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@24:44ef919899c1, 2018-02-08 (annotated)

Committer:
POTLESS_2
Date:
Thu Feb 08 15:31:07 2018 +0000
Revision:
24:44ef919899c1
Parent:
23:7477dc855fad
Child:
25:322ef9488e65
derniere...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
POTLESS_2 17:bef8abc445f2 1 /*
POTLESS_2 17:bef8abc445f2 2
POTLESS_2 17:bef8abc445f2 3 Câblage complet STM32L476RG :
POTLESS_2 17:bef8abc445f2 4
POTLESS_2 17:bef8abc445f2 5 - Port SPI carte SD :
POTLESS_2 17:bef8abc445f2 6
POTLESS_2 17:bef8abc445f2 7 MOSI -> PA_7
POTLESS_2 17:bef8abc445f2 8 MISO -> PA_6
POTLESS_2 17:bef8abc445f2 9 SCK -> PA_5
POTLESS_2 17:bef8abc445f2 10 CS -> PB_6
POTLESS_2 17:bef8abc445f2 11
POTLESS_2 17:bef8abc445f2 12 - Sensor Head :
POTLESS_2 17:bef8abc445f2 13
POTLESS_2 17:bef8abc445f2 14 Alim en 3.3v
POTLESS_2 17:bef8abc445f2 15
POTLESS_2 17:bef8abc445f2 16 SCL -> PB_8
POTLESS_2 17:bef8abc445f2 17 SDA -> PB_9
POTLESS_2 17:bef8abc445f2 18 TX -> PC_12
POTLESS_2 17:bef8abc445f2 19 RX -> PD_2
POTLESS_2 17:bef8abc445f2 20 AlertRdy -> PA_11
POTLESS_2 17:bef8abc445f2 21
POTLESS_2 17:bef8abc445f2 22
POTLESS_2 17:bef8abc445f2 23 - HC_06 :
POTLESS_2 17:bef8abc445f2 24
POTLESS_2 17:bef8abc445f2 25 Alim en 3.3v ou 5v
POTLESS_2 17:bef8abc445f2 26
POTLESS_2 17:bef8abc445f2 27 TX -> PC_10
POTLESS_2 17:bef8abc445f2 28 RX -> PC_11
POTLESS_2 17:bef8abc445f2 29
POTLESS_2 19:cac3761a5d0b 30 - STM32L476RG sur carte alim AQL :
POTLESS_2 17:bef8abc445f2 31
POTLESS_2 19:cac3761a5d0b 32 Reférence drv8839 : http://www.ti.com/lit/ds/symlink/drv8839.pdf
POTLESS_2 17:bef8abc445f2 33
POTLESS_2 19:cac3761a5d0b 34 Volet Fuite :
POTLESS_2 17:bef8abc445f2 35 PWM -> PB_5 -> 1
POTLESS_2 17:bef8abc445f2 36 FWD -> PB_4 -> 2
POTLESS_2 17:bef8abc445f2 37 REV -> PB_10 -> 7
POTLESS_2 17:bef8abc445f2 38
POTLESS_2 19:cac3761a5d0b 39 Volet Poumon :
POTLESS_2 17:bef8abc445f2 40 PWM -> PB_13 -> 9
POTLESS_2 17:bef8abc445f2 41 FWD -> PB_14 -> 10
POTLESS_2 17:bef8abc445f2 42 REV -> PB_15 -> 15
POTLESS_2 17:bef8abc445f2 43
POTLESS_2 17:bef8abc445f2 44 */
POTLESS_2 18:bfd78c05b589 45
potless 1:bef7856b5c0a 46 #include "mbed.h"
potless 2:4a8bf1d53439 47 #include <string>
POTLESS_2 7:ad15c386e960 48 #include "Sensor_head_revB.h"
POTLESS_2 8:a750d531b381 49 #include "HTU21D.h"
POTLESS_2 12:7f3aadd79f89 50 #include "PID.h"
POTLESS_2 19:cac3761a5d0b 51 #include "Faulhaber.h"
POTLESS_2 4:d84250f67dec 52
POTLESS_2 17:bef8abc445f2 53 //Commandes des servos
POTLESS_2 19:cac3761a5d0b 54 #define PWM_SERVO_POUMON PB_15
POTLESS_2 19:cac3761a5d0b 55 #define nSleep_SERVO_POUMON PC_6
POTLESS_2 19:cac3761a5d0b 56 #define FWD_SERVO_POUMON PB_14
POTLESS_2 19:cac3761a5d0b 57 #define REV_SERVO_POUMON PB_13
POTLESS_2 19:cac3761a5d0b 58 #define Channel_A_SERVO_POUMON PB_1
POTLESS_2 19:cac3761a5d0b 59 #define Channel_B_SERVO_POUMON PB_2
POTLESS_2 19:cac3761a5d0b 60 #define HOME_SERVO_POUMON 0
POTLESS_2 17:bef8abc445f2 61
POTLESS_2 19:cac3761a5d0b 62 #define PWM_SERVO_FUITE PB_10
POTLESS_2 19:cac3761a5d0b 63 #define nSleep_SERVO_FUITE PC_5
POTLESS_2 19:cac3761a5d0b 64 #define FWD_SERVO_FUITE PB_4
POTLESS_2 19:cac3761a5d0b 65 #define REV_SERVO_FUITE PB_5
POTLESS_2 19:cac3761a5d0b 66 #define Channel_A_SERVO_FUITE PB_8
POTLESS_2 19:cac3761a5d0b 67 #define Channel_B_SERVO_FUITE PB_9
POTLESS_2 19:cac3761a5d0b 68 #define HOME_SERVO_FUITE 90
POTLESS_2 17:bef8abc445f2 69
POTLESS_2 17:bef8abc445f2 70 //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 71 #define NEED_ANDROID_OUTPUT 1
POTLESS_2 9:04bfdfc029cb 72
POTLESS_2 17:bef8abc445f2 73 //Mode PID, STD à commenter / décommenter
POTLESS_2 17:bef8abc445f2 74 #define STD_MODE
POTLESS_2 17:bef8abc445f2 75 //#define PID_MODE
POTLESS_2 11:b2feed92584a 76
POTLESS_2 12:7f3aadd79f89 77 #ifdef STD_MODE
POTLESS_2 12:7f3aadd79f89 78 int MODE_FLAG = 0;
POTLESS_2 11:b2feed92584a 79 #endif
POTLESS_2 11:b2feed92584a 80
POTLESS_2 12:7f3aadd79f89 81 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 82 int MODE_FLAG = 2;
POTLESS_2 11:b2feed92584a 83 #endif
POTLESS_2 11:b2feed92584a 84
POTLESS_2 9:04bfdfc029cb 85 #if NEED_ANDROID_OUTPUT
POTLESS_2 9:04bfdfc029cb 86 #define ANDROID(...) { android.printf(__VA_ARGS__); }
POTLESS_2 9:04bfdfc029cb 87 #else
POTLESS_2 9:04bfdfc029cb 88 #define ANDROID(...)
