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@13:22a96dc67e85, 2017-11-10 (annotated)

Committer:
POTLESS_2
Date:
Fri Nov 10 07:13:51 2017 +0000
Revision:
13:22a96dc67e85
Parent:
12:7f3aadd79f89
Child:
14:b5e0e882205e
Modifs mineurs...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
potless 1:bef7856b5c0a 1 #include "mbed.h"
potless 2:4a8bf1d53439 2 #include <string>
POTLESS_2 7:ad15c386e960 3 #include "Sensor_head_revB.h"
POTLESS_2 8:a750d531b381 4 #include "HTU21D.h"
POTLESS_2 12:7f3aadd79f89 5 #include "PID.h"
POTLESS_2 4:d84250f67dec 6
POTLESS_2 10:aca745a66d51 7 //Commandes des servos
POTLESS_2 10:aca745a66d51 8 #define PWM_SERVO_POUMON PB_15
POTLESS_2 10:aca745a66d51 9 #define PWM_SERVO_FUITE PB_1
POTLESS_2 10:aca745a66d51 10 //Retour des servos
POTLESS_2 10:aca745a66d51 11 #define FEED_BACK_SERVO_POUMON PC_2
POTLESS_2 10:aca745a66d51 12 #define FEED_BACK_SERVO_FUITE PC_3
POTLESS_2 9:04bfdfc029cb 13
POTLESS_2 9:04bfdfc029cb 14 //Ecrit dans le moniteur série de la tablette à 9600 bds si sur 1, penser à mettre NEED_CONSOLE_OUTPUT à 0
POTLESS_2 9:04bfdfc029cb 15 #define NEED_ANDROID_OUTPUT 1
POTLESS_2 9:04bfdfc029cb 16
POTLESS_2 10:aca745a66d51 17 //Sortie en mode VT100, à commenter si on veut une sortie type Arduino
POTLESS_2 10:aca745a66d51 18 //#define VT100
POTLESS_2 9:04bfdfc029cb 19
POTLESS_2 12:7f3aadd79f89 20 //Mode PID, STD et DELTA, à commenter / décommenter
POTLESS_2 12:7f3aadd79f89 21 //#define STD_MODE
POTLESS_2 12:7f3aadd79f89 22 #define PID_MODE
POTLESS_2 11:b2feed92584a 23 //#define DELTA_MODE
POTLESS_2 12:7f3aadd79f89 24
POTLESS_2 11:b2feed92584a 25 float delta = 0.0f;
POTLESS_2 11:b2feed92584a 26
POTLESS_2 12:7f3aadd79f89 27 #ifdef STD_MODE
POTLESS_2 12:7f3aadd79f89 28 int MODE_FLAG = 0;
POTLESS_2 11:b2feed92584a 29 #endif
POTLESS_2 11:b2feed92584a 30
POTLESS_2 11:b2feed92584a 31 #ifdef DELTA_MODE
POTLESS_2 12:7f3aadd79f89 32 int MODE_FLAG = 1;
POTLESS_2 12:7f3aadd79f89 33 #endif
POTLESS_2 12:7f3aadd79f89 34
POTLESS_2 12:7f3aadd79f89 35 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 36 int MODE_FLAG = 2;
POTLESS_2 11:b2feed92584a 37 #endif
POTLESS_2 11:b2feed92584a 38
POTLESS_2 9:04bfdfc029cb 39 #if NEED_ANDROID_OUTPUT
POTLESS_2 9:04bfdfc029cb 40 #define ANDROID(...) { android.printf(__VA_ARGS__); }
POTLESS_2 9:04bfdfc029cb 41 #else
POTLESS_2 9:04bfdfc029cb 42 #define ANDROID(...)
POTLESS_2 9:04bfdfc029cb 43 #endif
POTLESS_2 9:04bfdfc029cb 44
POTLESS_2 7:ad15c386e960 45 //Moniteur série
POTLESS_2 9:04bfdfc029cb 46 Serial serialMonit(USBTX,USBRX,9600);
POTLESS_2 10:aca745a66d51 47
POTLESS_2 9:04bfdfc029cb 48 //COM Série vers Android, Serial 3
POTLESS_2 9:04bfdfc029cb 49 Serial android(PC_10,PC_11,9600);
POTLESS_2 4:d84250f67dec 50
POTLESS_2 7:ad15c386e960 51 //Init de la lib ARNSRS;
POTLESS_2 7:ad15c386e960 52 SENSOR_HEAD_REV_B sensors;
potless 2:4a8bf1d53439 53
POTLESS_2 6:ebed9093d661 54 //pour Param Cozir
POTLESS_2 9:04bfdfc029cb 55 const int sizeParam = 20;
POTLESS_2 11:b2feed92584a 56 char param[sizeParam];
POTLESS_2 11:b2feed92584a 57 volatile int indexParam = 0;
POTLESS_2 6:ebed9093d661 58 bool newParamFlag = false;
potless 2:4a8bf1d53439 59
POTLESS_2 9:04bfdfc029cb 60 //pour Commandes Android
POTLESS_2 9:04bfdfc029cb 61 const int sizeAndroid = 20;
POTLESS_2 11:b2feed92584a 62 char Android[sizeAndroid];
POTLESS_2 11:b2feed92584a 63 volatile int indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 64 bool newAndroidFlag = false;
POTLESS_2 12:7f3aadd79f89 65 char to_android[100];
POTLESS_2 9:04bfdfc029cb 66
POTLESS_2 7:ad15c386e960 67 //Variables de stockage des infos capteurs
POTLESS_2 7:ad15c386e960 68 int co2 = 0;
POTLESS_2 7:ad15c386e960 69 float pression = 0;
POTLESS_2 9:04bfdfc029cb 70 float Temp1 = 0;
POTLESS_2 7:ad15c386e960 71 int ppO2 = 0;
POTLESS_2 7:ad15c386e960 72 int CellO2_1 = 0;
POTLESS_2 7:ad15c386e960 73 int CellO2_2 = 0;
POTLESS_2 7:ad15c386e960 74
POTLESS_2 7:ad15c386e960 75 //Mesure du tempsd'éxecution du loop
POTLESS_2 7:ad15c386e960 76 Timer REAL_RATE;
POTLESS_2 7:ad15c386e960 77 float RATE = 0;
POTLESS_2 11:b2feed92584a 78 float RATE_TRUE = 0;
POTLESS_2 12:7f3aadd79f89 79 float Ref_Time = 1.0; //La durée de la boucle désirée...
