POTLESS_2 19:cac3761a5d0b 10 #define PWM_SERVO_POUMON PB_15
POTLESS_2 19:cac3761a5d0b 11 #define nSleep_SERVO_POUMON PC_6
POTLESS_2 19:cac3761a5d0b 12 #define FWD_SERVO_POUMON PB_14
POTLESS_2 19:cac3761a5d0b 13 #define REV_SERVO_POUMON PB_13
POTLESS_2 19:cac3761a5d0b 14 #define Channel_A_SERVO_POUMON PB_1
POTLESS_2 19:cac3761a5d0b 15 #define Channel_B_SERVO_POUMON PB_2
POTLESS_2 19:cac3761a5d0b 16 #define HOME_SERVO_POUMON 0
POTLESS_2 17:bef8abc445f2 17
POTLESS_2 19:cac3761a5d0b 18 #define PWM_SERVO_FUITE PB_10
POTLESS_2 19:cac3761a5d0b 19 #define nSleep_SERVO_FUITE PC_5
POTLESS_2 19:cac3761a5d0b 20 #define FWD_SERVO_FUITE PB_4
POTLESS_2 19:cac3761a5d0b 21 #define REV_SERVO_FUITE PB_5
POTLESS_2 19:cac3761a5d0b 22 #define Channel_A_SERVO_FUITE PB_8
POTLESS_2 19:cac3761a5d0b 23 #define Channel_B_SERVO_FUITE PB_9
POTLESS_2 19:cac3761a5d0b 24 #define HOME_SERVO_FUITE 90
POTLESS_2 17:bef8abc445f2 25
POTLESS_2 17:bef8abc445f2 26 //Ecrit dans le moniteur série de la tablette à 115200 bds si sur 1, penser à mettre NEED_CONSOLE_OUTPUT à 0
POTLESS_2 9:04bfdfc029cb 27 #define NEED_ANDROID_OUTPUT 1
POTLESS_2 9:04bfdfc029cb 28
POTLESS_2 17:bef8abc445f2 29 //Mode PID, STD à commenter / décommenter
POTLESS_2 17:bef8abc445f2 30 #define STD_MODE
POTLESS_2 17:bef8abc445f2 31 //#define PID_MODE
POTLESS_2 11:b2feed92584a 32
POTLESS_2 12:7f3aadd79f89 33 #ifdef STD_MODE
POTLESS_2 12:7f3aadd79f89 34 int MODE_FLAG = 0;
POTLESS_2 11:b2feed92584a 35 #endif
POTLESS_2 11:b2feed92584a 36
POTLESS_2 12:7f3aadd79f89 37 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 38 int MODE_FLAG = 2;
POTLESS_2 11:b2feed92584a 39 #endif
POTLESS_2 11:b2feed92584a 40
POTLESS_2 9:04bfdfc029cb 41 #if NEED_ANDROID_OUTPUT
POTLESS_2 9:04bfdfc029cb 42 #define ANDROID(...) { android.printf(__VA_ARGS__); }
POTLESS_2 9:04bfdfc029cb 43 #else
POTLESS_2 9:04bfdfc029cb 44 #define ANDROID(...)
POTLESS_2 9:04bfdfc029cb 45 #endif
POTLESS_2 9:04bfdfc029cb 46
POTLESS_2 33:f5d4bae05f16 47 #if DEBUG_MODE
POTLESS_2 33:f5d4bae05f16 48 #define DEBUG(...) { serialMonit.printf(__VA_ARGS__); fflush(stdout);}
POTLESS_2 29:5b822d18bce6 49 #else
POTLESS_2 33:f5d4bae05f16 50 #define DEBUG(...)
POTLESS_2 29:5b822d18bce6 51 #endif
POTLESS_2 29:5b822d18bce6 52
POTLESS_2 29:5b822d18bce6 53
POTLESS_2 25:322ef9488e65 54 //PinName pwm, PinName nSleep, PinName fwd, PinName rev, PinName channelA, PinName channelB, int pulsesPerRev, int Rapport, Encoding encoding = X2_ENCODING
POTLESS_2 25:322ef9488e65 55 Faulhaber Servo_Poumon("Servo_Poumon", PWM_SERVO_POUMON, nSleep_SERVO_POUMON, FWD_SERVO_POUMON, REV_SERVO_POUMON, Channel_A_SERVO_POUMON, Channel_B_SERVO_POUMON, 16, 207, Faulhaber::X2_ENCODING);
POTLESS_2 22:555c2930e8e0 56 //Faulhaber Servo_Fuite("Servo_Fuite", PWM_SERVO_FUITE, nSleep_SERVO_FUITE, FWD_SERVO_FUITE, REV_SERVO_FUITE, 1, Channel_A_SERVO_FUITE, Channel_B_SERVO_FUITE, 16, 207, Faulhaber::X2_ENCODING);
POTLESS_2 17:bef8abc445f2 57
POTLESS_2 17:bef8abc445f2 58 //Moniteur série, Serial 2
POTLESS_2 17:bef8abc445f2 59 Serial serialMonit(USBTX,USBRX,115200);
POTLESS_2 10:aca745a66d51 60
POTLESS_2 9:04bfdfc029cb 61 //COM Série vers Android, Serial 3
POTLESS_2 17:bef8abc445f2 62 Serial android(PC_10,PC_11,115200);
POTLESS_2 4:d84250f67dec 63
POTLESS_2 7:ad15c386e960 64 //Init de la lib ARNSRS;
POTLESS_2 7:ad15c386e960 65 SENSOR_HEAD_REV_B sensors;
potless 2:4a8bf1d53439 66
POTLESS_2 6:ebed9093d661 67 //pour Param Cozir
POTLESS_2 9:04bfdfc029cb 68 const int sizeParam = 20;
POTLESS_2 11:b2feed92584a 69 char param[sizeParam];
POTLESS_2 11:b2feed92584a 70 volatile int indexParam = 0;
POTLESS_2 6:ebed9093d661 71 bool newParamFlag = false;
potless 2:4a8bf1d53439 72
POTLESS_2 9:04bfdfc029cb 73 //pour Commandes Android
POTLESS_2 9:04bfdfc029cb 74 const int sizeAndroid = 20;
POTLESS_2 11:b2feed92584a 75 char Android[sizeAndroid];
POTLESS_2 11:b2feed92584a 76 volatile int indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 77 bool newAndroidFlag = false;
POTLESS_2 12:7f3aadd79f89 78 char to_android[100];
POTLESS_2 9:04bfdfc029cb 79
POTLESS_2 25:322ef9488e65 80 //Flag pour interrompre l'affichage si on veut...
POTLESS_2 25:322ef9488e65 81 bool FLAG_AFF = true;
POTLESS_2 25:322ef9488e65 82
POTLESS_2 29:5b822d18bce6 83 //Flag pour interrompre l'enregistrement si on veut...
POTLESS_2 29:5b822d18bce6 84 bool FLAG_REC = true;
POTLESS_2 29:5b822d18bce6 85
POTLESS_2 33:f5d4bae05f16 86 //Flag pour interrompre les demandes O2 en cours ed calibration...