POTLESS_2 9:04bfdfc029cb 89 #endif
POTLESS_2 9:04bfdfc029cb 90
POTLESS_2 19:cac3761a5d0b 91 //PinName pwm, PinName nSleep, PinName fwd, PinName rev, int brakeable, PinName channelA, PinName channelB, int pulsesPerRev, int Rapport, Encoding encoding = X2_ENCODING
POTLESS_2 19:cac3761a5d0b 92 Faulhaber Servo_Poumon("Servo_Poumon", PWM_SERVO_POUMON, nSleep_SERVO_POUMON, FWD_SERVO_POUMON, REV_SERVO_POUMON, 1, Channel_A_SERVO_POUMON, Channel_B_SERVO_POUMON, 16, 207, Faulhaber::X2_ENCODING);
POTLESS_2 22:555c2930e8e0 93 //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 94
POTLESS_2 17:bef8abc445f2 95 //Moniteur série, Serial 2
POTLESS_2 17:bef8abc445f2 96 Serial serialMonit(USBTX,USBRX,115200);
POTLESS_2 10:aca745a66d51 97
POTLESS_2 9:04bfdfc029cb 98 //COM Série vers Android, Serial 3
POTLESS_2 17:bef8abc445f2 99 Serial android(PC_10,PC_11,115200);
POTLESS_2 4:d84250f67dec 100
POTLESS_2 7:ad15c386e960 101 //Init de la lib ARNSRS;
POTLESS_2 7:ad15c386e960 102 SENSOR_HEAD_REV_B sensors;
potless 2:4a8bf1d53439 103
POTLESS_2 6:ebed9093d661 104 //pour Param Cozir
POTLESS_2 9:04bfdfc029cb 105 const int sizeParam = 20;
POTLESS_2 11:b2feed92584a 106 char param[sizeParam];
POTLESS_2 11:b2feed92584a 107 volatile int indexParam = 0;
POTLESS_2 6:ebed9093d661 108 bool newParamFlag = false;
potless 2:4a8bf1d53439 109
POTLESS_2 9:04bfdfc029cb 110 //pour Commandes Android
POTLESS_2 9:04bfdfc029cb 111 const int sizeAndroid = 20;
POTLESS_2 11:b2feed92584a 112 char Android[sizeAndroid];
POTLESS_2 11:b2feed92584a 113 volatile int indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 114 bool newAndroidFlag = false;
POTLESS_2 12:7f3aadd79f89 115 char to_android[100];
POTLESS_2 9:04bfdfc029cb 116
POTLESS_2 7:ad15c386e960 117 //Variables de stockage des infos capteurs
POTLESS_2 7:ad15c386e960 118 int co2 = 0;
POTLESS_2 7:ad15c386e960 119 float pression = 0;
POTLESS_2 9:04bfdfc029cb 120 float Temp1 = 0;
POTLESS_2 7:ad15c386e960 121 int ppO2 = 0;
POTLESS_2 7:ad15c386e960 122 int CellO2_1 = 0;
POTLESS_2 7:ad15c386e960 123 int CellO2_2 = 0;
POTLESS_2 7:ad15c386e960 124
POTLESS_2 18:bfd78c05b589 125 //Variables et constantes OTU
POTLESS_2 18:bfd78c05b589 126 float OTU = 0;
POTLESS_2 18:bfd78c05b589 127 float COEF_OTU = 0.83;
POTLESS_2 18:bfd78c05b589 128
POTLESS_2 17:bef8abc445f2 129 //Mesure du temps d'éxecution du loop
POTLESS_2 7:ad15c386e960 130 Timer REAL_RATE;
POTLESS_2 7:ad15c386e960 131 float RATE = 0;
POTLESS_2 11:b2feed92584a 132 float RATE_TRUE = 0;
POTLESS_2 12:7f3aadd79f89 133 float Ref_Time = 1.0; //La durée de la boucle désirée...
POTLESS_2 7:ad15c386e960 134
POTLESS_2 17:bef8abc445f2 135 //HTU21D sur l'I2C
POTLESS_2 8:a750d531b381 136 HTU21D temphumid(PB_9, PB_8); //Temp humid sensor || SDA, SCL
POTLESS_2 9:04bfdfc029cb 137 float Temp2;
POTLESS_2 9:04bfdfc029cb 138 int Humid;
POTLESS_2 9:04bfdfc029cb 139
POTLESS_2 9:04bfdfc029cb 140 //Data LOG
POTLESS_2 9:04bfdfc029cb 141 char to_store[50];
POTLESS_2 9:04bfdfc029cb 142 time_t seconds;
POTLESS_2 8:a750d531b381 143
POTLESS_2 17:bef8abc445f2 144 //Thread d'intérogation des capteurs et de positionnement des volets
POTLESS_2 19:cac3761a5d0b 145 Thread thread_Sensors;
POTLESS_2 19:cac3761a5d0b 146 Thread thread_Volets;
POTLESS_2 20:5f79fb4565a7 147 Thread thread_Secu;
POTLESS_2 7:ad15c386e960 148
POTLESS_2 10:aca745a66d51 149 //Contrôle des servos
POTLESS_2 19:cac3761a5d0b 150 float Consigne_poumon = 0;
POTLESS_2 19:cac3761a5d0b 151 float volet_poumon_Position = 0;
POTLESS_2 19:cac3761a5d0b 152 float Consigne_fuite = 0;
POTLESS_2 19:cac3761a5d0b 153 float volet_fuite_Position = 0;
POTLESS_2 10:aca745a66d51 154
POTLESS_2 12:7f3aadd79f89 155 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 156 //Paramètre du PID
POTLESS_2 12:7f3aadd79f89 157 float Kc = 40;
POTLESS_2 12:7f3aadd79f89 158 float Ti = 0;
POTLESS_2 12:7f3aadd79f89 159 float Td = 0;
POTLESS_2 12:7f3aadd79f89 160 float RATE_PID = Ref_Time;
POTLESS_2 12:7f3aadd79f89 161 float Commande_PID;
POTLESS_2 15:efd3b3bf3f37 162 float consigne = 210;
POTLESS_2 15:efd3b3bf3f37 163 float Max_Input = 1000;
POTLESS_2 15:efd3b3bf3f37 164 float Min_Input = 80;
POTLESS_2 19:cac3761a5d0b 165 float Max_Output = 85;//Vérifier la valeur pour angle à laisser ouvert...
