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@81:83567a0ce82c, 2018-08-13 (annotated)

Committer:
POTLESS_2
Date:
Mon Aug 13 12:33:59 2018 +0000
Revision:
81:83567a0ce82c
Parent:
80:545af6e94aa5
Child:
82:5a0589682877
mod pour aller avec ihm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
potless 1:bef7856b5c0a 1 #include "mbed.h"
potless 2:4a8bf1d53439 2 #include <string>
POTLESS_2 7:ad15c386e960 3 #include "Sensor_head_revB.h"
POTLESS_2 8:a750d531b381 4 #include "HTU21D.h"
POTLESS_2 12:7f3aadd79f89 5 #include "PID.h"
POTLESS_2 19:cac3761a5d0b 6 #include "Faulhaber.h"
POTLESS_2 29:5b822d18bce6 7 #include "Utils.h"
POTLESS_2 47:89a088bc8866 8 #include "beep.h"
POTLESS_2 47:89a088bc8866 9 #include "USBSerial.h"
POTLESS_2 4:d84250f67dec 10
POTLESS_2 17:bef8abc445f2 11 //Commandes des servos
POTLESS_2 19:cac3761a5d0b 12 #define PWM_SERVO_POUMON PB_15
POTLESS_2 19:cac3761a5d0b 13 #define nSleep_SERVO_POUMON PC_6
POTLESS_2 19:cac3761a5d0b 14 #define FWD_SERVO_POUMON PB_14
POTLESS_2 19:cac3761a5d0b 15 #define REV_SERVO_POUMON PB_13
POTLESS_2 55:6536e02d729e 16 #define Channel_A_SERVO_POUMON PB_1
POTLESS_2 55:6536e02d729e 17 #define Channel_B_SERVO_POUMON PB_2
POTLESS_2 19:cac3761a5d0b 18 #define HOME_SERVO_POUMON 0
POTLESS_2 17:bef8abc445f2 19
POTLESS_2 19:cac3761a5d0b 20 #define PWM_SERVO_FUITE PB_10
POTLESS_2 43:5ae8baf28e32 21 #define nSleep_SERVO_FUITE PB_0
POTLESS_2 55:6536e02d729e 22 #define FWD_SERVO_FUITE PB_5
POTLESS_2 55:6536e02d729e 23 #define REV_SERVO_FUITE PB_4
POTLESS_2 43:5ae8baf28e32 24 #define Channel_A_SERVO_FUITE PC_9
POTLESS_2 43:5ae8baf28e32 25 #define Channel_B_SERVO_FUITE PA_8
POTLESS_2 19:cac3761a5d0b 26 #define HOME_SERVO_FUITE 90
POTLESS_2 17:bef8abc445f2 27
POTLESS_2 43:5ae8baf28e32 28 //Pin de test des alims
POTLESS_2 43:5ae8baf28e32 29 #define PIN_V_PILES_ANALOG PA_1
POTLESS_2 59:fd64ca9dae27 30 #define PIN_V_PILES_DIGI PC_3
POTLESS_2 43:5ae8baf28e32 31 #define PIN_V_USB_DIGI PA_0
POTLESS_2 11:b2feed92584a 32
potless 44:5cd6f84a62ec 33 //#define OUTPUT(...) { NVIC_DisableIRQ(USART3_IRQn); serialMonit.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(USART3_IRQn);}
POTLESS_2 56:61b0f4d6a890 34 //#define OUTPUT(...) { NVIC_DisableIRQ(USART2_IRQn); serialMonit.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(USART2_IRQn);}
POTLESS_2 57:a0827fa46b03 35 //#define OUTPUT(...) { NVIC_DisableIRQ(OTG_FS_IRQn);serialMonit.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(OTG_FS_IRQn);}
POTLESS_2 69:9afe54d53bb0 36 #define TRACEUR_DEBUG(...) { printf(__VA_ARGS__); fflush(stdout);}
POTLESS_2 69:9afe54d53bb0 37 //#define TRACEUR(...) { serialMonit.printf(__VA_ARGS__); fflush(stdout);}
POTLESS_2 56:61b0f4d6a890 38 #define OUTPUT(...) { serialMonit.printf(__VA_ARGS__); fflush(stdout);}
POTLESS_2 46:28298df0ac55 39 #define IHM(...) { NVIC_DisableIRQ(USART3_IRQn); display.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(USART3_IRQn);}
POTLESS_2 34:26f6e3dbefb9 40
POTLESS_2 57:a0827fa46b03 41 //Communication USB, OTG_FS
POTLESS_2 57:a0827fa46b03 42 USBSerial serialMonit(0x0483, 0x5740, 0x0001, false);
POTLESS_2 57:a0827fa46b03 43 //USBSerial serialMonit;//Pour pilotes windows Olivier
POTLESS_2 10:aca745a66d51 44
POTLESS_2 57:a0827fa46b03 45 //Moniteur série debug, Serial 2
POTLESS_2 68:7f4ab9c03b32 46 Serial serial(PA_2, PA_3,115200); // UART2 à décommenter / commenter pour DEBUG et DEEP_DEBUG
POTLESS_2 43:5ae8baf28e32 47
POTLESS_2 57:a0827fa46b03 48 //Communication avec l'IHM, Serial 3
POTLESS_2 57:a0827fa46b03 49 Serial display(PC_4, PC_5, 115200);
POTLESS_2 4:d84250f67dec 50