POTLESS_2 7:ad15c386e960 80
POTLESS_2 8:a750d531b381 81 //HTU21D
POTLESS_2 8:a750d531b381 82 HTU21D temphumid(PB_9, PB_8); //Temp humid sensor || SDA, SCL
POTLESS_2 9:04bfdfc029cb 83 float Temp2;
POTLESS_2 9:04bfdfc029cb 84 int Humid;
POTLESS_2 9:04bfdfc029cb 85
POTLESS_2 9:04bfdfc029cb 86 //Data LOG
POTLESS_2 9:04bfdfc029cb 87 char to_store[50];
POTLESS_2 9:04bfdfc029cb 88 time_t seconds;
POTLESS_2 8:a750d531b381 89
POTLESS_2 8:a750d531b381 90 //VT100
POTLESS_2 8:a750d531b381 91 static const char CLS[] = "\x1B[2J";
POTLESS_2 8:a750d531b381 92 static const char HOME[] = "\x1B[H";
POTLESS_2 8:a750d531b381 93
POTLESS_2 7:ad15c386e960 94 //Thread d'intérogation des capteurs
POTLESS_2 7:ad15c386e960 95 Thread thread;
POTLESS_2 7:ad15c386e960 96
POTLESS_2 10:aca745a66d51 97 //Contrôle des servos
POTLESS_2 10:aca745a66d51 98 PwmOut servo_poumon(PWM_SERVO_POUMON);
POTLESS_2 10:aca745a66d51 99 AnalogIn FeedBack_Servo_Poumon(FEED_BACK_SERVO_POUMON);
POTLESS_2 10:aca745a66d51 100 float volet_poumon_Position;
POTLESS_2 10:aca745a66d51 101 float Limit_min_Servo_Poumon, Limit_max_Servo_Poumon;
POTLESS_2 10:aca745a66d51 102 float Delta_FB_1;
POTLESS_2 10:aca745a66d51 103
POTLESS_2 10:aca745a66d51 104 PwmOut servo_fuite(PWM_SERVO_FUITE);
POTLESS_2 10:aca745a66d51 105 AnalogIn FeedBack_Servo_Fuite(FEED_BACK_SERVO_FUITE);
POTLESS_2 10:aca745a66d51 106 float volet_fuite_Position;
POTLESS_2 10:aca745a66d51 107 float Limit_min_Servo_Fuite, Limit_max_Servo_Fuite;
POTLESS_2 10:aca745a66d51 108 float Delta_FB_2;
POTLESS_2 10:aca745a66d51 109
POTLESS_2 12:7f3aadd79f89 110 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 111 //Paramètre du PID
POTLESS_2 12:7f3aadd79f89 112 float Kc = 40;
POTLESS_2 12:7f3aadd79f89 113 float Ti = 0;
POTLESS_2 12:7f3aadd79f89 114 float Td = 0;
POTLESS_2 12:7f3aadd79f89 115 float RATE_PID = Ref_Time;
POTLESS_2 12:7f3aadd79f89 116 float Commande_PID;
POTLESS_2 12:7f3aadd79f89 117 int consigne = 210;
POTLESS_2 12:7f3aadd79f89 118 int Max_Input = 1000;
POTLESS_2 12:7f3aadd79f89 119 int Min_Input = 100;
POTLESS_2 12:7f3aadd79f89 120 int Max_Output = 100;
POTLESS_2 12:7f3aadd79f89 121 int Min_Output = 0;
POTLESS_2 10:aca745a66d51 122
POTLESS_2 12:7f3aadd79f89 123 //Init PID
POTLESS_2 12:7f3aadd79f89 124 PID control_Servo(Kc, Ti, Td, RATE_PID);//Kc, Ti, Td, interval
POTLESS_2 12:7f3aadd79f89 125 #endif
POTLESS_2 10:aca745a66d51 126
POTLESS_2 10:aca745a66d51 127 //Remap d'une valeur
POTLESS_2 10:aca745a66d51 128 float remap(float x, float in_min, float in_max, float out_min, float out_max)
POTLESS_2 10:aca745a66d51 129 {
POTLESS_2 10:aca745a66d51 130 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
POTLESS_2 10:aca745a66d51 131 }
POTLESS_2 10:aca745a66d51 132
POTLESS_2 10:aca745a66d51 133
POTLESS_2 12:7f3aadd79f89 134 //Thread d'intérogation des capteurs, positions servo et constitution de la chaine
POTLESS_2 10:aca745a66d51 135 void Get_Info_thread()
POTLESS_2 6:ebed9093d661 136 {
POTLESS_2 7:ad15c386e960 137 while (true) {
POTLESS_2 7:ad15c386e960 138
POTLESS_2 7:ad15c386e960 139 //CO2 sur Cozir
POTLESS_2 7:ad15c386e960 140 co2 = sensors.requestCO2();
POTLESS_2 7:ad15c386e960 141 //P / T sur MS5837
POTLESS_2 7:ad15c386e960 142 pression = sensors.requestPress();
POTLESS_2 9:04bfdfc029cb 143 Temp1 = sensors.requestTemp();
POTLESS_2 7:ad15c386e960 144 //PPO2 sur ADS1015
POTLESS_2 7:ad15c386e960 145 ppO2 = sensors.requestPpO2();
POTLESS_2 7:ad15c386e960 146 //Cell O2 en mV
POTLESS_2 7:ad15c386e960 147 CellO2_1 = sensors.requestCellO2_1();