POTLESS_2 19:cac3761a5d0b 166 float Min_Output = 5;
POTLESS_2 10:aca745a66d51 167
POTLESS_2 12:7f3aadd79f89 168 //Init PID
POTLESS_2 17:bef8abc445f2 169 PID control_Servo(Kc, Ti, Td, RATE_PID);
POTLESS_2 12:7f3aadd79f89 170 #endif
POTLESS_2 10:aca745a66d51 171
POTLESS_2 19:cac3761a5d0b 172 //Boolean du status de l'appareil, en mode SECU ou nominal
POTLESS_2 19:cac3761a5d0b 173 bool EN_MODE_SECU = false;
POTLESS_2 20:5f79fb4565a7 174 AnalogIn V_USB(PC_4);
POTLESS_2 20:5f79fb4565a7 175 float Vusb = 1;
POTLESS_2 18:bfd78c05b589 176
POTLESS_2 21:b8900130ca05 177 //Interruption user button
POTLESS_2 21:b8900130ca05 178 InterruptIn button(USER_BUTTON);
POTLESS_2 23:7477dc855fad 179 volatile int GO = 0;
POTLESS_2 21:b8900130ca05 180
POTLESS_2 21:b8900130ca05 181 void pressed() {
POTLESS_2 21:b8900130ca05 182
POTLESS_2 23:7477dc855fad 183 GO = GO + 1;
POTLESS_2 24:44ef919899c1 184 if (GO > 1) NVIC_SystemReset();
POTLESS_2 21:b8900130ca05 185 }
POTLESS_2 21:b8900130ca05 186
POTLESS_2 19:cac3761a5d0b 187 //Passage en mode SECU
POTLESS_2 19:cac3761a5d0b 188 void Mode_SECU()
POTLESS_2 18:bfd78c05b589 189 {
POTLESS_2 19:cac3761a5d0b 190 #ifdef PID_MODE
POTLESS_2 18:bfd78c05b589 191 //Mise du PID en mode manuel (desactivation...)
POTLESS_2 18:bfd78c05b589 192 control_Servo.setMode(MANUAL_MODE);
POTLESS_2 18:bfd78c05b589 193 #endif
POTLESS_2 19:cac3761a5d0b 194 Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 19:cac3761a5d0b 195 Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 19:cac3761a5d0b 196 while(1) {
POTLESS_2 19:cac3761a5d0b 197 wait_ms(300);
POTLESS_2 19:cac3761a5d0b 198 if (Servo_Poumon.Pos_OK() == true) break;
POTLESS_2 19:cac3761a5d0b 199 //if (Servo_Poumon.Pos_OK() == true && Servo_Fuite.Pos_OK() == true) break;
POTLESS_2 19:cac3761a5d0b 200 }
POTLESS_2 19:cac3761a5d0b 201 printf("-------------- Appareil en mode SECU ---------------\r\n");
POTLESS_2 19:cac3761a5d0b 202 EN_MODE_SECU = true;
POTLESS_2 19:cac3761a5d0b 203
POTLESS_2 19:cac3761a5d0b 204 int Pos = Servo_Poumon.getPulses();
POTLESS_2 19:cac3761a5d0b 205 UTILS::Store_A_Val((float)Pos, "Servo_Poumon");
POTLESS_2 19:cac3761a5d0b 206 printf(" position volet poumon sauvegardée = %d pulse(s)\r\n", Pos);
POTLESS_2 19:cac3761a5d0b 207 //Pos = Servo_Fuite.getPulses();
POTLESS_2 19:cac3761a5d0b 208 //UTILS::Store_A_Val((float)Pos, "Servo_Fuite");
POTLESS_2 19:cac3761a5d0b 209 //printf(" position volet fuite sauvegardée = %d pulse(s)\r\n", Pos);
POTLESS_2 22:555c2930e8e0 210 UTILS::UnMount_SD();
POTLESS_2 23:7477dc855fad 211 Servo_Poumon.Sleep();
POTLESS_2 22:555c2930e8e0 212 //thread_Volets.terminate();
POTLESS_2 19:cac3761a5d0b 213 }
POTLESS_2 19:cac3761a5d0b 214
POTLESS_2 19:cac3761a5d0b 215 //Sequence d'arrêt
POTLESS_2 19:cac3761a5d0b 216 void Stop_Sequence()
POTLESS_2 19:cac3761a5d0b 217 {
POTLESS_2 19:cac3761a5d0b 218 Mode_SECU();
POTLESS_2 21:b8900130ca05 219 //thread_Sensors.terminate();
POTLESS_2 24:44ef919899c1 220 //wait_ms(300);
POTLESS_2 20:5f79fb4565a7 221 printf("----------------ARRET DE L'APPAREIL--------------------\r\n");
POTLESS_2 24:44ef919899c1 222 //wait_ms(300);
POTLESS_2 19:cac3761a5d0b 223 deepsleep();
POTLESS_2 18:bfd78c05b589 224 }
POTLESS_2 18:bfd78c05b589 225
POTLESS_2 20:5f79fb4565a7 226 //Fonction test de valeur d'entrée convertie en Hight / Low
POTLESS_2 22:555c2930e8e0 227 float Power_Test(AnalogIn& pin)
POTLESS_2 20:5f79fb4565a7 228 {
POTLESS_2 20:5f79fb4565a7 229 float Val = pin.read();
POTLESS_2 22:555c2930e8e0 230 if(Val < 0.6) Stop_Sequence();
POTLESS_2 22:555c2930e8e0 231 return Val;
POTLESS_2 20:5f79fb4565a7 232 }
POTLESS_2 20:5f79fb4565a7 233
POTLESS_2 18:bfd78c05b589 234 //Contrôle du status de l'appareil / des constantes
POTLESS_2 18:bfd78c05b589 235 bool Check()
POTLESS_2 18:bfd78c05b589 236 {
POTLESS_2 18:bfd78c05b589 237 if (ppO2 > 100)
POTLESS_2 19:cac3761a5d0b 238 return true;//Situation OK
POTLESS_2 18:bfd78c05b589 239 else
POTLESS_2 19:cac3761a5d0b 240 return false;//Situation dégradée
POTLESS_2 18:bfd78c05b589 241 }
POTLESS_2 18:bfd78c05b589 242
POTLESS_2 18:bfd78c05b589 243 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 244 float Calcul_OTU()
POTLESS_2 18:bfd78c05b589 245 {
POTLESS_2 18:bfd78c05b589 246 /*
POTLESS_2 18:bfd78c05b589 247 La formule suivante permet de calculer la quantité d' OTU accumulée
POTLESS_2 18:bfd78c05b589 248 OTU = T * (2* PpO2 -1)0,83
POTLESS_2 18:bfd78c05b589 249 avec :
POTLESS_2 18:bfd78c05b589 250 T = temps de plongée en minutes
POTLESS_2 18:bfd78c05b589 251 PpO2 = pression partielle d’ oxygène en bars
POTLESS_2 18:bfd78c05b589 252 */
POTLESS_2 18:bfd78c05b589 253
POTLESS_2 19:cac3761a5d0b 254 if (ppO2 > 500) {
POTLESS_2 18:bfd78c05b589 255 float val = (2 * (float)ppO2/1000 - 1);//je divise par 1000 car la PP est en mb...