POTLESS_2 62:891379d80b1b 51 //PinName pwm, PinName nSleep, PinName fwd, PinName rev, PinName channelA, PinName channelB, int pulsesPerRev, int Rapport, Encoding encoding = X2_ENCODING
POTLESS_2 62:891379d80b1b 52 //Angle 0 -> tuyau fermé, Angle 90 -> tuyau ouvert
POTLESS_2 62:891379d80b1b 53 Faulhaber Servo_Poumon(VOLET_POUMON_ADDR, PWM_SERVO_POUMON, nSleep_SERVO_POUMON, FWD_SERVO_POUMON, REV_SERVO_POUMON, Channel_A_SERVO_POUMON, Channel_B_SERVO_POUMON, 16, 1257, HOME_SERVO_POUMON, Faulhaber::X2_ENCODING);
POTLESS_2 62:891379d80b1b 54 Faulhaber Servo_Fuite(VOLET_FUITE_ADDR, PWM_SERVO_FUITE, nSleep_SERVO_FUITE, FWD_SERVO_FUITE, REV_SERVO_FUITE, Channel_A_SERVO_FUITE, Channel_B_SERVO_FUITE, 16, 207, HOME_SERVO_FUITE, Faulhaber::X2_ENCODING);
POTLESS_2 62:891379d80b1b 55
POTLESS_2 7:ad15c386e960 56 //Init de la lib ARNSRS;
POTLESS_2 7:ad15c386e960 57 SENSOR_HEAD_REV_B sensors;
potless 2:4a8bf1d53439 58
POTLESS_2 34:26f6e3dbefb9 59 //pour Param Venant du PV
POTLESS_2 42:3591ec9903b4 60 const int sizeParam = 50;
POTLESS_2 11:b2feed92584a 61 char param[sizeParam];
POTLESS_2 11:b2feed92584a 62 volatile int indexParam = 0;
POTLESS_2 6:ebed9093d661 63 bool newParamFlag = false;
potless 2:4a8bf1d53439 64
POTLESS_2 56:61b0f4d6a890 65 //pour Param Venant de l'IHM
POTLESS_2 56:61b0f4d6a890 66 const int sizeIHM = 50;
POTLESS_2 56:61b0f4d6a890 67 char IHM[sizeIHM];
POTLESS_2 56:61b0f4d6a890 68 volatile int indexIHM = 0;
POTLESS_2 56:61b0f4d6a890 69 bool newIHMFlag = false;
POTLESS_2 56:61b0f4d6a890 70
POTLESS_2 43:5ae8baf28e32 71 //Flag PID ON / OFF
POTLESS_2 43:5ae8baf28e32 72 int FLAG_PID = 0;
POTLESS_2 42:3591ec9903b4 73
POTLESS_2 42:3591ec9903b4 74 //Flag pour interrompre l'affichage si on veut...
POTLESS_2 42:3591ec9903b4 75 bool FLAG_AFF = false;
POTLESS_2 25:322ef9488e65 76
POTLESS_2 70:0ae5fd4f826c 77 //Flag pour interrompre le traceur si on veut...
POTLESS_2 68:7f4ab9c03b32 78 bool FLAG_TRACE = false;
POTLESS_2 68:7f4ab9c03b32 79
POTLESS_2 40:32d89e04ead1 80 //Flag pour envoyer à l'app windev...
POTLESS_2 40:32d89e04ead1 81 bool FLAG_WINDEV = false;
POTLESS_2 40:32d89e04ead1 82
POTLESS_2 43:5ae8baf28e32 83 //Flag pour envoyer à l'IHM...
POTLESS_2 46:28298df0ac55 84 bool FLAG_DISPLAY = true;
POTLESS_2 43:5ae8baf28e32 85
POTLESS_2 29:5b822d18bce6 86 //Flag pour interrompre l'enregistrement si on veut...
POTLESS_2 29:5b822d18bce6 87 bool FLAG_REC = true;
POTLESS_2 29:5b822d18bce6 88
POTLESS_2 70:0ae5fd4f826c 89 //Flag pour interrompre les demandes O2 en cours de calibration...
POTLESS_2 33:f5d4bae05f16 90 bool FLAG_O2 = true;
POTLESS_2 33:f5d4bae05f16 91
POTLESS_2 70:0ae5fd4f826c 92 //Flag si on débranche l'USB
POTLESS_2 72:6d5590dbe13e 93 bool ALIM_UNPLUGGED = false;
POTLESS_2 71:23e7435e236f 94
POTLESS_2 7:ad15c386e960 95 //Variables de stockage des infos capteurs
POTLESS_2 7:ad15c386e960 96 int co2 = 0;
POTLESS_2 7:ad15c386e960 97 float pression = 0;
POTLESS_2 9:04bfdfc029cb 98 float Temp1 = 0;
POTLESS_2 7:ad15c386e960 99 int ppO2 = 0;
POTLESS_2 7:ad15c386e960 100 int CellO2_1 = 0;
POTLESS_2 7:ad15c386e960 101 int CellO2_2 = 0;
POTLESS_2 36:1f5e2247b073 102
POTLESS_2 18:bfd78c05b589 103 //Variables et constantes OTU
POTLESS_2 58:694d4d00407c 104 Ticker OTU_Ticker;
POTLESS_2 18:bfd78c05b589 105 float OTU = 0;
POTLESS_2 58:694d4d00407c 106 float EXP_OTU = 0.83;
POTLESS_2 18:bfd78c05b589 107
POTLESS_2 17:bef8abc445f2 108 //Mesure du temps d'éxecution du loop
POTLESS_2 7:ad15c386e960 109 Timer REAL_RATE;
POTLESS_2 7:ad15c386e960 110 float RATE = 0;
POTLESS_2 11:b2feed92584a 111 float RATE_TRUE = 0;
POTLESS_2 29:5b822d18bce6 112 float Ref_Time = 2.0; //La durée de la boucle désirée...