POTLESS_2 33:f5d4bae05f16 87 bool FLAG_O2 = true;
POTLESS_2 33:f5d4bae05f16 88
POTLESS_2 7:ad15c386e960 89 //Variables de stockage des infos capteurs
POTLESS_2 7:ad15c386e960 90 int co2 = 0;
POTLESS_2 7:ad15c386e960 91 float pression = 0;
POTLESS_2 9:04bfdfc029cb 92 float Temp1 = 0;
POTLESS_2 7:ad15c386e960 93 int ppO2 = 0;
POTLESS_2 7:ad15c386e960 94 int CellO2_1 = 0;
POTLESS_2 7:ad15c386e960 95 int CellO2_2 = 0;
POTLESS_2 7:ad15c386e960 96
POTLESS_2 18:bfd78c05b589 97 //Variables et constantes OTU
POTLESS_2 18:bfd78c05b589 98 float OTU = 0;
POTLESS_2 18:bfd78c05b589 99 float COEF_OTU = 0.83;
POTLESS_2 18:bfd78c05b589 100
POTLESS_2 17:bef8abc445f2 101 //Mesure du temps d'éxecution du loop
POTLESS_2 7:ad15c386e960 102 Timer REAL_RATE;
POTLESS_2 7:ad15c386e960 103 float RATE = 0;
POTLESS_2 11:b2feed92584a 104 float RATE_TRUE = 0;
POTLESS_2 29:5b822d18bce6 105 float Ref_Time = 2.0; //La durée de la boucle désirée...
POTLESS_2 7:ad15c386e960 106
POTLESS_2 17:bef8abc445f2 107 //HTU21D sur l'I2C
POTLESS_2 8:a750d531b381 108 HTU21D temphumid(PB_9, PB_8); //Temp humid sensor || SDA, SCL
POTLESS_2 9:04bfdfc029cb 109 float Temp2;
POTLESS_2 9:04bfdfc029cb 110 int Humid;
POTLESS_2 9:04bfdfc029cb 111
POTLESS_2 9:04bfdfc029cb 112 //Data LOG
POTLESS_2 9:04bfdfc029cb 113 char to_store[50];
POTLESS_2 9:04bfdfc029cb 114 time_t seconds;
POTLESS_2 25:322ef9488e65 115 char Log_File_Name[] = " ";
POTLESS_2 8:a750d531b381 116
POTLESS_2 17:bef8abc445f2 117 //Thread d'intérogation des capteurs et de positionnement des volets
POTLESS_2 19:cac3761a5d0b 118 Thread thread_Sensors;
POTLESS_2 19:cac3761a5d0b 119 Thread thread_Volets;
POTLESS_2 20:5f79fb4565a7 120 Thread thread_Secu;
POTLESS_2 7:ad15c386e960 121
POTLESS_2 10:aca745a66d51 122 //Contrôle des servos
POTLESS_2 19:cac3761a5d0b 123 float Consigne_poumon = 0;
POTLESS_2 19:cac3761a5d0b 124 float volet_poumon_Position = 0;
POTLESS_2 19:cac3761a5d0b 125 float Consigne_fuite = 0;
POTLESS_2 19:cac3761a5d0b 126 float volet_fuite_Position = 0;
POTLESS_2 25:322ef9488e65 127 float Volets_Speed = 0.1;
POTLESS_2 26:a2fe19341f92 128 float Volet_DeadBand = 5;
POTLESS_2 10:aca745a66d51 129
POTLESS_2 12:7f3aadd79f89 130 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 131 //Paramètre du PID
POTLESS_2 12:7f3aadd79f89 132 float Kc = 40;
POTLESS_2 12:7f3aadd79f89 133 float Ti = 0;
POTLESS_2 12:7f3aadd79f89 134 float Td = 0;
POTLESS_2 12:7f3aadd79f89 135 float RATE_PID = Ref_Time;
POTLESS_2 12:7f3aadd79f89 136 float Commande_PID;
POTLESS_2 15:efd3b3bf3f37 137 float consigne = 210;
POTLESS_2 15:efd3b3bf3f37 138 float Max_Input = 1000;
POTLESS_2 15:efd3b3bf3f37 139 float Min_Input = 80;
POTLESS_2 19:cac3761a5d0b 140 float Max_Output = 85;//Vérifier la valeur pour angle à laisser ouvert...
POTLESS_2 19:cac3761a5d0b 141 float Min_Output = 5;
POTLESS_2 10:aca745a66d51 142
POTLESS_2 12:7f3aadd79f89 143 //Init PID
POTLESS_2 17:bef8abc445f2 144 PID control_Servo(Kc, Ti, Td, RATE_PID);
POTLESS_2 12:7f3aadd79f89 145 #endif
POTLESS_2 10:aca745a66d51 146
POTLESS_2 19:cac3761a5d0b 147 //Boolean du status de l'appareil, en mode SECU ou nominal
POTLESS_2 19:cac3761a5d0b 148 bool EN_MODE_SECU = false;
POTLESS_2 31:231a96d1d1c8 149
POTLESS_2 31:231a96d1d1c8 150 //Test des alim
POTLESS_2 29:5b822d18bce6 151 DigitalIn V_USB(PA_0);
POTLESS_2 31:231a96d1d1c8 152 DigitalIn V_PILES_2(PC_3);
POTLESS_2 31:231a96d1d1c8 153 AnalogIn V_PILES(PA_1);
POTLESS_2 31:231a96d1d1c8 154
POTLESS_2 31:231a96d1d1c8 155 int Vusb = 1;
POTLESS_2 31:231a96d1d1c8 156 int VPiles = 1;
POTLESS_2 31:231a96d1d1c8 157 float VPiles_2 = 1;
POTLESS_2 18:bfd78c05b589 158
POTLESS_2 21:b8900130ca05 159 //Interruption user button
POTLESS_2 21:b8900130ca05 160 InterruptIn button(USER_BUTTON);
POTLESS_2 23:7477dc855fad 161 volatile int GO = 0;
POTLESS_2 21:b8900130ca05 162
POTLESS_2 29:5b822d18bce6 163 void Affichage()
POTLESS_2 29:5b822d18bce6 164 {
POTLESS_2 29:5b822d18bce6 165
POTLESS_2 29:5b822d18bce6 166 serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 167 serialMonit.printf(" CO2 = %d ppm\r\n" , co2);
POTLESS_2 29:5b822d18bce6 168 serialMonit.printf(" PPO2 = %d mb\r\n", ppO2);
POTLESS_2 31:231a96d1d1c8 169 serialMonit.printf(" OTU = %d \r\n", (int)OTU);
POTLESS_2 29:5b822d18bce6 170 serialMonit.printf(" Pression = %f msw\r\n", pression);
POTLESS_2 29:5b822d18bce6 171 serialMonit.printf(" Temp MS5837 = %f C\r\n", Temp1);
POTLESS_2 29:5b822d18bce6 172 serialMonit.printf(" Temp HTU21D = %f C\n\r", Temp2);
POTLESS_2 29:5b822d18bce6 173 serialMonit.printf(" Humidity = %d %%\n\r", Humid);
POTLESS_2 29:5b822d18bce6 174 serialMonit.printf("\n\r");
POTLESS_2 29:5b822d18bce6 175 serialMonit.printf(" Cell O2 n 1 = %d\r\n" , CellO2_1);
POTLESS_2 29:5b822d18bce6 176 serialMonit.printf(" Cell O2 n 2 = %d\r\n" , CellO2_2);
POTLESS_2 29:5b822d18bce6 177 serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 178 serialMonit.printf(" Volet Poumon = %f\r\n" , volet_poumon_Position);
POTLESS_2 29:5b822d18bce6 179 serialMonit.printf(" Volet Fuite = %f\r\n" , volet_fuite_Position);
POTLESS_2 29:5b822d18bce6 180 serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 181 serialMonit.printf(" Temps d execution de la boucle = %f seconde(s)\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 29:5b822d18bce6 182 serialMonit.printf("\r\n");
POTLESS_2 30:7a16a66d76f3 183 if (FLAG_REC) serialMonit.printf(" Chaine enregistrée = %s\n", to_store);
POTLESS_2 30:7a16a66d76f3 184 else serialMonit.printf(" Pas d'enregistrement en cours.");
POTLESS_2 29:5b822d18bce6 185 serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 186 serialMonit.printf(" V_USB = %f", Vusb);
POTLESS_2 29:5b822d18bce6 187 serialMonit.printf("\r\n\r\n");
POTLESS_2 29:5b822d18bce6 188 fflush(stdout);
POTLESS_2 29:5b822d18bce6 189 }
POTLESS_2 29:5b822d18bce6 190
POTLESS_2 21:b8900130ca05 191 void pressed() {
POTLESS_2 23:7477dc855fad 192 GO = GO + 1;
POTLESS_2 24:44ef919899c1 193 if (GO > 1) NVIC_SystemReset();
POTLESS_2 21:b8900130ca05 194 }
POTLESS_2 21:b8900130ca05 195
POTLESS_2 19:cac3761a5d0b 196 //Passage en mode SECU
POTLESS_2 19:cac3761a5d0b 197 void Mode_SECU()
POTLESS_2 18:bfd78c05b589 198 {
POTLESS_2 19:cac3761a5d0b 199 #ifdef PID_MODE
POTLESS_2 18:bfd78c05b589 200 //Mise du PID en mode manuel (desactivation...)