POTLESS_2 7:ad15c386e960 148 CellO2_2 = sensors.requestCellO2_2();
POTLESS_2 9:04bfdfc029cb 149
POTLESS_2 8:a750d531b381 150 //HTU21D
POTLESS_2 9:04bfdfc029cb 151 Temp2 = temphumid.sample_ctemp();
POTLESS_2 9:04bfdfc029cb 152 Humid = temphumid.sample_humid();
POTLESS_2 9:04bfdfc029cb 153
POTLESS_2 10:aca745a66d51 154 //Retour position des servos
POTLESS_2 10:aca745a66d51 155 volet_poumon_Position = 90 - remap(FeedBack_Servo_Poumon, Limit_max_Servo_Poumon, Limit_min_Servo_Poumon, 0, 90);
POTLESS_2 10:aca745a66d51 156 volet_fuite_Position = remap(FeedBack_Servo_Fuite, Limit_max_Servo_Fuite, Limit_min_Servo_Fuite, 0, 90);
POTLESS_2 12:7f3aadd79f89 157
POTLESS_2 9:04bfdfc029cb 158 //Fabrication de la chaine Date / heure
POTLESS_2 9:04bfdfc029cb 159 seconds = time(NULL);
POTLESS_2 9:04bfdfc029cb 160 char Time_buf[32];
POTLESS_2 9:04bfdfc029cb 161 strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds));
POTLESS_2 9:04bfdfc029cb 162
POTLESS_2 9:04bfdfc029cb 163 //Fabrication de la chaine à enregistrer
POTLESS_2 12:7f3aadd79f89 164 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%3.2f:%3.2f:%d",
POTLESS_2 9:04bfdfc029cb 165 Time_buf,
POTLESS_2 9:04bfdfc029cb 166 co2,
POTLESS_2 9:04bfdfc029cb 167 ppO2,
POTLESS_2 9:04bfdfc029cb 168 pression,
POTLESS_2 9:04bfdfc029cb 169 Temp1,
POTLESS_2 9:04bfdfc029cb 170 Temp2,
POTLESS_2 9:04bfdfc029cb 171 Humid,
POTLESS_2 9:04bfdfc029cb 172 CellO2_1,
POTLESS_2 10:aca745a66d51 173 CellO2_2,
POTLESS_2 10:aca745a66d51 174 volet_poumon_Position,
POTLESS_2 11:b2feed92584a 175 volet_fuite_Position,
POTLESS_2 12:7f3aadd79f89 176 MODE_FLAG);
POTLESS_2 13:22a96dc67e85 177
POTLESS_2 13:22a96dc67e85 178 //Pour Android on ajoute < et > pour décoder l'arrivée du message
POTLESS_2 12:7f3aadd79f89 179 if (NEED_ANDROID_OUTPUT == 1) {
POTLESS_2 12:7f3aadd79f89 180 sprintf(to_android,"<%s>",to_store);
POTLESS_2 12:7f3aadd79f89 181 }
POTLESS_2 12:7f3aadd79f89 182
POTLESS_2 12:7f3aadd79f89 183 }
potless 2:4a8bf1d53439 184 }
POTLESS_2 4:d84250f67dec 185
POTLESS_2 7:ad15c386e960 186 void Affichage_moniteur()
POTLESS_2 4:d84250f67dec 187 {
POTLESS_2 12:7f3aadd79f89 188 #ifndef VT100
POTLESS_2 9:04bfdfc029cb 189 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 190 printf(" CO2 = %d ppm\r\n" , co2);
POTLESS_2 9:04bfdfc029cb 191 printf(" PPO2 = %d mb\r\n", ppO2);
POTLESS_2 9:04bfdfc029cb 192 printf(" Pression = %f msw\r\n", pression);
POTLESS_2 10:aca745a66d51 193 printf(" Temp MS5837 = %f C\r\n", Temp1);
POTLESS_2 10:aca745a66d51 194 printf(" Temp HTU21D = %f C\n\r", Temp2);
POTLESS_2 9:04bfdfc029cb 195 printf(" Humidity = %d %%\n\r", Humid);
POTLESS_2 8:a750d531b381 196 printf("\n\r");
POTLESS_2 8:a750d531b381 197 printf(" Cell O2 n 1 = %d\r\n" , CellO2_1);
POTLESS_2 8:a750d531b381 198 printf(" Cell O2 n 2 = %d\r\n" , CellO2_2);
POTLESS_2 7:ad15c386e960 199 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 200 printf("\n");
POTLESS_2 10:aca745a66d51 201 printf(" Volet Poumon = %3.2f%\r\n" , volet_poumon_Position);
POTLESS_2 10:aca745a66d51 202 printf(" Volet Fuite = %3.2f%\r\n" , volet_fuite_Position);
POTLESS_2 10:aca745a66d51 203 printf("\r\n");
POTLESS_2 12:7f3aadd79f89 204 printf("Temps d execution de la boucle = %f seconde(s)\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 9:04bfdfc029cb 205 printf("\r\n", "");
POTLESS_2 9:04bfdfc029cb 206 printf("A enregistrer = %s\n", to_store);
POTLESS_2 9:04bfdfc029cb 207 printf("\r\n");
POTLESS_2 10:aca745a66d51 208 #endif