POTLESS_2 7:ad15c386e960 113
POTLESS_2 17:bef8abc445f2 114 //HTU21D sur l'I2C
POTLESS_2 8:a750d531b381 115 HTU21D temphumid(PB_9, PB_8); //Temp humid sensor || SDA, SCL
POTLESS_2 9:04bfdfc029cb 116 float Temp2;
POTLESS_2 9:04bfdfc029cb 117 int Humid;
POTLESS_2 9:04bfdfc029cb 118
POTLESS_2 9:04bfdfc029cb 119 //Data LOG
POTLESS_2 9:04bfdfc029cb 120 char to_store[50];
POTLESS_2 9:04bfdfc029cb 121 time_t seconds;
POTLESS_2 25:322ef9488e65 122 char Log_File_Name[] = " ";
POTLESS_2 42:3591ec9903b4 123 int count = 0;
POTLESS_2 42:3591ec9903b4 124 int Max_Log_Size = 1800;//1 heure, 1800 lignes donc à multiplier par la fréquence d'enregistrement, Ref_Time, pour voir combien de temps représente un Log...
POTLESS_2 8:a750d531b381 125
POTLESS_2 10:aca745a66d51 126 //Contrôle des servos
POTLESS_2 56:61b0f4d6a890 127 float Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 56:61b0f4d6a890 128 float volet_poumon_Position;
POTLESS_2 62:891379d80b1b 129
POTLESS_2 56:61b0f4d6a890 130 float Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 56:61b0f4d6a890 131 float volet_fuite_Position;
POTLESS_2 62:891379d80b1b 132
potless 45:61ba3cc4fc55 133 float Volets_Speed = 1;
POTLESS_2 62:891379d80b1b 134 float Volet_DeadBand = 5;
POTLESS_2 10:aca745a66d51 135
POTLESS_2 12:7f3aadd79f89 136 //Paramètre du PID
POTLESS_2 81:83567a0ce82c 137 float Kc = 0.005;
POTLESS_2 81:83567a0ce82c 138 float Ti = 0.1;
POTLESS_2 81:83567a0ce82c 139 float Td = 0.0;
POTLESS_2 78:674882631acc 140 float RATE_PID = 10.0;
POTLESS_2 12:7f3aadd79f89 141 float Commande_PID;
POTLESS_2 43:5ae8baf28e32 142 int consigne = 210;
POTLESS_2 15:efd3b3bf3f37 143 float Max_Input = 1000;
POTLESS_2 15:efd3b3bf3f37 144 float Min_Input = 80;
potless 73:2bbea82bf1e5 145 float Max_Output = 85;//Vérifier la valeur pour angle à laisser ouvert...
potless 73:2bbea82bf1e5 146 float Min_Output = 5;
POTLESS_2 10:aca745a66d51 147
POTLESS_2 12:7f3aadd79f89 148 //Init PID
POTLESS_2 17:bef8abc445f2 149 PID control_Servo(Kc, Ti, Td, RATE_PID);
POTLESS_2 10:aca745a66d51 150
POTLESS_2 19:cac3761a5d0b 151 //Boolean du status de l'appareil, en mode SECU ou nominal
POTLESS_2 19:cac3761a5d0b 152 bool EN_MODE_SECU = false;
POTLESS_2 31:231a96d1d1c8 153
POTLESS_2 43:5ae8baf28e32 154 //Test voltage piles
POTLESS_2 43:5ae8baf28e32 155 AnalogIn V_PILES_ANALOG(PIN_V_PILES_ANALOG);
POTLESS_2 31:231a96d1d1c8 156
POTLESS_2 31:231a96d1d1c8 157 int Vusb = 1;
POTLESS_2 31:231a96d1d1c8 158 int VPiles = 1;
POTLESS_2 43:5ae8baf28e32 159 float VPiles_val = 1;
POTLESS_2 18:bfd78c05b589 160
POTLESS_2 58:694d4d00407c 161 bool flag_USB = false;
POTLESS_2 59:fd64ca9dae27 162 bool flag_Piles = false;
POTLESS_2 58:694d4d00407c 163
POTLESS_2 56:61b0f4d6a890 164 //Commande à envoyer à l'IHM
POTLESS_2 80:545af6e94aa5 165 //0 -> Marche normale
POTLESS_2 80:545af6e94aa5 166 //1 -> Mise en veille
POTLESS_2 80:545af6e94aa5 167 //2 -> Perte alim
POTLESS_2 56:61b0f4d6a890 168 //3 -> Big problème
POTLESS_2 80:545af6e94aa5 169 //4 -> Reset
POTLESS_2 56:61b0f4d6a890 170 int Commande_IHM = 0;
potless 48:9ceb095f397a 171
POTLESS_2 70:0ae5fd4f826c 172 //Pin connexion USB et Piles
POTLESS_2 70:0ae5fd4f826c 173 //DigitalIn vusb(PIN_V_USB_DIGI);
POTLESS_2 70:0ae5fd4f826c 174 //DigitalIn vpiles(PIN_V_PILES_DIGI);
POTLESS_2 70:0ae5fd4f826c 175
POTLESS_2 43:5ae8baf28e32 176 //Interruption pin