POTLESS_2 18:bfd78c05b589 201 control_Servo.setMode(MANUAL_MODE);
POTLESS_2 18:bfd78c05b589 202 #endif
POTLESS_2 19:cac3761a5d0b 203 Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 19:cac3761a5d0b 204 Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 25:322ef9488e65 205
POTLESS_2 25:322ef9488e65 206 Volets_Speed = 0.1;
POTLESS_2 25:322ef9488e65 207 Volet_DeadBand = 10;
POTLESS_2 25:322ef9488e65 208
POTLESS_2 19:cac3761a5d0b 209 while(1) {
POTLESS_2 25:322ef9488e65 210 wait_ms(100);
POTLESS_2 19:cac3761a5d0b 211 if (Servo_Poumon.Pos_OK() == true) break;
POTLESS_2 19:cac3761a5d0b 212 //if (Servo_Poumon.Pos_OK() == true && Servo_Fuite.Pos_OK() == true) break;
POTLESS_2 19:cac3761a5d0b 213 }
POTLESS_2 33:f5d4bae05f16 214 DEBUG("-------------- Appareil en mode SECU ---------------\r\n");
POTLESS_2 25:322ef9488e65 215
POTLESS_2 25:322ef9488e65 216 wait_ms(100);
POTLESS_2 25:322ef9488e65 217
POTLESS_2 19:cac3761a5d0b 218 EN_MODE_SECU = true;
POTLESS_2 25:322ef9488e65 219 wait_ms(100);
POTLESS_2 19:cac3761a5d0b 220 int Pos = Servo_Poumon.getPulses();
POTLESS_2 19:cac3761a5d0b 221 UTILS::Store_A_Val((float)Pos, "Servo_Poumon");
POTLESS_2 33:f5d4bae05f16 222 DEBUG(" position volet poumon sauvegardée = %d pulse(s)\r\n", Pos);
POTLESS_2 19:cac3761a5d0b 223 //Pos = Servo_Fuite.getPulses();
POTLESS_2 19:cac3761a5d0b 224 //UTILS::Store_A_Val((float)Pos, "Servo_Fuite");
POTLESS_2 33:f5d4bae05f16 225 //DEBUG(" position volet fuite sauvegardée = %d pulse(s)\r\n", Pos);
POTLESS_2 29:5b822d18bce6 226 UTILS::UnMount_Flash();
POTLESS_2 23:7477dc855fad 227 Servo_Poumon.Sleep();
POTLESS_2 19:cac3761a5d0b 228 }
POTLESS_2 19:cac3761a5d0b 229
POTLESS_2 19:cac3761a5d0b 230 //Sequence d'arrêt
POTLESS_2 19:cac3761a5d0b 231 void Stop_Sequence()
POTLESS_2 29:5b822d18bce6 232 {
POTLESS_2 26:a2fe19341f92 233 Mode_SECU();
POTLESS_2 33:f5d4bae05f16 234 DEBUG("----------------ARRET DE L'APPAREIL--------------------\r\n");
POTLESS_2 29:5b822d18bce6 235
POTLESS_2 33:f5d4bae05f16 236 DEBUG(" Deep sleep autorisé : %i\r\n", sleep_manager_can_deep_sleep());
POTLESS_2 29:5b822d18bce6 237 wait(1.0);
POTLESS_2 29:5b822d18bce6 238 sleep_manager_sleep_auto();
POTLESS_2 18:bfd78c05b589 239 }
POTLESS_2 18:bfd78c05b589 240
POTLESS_2 31:231a96d1d1c8 241 //Fonction test de valeur d'entrée digitale
POTLESS_2 29:5b822d18bce6 242 int Power_Test(DigitalIn& pin)
POTLESS_2 20:5f79fb4565a7 243 {
POTLESS_2 29:5b822d18bce6 244 pin.mode(PullDown);
POTLESS_2 29:5b822d18bce6 245
POTLESS_2 29:5b822d18bce6 246 if(!pin){
POTLESS_2 29:5b822d18bce6 247 Stop_Sequence();
POTLESS_2 29:5b822d18bce6 248 return 0;
POTLESS_2 29:5b822d18bce6 249 }else{
POTLESS_2 29:5b822d18bce6 250 return 1;
POTLESS_2 29:5b822d18bce6 251 }
POTLESS_2 20:5f79fb4565a7 252 }
POTLESS_2 20:5f79fb4565a7 253
POTLESS_2 31:231a96d1d1c8 254 //Fonction test de valeur d'entrée analogique
POTLESS_2 31:231a96d1d1c8 255 float Power_Test(AnalogIn& pin)
POTLESS_2 31:231a96d1d1c8 256 {
POTLESS_2 31:231a96d1d1c8 257 float Val = pin.read();
POTLESS_2 31:231a96d1d1c8 258 return Val;
POTLESS_2 31:231a96d1d1c8 259 }
POTLESS_2 31:231a96d1d1c8 260
POTLESS_2 18:bfd78c05b589 261 //Contrôle du status de l'appareil / des constantes
POTLESS_2 18:bfd78c05b589 262 bool Check()
POTLESS_2 18:bfd78c05b589 263 {
POTLESS_2 18:bfd78c05b589 264 if (ppO2 > 100)
POTLESS_2 19:cac3761a5d0b 265 return true;//Situation OK
POTLESS_2 18:bfd78c05b589 266 else
POTLESS_2 19:cac3761a5d0b 267 return false;//Situation dégradée
POTLESS_2 18:bfd78c05b589 268 }
POTLESS_2 18:bfd78c05b589 269
POTLESS_2 18:bfd78c05b589 270 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 271 float Calcul_OTU()
POTLESS_2 18:bfd78c05b589 272 {
POTLESS_2 18:bfd78c05b589 273 /*
POTLESS_2 18:bfd78c05b589 274 La formule suivante permet de calculer la quantité d' OTU accumulée
POTLESS_2 18:bfd78c05b589 275 OTU = T * (2* PpO2 -1)0,83
POTLESS_2 18:bfd78c05b589 276 avec :
POTLESS_2 18:bfd78c05b589 277 T = temps de plongée en minutes
POTLESS_2 18:bfd78c05b589 278 PpO2 = pression partielle d’ oxygène en bars
POTLESS_2 18:bfd78c05b589 279 */
POTLESS_2 18:bfd78c05b589 280
POTLESS_2 19:cac3761a5d0b 281 if (ppO2 > 500) {
POTLESS_2 18:bfd78c05b589 282 float val = (2 * (float)ppO2/1000 - 1);//je divise par 1000 car la PP est en mb...