POTLESS_2 18:bfd78c05b589 256 OTU += Ref_Time * pow(val, COEF_OTU);
POTLESS_2 19:cac3761a5d0b 257 }
POTLESS_2 18:bfd78c05b589 258 }
POTLESS_2 10:aca745a66d51 259
POTLESS_2 17:bef8abc445f2 260 //Thread d'intérogation des capteurs, positions servo
POTLESS_2 10:aca745a66d51 261 void Get_Info_thread()
POTLESS_2 6:ebed9093d661 262 {
POTLESS_2 7:ad15c386e960 263 while (true) {
POTLESS_2 7:ad15c386e960 264
POTLESS_2 7:ad15c386e960 265 //CO2 sur Cozir
POTLESS_2 7:ad15c386e960 266 co2 = sensors.requestCO2();
POTLESS_2 7:ad15c386e960 267 //P / T sur MS5837
POTLESS_2 7:ad15c386e960 268 pression = sensors.requestPress();
POTLESS_2 9:04bfdfc029cb 269 Temp1 = sensors.requestTemp();
POTLESS_2 7:ad15c386e960 270 //PPO2 sur ADS1015
POTLESS_2 7:ad15c386e960 271 ppO2 = sensors.requestPpO2();
POTLESS_2 7:ad15c386e960 272 //Cell O2 en mV
POTLESS_2 7:ad15c386e960 273 CellO2_1 = sensors.requestCellO2_1();
POTLESS_2 7:ad15c386e960 274 CellO2_2 = sensors.requestCellO2_2();
POTLESS_2 9:04bfdfc029cb 275
POTLESS_2 8:a750d531b381 276 //HTU21D
POTLESS_2 9:04bfdfc029cb 277 Temp2 = temphumid.sample_ctemp();
POTLESS_2 9:04bfdfc029cb 278 Humid = temphumid.sample_humid();
POTLESS_2 9:04bfdfc029cb 279
POTLESS_2 10:aca745a66d51 280 //Retour position des servos
POTLESS_2 17:bef8abc445f2 281 volet_poumon_Position = Servo_Poumon.Get_Position();
POTLESS_2 20:5f79fb4565a7 282 //volet_fuite_Position = Servo_Fuite.Get_Position();
POTLESS_2 22:555c2930e8e0 283
POTLESS_2 19:cac3761a5d0b 284 }
POTLESS_2 19:cac3761a5d0b 285 }
POTLESS_2 12:7f3aadd79f89 286
POTLESS_2 19:cac3761a5d0b 287 void GO_TO_thread()
POTLESS_2 19:cac3761a5d0b 288 {
POTLESS_2 19:cac3761a5d0b 289 while (true) {
POTLESS_2 19:cac3761a5d0b 290 //Servo_Poumon.Go_To_Prop(Consigne_poumon);
POTLESS_2 22:555c2930e8e0 291 //Servo_Poumon.Go_To_PID(Consigne_poumon);
POTLESS_2 22:555c2930e8e0 292 Servo_Poumon.Go_To(Consigne_poumon);
POTLESS_2 20:5f79fb4565a7 293
POTLESS_2 19:cac3761a5d0b 294 //Servo_Fuite.Go_To_Prop(Consigne_fuite);
POTLESS_2 19:cac3761a5d0b 295 //Servo_Fuite.Go_To_PID(Consigne_fuite);
POTLESS_2 15:efd3b3bf3f37 296 }
potless 2:4a8bf1d53439 297 }
POTLESS_2 4:d84250f67dec 298
POTLESS_2 20:5f79fb4565a7 299 void SECU_thread()
POTLESS_2 20:5f79fb4565a7 300 {
POTLESS_2 20:5f79fb4565a7 301 while (true) {
POTLESS_2 20:5f79fb4565a7 302 //Alim USB
POTLESS_2 22:555c2930e8e0 303 Vusb = Power_Test(V_USB);
POTLESS_2 20:5f79fb4565a7 304 //Divers problèmes à implémenter
POTLESS_2 20:5f79fb4565a7 305 //if(!Check()) Mode_SECU();
POTLESS_2 20:5f79fb4565a7 306 }
POTLESS_2 20:5f79fb4565a7 307 }
POTLESS_2 20:5f79fb4565a7 308
POTLESS_2 7:ad15c386e960 309 void Affichage_moniteur()
POTLESS_2 4:d84250f67dec 310 {
POTLESS_2 19:cac3761a5d0b 311
POTLESS_2 9:04bfdfc029cb 312 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 313 printf(" CO2 = %d ppm\r\n" , co2);
POTLESS_2 9:04bfdfc029cb 314 printf(" PPO2 = %d mb\r\n", ppO2);
POTLESS_2 18:bfd78c05b589 315 printf(" OTU = %d \r\n", OTU);
POTLESS_2 9:04bfdfc029cb 316 printf(" Pression = %f msw\r\n", pression);
POTLESS_2 10:aca745a66d51 317 printf(" Temp MS5837 = %f C\r\n", Temp1);
POTLESS_2 10:aca745a66d51 318 printf(" Temp HTU21D = %f C\n\r", Temp2);
POTLESS_2 9:04bfdfc029cb 319 printf(" Humidity = %d %%\n\r", Humid);
POTLESS_2 8:a750d531b381 320 printf("\n\r");
POTLESS_2 8:a750d531b381 321 printf(" Cell O2 n 1 = %d\r\n" , CellO2_1);
POTLESS_2 8:a750d531b381 322 printf(" Cell O2 n 2 = %d\r\n" , CellO2_2);
POTLESS_2 7:ad15c386e960 323 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 324 printf("\n");
POTLESS_2 17:bef8abc445f2 325 printf(" Volet Poumon = %f\r\n" , volet_poumon_Position);
POTLESS_2 17:bef8abc445f2 326 printf(" Volet Fuite = %f\r\n" , volet_fuite_Position);
POTLESS_2 10:aca745a66d51 327 printf("\r\n");
POTLESS_2 12:7f3aadd79f89 328 printf("Temps d execution de la boucle = %f seconde(s)\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 17:bef8abc445f2 329 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 330 printf("A enregistrer = %s\n", to_store);
POTLESS_2 9:04bfdfc029cb 331 printf("\r\n");
POTLESS_2 20:5f79fb4565a7 332 printf("V_USB = %f", Vusb);
POTLESS_2 20:5f79fb4565a7 333 printf("\r\n");