POTLESS_2 59:fd64ca9dae27 177 InterruptIn vpiles_off_on(PIN_V_PILES_DIGI);
POTLESS_2 70:0ae5fd4f826c 178 InterruptIn vusb_off_on(PIN_V_USB_DIGI);
POTLESS_2 21:b8900130ca05 179
POTLESS_2 57:a0827fa46b03 180 //Pin enable du régulateur 5 v
POTLESS_2 57:a0827fa46b03 181 DigitalOut E5V(PA_4);
POTLESS_2 57:a0827fa46b03 182
POTLESS_2 57:a0827fa46b03 183 //Pin enable du régulateur 3.3 v
POTLESS_2 58:694d4d00407c 184 DigitalOut E3V(PB_11, PullDown);
POTLESS_2 57:a0827fa46b03 185
POTLESS_2 57:a0827fa46b03 186 //Pin du Buzzer
POTLESS_2 57:a0827fa46b03 187 Beep buzzer(PC_8);
POTLESS_2 57:a0827fa46b03 188
POTLESS_2 58:694d4d00407c 189 //Déclaration des Threads
POTLESS_2 62:891379d80b1b 190 Thread thread_Secu;
POTLESS_2 62:891379d80b1b 191 Thread thread_Head;
POTLESS_2 62:891379d80b1b 192 Thread thread_Volets_POUMON;
POTLESS_2 62:891379d80b1b 193 Thread thread_Volets_FUITE;
POTLESS_2 76:9dc83d5cf075 194 Thread thread_PID;
POTLESS_2 74:f4704f312116 195
POTLESS_2 74:f4704f312116 196 //Récap des fonctions
POTLESS_2 74:f4704f312116 197 void Save_Pos();//Sauvegarde des positions moteurs
POTLESS_2 74:f4704f312116 198 void Mode_SECU();//Mise en secu des moteurs
POTLESS_2 74:f4704f312116 199 void Sleep_IHM();//Mise en veille IHM, envoie de la consigne sur son port série
POTLESS_2 80:545af6e94aa5 200 void Sleep_HIGH_WakeUp();//Mise en veille MCU avec réveille sur front haut
POTLESS_2 74:f4704f312116 201 void Sleep_LOW_WakeUp();//Mise en veille MCU avec réveille sur front bas. BABEFACE
POTLESS_2 74:f4704f312116 202 void ALIM_is_unplugged();//Appelée par l'intéruption. Passe juste un FLAG à false
POTLESS_2 74:f4704f312116 203 void ALIM_unplugged();//Appelée par le sécu THREAD si le FLAG ci-dessus passe a false
POTLESS_2 74:f4704f312116 204 void Stop_Sequence();//Enchainement des fonction amenant à l'arrêt de l'appareil
POTLESS_2 74:f4704f312116 205 void Affichage();//Affichage complet du Debug dans le Terminal...ne pas utiliser car trop lent...préférer le même sur l'IHM
POTLESS_2 74:f4704f312116 206 void Traceur_Arduino();//Envoies des Data pour être interprétées par le traceur Arduino
POTLESS_2 74:f4704f312116 207 int Power_Test(DigitalIn& pin);//Test une pin Digital..Renvoie 1 ou 0. Pas utilisée, on utilise les intérruptions
POTLESS_2 74:f4704f312116 208 float Power_Test(AnalogIn& pin);//Lecture d'une pin analogique. Pas encore utilisée
POTLESS_2 74:f4704f312116 209 bool Check();//A remplir de paramètres qui renvoie true s'ils sont bon, false s'ils sont hors limites
POTLESS_2 74:f4704f312116 210 void Calcul_OTU();//Calcul des OTU, commandée par un Tcker toutes les 60 s
POTLESS_2 74:f4704f312116 211 void SENSORS_thread();//Thread d'intérogation des capteurs. Appelé tous les ref_time
POTLESS_2 74:f4704f312116 212 void GO_TO_thread_POUMON();//Thread d'asservissement en position du volet Poumon. Appelé en permanence, priorité haute
POTLESS_2 74:f4704f312116 213 void GO_TO_thread_FUITE();//Thread d'asservissement en position du volet Fuite. Appelé en permanence, priorité haute
POTLESS_2 74:f4704f312116 214 void SECU_thread();//Thread de contrôle des paramètres devant entrainer une réaction de sécurité. Pour le moment capture du Flag de l'alim débranchée
POTLESS_2 78:674882631acc 215 void PID_thread();//Thread de calcul du PID
POTLESS_2 74:f4704f312116 216 void callbackParam();//Callback de l'intéruption des com sur le port USD