POTLESS_2 9:04bfdfc029cb 209
POTLESS_2 12:7f3aadd79f89 210 #ifdef VT100
POTLESS_2 8:a750d531b381 211 printf(HOME);
POTLESS_2 8:a750d531b381 212 printf("\x1b[30m");
POTLESS_2 9:04bfdfc029cb 213 printf("\x1b[0m\r CO2 = \x1b[1m\x1b[K%d ppm\n", co2);
POTLESS_2 9:04bfdfc029cb 214 printf("\x1b[0m\r PPO2 = \x1b[1m\x1b[K%d mb\n", ppO2);
POTLESS_2 9:04bfdfc029cb 215 printf("\n");
POTLESS_2 9:04bfdfc029cb 216 printf("\x1b[0m\r Pression = \x1b[1m\x1b[K%.2f msw\n", pression);
POTLESS_2 9:04bfdfc029cb 217 printf("\n");
POTLESS_2 10:aca745a66d51 218 printf("\x1b[0m\r Temp MS5837 = \x1b[1m\x1b[K%.2f C\n", Temp1);
POTLESS_2 10:aca745a66d51 219 printf("\x1b[0m\r Temp HTU21D = \x1b[1m\x1b[K%.2f C\n", Temp2);
POTLESS_2 9:04bfdfc029cb 220 printf("\n");
POTLESS_2 9:04bfdfc029cb 221 printf("\x1b[0m\r Humidity = \x1b[1m\x1b[K%d %\n", Humid);
POTLESS_2 9:04bfdfc029cb 222 printf("\n");
POTLESS_2 8:a750d531b381 223 printf("\x1b[0m\r Cell O2 n 1 = \x1b[1m\x1b[K%d\n", CellO2_1);
POTLESS_2 8:a750d531b381 224 printf("\x1b[0m\r Cell O2 n 2 = \x1b[1m\x1b[K%d\n", CellO2_2);
POTLESS_2 8:a750d531b381 225 printf("\n");
POTLESS_2 10:aca745a66d51 226 printf("\x1b[0m\r Volet Poumon = \x1b[1m\x1b[K%3.2f%\n", volet_poumon_Position);
POTLESS_2 10:aca745a66d51 227 printf("\x1b[0m\r Volet Fuite = \x1b[1m\x1b[K%3.2f%\n", volet_fuite_Position);
POTLESS_2 10:aca745a66d51 228 printf("\n");
POTLESS_2 13:22a96dc67e85 229 printf("\x1b[0m\r Temps d execution de la boucle = \x1b[1m\x1b[K%f seconde(s)\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 9:04bfdfc029cb 230 printf("\r\n", "");
POTLESS_2 9:04bfdfc029cb 231 printf("\x1b[0m\r A enregistrer = \x1b[1m\x1b[K%s\n", to_store);
POTLESS_2 9:04bfdfc029cb 232 printf("\r\n", "");
POTLESS_2 12:7f3aadd79f89 233 #endif
POTLESS_2 4:d84250f67dec 234 }
POTLESS_2 4:d84250f67dec 235
POTLESS_2 11:b2feed92584a 236 //Callback de l'intérruption des envois de commandes depuis le terminal
POTLESS_2 6:ebed9093d661 237 void callbackParam()
POTLESS_2 4:d84250f67dec 238 {
POTLESS_2 6:ebed9093d661 239 while(serialMonit.readable()) {
POTLESS_2 6:ebed9093d661 240 if (indexParam == sizeParam) //éviter la saturation du buffer
POTLESS_2 6:ebed9093d661 241 serialMonit.getc();
POTLESS_2 6:ebed9093d661 242 else
POTLESS_2 6:ebed9093d661 243 param [indexParam++] = serialMonit.getc();//chargement du buffer dans le message
POTLESS_2 6:ebed9093d661 244 if ((indexParam == sizeParam) || (param[indexParam -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 6:ebed9093d661 245 param[indexParam] = 0;
POTLESS_2 6:ebed9093d661 246 newParamFlag = true;
POTLESS_2 6:ebed9093d661 247 }
POTLESS_2 4:d84250f67dec 248 }
POTLESS_2 6:ebed9093d661 249 }
POTLESS_2 4:d84250f67dec 250
POTLESS_2 9:04bfdfc029cb 251 //Callback de l'intérruption des envois de commandes depuis Android
POTLESS_2 9:04bfdfc029cb 252 void callbackAndroid()
POTLESS_2 9:04bfdfc029cb 253 {
POTLESS_2 9:04bfdfc029cb 254 while(android.readable()) {
POTLESS_2 9:04bfdfc029cb 255 if (indexAndroid == sizeAndroid) //éviter la saturation du buffer
POTLESS_2 9:04bfdfc029cb 256 android.getc();
POTLESS_2 9:04bfdfc029cb 257 else
POTLESS_2 9:04bfdfc029cb 258 Android [indexAndroid++] = android.getc();//chargement du buffer dans le message
POTLESS_2 9:04bfdfc029cb 259 if ((indexAndroid == sizeAndroid) || (Android[indexAndroid -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 9:04bfdfc029cb 260 Android[indexAndroid] = 0;
POTLESS_2 9:04bfdfc029cb 261 newAndroidFlag = true;
POTLESS_2 9:04bfdfc029cb 262 }