POTLESS_2 18:bfd78c05b589 283 OTU += Ref_Time * pow(val, COEF_OTU);
POTLESS_2 19:cac3761a5d0b 284 }
POTLESS_2 18:bfd78c05b589 285 }
POTLESS_2 10:aca745a66d51 286
POTLESS_2 17:bef8abc445f2 287 //Thread d'intérogation des capteurs, positions servo
POTLESS_2 10:aca745a66d51 288 void Get_Info_thread()
POTLESS_2 6:ebed9093d661 289 {
POTLESS_2 7:ad15c386e960 290 while (true) {
POTLESS_2 7:ad15c386e960 291
POTLESS_2 7:ad15c386e960 292 //CO2 sur Cozir
POTLESS_2 7:ad15c386e960 293 co2 = sensors.requestCO2();
POTLESS_2 7:ad15c386e960 294 //P / T sur MS5837
POTLESS_2 7:ad15c386e960 295 pression = sensors.requestPress();
POTLESS_2 9:04bfdfc029cb 296 Temp1 = sensors.requestTemp();
POTLESS_2 7:ad15c386e960 297 //PPO2 sur ADS1015
POTLESS_2 33:f5d4bae05f16 298 if (FLAG_O2) ppO2 = sensors.requestPpO2();
POTLESS_2 7:ad15c386e960 299 //Cell O2 en mV
POTLESS_2 33:f5d4bae05f16 300 if (FLAG_O2) CellO2_1 = sensors.requestCellO2_1();
POTLESS_2 33:f5d4bae05f16 301 if (FLAG_O2) CellO2_2 = sensors.requestCellO2_2();
POTLESS_2 9:04bfdfc029cb 302
POTLESS_2 8:a750d531b381 303 //HTU21D
POTLESS_2 9:04bfdfc029cb 304 Temp2 = temphumid.sample_ctemp();
POTLESS_2 9:04bfdfc029cb 305 Humid = temphumid.sample_humid();
POTLESS_2 9:04bfdfc029cb 306
POTLESS_2 10:aca745a66d51 307 //Retour position des servos
POTLESS_2 17:bef8abc445f2 308 volet_poumon_Position = Servo_Poumon.Get_Position();
POTLESS_2 20:5f79fb4565a7 309 //volet_fuite_Position = Servo_Fuite.Get_Position();
POTLESS_2 22:555c2930e8e0 310
POTLESS_2 19:cac3761a5d0b 311 }
POTLESS_2 19:cac3761a5d0b 312 }
POTLESS_2 12:7f3aadd79f89 313
POTLESS_2 19:cac3761a5d0b 314 void GO_TO_thread()
POTLESS_2 19:cac3761a5d0b 315 {
POTLESS_2 19:cac3761a5d0b 316 while (true) {
POTLESS_2 19:cac3761a5d0b 317 //Servo_Poumon.Go_To_Prop(Consigne_poumon);
POTLESS_2 26:a2fe19341f92 318 //Servo_Poumon.Go_To_PID(Consigne_poumon, Volet_DeadBand);
POTLESS_2 25:322ef9488e65 319 Servo_Poumon.Go_To(Consigne_poumon, Volets_Speed, Volet_DeadBand );
POTLESS_2 20:5f79fb4565a7 320
POTLESS_2 19:cac3761a5d0b 321 //Servo_Fuite.Go_To_Prop(Consigne_fuite);
POTLESS_2 19:cac3761a5d0b 322 //Servo_Fuite.Go_To_PID(Consigne_fuite);
POTLESS_2 29:5b822d18bce6 323 //Servo_Fuite.Go_To(Consigne_fuite, Volets_Speed, Volet_DeadBand );
POTLESS_2 15:efd3b3bf3f37 324 }
potless 2:4a8bf1d53439 325 }
POTLESS_2 4:d84250f67dec 326
POTLESS_2 20:5f79fb4565a7 327 void SECU_thread()
POTLESS_2 20:5f79fb4565a7 328 {
POTLESS_2 20:5f79fb4565a7 329 while (true) {
POTLESS_2 20:5f79fb4565a7 330 //Alim USB
POTLESS_2 33:f5d4bae05f16 331 //Vusb = Power_Test(V_USB);
POTLESS_2 33:f5d4bae05f16 332 //VPiles = Power_Test(V_PILES);
POTLESS_2 20:5f79fb4565a7 333 //Divers problèmes à implémenter
POTLESS_2 20:5f79fb4565a7 334 //if(!Check()) Mode_SECU();
POTLESS_2 20:5f79fb4565a7 335 }
POTLESS_2 20:5f79fb4565a7 336 }
POTLESS_2 20:5f79fb4565a7 337
POTLESS_2 11:b2feed92584a 338 //Callback de l'intérruption des envois de commandes depuis le terminal
POTLESS_2 6:ebed9093d661 339 void callbackParam()
POTLESS_2 29:5b822d18bce6 340 {
POTLESS_2 29:5b822d18bce6 341 while(serialMonit.readable())
POTLESS_2 29:5b822d18bce6 342 {
POTLESS_2 29:5b822d18bce6 343 if ((indexParam == sizeParam) || newParamFlag == true) //éviter la saturation du buffer
POTLESS_2 29:5b822d18bce6 344 char char_flush = serialMonit.getc();
POTLESS_2 29:5b822d18bce6 345 else
POTLESS_2 29:5b822d18bce6 346 param [indexParam ++] = serialMonit.getc();//chargement du buffer dans le message
POTLESS_2 29:5b822d18bce6 347
POTLESS_2 29:5b822d18bce6 348 if ((indexParam == sizeParam) || (param[indexParam - 1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 29:5b822d18bce6 349 param[indexParam] = 0;
POTLESS_2 29:5b822d18bce6 350 newParamFlag = true;
POTLESS_2 29:5b822d18bce6 351 }
POTLESS_2 29:5b822d18bce6 352 }
POTLESS_2 6:ebed9093d661 353 }
POTLESS_2 4:d84250f67dec 354
POTLESS_2 9:04bfdfc029cb 355 //Callback de l'intérruption des envois de commandes depuis Android
POTLESS_2 9:04bfdfc029cb 356 void callbackAndroid()
POTLESS_2 9:04bfdfc029cb 357 {
POTLESS_2 9:04bfdfc029cb 358 while(android.readable()) {
POTLESS_2 9:04bfdfc029cb 359 if (indexAndroid == sizeAndroid) //éviter la saturation du buffer
POTLESS_2 9:04bfdfc029cb 360 android.getc();
POTLESS_2 9:04bfdfc029cb 361 else
POTLESS_2 9:04bfdfc029cb 362 Android [indexAndroid++] = android.getc();//chargement du buffer dans le message
POTLESS_2 9:04bfdfc029cb 363 if ((indexAndroid == sizeAndroid) || (Android[indexAndroid -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 9:04bfdfc029cb 364 Android[indexAndroid] = 0;
POTLESS_2 9:04bfdfc029cb 365 newAndroidFlag = true;
POTLESS_2 9:04bfdfc029cb 366 }
POTLESS_2 9:04bfdfc029cb 367 }
POTLESS_2 9:04bfdfc029cb 368 }
POTLESS_2 11:b2feed92584a 369
POTLESS_2 9:04bfdfc029cb 370 void Decoding_Message(char message [])
POTLESS_2 9:04bfdfc029cb 371 {
POTLESS_2 9:04bfdfc029cb 372
POTLESS_2 29:5b822d18bce6 373 char com[sizeParam] = "";
POTLESS_2 29:5b822d18bce6 374 float val = 0.0;
POTLESS_2 29:5b822d18bce6 375
POTLESS_2 29:5b822d18bce6 376 sscanf(message,"%s %f",&com , &val);
POTLESS_2 29:5b822d18bce6 377
POTLESS_2 33:f5d4bae05f16 378 DEBUG("\r\n Commande = %s Valeur = %f \r\n\r\n", com, val);
POTLESS_2 9:04bfdfc029cb 379
POTLESS_2 30:7a16a66d76f3 380 if (0 == strcmp(com, "secu")) {
POTLESS_2 19:cac3761a5d0b 381 Mode_SECU();
POTLESS_2 30:7a16a66d76f3 382 }else if (0 == strcmp(com, "calib_O2")) {
POTLESS_2 33:f5d4bae05f16 383 FLAG_O2 = false;
POTLESS_2 33:f5d4bae05f16 384 wait_ms(100);
POTLESS_2 33:f5d4bae05f16 385 sensors.Calibrate_O2(true, (int)val);
POTLESS_2 33:f5d4bae05f16 386 wait_ms(100);
POTLESS_2 33:f5d4bae05f16 387 FLAG_O2 = true;
POTLESS_2 31:231a96d1d1c8 388 }else if (0 == strcmp(com, "flash_i")) {