POTLESS_2 74:f4704f312116 217 void callbackIHM();//Callback de l'intéruption des com sur le port IHM
POTLESS_2 74:f4704f312116 218 void Decoding_Message(char message []);//Décodage des message reçu par le port USB
POTLESS_2 74:f4704f312116 219 void Decoding_IHM(char message []);//Décodage des message reçu par le port IHM. Uniquement le transfert sur clef USB pour le moment
POTLESS_2 74:f4704f312116 220 void Create_File_Name_Date();//Création d'un nom de fichier par date
POTLESS_2 74:f4704f312116 221 void Create_File_Name_Index();//Création d'un nom de fichier par Index
POTLESS_2 74:f4704f312116 222
POTLESS_2 72:6d5590dbe13e 223 void Save_Pos()
POTLESS_2 68:7f4ab9c03b32 224 {
POTLESS_2 68:7f4ab9c03b32 225
POTLESS_2 68:7f4ab9c03b32 226 //Enregistrement position des servos sans mettre en sécu
POTLESS_2 71:23e7435e236f 227 UTILS::EffacePage(2, PAGE_POUMON_ADDR, 1);
POTLESS_2 68:7f4ab9c03b32 228
POTLESS_2 71:23e7435e236f 229 int Pos_P = Servo_Poumon.getPulses();
POTLESS_2 68:7f4ab9c03b32 230 UTILS::Write(VOLET_POUMON_ADDR, Pos_P);
POTLESS_2 71:23e7435e236f 231 DEBUG(" position volet poumon sauvegardée = %d pulse(s)\r\n", Pos_P);
POTLESS_2 76:9dc83d5cf075 232
POTLESS_2 71:23e7435e236f 233 UTILS::EffacePage(2, PAGE_FUITE_ADDR, 1);
POTLESS_2 76:9dc83d5cf075 234
POTLESS_2 71:23e7435e236f 235 int Pos_F = Servo_Fuite.getPulses();
POTLESS_2 68:7f4ab9c03b32 236 UTILS::Write(VOLET_FUITE_ADDR, Pos_F);
POTLESS_2 71:23e7435e236f 237 DEBUG(" position volet fuite sauvegardée = %d pulse(s)\r\n", Pos_F);
POTLESS_2 68:7f4ab9c03b32 238
POTLESS_2 68:7f4ab9c03b32 239 }
POTLESS_2 68:7f4ab9c03b32 240
POTLESS_2 72:6d5590dbe13e 241 //Passage en mode SECU
POTLESS_2 72:6d5590dbe13e 242 void Mode_SECU()
POTLESS_2 56:61b0f4d6a890 243 {
POTLESS_2 68:7f4ab9c03b32 244
POTLESS_2 72:6d5590dbe13e 245 //Mise du PID en mode manuel (desactivation...)
POTLESS_2 72:6d5590dbe13e 246 FLAG_PID = 0;
POTLESS_2 68:7f4ab9c03b32 247
POTLESS_2 71:23e7435e236f 248 //On coupe les thread car on va utiliser une autre fonction
POTLESS_2 71:23e7435e236f 249 thread_Volets_POUMON.terminate();
POTLESS_2 71:23e7435e236f 250 thread_Volets_FUITE.terminate();
POTLESS_2 68:7f4ab9c03b32 251
POTLESS_2 72:6d5590dbe13e 252 //A fond et avec une erreur tolérée de +- 5 deg autour du Home. Cohérent avec le future init qui recherche une erreur > 5 deg
POTLESS_2 71:23e7435e236f 253 Volets_Speed = 1;
POTLESS_2 71:23e7435e236f 254 Volet_DeadBand = 10;
POTLESS_2 76:9dc83d5cf075 255
POTLESS_2 68:7f4ab9c03b32 256 Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 68:7f4ab9c03b32 257 Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 76:9dc83d5cf075 258
POTLESS_2 71:23e7435e236f 259 Servo_Fuite.Go_To(Consigne_fuite, Volets_Speed, Volet_DeadBand);
POTLESS_2 76:9dc83d5cf075 260
POTLESS_2 71:23e7435e236f 261 Servo_Poumon.Go_To(Consigne_poumon, Volets_Speed, Volet_DeadBand);
POTLESS_2 76:9dc83d5cf075 262
POTLESS_2 72:6d5590dbe13e 263 Save_Pos();
POTLESS_2 76:9dc83d5cf075 264
POTLESS_2 72:6d5590dbe13e 265 OUTPUT(" Volet poumon en sécu\r\n");
POTLESS_2 72:6d5590dbe13e 266 OUTPUT(" Volet fuite en sécu\r\n");
POTLESS_2 72:6d5590dbe13e 267
POTLESS_2 72:6d5590dbe13e 268 Servo_Poumon.Sleep();
POTLESS_2 72:6d5590dbe13e 269 Servo_Fuite.Sleep();
POTLESS_2 72:6d5590dbe13e 270 }
POTLESS_2 72:6d5590dbe13e 271