POTLESS_2 4:d84250f67dec 334 }
POTLESS_2 4:d84250f67dec 335
POTLESS_2 11:b2feed92584a 336 //Callback de l'intérruption des envois de commandes depuis le terminal
POTLESS_2 6:ebed9093d661 337 void callbackParam()
POTLESS_2 4:d84250f67dec 338 {
POTLESS_2 6:ebed9093d661 339 while(serialMonit.readable()) {
POTLESS_2 6:ebed9093d661 340 if (indexParam == sizeParam) //éviter la saturation du buffer
POTLESS_2 6:ebed9093d661 341 serialMonit.getc();
POTLESS_2 6:ebed9093d661 342 else
POTLESS_2 6:ebed9093d661 343 param [indexParam++] = serialMonit.getc();//chargement du buffer dans le message
POTLESS_2 6:ebed9093d661 344 if ((indexParam == sizeParam) || (param[indexParam -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 6:ebed9093d661 345 param[indexParam] = 0;
POTLESS_2 6:ebed9093d661 346 newParamFlag = true;
POTLESS_2 6:ebed9093d661 347 }
POTLESS_2 4:d84250f67dec 348 }
POTLESS_2 6:ebed9093d661 349 }
POTLESS_2 4:d84250f67dec 350
POTLESS_2 9:04bfdfc029cb 351 //Callback de l'intérruption des envois de commandes depuis Android
POTLESS_2 9:04bfdfc029cb 352 void callbackAndroid()
POTLESS_2 9:04bfdfc029cb 353 {
POTLESS_2 9:04bfdfc029cb 354 while(android.readable()) {
POTLESS_2 9:04bfdfc029cb 355 if (indexAndroid == sizeAndroid) //éviter la saturation du buffer
POTLESS_2 9:04bfdfc029cb 356 android.getc();
POTLESS_2 9:04bfdfc029cb 357 else
POTLESS_2 9:04bfdfc029cb 358 Android [indexAndroid++] = android.getc();//chargement du buffer dans le message
POTLESS_2 9:04bfdfc029cb 359 if ((indexAndroid == sizeAndroid) || (Android[indexAndroid -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 9:04bfdfc029cb 360 Android[indexAndroid] = 0;
POTLESS_2 9:04bfdfc029cb 361 newAndroidFlag = true;
POTLESS_2 9:04bfdfc029cb 362 }
POTLESS_2 9:04bfdfc029cb 363 }
POTLESS_2 9:04bfdfc029cb 364 }
POTLESS_2 11:b2feed92584a 365
POTLESS_2 9:04bfdfc029cb 366 void Decoding_Message(char message [])
POTLESS_2 9:04bfdfc029cb 367 {
POTLESS_2 9:04bfdfc029cb 368 char *commande = 0;
POTLESS_2 14:b5e0e882205e 369 float valeur = 0;
POTLESS_2 9:04bfdfc029cb 370
POTLESS_2 14:b5e0e882205e 371 sscanf(message,"%s %f",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 372
POTLESS_2 19:cac3761a5d0b 373 if ((char)commande == 'S') {
POTLESS_2 19:cac3761a5d0b 374 Mode_SECU();
POTLESS_2 20:5f79fb4565a7 375 } else if ((char)commande == 'r') {
POTLESS_2 20:5f79fb4565a7 376 Consigne_poumon = 0;
POTLESS_2 20:5f79fb4565a7 377 volet_poumon_Position = 0;
POTLESS_2 19:cac3761a5d0b 378 Servo_Poumon.reset();
POTLESS_2 19:cac3761a5d0b 379 } else if ((char)commande == 'Q') {
POTLESS_2 19:cac3761a5d0b 380 Stop_Sequence();
POTLESS_2 19:cac3761a5d0b 381 } else if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 382 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 383 } else if ((char)commande == 'I') {
POTLESS_2 17:bef8abc445f2 384 Consigne_poumon = (float)valeur;
POTLESS_2 17:bef8abc445f2 385 printf(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 12:7f3aadd79f89 386 } else if ((char)commande == 'O') {
POTLESS_2 17:bef8abc445f2 387 Consigne_fuite = (float)valeur;
POTLESS_2 17:bef8abc445f2 388 printf(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 10:aca745a66d51 389 } else if ((char)commande == 'R') {
POTLESS_2 10:aca745a66d51 390 NVIC_SystemReset();
POTLESS_2 12:7f3aadd79f89 391 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 392 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 393 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 394 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 395 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 396 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 397 } else {
POTLESS_2 9:04bfdfc029cb 398 sensors.cozirSend(message);
POTLESS_2 9:04bfdfc029cb 399 }
POTLESS_2 9:04bfdfc029cb 400
POTLESS_2 9:04bfdfc029cb 401 strcpy(param," ");
POTLESS_2 9:04bfdfc029cb 402 indexParam = 0;
POTLESS_2 9:04bfdfc029cb 403 newParamFlag = false;
POTLESS_2 9:04bfdfc029cb 404 }
POTLESS_2 9:04bfdfc029cb 405
POTLESS_2 9:04bfdfc029cb 406 void Decoding_Message_Android(char message [])
POTLESS_2 9:04bfdfc029cb 407 {
POTLESS_2 9:04bfdfc029cb 408 char *commande = 0;