POTLESS_2 31:231a96d1d1c8 389 FLAG_REC = false;
POTLESS_2 31:231a96d1d1c8 390 UTILS::Flash_Infos();
POTLESS_2 31:231a96d1d1c8 391 FLAG_REC = true;
POTLESS_2 30:7a16a66d76f3 392 }else if (0 == strcmp(com, "check")) {
POTLESS_2 30:7a16a66d76f3 393 FLAG_REC = false;
POTLESS_2 30:7a16a66d76f3 394 serialMonit.printf(" Calibration_O2.txt = %f\r\n", UTILS::Read_A_Val("Calibration_O2"));
POTLESS_2 30:7a16a66d76f3 395 serialMonit.printf(" Servo_Poumon.txt = %d\r\n", (int)UTILS::Read_A_Val("Servo_Poumon"));
POTLESS_2 30:7a16a66d76f3 396 //serialMonit.printf("Servo_Fuite.txt = %d\r\n", (int)UTILS::Read_A_Val("Servo_Fuite");
POTLESS_2 30:7a16a66d76f3 397 FLAG_REC = true;
POTLESS_2 30:7a16a66d76f3 398 }else if (0 == strcmp(com, "rec")) {
POTLESS_2 30:7a16a66d76f3 399 if (FLAG_REC){
POTLESS_2 30:7a16a66d76f3 400 FLAG_REC = false;
POTLESS_2 30:7a16a66d76f3 401 serialMonit.printf("Arrêt du Data Logging.");
POTLESS_2 30:7a16a66d76f3 402 }else {
POTLESS_2 30:7a16a66d76f3 403 FLAG_REC = true;
POTLESS_2 30:7a16a66d76f3 404 serialMonit.printf("Démarrage Data Logging dans %s", Log_File_Name);}
POTLESS_2 29:5b822d18bce6 405 }else if (0 == strcmp(com, "help")) {
POTLESS_2 29:5b822d18bce6 406 FLAG_AFF = false;
POTLESS_2 29:5b822d18bce6 407 UTILS::Help();
POTLESS_2 29:5b822d18bce6 408 }else if (0 == strcmp(com, "start")) {
POTLESS_2 29:5b822d18bce6 409 FLAG_AFF = true;
POTLESS_2 29:5b822d18bce6 410 }else if (0 == strcmp(com, "stop")) {
POTLESS_2 29:5b822d18bce6 411 FLAG_AFF = false;
POTLESS_2 29:5b822d18bce6 412 UTILS::Help();
POTLESS_2 29:5b822d18bce6 413 }else if (0 == strcmp(com, "clean")) {
POTLESS_2 29:5b822d18bce6 414 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 415 UTILS::Clean_Flash();
POTLESS_2 29:5b822d18bce6 416 }else if (0 == strcmp(com, "dir")) {
POTLESS_2 29:5b822d18bce6 417 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 418 UTILS::Dir_Flash();
POTLESS_2 29:5b822d18bce6 419 FLAG_REC = true;
POTLESS_2 29:5b822d18bce6 420 }else if (0 == strcmp(com, "get")) {
POTLESS_2 29:5b822d18bce6 421 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 422 wait_ms(100);
POTLESS_2 26:a2fe19341f92 423 char filename[20];
POTLESS_2 29:5b822d18bce6 424 sprintf(filename, "LOG_%d.txt", (int)val);
POTLESS_2 29:5b822d18bce6 425 UTILS::Read_Flash_File(filename);
POTLESS_2 29:5b822d18bce6 426 wait_ms(100);
POTLESS_2 29:5b822d18bce6 427 FLAG_REC = true;
POTLESS_2 29:5b822d18bce6 428 }else if (0 == strcmp(com, "del")) {
POTLESS_2 29:5b822d18bce6 429 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 430 char filename[20];
POTLESS_2 29:5b822d18bce6 431 sprintf(filename, "LOG_%d.txt", (int)val);
POTLESS_2 29:5b822d18bce6 432 UTILS::Delete_Flash_File(filename);
POTLESS_2 29:5b822d18bce6 433 UTILS::Dir_Flash();
POTLESS_2 31:231a96d1d1c8 434 FLAG_REC = true;
POTLESS_2 31:231a96d1d1c8 435 }else if (0 == strcmp(com, "file_s")) {
POTLESS_2 31:231a96d1d1c8 436 FLAG_REC = false;
POTLESS_2 31:231a96d1d1c8 437 char filename[20];
POTLESS_2 31:231a96d1d1c8 438 sprintf(filename, "LOG_%d.txt", (int)val);
POTLESS_2 31:231a96d1d1c8 439 UTILS::Get_File_Size(filename);
POTLESS_2 31:231a96d1d1c8 440 FLAG_REC = true;
POTLESS_2 31:231a96d1d1c8 441 //}else if (0 == strcmp(com, "file_i")) {
POTLESS_2 31:231a96d1d1c8 442 // FLAG_REC = false;
POTLESS_2 31:231a96d1d1c8 443 // char filename[20];
POTLESS_2 31:231a96d1d1c8 444 // sprintf(filename, "LOG_%d.txt", (int)val);
POTLESS_2 31:231a96d1d1c8 445 // UTILS::Get_File_Infos_bis(filename);
POTLESS_2 31:231a96d1d1c8 446 // FLAG_REC = true;
POTLESS_2 29:5b822d18bce6 447 } else if (0 == strcmp(com, "calib_p")) {
POTLESS_2 20:5f79fb4565a7 448 Consigne_poumon = 0;
POTLESS_2 20:5f79fb4565a7 449 volet_poumon_Position = 0;
POTLESS_2 19:cac3761a5d0b 450 Servo_Poumon.reset();
POTLESS_2 29:5b822d18bce6 451 } else if (0 == strcmp(com, "calib_f")) {
POTLESS_2 29:5b822d18bce6 452 Consigne_fuite = 0;
POTLESS_2 29:5b822d18bce6 453 volet_fuite_Position = 0;
POTLESS_2 29:5b822d18bce6 454 //Servo_Fuite.reset();
POTLESS_2 29:5b822d18bce6 455 } else if (0 == strcmp(com, "sleep")) {
POTLESS_2 19:cac3761a5d0b 456 Stop_Sequence();
POTLESS_2 29:5b822d18bce6 457 } else if (0 == strcmp(com, "time")) {//Depuis terminal MAC taper : " date +%s "
POTLESS_2 29:5b822d18bce6 458 set_time(val);
POTLESS_2 29:5b822d18bce6 459 } else if (0 == strcmp(com, "c_pou")) {
POTLESS_2 29:5b822d18bce6 460 Consigne_poumon = (float)val;
POTLESS_2 33:f5d4bae05f16 461 DEBUG(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 29:5b822d18bce6 462 } else if (0 == strcmp(com, "c_fui")) {
POTLESS_2 29:5b822d18bce6 463 Consigne_fuite = (float)val;
POTLESS_2 33:f5d4bae05f16 464 DEBUG(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 29:5b822d18bce6 465 } else if (0 == strcmp(com, "reset")) {
POTLESS_2 10:aca745a66d51 466 NVIC_SystemReset();
POTLESS_2 12:7f3aadd79f89 467 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 468 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 469 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 470 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 471 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 472 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 473 } else {
POTLESS_2 9:04bfdfc029cb 474 sensors.cozirSend(message);
POTLESS_2 9:04bfdfc029cb 475 }
POTLESS_2 29:5b822d18bce6 476
POTLESS_2 9:04bfdfc029cb 477 strcpy(param," ");
POTLESS_2 9:04bfdfc029cb 478 indexParam = 0;
POTLESS_2 9:04bfdfc029cb 479 newParamFlag = false;
POTLESS_2 9:04bfdfc029cb 480 }
POTLESS_2 9:04bfdfc029cb 481
POTLESS_2 9:04bfdfc029cb 482 void Decoding_Message_Android(char message [])
POTLESS_2 9:04bfdfc029cb 483 {
POTLESS_2 9:04bfdfc029cb 484 char *commande = 0;
POTLESS_2 14:b5e0e882205e 485 float valeur = 0;
POTLESS_2 9:04bfdfc029cb 486