POTLESS_2 79:d22473a0e20d 272 void Sleep_IHM(int commande)
POTLESS_2 72:6d5590dbe13e 273 {
POTLESS_2 72:6d5590dbe13e 274 //Mise en veille de l'IHM
POTLESS_2 80:545af6e94aa5 275 IHM("<0/0/0 0-0-0 ;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;%d>\r\n", commande);
POTLESS_2 76:9dc83d5cf075 276
POTLESS_2 72:6d5590dbe13e 277 wait(0.5);
POTLESS_2 76:9dc83d5cf075 278
POTLESS_2 75:eec3e587c8b8 279 HAL_GPIO_DeInit(GPIOC, GPIO_PIN_4|GPIO_PIN_5);
POTLESS_2 76:9dc83d5cf075 280
POTLESS_2 72:6d5590dbe13e 281 // mise à zero UART IHM pour éviter son redémarrage intempestif (le tx suffirait)
POTLESS_2 75:eec3e587c8b8 282 HAL_PWREx_EnablePullUpPullDownConfig();
POTLESS_2 72:6d5590dbe13e 283 HAL_PWREx_EnableGPIOPullDown(PWR_GPIO_C, PWR_GPIO_BIT_4);
POTLESS_2 72:6d5590dbe13e 284 HAL_PWREx_EnableGPIOPullDown(PWR_GPIO_C, PWR_GPIO_BIT_5);
POTLESS_2 76:9dc83d5cf075 285
POTLESS_2 72:6d5590dbe13e 286 }
POTLESS_2 72:6d5590dbe13e 287
POTLESS_2 81:83567a0ce82c 288 void Alarm_IHM()
POTLESS_2 81:83567a0ce82c 289 {
POTLESS_2 81:83567a0ce82c 290 IHM("<0/0/0 0-0-0 ;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;%d>\r\n", 6);
POTLESS_2 81:83567a0ce82c 291 }
POTLESS_2 81:83567a0ce82c 292
POTLESS_2 80:545af6e94aa5 293 void Sleep_HIGH_WakeUp()
POTLESS_2 72:6d5590dbe13e 294 {
POTLESS_2 76:9dc83d5cf075 295
POTLESS_2 72:6d5590dbe13e 296 E5V = 0;
POTLESS_2 76:9dc83d5cf075 297
POTLESS_2 59:fd64ca9dae27 298 UTILS::UnMount_Flash();
POTLESS_2 76:9dc83d5cf075 299
POTLESS_2 59:fd64ca9dae27 300 DEBUG(" Mise en veille...\r\n");
POTLESS_2 76:9dc83d5cf075 301
POTLESS_2 62:891379d80b1b 302 //Mise en veille
potless 60:e2922f9e309c 303 HAL_PWREx_EnablePullUpPullDownConfig() ;
potless 60:e2922f9e309c 304 HAL_PWREx_EnableGPIOPullDown(PWR_GPIO_A, PWR_GPIO_BIT_0);
potless 60:e2922f9e309c 305 HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1); // pour PA_0
potless 60:e2922f9e309c 306 // Clear wake up Flag
potless 60:e2922f9e309c 307 __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WUF1);
potless 60:e2922f9e309c 308 // Enable wakeup pin WKUP2
potless 60:e2922f9e309c 309 HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1); // high est la valeur par défaut
potless 60:e2922f9e309c 310 // Set RTC back-up register RTC_BKP31R to indicate
potless 60:e2922f9e309c 311 //later on that system has entered shutdown mode
potless 60:e2922f9e309c 312 WRITE_REG( RTC->BKP31R, 0x1 );
POTLESS_2 76:9dc83d5cf075 313
potless 60:e2922f9e309c 314 //Enter shutdown mode
POTLESS_2 71:23e7435e236f 315 E3V=0;
POTLESS_2 72:6d5590dbe13e 316 //n’est pas exécuté à cause du E3V=0 précédent
POTLESS_2 72:6d5590dbe13e 317 HAL_PWREx_EnterSHUTDOWNMode();
POTLESS_2 76:9dc83d5cf075 318
POTLESS_2 56:61b0f4d6a890 319 }
POTLESS_2 58:694d4d00407c 320
POTLESS_2 72:6d5590dbe13e 321 void Sleep_LOW_WakeUp()
POTLESS_2 71:23e7435e236f 322 {
POTLESS_2 72:6d5590dbe13e 323 E5V = 0;
POTLESS_2 76:9dc83d5cf075 324
POTLESS_2 72:6d5590dbe13e 325 UTILS::UnMount_Flash();
POTLESS_2 76:9dc83d5cf075 326
POTLESS_2 72:6d5590dbe13e 327 DEBUG(" Mise en veille...\r\n");
POTLESS_2 76:9dc83d5cf075 328
POTLESS_2 72:6d5590dbe13e 329 UTILS::EffacePage(2, PAGE_FLAG_ADDR, 1);
POTLESS_2 72:6d5590dbe13e 330
POTLESS_2 72:6d5590dbe13e 331 UTILS::Write(FLAG_ADDR, 0xBABEFACE);
POTLESS_2 72:6d5590dbe13e 332
POTLESS_2 72:6d5590dbe13e 333 //Mise en veille