POTLESS_2 9:04bfdfc029cb 263 }
POTLESS_2 9:04bfdfc029cb 264 }
POTLESS_2 11:b2feed92584a 265
POTLESS_2 9:04bfdfc029cb 266 void Decoding_Message(char message [])
POTLESS_2 9:04bfdfc029cb 267 {
POTLESS_2 9:04bfdfc029cb 268 char *commande = 0;
POTLESS_2 9:04bfdfc029cb 269 int valeur = 0;
POTLESS_2 9:04bfdfc029cb 270
POTLESS_2 9:04bfdfc029cb 271 sscanf(message,"%s %d",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 272
POTLESS_2 9:04bfdfc029cb 273 if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 274 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 275 } else if ((char)commande == 'I') {
POTLESS_2 10:aca745a66d51 276 servo_poumon = remap(valeur, 0, 90, 0, 100) / 100.f;
POTLESS_2 12:7f3aadd79f89 277 #ifdef DELTA_MODE
POTLESS_2 11:b2feed92584a 278 float Sf = servo_poumon + remap(delta, 0, 90, 0, 100) / 100.f;
POTLESS_2 13:22a96dc67e85 279 if(Sf >= 0 && Sf <= 90)//Pas bon, à retravailler....
POTLESS_2 12:7f3aadd79f89 280 servo_fuite = Sf;
POTLESS_2 12:7f3aadd79f89 281 #endif
POTLESS_2 10:aca745a66d51 282 printf(" Servo Poumon = %f\r\n", remap(valeur, 0, 90, 0, 100) / 100.f);
POTLESS_2 12:7f3aadd79f89 283 } else if ((char)commande == 'O') {
POTLESS_2 10:aca745a66d51 284 servo_fuite = 1 - remap(valeur, 0, 90, 0, 100) / 100.f;
POTLESS_2 12:7f3aadd79f89 285 printf(" Servo Fuite = %f\r\n", 1 - remap(valeur, 0, 90, 0, 100) / 100.f);
POTLESS_2 11:b2feed92584a 286 } else if ((char)commande == 'D') {
POTLESS_2 11:b2feed92584a 287 delta = valeur;
POTLESS_2 12:7f3aadd79f89 288 #ifdef DELTA_MODE
POTLESS_2 11:b2feed92584a 289 float Sf = servo_poumon + remap(delta, 0, 90, 0, 100) / 100.f;
POTLESS_2 13:22a96dc67e85 290 if(Sf >= 0 && Sf <= 90)//Pas bon, à retravailler....
POTLESS_2 12:7f3aadd79f89 291 servo_fuite = Sf;
POTLESS_2 12:7f3aadd79f89 292 #endif
POTLESS_2 10:aca745a66d51 293 } else if ((char)commande == 'R') {
POTLESS_2 10:aca745a66d51 294 NVIC_SystemReset();
POTLESS_2 12:7f3aadd79f89 295 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 296 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 297 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 298 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 299 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 300 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 301 } else {
POTLESS_2 9:04bfdfc029cb 302 sensors.cozirSend(message);
POTLESS_2 9:04bfdfc029cb 303 }
POTLESS_2 9:04bfdfc029cb 304
POTLESS_2 11:b2feed92584a 305 //wait_ms(100);
POTLESS_2 9:04bfdfc029cb 306 strcpy(param," ");
POTLESS_2 9:04bfdfc029cb 307 indexParam = 0;
POTLESS_2 9:04bfdfc029cb 308 newParamFlag = false;
POTLESS_2 9:04bfdfc029cb 309 }
POTLESS_2 9:04bfdfc029cb 310
POTLESS_2 9:04bfdfc029cb 311 void Decoding_Message_Android(char message [])
POTLESS_2 9:04bfdfc029cb 312 {
POTLESS_2 9:04bfdfc029cb 313 char *commande = 0;
POTLESS_2 9:04bfdfc029cb 314 int valeur = 0;
POTLESS_2 9:04bfdfc029cb 315
POTLESS_2 9:04bfdfc029cb 316 sscanf(message,"%s %d",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 317
POTLESS_2 9:04bfdfc029cb 318 if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 319 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 320 } else if ((char)commande == 'I') {
POTLESS_2 10:aca745a66d51 321 servo_poumon = remap(valeur, 0, 90, 0, 100) / 100.f;
POTLESS_2 12:7f3aadd79f89 322 #ifdef DELTA_MODE
POTLESS_2 11:b2feed92584a 323 float Sf = servo_poumon + remap(delta, 0, 90, 0, 100) / 100.f;
POTLESS_2 13:22a96dc67e85 324 if(Sf >= 0 && Sf <= 90)//Pas bon, à retravailler....