POTLESS_2 14:b5e0e882205e 487 sscanf(message,"%s %f",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 488
POTLESS_2 9:04bfdfc029cb 489 if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 490 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 491 } else if ((char)commande == 'I') {
POTLESS_2 17:bef8abc445f2 492 Consigne_poumon = (float)valeur;
POTLESS_2 33:f5d4bae05f16 493 DEBUG(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 12:7f3aadd79f89 494 } else if ((char)commande == 'O') {
POTLESS_2 17:bef8abc445f2 495 Consigne_fuite = (float)valeur;
POTLESS_2 33:f5d4bae05f16 496 DEBUG(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 12:7f3aadd79f89 497 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 498 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 499 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 500 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 501 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 502 /////////////////////////////////////////
POTLESS_2 9:04bfdfc029cb 503 } else if ((char)commande == 'R') {
POTLESS_2 9:04bfdfc029cb 504 NVIC_SystemReset();
POTLESS_2 9:04bfdfc029cb 505 }
POTLESS_2 12:7f3aadd79f89 506 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 507 else if ((char)commande == 'p') {
POTLESS_2 12:7f3aadd79f89 508 Kc = (float)valeur;
POTLESS_2 16:917656586772 509 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 510 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 33:f5d4bae05f16 511 DEBUG" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 512 } else if ((char)commande == 'i') {
POTLESS_2 12:7f3aadd79f89 513 Ti = (float)valeur;
POTLESS_2 16:917656586772 514 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 515 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 33:f5d4bae05f16 516 DEBUG(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 517 } else if ((char)commande == 'd') {
POTLESS_2 12:7f3aadd79f89 518 Td = (float)valeur;
POTLESS_2 16:917656586772 519 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 520 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 33:f5d4bae05f16 521 DEBUG(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 522 } else if ((char)commande == 'c') {
POTLESS_2 12:7f3aadd79f89 523 consigne = valeur;
POTLESS_2 15:efd3b3bf3f37 524 control_Servo.setSetPoint(consigne);
POTLESS_2 33:f5d4bae05f16 525 DEBUG(" UPDATE CONSIGNE PID --> Consigne = %d\r\n\n", consigne);
POTLESS_2 12:7f3aadd79f89 526 }
POTLESS_2 15:efd3b3bf3f37 527 #endif
POTLESS_2 18:bfd78c05b589 528
POTLESS_2 9:04bfdfc029cb 529 strcpy(Android," ");
POTLESS_2 9:04bfdfc029cb 530 indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 531 newAndroidFlag = false;
POTLESS_2 9:04bfdfc029cb 532 }
POTLESS_2 9:04bfdfc029cb 533
POTLESS_2 26:a2fe19341f92 534 void Create_File_Name_Date()
POTLESS_2 25:322ef9488e65 535 {
POTLESS_2 25:322ef9488e65 536 //Du nom du fichier Date / heure
POTLESS_2 25:322ef9488e65 537 seconds = time(NULL);
POTLESS_2 25:322ef9488e65 538 char Time[40];
POTLESS_2 25:322ef9488e65 539 strftime(Time, 40, "%a_%d_%m_%Y_%H%M", localtime(&seconds));
POTLESS_2 25:322ef9488e65 540 sprintf(Log_File_Name, "%s_LOG.txt", Time);
POTLESS_2 33:f5d4bae05f16 541 DEBUG("Nouveau fichier LOG = %s \r\n", Log_File_Name);
POTLESS_2 25:322ef9488e65 542 }
POTLESS_2 25:322ef9488e65 543
POTLESS_2 26:a2fe19341f92 544 void Create_File_Name_Index()
POTLESS_2 26:a2fe19341f92 545 {
POTLESS_2 26:a2fe19341f92 546 //Du nom du fichier par Index
POTLESS_2 26:a2fe19341f92 547 sprintf(Log_File_Name, "LOG_%d.txt", UTILS::File_Index());
POTLESS_2 33:f5d4bae05f16 548 DEBUG(" Nouveau fichier LOG = %s \r\n", Log_File_Name);
POTLESS_2 26:a2fe19341f92 549 }
POTLESS_2 26:a2fe19341f92 550
POTLESS_2 4:d84250f67dec 551 int main()
POTLESS_2 12:7f3aadd79f89 552 {
POTLESS_2 29:5b822d18bce6 553
POTLESS_2 21:b8900130ca05 554 button.fall(&pressed);
POTLESS_2 29:5b822d18bce6 555
POTLESS_2 21:b8900130ca05 556 int count = 0;
POTLESS_2 25:322ef9488e65 557
POTLESS_2 21:b8900130ca05 558 while (1) {
POTLESS_2 21:b8900130ca05 559
POTLESS_2 29:5b822d18bce6 560 if (count == 0) serialMonit.printf("\r\nAppuyez sur le User Button pour commencer...\r\n\r\n");
POTLESS_2 21:b8900130ca05 561
POTLESS_2 21:b8900130ca05 562 count = 1;
POTLESS_2 21:b8900130ca05 563
POTLESS_2 24:44ef919899c1 564 if (GO == 1) {
POTLESS_2 21:b8900130ca05 565
POTLESS_2 21:b8900130ca05 566 wait(1);
POTLESS_2 21:b8900130ca05 567
POTLESS_2 19:cac3761a5d0b 568 serialMonit.attach(&callbackParam, Serial::RxIrq);
POTLESS_2 12:7f3aadd79f89 569
POTLESS_2 19:cac3761a5d0b 570 android.attach(&callbackAndroid, Serial::RxIrq);
POTLESS_2 12:7f3aadd79f89 571
POTLESS_2 26:a2fe19341f92 572 //Ci-dessous commande pour formater une nouvelle carte
POTLESS_2 29:5b822d18bce6 573 //UTILS::Format_Flash();
POTLESS_2 26:a2fe19341f92 574
POTLESS_2 29:5b822d18bce6 575 //Montage Flash
POTLESS_2 29:5b822d18bce6 576 UTILS::Mount_Flash();
POTLESS_2 26:a2fe19341f92 577
POTLESS_2 29:5b822d18bce6 578 //Liste des fichiers sur la Flash
POTLESS_2 29:5b822d18bce6 579 UTILS::Dir_Flash();
POTLESS_2 26:a2fe19341f92 580
POTLESS_2 33:f5d4bae05f16 581 bool calib_O2 = true;
POTLESS_2 26:a2fe19341f92 582 bool calib_CO2 = false;
POTLESS_2 26:a2fe19341f92 583
POTLESS_2 18:bfd78c05b589 584 /*
POTLESS_2 18:bfd78c05b589 585 Par défaut les valeur en cas de calibration sur true sont les suivant
POTLESS_2 18:bfd78c05b589 586
POTLESS_2 19:cac3761a5d0b 587 nbCalibO2 = 5
POTLESS_2 19:cac3761a5d0b 588 Mode = SPOOLING
POTLESS_2 19:cac3761a5d0b 589 Filtre = DIGI_FILTER32
POTLESS_2 19:cac3761a5d0b 590 CalibrationCO2 = "CALIB_AIR"
POTLESS_2 18:bfd78c05b589 591
POTLESS_2 19:cac3761a5d0b 592 Parfois la calibration du Cozir coince...faire reset et relancer...