POTLESS_2 75:eec3e587c8b8 334 HAL_PWREx_EnablePullUpPullDownConfig();
POTLESS_2 72:6d5590dbe13e 335 HAL_PWREx_EnableGPIOPullDown(PWR_GPIO_A, PWR_GPIO_BIT_0);
POTLESS_2 72:6d5590dbe13e 336 HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1_LOW); // pour PA_0
POTLESS_2 72:6d5590dbe13e 337 // Clear wake up Flag
POTLESS_2 72:6d5590dbe13e 338 __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WUF1);
POTLESS_2 72:6d5590dbe13e 339 // Enable wakeup pin WKUP2
POTLESS_2 72:6d5590dbe13e 340 HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1_LOW); // high est la valeur par défaut
POTLESS_2 72:6d5590dbe13e 341 // Set RTC back-up register RTC_BKP31R to indicate
POTLESS_2 72:6d5590dbe13e 342 //later on that system has entered shutdown mode
POTLESS_2 72:6d5590dbe13e 343 WRITE_REG( RTC->BKP31R, 0x1 );
POTLESS_2 76:9dc83d5cf075 344
POTLESS_2 72:6d5590dbe13e 345 //Enter shutdown mode
POTLESS_2 80:545af6e94aa5 346 E3V=0;
POTLESS_2 72:6d5590dbe13e 347 //Enter shutdown mode
POTLESS_2 72:6d5590dbe13e 348 HAL_PWREx_EnterSHUTDOWNMode();
POTLESS_2 72:6d5590dbe13e 349 }
POTLESS_2 76:9dc83d5cf075 350
POTLESS_2 76:9dc83d5cf075 351 void ALIM_is_unplugged()
POTLESS_2 72:6d5590dbe13e 352 {
POTLESS_2 72:6d5590dbe13e 353 ALIM_UNPLUGGED = true;
POTLESS_2 76:9dc83d5cf075 354 }
POTLESS_2 72:6d5590dbe13e 355
POTLESS_2 72:6d5590dbe13e 356 void ALIM_unplugged()
POTLESS_2 52:4e36a88711d6 357 {
POTLESS_2 72:6d5590dbe13e 358 DEBUG(" L'alimentation a été débranchée.\n");
POTLESS_2 76:9dc83d5cf075 359
POTLESS_2 71:23e7435e236f 360 buzzer.beep(1000,0.1);
POTLESS_2 76:9dc83d5cf075 361
POTLESS_2 79:d22473a0e20d 362 Sleep_IHM(2);
POTLESS_2 76:9dc83d5cf075 363
POTLESS_2 72:6d5590dbe13e 364 Mode_SECU();
POTLESS_2 76:9dc83d5cf075 365
POTLESS_2 80:545af6e94aa5 366 Sleep_HIGH_WakeUp();
POTLESS_2 76:9dc83d5cf075 367
POTLESS_2 72:6d5590dbe13e 368 }
POTLESS_2 72:6d5590dbe13e 369
POTLESS_2 72:6d5590dbe13e 370 //Sequence d'arrêt demandé par commande "sleep"
POTLESS_2 72:6d5590dbe13e 371 void Stop_Sequence()
POTLESS_2 72:6d5590dbe13e 372 {
POTLESS_2 72:6d5590dbe13e 373 OUTPUT(" Mise en veille de l'appareil.\r\n");
POTLESS_2 80:545af6e94aa5 374
POTLESS_2 80:545af6e94aa5 375 buzzer.beep(1000,0.1);
POTLESS_2 76:9dc83d5cf075 376
POTLESS_2 79:d22473a0e20d 377 Sleep_IHM(1);
POTLESS_2 76:9dc83d5cf075 378
POTLESS_2 72:6d5590dbe13e 379 Mode_SECU();
POTLESS_2 72:6d5590dbe13e 380
POTLESS_2 72:6d5590dbe13e 381 Sleep_LOW_WakeUp();
POTLESS_2 52:4e36a88711d6 382 }
POTLESS_2 47:89a088bc8866 383
POTLESS_2 29:5b822d18bce6 384 void Affichage()
POTLESS_2 53:84571a5e2cda 385 {
POTLESS_2 42:3591ec9903b4 386 //serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 387 serialMonit.printf(" CO2 = %d ppm\r\n" , co2);
POTLESS_2 29:5b822d18bce6 388 serialMonit.printf(" PPO2 = %d mb\r\n", ppO2);
POTLESS_2 31:231a96d1d1c8 389 serialMonit.printf(" OTU = %d \r\n", (int)OTU);
POTLESS_2 29:5b822d18bce6 390 serialMonit.printf(" Pression = %f msw\r\n", pression);
POTLESS_2 29:5b822d18bce6 391 serialMonit.printf(" Temp MS5837 = %f C\r\n", Temp1);
POTLESS_2 29:5b822d18bce6 392 serialMonit.printf(" Temp HTU21D = %f C\n\r", Temp2);
POTLESS_2 29:5b822d18bce6 393 serialMonit.printf(" Humidity = %d %%\n\r", Humid);
POTLESS_2 42:3591ec9903b4 394 //serialMonit.printf("\n\r");
POTLESS_2 29:5b822d18bce6 395 serialMonit.printf(" Cell O2 n 1 = %d\r\n" , CellO2_1);