POTLESS_2 14:b5e0e882205e 409 float valeur = 0;
POTLESS_2 9:04bfdfc029cb 410
POTLESS_2 14:b5e0e882205e 411 sscanf(message,"%s %f",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 412
POTLESS_2 9:04bfdfc029cb 413 if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 414 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 415 } else if ((char)commande == 'I') {
POTLESS_2 17:bef8abc445f2 416 Consigne_poumon = (float)valeur;
POTLESS_2 17:bef8abc445f2 417 printf(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 12:7f3aadd79f89 418 } else if ((char)commande == 'O') {
POTLESS_2 17:bef8abc445f2 419 Consigne_fuite = (float)valeur;
POTLESS_2 17:bef8abc445f2 420 printf(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 12:7f3aadd79f89 421 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 422 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 423 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 424 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 425 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 426 /////////////////////////////////////////
POTLESS_2 9:04bfdfc029cb 427 } else if ((char)commande == 'R') {
POTLESS_2 9:04bfdfc029cb 428 NVIC_SystemReset();
POTLESS_2 9:04bfdfc029cb 429 }
POTLESS_2 12:7f3aadd79f89 430 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 431 else if ((char)commande == 'p') {
POTLESS_2 12:7f3aadd79f89 432 Kc = (float)valeur;
POTLESS_2 16:917656586772 433 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 434 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 14:b5e0e882205e 435 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 436 } else if ((char)commande == 'i') {
POTLESS_2 12:7f3aadd79f89 437 Ti = (float)valeur;
POTLESS_2 16:917656586772 438 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 439 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 14:b5e0e882205e 440 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 441 } else if ((char)commande == 'd') {
POTLESS_2 12:7f3aadd79f89 442 Td = (float)valeur;
POTLESS_2 16:917656586772 443 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 444 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 14:b5e0e882205e 445 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 446 } else if ((char)commande == 'c') {
POTLESS_2 12:7f3aadd79f89 447 consigne = valeur;
POTLESS_2 15:efd3b3bf3f37 448 control_Servo.setSetPoint(consigne);
POTLESS_2 14:b5e0e882205e 449 printf(" UPDATE CONSIGNE PID --> Consigne = %d\r\n\n", consigne);
POTLESS_2 12:7f3aadd79f89 450 }
POTLESS_2 15:efd3b3bf3f37 451 #endif
POTLESS_2 18:bfd78c05b589 452
POTLESS_2 9:04bfdfc029cb 453 strcpy(Android," ");
POTLESS_2 9:04bfdfc029cb 454 indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 455 newAndroidFlag = false;
POTLESS_2 9:04bfdfc029cb 456 }
POTLESS_2 9:04bfdfc029cb 457
POTLESS_2 4:d84250f67dec 458 int main()
POTLESS_2 12:7f3aadd79f89 459 {
POTLESS_2 21:b8900130ca05 460 button.fall(&pressed);
POTLESS_2 21:b8900130ca05 461 int count = 0;
POTLESS_2 21:b8900130ca05 462
POTLESS_2 21:b8900130ca05 463 while (1) {
POTLESS_2 21:b8900130ca05 464
POTLESS_2 21:b8900130ca05 465 if (count == 0) serialMonit.printf("Appuyez sur le User Button pour commencer...\r\n");
POTLESS_2 21:b8900130ca05 466
POTLESS_2 21:b8900130ca05 467 count = 1;
POTLESS_2 21:b8900130ca05 468
POTLESS_2 24:44ef919899c1 469 if (GO == 1) {
POTLESS_2 21:b8900130ca05 470
POTLESS_2 21:b8900130ca05 471 wait(1);
POTLESS_2 21:b8900130ca05 472
POTLESS_2 19:cac3761a5d0b 473 serialMonit.attach(&callbackParam, Serial::RxIrq);
POTLESS_2 12:7f3aadd79f89 474
POTLESS_2 19:cac3761a5d0b 475 android.attach(&callbackAndroid, Serial::RxIrq);
POTLESS_2 12:7f3aadd79f89 476
POTLESS_2 18:bfd78c05b589 477 /*
POTLESS_2 18:bfd78c05b589 478 Par défaut les valeur en cas de calibration sur true sont les suivant
POTLESS_2 18:bfd78c05b589 479
POTLESS_2 19:cac3761a5d0b 480 nbCalibO2 = 5
POTLESS_2 19:cac3761a5d0b 481 Mode = SPOOLING
POTLESS_2 19:cac3761a5d0b 482 Filtre = DIGI_FILTER32
POTLESS_2 19:cac3761a5d0b 483 CalibrationCO2 = "CALIB_AIR"
POTLESS_2 18:bfd78c05b589 484
POTLESS_2 19:cac3761a5d0b 485 Parfois la calibration du Cozir coince...faire reset et relancer...