POTLESS_2 6:ebed9093d661 593
POTLESS_2 19:cac3761a5d0b 594 Pour calibrer avec ces paramètres :
POTLESS_2 18:bfd78c05b589 595
POTLESS_2 19:cac3761a5d0b 596 sensors.Sensors_INIT(true, true);
POTLESS_2 18:bfd78c05b589 597
POTLESS_2 19:cac3761a5d0b 598 Pour changer utiliser la syntaxe suivante :
POTLESS_2 18:bfd78c05b589 599
POTLESS_2 19:cac3761a5d0b 600 sensors.Sensors_INIT(true, true, true, 5, SPOOLING, DIGI_FILTER32, CALIB_AIR);
POTLESS_2 18:bfd78c05b589 601
POTLESS_2 19:cac3761a5d0b 602 */
POTLESS_2 26:a2fe19341f92 603
POTLESS_2 26:a2fe19341f92 604 sensors.Sensors_INIT(calib_O2, calib_CO2);
POTLESS_2 18:bfd78c05b589 605
POTLESS_2 19:cac3761a5d0b 606 wait(1);
POTLESS_2 25:322ef9488e65 607
POTLESS_2 27:1b1fd20a2793 608 Servo_Poumon.Init("Servo_Poumon");
POTLESS_2 29:5b822d18bce6 609 //Servo_Fuite.Init("Servo_Fuite");
POTLESS_2 27:1b1fd20a2793 610
POTLESS_2 26:a2fe19341f92 611 //Création du nouveau fichier LOG par index / par date.
POTLESS_2 26:a2fe19341f92 612 Create_File_Name_Index();
POTLESS_2 26:a2fe19341f92 613 //Create_File_Name_Date()
POTLESS_2 26:a2fe19341f92 614
POTLESS_2 33:f5d4bae05f16 615 DEBUG(" Demarrage des threads...\r\n\r\n");
POTLESS_2 6:ebed9093d661 616
POTLESS_2 18:bfd78c05b589 617 /*
POTLESS_2 15:efd3b3bf3f37 618
POTLESS_2 18:bfd78c05b589 619 Pour mémoire, les réglage de priorité des thread
POTLESS_2 15:efd3b3bf3f37 620
POTLESS_2 18:bfd78c05b589 621 osPriorityIdle = -3, ///< priority: idle (lowest)
POTLESS_2 18:bfd78c05b589 622 osPriorityLow = -2, ///< priority: low
POTLESS_2 18:bfd78c05b589 623 osPriorityBelowNormal = -1, ///< priority: below normal
POTLESS_2 18:bfd78c05b589 624 osPriorityNormal = 0, ///< priority: normal (default)
POTLESS_2 18:bfd78c05b589 625 osPriorityAboveNormal = +1, ///< priority: above normal
POTLESS_2 18:bfd78c05b589 626 osPriorityHigh = +2, ///< priority: high
POTLESS_2 18:bfd78c05b589 627 osPriorityRealtime = +3, ///< priority: realtime (highest)
POTLESS_2 18:bfd78c05b589 628 osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
POTLESS_2 18:bfd78c05b589 629 */
POTLESS_2 18:bfd78c05b589 630
POTLESS_2 19:cac3761a5d0b 631 thread_Sensors.start(Get_Info_thread);
POTLESS_2 19:cac3761a5d0b 632
POTLESS_2 19:cac3761a5d0b 633 thread_Sensors.set_priority(osPriorityNormal);
POTLESS_2 21:b8900130ca05 634
POTLESS_2 21:b8900130ca05 635 wait_ms(300);
POTLESS_2 9:04bfdfc029cb 636
POTLESS_2 19:cac3761a5d0b 637 thread_Volets.start(GO_TO_thread);
POTLESS_2 19:cac3761a5d0b 638
POTLESS_2 19:cac3761a5d0b 639 thread_Volets.set_priority(osPriorityNormal);
POTLESS_2 20:5f79fb4565a7 640
POTLESS_2 21:b8900130ca05 641 wait_ms(300);
POTLESS_2 21:b8900130ca05 642
POTLESS_2 20:5f79fb4565a7 643 thread_Secu.start(SECU_thread);
POTLESS_2 20:5f79fb4565a7 644
POTLESS_2 20:5f79fb4565a7 645 thread_Secu.set_priority(osPriorityNormal);
POTLESS_2 21:b8900130ca05 646
POTLESS_2 21:b8900130ca05 647 wait_ms(300);
POTLESS_2 12:7f3aadd79f89 648
POTLESS_2 12:7f3aadd79f89 649 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 650 //Init PID
POTLESS_2 12:7f3aadd79f89 651 //Entrée PPO2 entre 100 et 1000 mb
POTLESS_2 12:7f3aadd79f89 652 control_Servo.setInputLimits(Min_Input, Max_Input);
POTLESS_2 12:7f3aadd79f89 653 //Sortie servo entre 0 et 100 %
POTLESS_2 12:7f3aadd79f89 654 control_Servo.setOutputLimits(Min_Output, Max_Output);
POTLESS_2 15:efd3b3bf3f37 655 //Mode auto au démarrage
POTLESS_2 12:7f3aadd79f89 656 control_Servo.setMode(AUTO_MODE);
POTLESS_2 12:7f3aadd79f89 657 //Consigne à x mb
POTLESS_2 12:7f3aadd79f89 658 control_Servo.setSetPoint(consigne);
POTLESS_2 15:efd3b3bf3f37 659 #endif
POTLESS_2 25:322ef9488e65 660
POTLESS_2 33:f5d4bae05f16 661 DEBUG(" Threads démmarés.....\r\n\r\n Tapez help pour voir la liste des commandes disponibles.\r\n ");
POTLESS_2 29:5b822d18bce6 662
POTLESS_2 7:ad15c386e960 663 while (true) {
POTLESS_2 25:322ef9488e65 664
POTLESS_2 7:ad15c386e960 665 //Démarrage du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 666 REAL_RATE.start();
POTLESS_2 7:ad15c386e960 667
POTLESS_2 6:ebed9093d661 668 if (newParamFlag) {
POTLESS_2 33:f5d4bae05f16 669 DEBUG(" From PC = %s\r\n", param);
POTLESS_2 9:04bfdfc029cb 670 Decoding_Message(param);
POTLESS_2 9:04bfdfc029cb 671 }
POTLESS_2 9:04bfdfc029cb 672
POTLESS_2 9:04bfdfc029cb 673 if (newAndroidFlag) {
POTLESS_2 33:f5d4bae05f16 674 DEBUG(" From Android = %s\r\n", Android);
POTLESS_2 9:04bfdfc029cb 675 Decoding_Message_Android(Android);
POTLESS_2 6:ebed9093d661 676 }
POTLESS_2 7:ad15c386e960 677
POTLESS_2 15:efd3b3bf3f37 678 //Fabrication de la chaine Date / heure
POTLESS_2 15:efd3b3bf3f37 679 seconds = time(NULL);
POTLESS_2 15:efd3b3bf3f37 680 char Time_buf[32];
POTLESS_2 15:efd3b3bf3f37 681 strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds));
POTLESS_2 25:322ef9488e65 682
POTLESS_2 17:bef8abc445f2 683 #ifdef PID_MODE
POTLESS_2 15:efd3b3bf3f37 684 //Fabrication de la chaine à enregistrer