POTLESS_2 12:7f3aadd79f89 325 servo_fuite = Sf;
POTLESS_2 12:7f3aadd79f89 326 #endif
POTLESS_2 10:aca745a66d51 327 printf(" Servo Poumon = %f\r\n", remap(valeur, 0, 90, 0, 100) / 100.f);
POTLESS_2 12:7f3aadd79f89 328 } else if ((char)commande == 'O') {
POTLESS_2 10:aca745a66d51 329 servo_fuite = 1 - remap(valeur, 0, 90, 0, 100) / 100.f;
POTLESS_2 11:b2feed92584a 330 printf(" Servo Fuite = %f\r\n", 1 - remap(valeur, 0, 90, 0, 100) / 100.f);
POTLESS_2 11:b2feed92584a 331 } else if ((char)commande == 'D') {
POTLESS_2 11:b2feed92584a 332 delta = valeur;
POTLESS_2 12:7f3aadd79f89 333 #ifdef DELTA_MODE
POTLESS_2 11:b2feed92584a 334 float Sf = servo_poumon + remap(delta, 0, 90, 0, 100) / 100.f;
POTLESS_2 13:22a96dc67e85 335 if(Sf >= 0 && Sf <= 90)//Pas bon, à retravailler....
POTLESS_2 12:7f3aadd79f89 336 servo_fuite = Sf;
POTLESS_2 12:7f3aadd79f89 337 #endif
POTLESS_2 12:7f3aadd79f89 338 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 339 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 340 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 341 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 342 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 343 /////////////////////////////////////////
POTLESS_2 9:04bfdfc029cb 344 } else if ((char)commande == 'R') {
POTLESS_2 9:04bfdfc029cb 345 NVIC_SystemReset();
POTLESS_2 9:04bfdfc029cb 346 }
POTLESS_2 12:7f3aadd79f89 347 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 348 else if ((char)commande == 'p') {
POTLESS_2 12:7f3aadd79f89 349 Kc = (float)valeur;
POTLESS_2 12:7f3aadd79f89 350 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 351 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 352 }else if ((char)commande == 'i') {
POTLESS_2 12:7f3aadd79f89 353 Ti = (float)valeur;
POTLESS_2 12:7f3aadd79f89 354 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 355 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 356 }else if ((char)commande == 'd') {
POTLESS_2 12:7f3aadd79f89 357 Td = (float)valeur;
POTLESS_2 12:7f3aadd79f89 358 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 359 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 12:7f3aadd79f89 360 }else if ((char)commande == 'c') {
POTLESS_2 12:7f3aadd79f89 361 consigne = valeur;
POTLESS_2 12:7f3aadd79f89 362 printf(" UPDATE CONSIGNE PID --> Consigne = %d\r\n", consigne);
POTLESS_2 12:7f3aadd79f89 363 }
POTLESS_2 12:7f3aadd79f89 364 #endif
POTLESS_2 11:b2feed92584a 365 //wait_ms(100);
POTLESS_2 9:04bfdfc029cb 366 strcpy(Android," ");
POTLESS_2 9:04bfdfc029cb 367 indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 368 newAndroidFlag = false;
POTLESS_2 9:04bfdfc029cb 369 }
POTLESS_2 9:04bfdfc029cb 370
POTLESS_2 10:aca745a66d51 371 //Calibration des limites de feedback des servos
POTLESS_2 10:aca745a66d51 372 void Calibration_servo()
POTLESS_2 10:aca745a66d51 373 {
POTLESS_2 10:aca745a66d51 374 //Servos, calibration du feedback
POTLESS_2 10:aca745a66d51 375 printf(" Check Servos :\r\n");
POTLESS_2 10:aca745a66d51 376 printf("\r\n");