POTLESS_2 6:ebed9093d661 486
POTLESS_2 19:cac3761a5d0b 487 Pour calibrer avec ces paramètres :
POTLESS_2 18:bfd78c05b589 488
POTLESS_2 19:cac3761a5d0b 489 sensors.Sensors_INIT(true, true);
POTLESS_2 18:bfd78c05b589 490
POTLESS_2 19:cac3761a5d0b 491 Pour changer utiliser la syntaxe suivante :
POTLESS_2 18:bfd78c05b589 492
POTLESS_2 19:cac3761a5d0b 493 sensors.Sensors_INIT(true, true, true, 5, SPOOLING, DIGI_FILTER32, CALIB_AIR);
POTLESS_2 18:bfd78c05b589 494
POTLESS_2 19:cac3761a5d0b 495 */
POTLESS_2 20:5f79fb4565a7 496 sensors.Sensors_INIT(false, false);
POTLESS_2 18:bfd78c05b589 497
POTLESS_2 19:cac3761a5d0b 498 wait(1);
POTLESS_2 6:ebed9093d661 499
POTLESS_2 20:5f79fb4565a7 500 Servo_Poumon.Init();
POTLESS_2 20:5f79fb4565a7 501 //Servo_Fuite.Init();
POTLESS_2 9:04bfdfc029cb 502
POTLESS_2 7:ad15c386e960 503 serialMonit.printf(" Demarrage...\r\n\r\n Entrez les comandes COZIR si besoin :\r\n");
POTLESS_2 6:ebed9093d661 504
POTLESS_2 18:bfd78c05b589 505 /*
POTLESS_2 15:efd3b3bf3f37 506
POTLESS_2 18:bfd78c05b589 507 Pour mémoire, les réglage de priorité des thread
POTLESS_2 15:efd3b3bf3f37 508
POTLESS_2 18:bfd78c05b589 509 osPriorityIdle = -3, ///< priority: idle (lowest)
POTLESS_2 18:bfd78c05b589 510 osPriorityLow = -2, ///< priority: low
POTLESS_2 18:bfd78c05b589 511 osPriorityBelowNormal = -1, ///< priority: below normal
POTLESS_2 18:bfd78c05b589 512 osPriorityNormal = 0, ///< priority: normal (default)
POTLESS_2 18:bfd78c05b589 513 osPriorityAboveNormal = +1, ///< priority: above normal
POTLESS_2 18:bfd78c05b589 514 osPriorityHigh = +2, ///< priority: high
POTLESS_2 18:bfd78c05b589 515 osPriorityRealtime = +3, ///< priority: realtime (highest)
POTLESS_2 18:bfd78c05b589 516 osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
POTLESS_2 18:bfd78c05b589 517 */
POTLESS_2 18:bfd78c05b589 518
POTLESS_2 19:cac3761a5d0b 519 thread_Sensors.start(Get_Info_thread);
POTLESS_2 19:cac3761a5d0b 520
POTLESS_2 19:cac3761a5d0b 521 thread_Sensors.set_priority(osPriorityNormal);
POTLESS_2 21:b8900130ca05 522
POTLESS_2 21:b8900130ca05 523 wait_ms(300);
POTLESS_2 9:04bfdfc029cb 524
POTLESS_2 19:cac3761a5d0b 525 thread_Volets.start(GO_TO_thread);
POTLESS_2 19:cac3761a5d0b 526
POTLESS_2 19:cac3761a5d0b 527 thread_Volets.set_priority(osPriorityNormal);
POTLESS_2 20:5f79fb4565a7 528
POTLESS_2 21:b8900130ca05 529 wait_ms(300);
POTLESS_2 21:b8900130ca05 530
POTLESS_2 20:5f79fb4565a7 531 thread_Secu.start(SECU_thread);
POTLESS_2 20:5f79fb4565a7 532
POTLESS_2 20:5f79fb4565a7 533 thread_Secu.set_priority(osPriorityNormal);
POTLESS_2 21:b8900130ca05 534
POTLESS_2 21:b8900130ca05 535 wait_ms(300);
POTLESS_2 12:7f3aadd79f89 536
POTLESS_2 12:7f3aadd79f89 537 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 538 //Init PID
POTLESS_2 12:7f3aadd79f89 539 //Entrée PPO2 entre 100 et 1000 mb
POTLESS_2 12:7f3aadd79f89 540 control_Servo.setInputLimits(Min_Input, Max_Input);
POTLESS_2 12:7f3aadd79f89 541 //Sortie servo entre 0 et 100 %
POTLESS_2 12:7f3aadd79f89 542 control_Servo.setOutputLimits(Min_Output, Max_Output);
POTLESS_2 15:efd3b3bf3f37 543 //Mode auto au démarrage
POTLESS_2 12:7f3aadd79f89 544 control_Servo.setMode(AUTO_MODE);
POTLESS_2 12:7f3aadd79f89 545 //Consigne à x mb
POTLESS_2 12:7f3aadd79f89 546 control_Servo.setSetPoint(consigne);
POTLESS_2 15:efd3b3bf3f37 547 #endif
POTLESS_2 15:efd3b3bf3f37 548
POTLESS_2 7:ad15c386e960 549 while (true) {
POTLESS_2 6:ebed9093d661 550
POTLESS_2 7:ad15c386e960 551 //Démarrage du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 552 REAL_RATE.start();
POTLESS_2 7:ad15c386e960 553
POTLESS_2 6:ebed9093d661 554 if (newParamFlag) {
POTLESS_2 6:ebed9093d661 555 serialMonit.printf("Param = %s\r\n", param);
POTLESS_2 9:04bfdfc029cb 556 Decoding_Message(param);
POTLESS_2 9:04bfdfc029cb 557 }
POTLESS_2 9:04bfdfc029cb 558
POTLESS_2 9:04bfdfc029cb 559 if (newAndroidFlag) {
POTLESS_2 9:04bfdfc029cb 560 serialMonit.printf("Android = %s\r\n", Android);
POTLESS_2 9:04bfdfc029cb 561 Decoding_Message_Android(Android);
POTLESS_2 6:ebed9093d661 562 }
POTLESS_2 7:ad15c386e960 563
POTLESS_2 15:efd3b3bf3f37 564 //Fabrication de la chaine Date / heure
POTLESS_2 15:efd3b3bf3f37 565 seconds = time(NULL);
POTLESS_2 15:efd3b3bf3f37 566 char Time_buf[32];
POTLESS_2 15:efd3b3bf3f37 567 strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds));