POTLESS_2 17:bef8abc445f2 685 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d",
POTLESS_2 15:efd3b3bf3f37 686 Time_buf,
POTLESS_2 15:efd3b3bf3f37 687 co2,
POTLESS_2 15:efd3b3bf3f37 688 ppO2,
POTLESS_2 15:efd3b3bf3f37 689 pression,
POTLESS_2 15:efd3b3bf3f37 690 Temp1,
POTLESS_2 15:efd3b3bf3f37 691 Temp2,
POTLESS_2 15:efd3b3bf3f37 692 Humid,
POTLESS_2 15:efd3b3bf3f37 693 CellO2_1,
POTLESS_2 15:efd3b3bf3f37 694 CellO2_2,
POTLESS_2 15:efd3b3bf3f37 695 volet_poumon_Position,
POTLESS_2 15:efd3b3bf3f37 696 volet_fuite_Position,
POTLESS_2 15:efd3b3bf3f37 697 MODE_FLAG,
POTLESS_2 15:efd3b3bf3f37 698 Kc,
POTLESS_2 15:efd3b3bf3f37 699 Ti,
POTLESS_2 18:bfd78c05b589 700 Td,
POTLESS_2 17:bef8abc445f2 701 (int)consigne
POTLESS_2 18:bfd78c05b589 702 );
POTLESS_2 17:bef8abc445f2 703 #endif
POTLESS_2 17:bef8abc445f2 704 #ifndef PID_MODE
POTLESS_2 17:bef8abc445f2 705 //Fabrication de la chaine à enregistrer sans les variables du PID
POTLESS_2 17:bef8abc445f2 706 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d",
POTLESS_2 17:bef8abc445f2 707 Time_buf,
POTLESS_2 17:bef8abc445f2 708 co2,
POTLESS_2 17:bef8abc445f2 709 ppO2,
POTLESS_2 17:bef8abc445f2 710 pression,
POTLESS_2 17:bef8abc445f2 711 Temp1,
POTLESS_2 17:bef8abc445f2 712 Temp2,
POTLESS_2 17:bef8abc445f2 713 Humid,
POTLESS_2 17:bef8abc445f2 714 CellO2_1,
POTLESS_2 17:bef8abc445f2 715 CellO2_2,
POTLESS_2 17:bef8abc445f2 716 volet_poumon_Position,
POTLESS_2 17:bef8abc445f2 717 volet_fuite_Position,
POTLESS_2 17:bef8abc445f2 718 MODE_FLAG,
POTLESS_2 20:5f79fb4565a7 719 0.0,
POTLESS_2 20:5f79fb4565a7 720 0.0,
POTLESS_2 20:5f79fb4565a7 721 0.0,
POTLESS_2 17:bef8abc445f2 722 0
POTLESS_2 18:bfd78c05b589 723 );
POTLESS_2 17:bef8abc445f2 724 #endif
POTLESS_2 31:231a96d1d1c8 725 char to_slave[50];
POTLESS_2 31:231a96d1d1c8 726 //Fabrication de la chaine pour l'IHM
POTLESS_2 31:231a96d1d1c8 727 sprintf(to_slave,"%d:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f\r\n",
POTLESS_2 31:231a96d1d1c8 728 co2,
POTLESS_2 31:231a96d1d1c8 729 ppO2,
POTLESS_2 31:231a96d1d1c8 730 (int)OTU,
POTLESS_2 31:231a96d1d1c8 731 pression,
POTLESS_2 31:231a96d1d1c8 732 Temp1,
POTLESS_2 31:231a96d1d1c8 733 Temp2,
POTLESS_2 31:231a96d1d1c8 734 Humid,
POTLESS_2 31:231a96d1d1c8 735 CellO2_1,
POTLESS_2 31:231a96d1d1c8 736 CellO2_2,
POTLESS_2 31:231a96d1d1c8 737 volet_poumon_Position,
POTLESS_2 31:231a96d1d1c8 738 volet_fuite_Position);
POTLESS_2 31:231a96d1d1c8 739
POTLESS_2 15:efd3b3bf3f37 740 //Pour Android on ajoute < et > pour décoder l'arrivée du message
POTLESS_2 9:04bfdfc029cb 741 if (NEED_ANDROID_OUTPUT == 1) {
POTLESS_2 31:231a96d1d1c8 742 //sprintf(to_android,"<%s>",to_store);
POTLESS_2 31:231a96d1d1c8 743 ANDROID(to_slave);
POTLESS_2 9:04bfdfc029cb 744 }
POTLESS_2 15:efd3b3bf3f37 745
POTLESS_2 18:bfd78c05b589 746 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 747 Calcul_OTU();
POTLESS_2 19:cac3761a5d0b 748
POTLESS_2 20:5f79fb4565a7 749 //Vers le moniteur série
POTLESS_2 29:5b822d18bce6 750 if (FLAG_AFF) Affichage();
POTLESS_2 29:5b822d18bce6 751
POTLESS_2 29:5b822d18bce6 752 //Enregistrement de la chaine
POTLESS_2 29:5b822d18bce6 753 if (FLAG_REC) UTILS::Write_Flash_File(to_store, Log_File_Name);
POTLESS_2 15:efd3b3bf3f37 754
POTLESS_2 15:efd3b3bf3f37 755
POTLESS_2 15:efd3b3bf3f37 756 #ifdef PID_MODE
POTLESS_2 15:efd3b3bf3f37 757 //Update du PID
POTLESS_2 15:efd3b3bf3f37 758 control_Servo.setProcessValue(ppO2);
POTLESS_2 19:cac3761a5d0b 759 //Nouvelle sortie servo fuite si on est pas en mode SECU
POTLESS_2 19:cac3761a5d0b 760 if(!EN_MODE_SECU) Consigne_fuite = control_Servo.compute();
POTLESS_2 12:7f3aadd79f89 761 #endif
POTLESS_2 15:efd3b3bf3f37 762
POTLESS_2 7:ad15c386e960 763 //Arrêt du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 764 REAL_RATE.stop();
POTLESS_2 7:ad15c386e960 765 //Définition de la nouvelle valeur du temps d'échantillonage du PID.
POTLESS_2 7:ad15c386e960 766 RATE = REAL_RATE.read();
POTLESS_2 7:ad15c386e960 767 //Reset du Timer
POTLESS_2 7:ad15c386e960 768 REAL_RATE.reset();
POTLESS_2 12:7f3aadd79f89 769
POTLESS_2 16:917656586772 770 //Pour ralentir le code à Ref_Time seconde fixe quelque soit les intéruptions du loop....
POTLESS_2 18:bfd78c05b589 771 if (Ref_Time > RATE) {
POTLESS_2 18:bfd78c05b589 772 RATE_TRUE = (Ref_Time - RATE) * 1000;
POTLESS_2 18:bfd78c05b589 773 } else {
POTLESS_2 18:bfd78c05b589 774 RATE_TRUE = 0;
POTLESS_2 16:917656586772 775 #ifdef PID_MODE
POTLESS_2 18:bfd78c05b589 776 control_Servo.setInterval(RATE);
POTLESS_2 18:bfd78c05b589 777 #endif
POTLESS_2 33:f5d4bae05f16 778 DEBUG("Pour ralentir le code, Ref_Time doit être supérieur à %f seconde(s)\r\n\n", RATE);
POTLESS_2 16:917656586772 779 }
POTLESS_2 18:bfd78c05b589 780
POTLESS_2 11:b2feed92584a 781 wait_ms(RATE_TRUE);
POTLESS_2 21:b8900130ca05 782 }
POTLESS_2 27:1b1fd20a2793 783 }
POTLESS_2 21:b8900130ca05 784 }
POTLESS_2 4:d84250f67dec 785 }