POTLESS_2 10:aca745a66d51 377 servo_poumon.period(0.001); // à mettre dans le setup si cette calib n'est pas appelée (je l ai trouvée commentée)
POTLESS_2 10:aca745a66d51 378 servo_fuite.period(0.001);
POTLESS_2 10:aca745a66d51 379 //Rentrer les servos à fond
POTLESS_2 10:aca745a66d51 380 servo_poumon = 0;
POTLESS_2 10:aca745a66d51 381 servo_fuite = 0;
POTLESS_2 10:aca745a66d51 382 wait(4);
POTLESS_2 10:aca745a66d51 383
POTLESS_2 10:aca745a66d51 384 Limit_min_Servo_Poumon = FeedBack_Servo_Poumon.read();
POTLESS_2 10:aca745a66d51 385 wait_ms(100);
POTLESS_2 10:aca745a66d51 386 Limit_min_Servo_Fuite = FeedBack_Servo_Fuite.read();
POTLESS_2 10:aca745a66d51 387
POTLESS_2 10:aca745a66d51 388 printf(" FeedBack Servo POUMON min = %f\n", Limit_min_Servo_Poumon);
POTLESS_2 10:aca745a66d51 389 printf(" FeedBack Servo FUITE min = %f\n", Limit_min_Servo_Fuite);
POTLESS_2 10:aca745a66d51 390 printf("\r\n");
POTLESS_2 10:aca745a66d51 391
POTLESS_2 10:aca745a66d51 392 //Sortir les servos à fond
POTLESS_2 10:aca745a66d51 393 servo_poumon = 1;
POTLESS_2 10:aca745a66d51 394 servo_fuite = 1;
POTLESS_2 10:aca745a66d51 395 wait(4);
POTLESS_2 10:aca745a66d51 396
POTLESS_2 10:aca745a66d51 397 Limit_max_Servo_Poumon = FeedBack_Servo_Poumon.read();
POTLESS_2 10:aca745a66d51 398 wait_ms(100);
POTLESS_2 10:aca745a66d51 399 Limit_max_Servo_Fuite = FeedBack_Servo_Fuite.read();
POTLESS_2 10:aca745a66d51 400
POTLESS_2 10:aca745a66d51 401 printf(" FeedBack Servo POUMON Max = %f\n", Limit_max_Servo_Poumon);
POTLESS_2 10:aca745a66d51 402 printf(" FeedBack Servo FUITE Max = %f\n", Limit_max_Servo_Fuite);
POTLESS_2 10:aca745a66d51 403 printf("\r\n");
POTLESS_2 10:aca745a66d51 404
POTLESS_2 10:aca745a66d51 405 //Position milieu
POTLESS_2 10:aca745a66d51 406 servo_poumon = 0.5;
POTLESS_2 10:aca745a66d51 407 servo_fuite = 0.5;
POTLESS_2 10:aca745a66d51 408 wait(4);
POTLESS_2 10:aca745a66d51 409
POTLESS_2 10:aca745a66d51 410 //Mesure du delta consigne / feedback
POTLESS_2 10:aca745a66d51 411 Delta_FB_1 = abs(remap(FeedBack_Servo_Poumon.read(), Limit_max_Servo_Poumon, Limit_min_Servo_Poumon, 0, 90) - 45);
POTLESS_2 10:aca745a66d51 412 Delta_FB_2 = abs(remap(FeedBack_Servo_Fuite.read(), Limit_max_Servo_Fuite, Limit_min_Servo_Fuite, 0, 90) - 45);
POTLESS_2 10:aca745a66d51 413
POTLESS_2 10:aca745a66d51 414 printf(" Delta Servo 1 = %f\n", Delta_FB_1);
POTLESS_2 10:aca745a66d51 415 printf(" Delta Servo 2 = %f\n", Delta_FB_2);
POTLESS_2 10:aca745a66d51 416
POTLESS_2 10:aca745a66d51 417 if(Delta_FB_1 > 10 || Delta_FB_2 > 10) printf(" Delta Servos non satisfaisant...\r\n\r\n");
POTLESS_2 12:7f3aadd79f89 418
POTLESS_2 11:b2feed92584a 419 #ifdef DELTA_MODE
POTLESS_2 11:b2feed92584a 420 //Position initial delta
POTLESS_2 11:b2feed92584a 421 servo_poumon = 0.5;
POTLESS_2 11:b2feed92584a 422 servo_fuite = 0.5 + remap(delta, 0, 90, 0, 100) / 100.f;
POTLESS_2 12:7f3aadd79f89 423 #endif
POTLESS_2 10:aca745a66d51 424 }
POTLESS_2 10:aca745a66d51 425
POTLESS_2 4:d84250f67dec 426 int main()
POTLESS_2 12:7f3aadd79f89 427 {
POTLESS_2 11:b2feed92584a 428 //UNIX TIMESTAMP depuis le erminal MAC = date +%s + 7200 pour heure d'été.....