POTLESS_2 15:efd3b3bf3f37 568
POTLESS_2 17:bef8abc445f2 569 #ifdef PID_MODE
POTLESS_2 15:efd3b3bf3f37 570 //Fabrication de la chaine à enregistrer
POTLESS_2 17:bef8abc445f2 571 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d",
POTLESS_2 15:efd3b3bf3f37 572 Time_buf,
POTLESS_2 15:efd3b3bf3f37 573 co2,
POTLESS_2 15:efd3b3bf3f37 574 ppO2,
POTLESS_2 15:efd3b3bf3f37 575 pression,
POTLESS_2 15:efd3b3bf3f37 576 Temp1,
POTLESS_2 15:efd3b3bf3f37 577 Temp2,
POTLESS_2 15:efd3b3bf3f37 578 Humid,
POTLESS_2 15:efd3b3bf3f37 579 CellO2_1,
POTLESS_2 15:efd3b3bf3f37 580 CellO2_2,
POTLESS_2 15:efd3b3bf3f37 581 volet_poumon_Position,
POTLESS_2 15:efd3b3bf3f37 582 volet_fuite_Position,
POTLESS_2 15:efd3b3bf3f37 583 MODE_FLAG,
POTLESS_2 15:efd3b3bf3f37 584 Kc,
POTLESS_2 15:efd3b3bf3f37 585 Ti,
POTLESS_2 18:bfd78c05b589 586 Td,
POTLESS_2 17:bef8abc445f2 587 (int)consigne
POTLESS_2 18:bfd78c05b589 588 );
POTLESS_2 17:bef8abc445f2 589 #endif
POTLESS_2 17:bef8abc445f2 590 #ifndef PID_MODE
POTLESS_2 17:bef8abc445f2 591 //Fabrication de la chaine à enregistrer sans les variables du PID
POTLESS_2 17:bef8abc445f2 592 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d",
POTLESS_2 17:bef8abc445f2 593 Time_buf,
POTLESS_2 17:bef8abc445f2 594 co2,
POTLESS_2 17:bef8abc445f2 595 ppO2,
POTLESS_2 17:bef8abc445f2 596 pression,
POTLESS_2 17:bef8abc445f2 597 Temp1,
POTLESS_2 17:bef8abc445f2 598 Temp2,
POTLESS_2 17:bef8abc445f2 599 Humid,
POTLESS_2 17:bef8abc445f2 600 CellO2_1,
POTLESS_2 17:bef8abc445f2 601 CellO2_2,
POTLESS_2 17:bef8abc445f2 602 volet_poumon_Position,
POTLESS_2 17:bef8abc445f2 603 volet_fuite_Position,
POTLESS_2 17:bef8abc445f2 604 MODE_FLAG,
POTLESS_2 20:5f79fb4565a7 605 0.0,
POTLESS_2 20:5f79fb4565a7 606 0.0,
POTLESS_2 20:5f79fb4565a7 607 0.0,
POTLESS_2 17:bef8abc445f2 608 0
POTLESS_2 18:bfd78c05b589 609 );
POTLESS_2 17:bef8abc445f2 610 #endif
POTLESS_2 15:efd3b3bf3f37 611
POTLESS_2 15:efd3b3bf3f37 612 //Enregistrement de la chaine
POTLESS_2 19:cac3761a5d0b 613 UTILS::Write_SD_File((string)to_store);
POTLESS_2 15:efd3b3bf3f37 614
POTLESS_2 15:efd3b3bf3f37 615 //Pour Android on ajoute < et > pour décoder l'arrivée du message
POTLESS_2 9:04bfdfc029cb 616 if (NEED_ANDROID_OUTPUT == 1) {
POTLESS_2 15:efd3b3bf3f37 617 sprintf(to_android,"<%s>",to_store);
POTLESS_2 12:7f3aadd79f89 618 ANDROID(to_android);
POTLESS_2 9:04bfdfc029cb 619 }
POTLESS_2 15:efd3b3bf3f37 620
POTLESS_2 18:bfd78c05b589 621 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 622 Calcul_OTU();
POTLESS_2 19:cac3761a5d0b 623
POTLESS_2 20:5f79fb4565a7 624 //Vers le moniteur série
POTLESS_2 13:22a96dc67e85 625 Affichage_moniteur();
POTLESS_2 15:efd3b3bf3f37 626
POTLESS_2 15:efd3b3bf3f37 627
POTLESS_2 15:efd3b3bf3f37 628 #ifdef PID_MODE
POTLESS_2 15:efd3b3bf3f37 629 //Update du PID
POTLESS_2 15:efd3b3bf3f37 630 control_Servo.setProcessValue(ppO2);
POTLESS_2 19:cac3761a5d0b 631 //Nouvelle sortie servo fuite si on est pas en mode SECU
POTLESS_2 19:cac3761a5d0b 632 if(!EN_MODE_SECU) Consigne_fuite = control_Servo.compute();
POTLESS_2 12:7f3aadd79f89 633 #endif
POTLESS_2 15:efd3b3bf3f37 634
POTLESS_2 7:ad15c386e960 635 //Arrêt du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 636 REAL_RATE.stop();
POTLESS_2 7:ad15c386e960 637 //Définition de la nouvelle valeur du temps d'échantillonage du PID.
POTLESS_2 7:ad15c386e960 638 RATE = REAL_RATE.read();
POTLESS_2 7:ad15c386e960 639 //Reset du Timer
POTLESS_2 7:ad15c386e960 640 REAL_RATE.reset();
POTLESS_2 12:7f3aadd79f89 641
POTLESS_2 16:917656586772 642 //Pour ralentir le code à Ref_Time seconde fixe quelque soit les intéruptions du loop....
POTLESS_2 18:bfd78c05b589 643 if (Ref_Time > RATE) {
POTLESS_2 18:bfd78c05b589 644 RATE_TRUE = (Ref_Time - RATE) * 1000;
POTLESS_2 18:bfd78c05b589 645 } else {
POTLESS_2 18:bfd78c05b589 646 RATE_TRUE = 0;
POTLESS_2 16:917656586772 647 #ifdef PID_MODE
POTLESS_2 18:bfd78c05b589 648 control_Servo.setInterval(RATE);
POTLESS_2 18:bfd78c05b589 649 #endif
POTLESS_2 18:bfd78c05b589 650 printf("Pour ralentir le code, Ref_Time doit être supérieur à %f seconde(s)\r\n\n", RATE);
POTLESS_2 16:917656586772 651 }
POTLESS_2 18:bfd78c05b589 652
POTLESS_2 11:b2feed92584a 653 wait_ms(RATE_TRUE);
POTLESS_2 21:b8900130ca05 654 }
POTLESS_2 21:b8900130ca05 655 }
POTLESS_2 21:b8900130ca05 656 }
POTLESS_2 4:d84250f67dec 657 }