POTLESS_2 12:7f3aadd79f89 429
POTLESS_2 10:aca745a66d51 430 Calibration_servo();
POTLESS_2 12:7f3aadd79f89 431
POTLESS_2 11:b2feed92584a 432 sensors.Sensors_INIT(false, true, 5, SPOOLING, DIGI_FILTER32, CALIB_AIR);
POTLESS_2 6:ebed9093d661 433
POTLESS_2 6:ebed9093d661 434 serialMonit.attach(&callbackParam, Serial::RxIrq);
POTLESS_2 6:ebed9093d661 435
POTLESS_2 9:04bfdfc029cb 436 android.attach(&callbackAndroid, Serial::RxIrq);
POTLESS_2 9:04bfdfc029cb 437
POTLESS_2 7:ad15c386e960 438 serialMonit.printf(" Demarrage...\r\n\r\n Entrez les comandes COZIR si besoin :\r\n");
POTLESS_2 6:ebed9093d661 439
POTLESS_2 10:aca745a66d51 440 thread.start(Get_Info_thread);
POTLESS_2 9:04bfdfc029cb 441
POTLESS_2 7:ad15c386e960 442 thread.set_priority(osPriorityRealtime);
POTLESS_2 12:7f3aadd79f89 443
POTLESS_2 12:7f3aadd79f89 444 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 445 //Init PID
POTLESS_2 12:7f3aadd79f89 446 //Entrée PPO2 entre 100 et 1000 mb
POTLESS_2 12:7f3aadd79f89 447 control_Servo.setInputLimits(Min_Input, Max_Input);
POTLESS_2 12:7f3aadd79f89 448 //Sortie servo entre 0 et 100 %
POTLESS_2 12:7f3aadd79f89 449 control_Servo.setOutputLimits(Min_Output, Max_Output);
POTLESS_2 12:7f3aadd79f89 450 //Mode manuel au démarrage
POTLESS_2 12:7f3aadd79f89 451 control_Servo.setMode(AUTO_MODE);
POTLESS_2 12:7f3aadd79f89 452 //Consigne à x mb
POTLESS_2 12:7f3aadd79f89 453 control_Servo.setSetPoint(consigne);
POTLESS_2 12:7f3aadd79f89 454
POTLESS_2 12:7f3aadd79f89 455 #endif
POTLESS_2 12:7f3aadd79f89 456
POTLESS_2 11:b2feed92584a 457 #ifdef VT100
POTLESS_2 8:a750d531b381 458 printf(CLS);
POTLESS_2 11:b2feed92584a 459 #endif
POTLESS_2 9:04bfdfc029cb 460
POTLESS_2 7:ad15c386e960 461 while (true) {
POTLESS_2 6:ebed9093d661 462
POTLESS_2 7:ad15c386e960 463 //Démarrage du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 464 REAL_RATE.start();
POTLESS_2 7:ad15c386e960 465
POTLESS_2 6:ebed9093d661 466 if (newParamFlag) {
POTLESS_2 6:ebed9093d661 467 serialMonit.printf("Param = %s\r\n", param);
POTLESS_2 9:04bfdfc029cb 468 Decoding_Message(param);
POTLESS_2 9:04bfdfc029cb 469 }
POTLESS_2 9:04bfdfc029cb 470
POTLESS_2 9:04bfdfc029cb 471 if (newAndroidFlag) {
POTLESS_2 9:04bfdfc029cb 472 serialMonit.printf("Android = %s\r\n", Android);
POTLESS_2 9:04bfdfc029cb 473 Decoding_Message_Android(Android);
POTLESS_2 6:ebed9093d661 474 }
POTLESS_2 7:ad15c386e960 475
POTLESS_2 9:04bfdfc029cb 476 //Vers Android
POTLESS_2 9:04bfdfc029cb 477 if (NEED_ANDROID_OUTPUT == 1) {
POTLESS_2 12:7f3aadd79f89 478 ANDROID(to_android);
POTLESS_2 9:04bfdfc029cb 479 }
POTLESS_2 12:7f3aadd79f89 480
POTLESS_2 13:22a96dc67e85 481 //Vers le moniteur dérie
POTLESS_2 13:22a96dc67e85 482 Affichage_moniteur();
POTLESS_2 13:22a96dc67e85 483
POTLESS_2 9:04bfdfc029cb 484 sensors.Write_SD((string)to_store);
POTLESS_2 12:7f3aadd79f89 485
POTLESS_2 12:7f3aadd79f89 486 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 487 //Adéquation du RATE du PID avec la contrainte du temps du loop
POTLESS_2 13:22a96dc67e85 488 //control_Servo.setInterval(RATE_PID);
POTLESS_2 12:7f3aadd79f89 489 //Update du PID
POTLESS_2 12:7f3aadd79f89 490 control_Servo.setProcessValue(ppO2);
POTLESS_2 12:7f3aadd79f89 491 //Nouvelle sortie servo
POTLESS_2 12:7f3aadd79f89 492 Commande_PID = control_Servo.compute();
POTLESS_2 12:7f3aadd79f89 493 //Appliquer la consigne
POTLESS_2 12:7f3aadd79f89 494 servo_fuite = Commande_PID / 100.0f;
POTLESS_2 12:7f3aadd79f89 495 #endif
POTLESS_2 12:7f3aadd79f89 496
POTLESS_2 7:ad15c386e960 497 //Arrêt du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 498 REAL_RATE.stop();
POTLESS_2 7:ad15c386e960 499 //Définition de la nouvelle valeur du temps d'échantillonage du PID.
POTLESS_2 7:ad15c386e960 500 RATE = REAL_RATE.read();
POTLESS_2 7:ad15c386e960 501 //Reset du Timer
POTLESS_2 7:ad15c386e960 502 REAL_RATE.reset();
POTLESS_2 12:7f3aadd79f89 503
POTLESS_2 11:b2feed92584a 504 //Pour ralentir le code à 1 seconde fixe quelque soit les intéruptions du loop....
POTLESS_2 12:7f3aadd79f89 505 RATE_TRUE = (Ref_Time - RATE) * 1000;
POTLESS_2 11:b2feed92584a 506 wait_ms(RATE_TRUE);
POTLESS_2 4:d84250f67dec 507 }
POTLESS_2 4:d84250f67dec 508 }