POTLESS_2 29:5b822d18bce6 396 serialMonit.printf(" Cell O2 n 2 = %d\r\n" , CellO2_2);
POTLESS_2 42:3591ec9903b4 397 //serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 398 serialMonit.printf(" Volet Poumon = %f\r\n" , volet_poumon_Position);
POTLESS_2 29:5b822d18bce6 399 serialMonit.printf(" Volet Fuite = %f\r\n" , volet_fuite_Position);
POTLESS_2 42:3591ec9903b4 400 //serialMonit.printf("\r\n");
POTLESS_2 42:3591ec9903b4 401 serialMonit.printf(" Temps d execution de la boucle = %f seconde(s)\r\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 42:3591ec9903b4 402 //serialMonit.printf("\r\n");
POTLESS_2 42:3591ec9903b4 403 if (FLAG_REC) serialMonit.printf(" Chaine enregistrée = %s\r\n", to_store);
POTLESS_2 30:7a16a66d76f3 404 else serialMonit.printf(" Pas d'enregistrement en cours.");
POTLESS_2 42:3591ec9903b4 405 //serialMonit.printf("\r\n");
POTLESS_2 42:3591ec9903b4 406 serialMonit.printf(" V_USB = %f\r\n", Vusb);
POTLESS_2 42:3591ec9903b4 407 //serialMonit.printf("\r\n\r\n");
POTLESS_2 29:5b822d18bce6 408 fflush(stdout);
POTLESS_2 29:5b822d18bce6 409 }
POTLESS_2 29:5b822d18bce6 410
POTLESS_2 76:9dc83d5cf075 411 void Traceur_Arduino()
POTLESS_2 76:9dc83d5cf075 412 {
POTLESS_2 76:9dc83d5cf075 413 /*
POTLESS_2 76:9dc83d5cf075 414 //Important pour PID
POTLESS_2 76:9dc83d5cf075 415 TRACEUR("%d, ", ppO2);
POTLESS_2 76:9dc83d5cf075 416 TRACEUR("%d, ", consigne);
POTLESS_2 76:9dc83d5cf075 417
POTLESS_2 76:9dc83d5cf075 418 //TODO à commenter je pense...
POTLESS_2 76:9dc83d5cf075 419 TRACEUR("%d, " , co2);
POTLESS_2 76:9dc83d5cf075 420 TRACEUR("%d, ", (int)OTU);
POTLESS_2 76:9dc83d5cf075 421 TRACEUR("%f, ", pression);
POTLESS_2 76:9dc83d5cf075 422 TRACEUR("%f, ", Temp1);
POTLESS_2 76:9dc83d5cf075 423 TRACEUR("%f, ", Temp2);
POTLESS_2 76:9dc83d5cf075 424 TRACEUR("%d, ", Humid);
POTLESS_2 76:9dc83d5cf075 425 TRACEUR("%d, " , CellO2_1);
POTLESS_2 76:9dc83d5cf075 426 TRACEUR("%d, " , CellO2_2);
POTLESS_2 76:9dc83d5cf075 427 TRACEUR("%f, " , volet_poumon_Position);
POTLESS_2 76:9dc83d5cf075 428 TRACEUR("%f, " , volet_fuite_Position);
POTLESS_2 76:9dc83d5cf075 429
POTLESS_2 76:9dc83d5cf075 430
POTLESS_2 76:9dc83d5cf075 431 //Toujours finir par \r\n
POTLESS_2 76:9dc83d5cf075 432 TRACEUR("\r\n");
POTLESS_2 76:9dc83d5cf075 433 */
POTLESS_2 69:9afe54d53bb0 434 //Important pour PID
POTLESS_2 69:9afe54d53bb0 435 TRACEUR_DEBUG("%d, ", ppO2);
POTLESS_2 69:9afe54d53bb0 436 TRACEUR_DEBUG("%d, ", consigne);
potless 73:2bbea82bf1e5 437 TRACEUR_DEBUG("%f, " , volet_poumon_Position);
POTLESS_2 76:9dc83d5cf075 438
POTLESS_2 69:9afe54d53bb0 439 /*
POTLESS_2 69:9afe54d53bb0 440 //TODO à commenter je pense...
POTLESS_2 69:9afe54d53bb0 441 TRACEUR_DEBUG("%d, " , co2);
POTLESS_2 69:9afe54d53bb0 442 TRACEUR_DEBUG("%d, ", (int)OTU);
POTLESS_2 69:9afe54d53bb0 443 TRACEUR_DEBUG("%f, ", pression);
POTLESS_2 69:9afe54d53bb0 444 TRACEUR_DEBUG("%f, ", Temp1);
POTLESS_2 69:9afe54d53bb0 445 TRACEUR_DEBUG("%f, ", Temp2);
POTLESS_2 69:9afe54d53bb0 446 TRACEUR_DEBUG("%d, ", Humid);
POTLESS_2 69:9afe54d53bb0 447 TRACEUR_DEBUG("%d, " , CellO2_1);
POTLESS_2 69:9afe54d53bb0 448 TRACEUR_DEBUG("%d, " , CellO2_2);
POTLESS_2 69:9afe54d53bb0 449 TRACEUR_DEBUG("%f, " , volet_poumon_Position);
POTLESS_2 69:9afe54d53bb0 450 TRACEUR_DEBUG("%f, " , volet_fuite_Position);
POTLESS_2 68:7f4ab9c03b32 451 */
POTLESS_2 76:9dc83d5cf075 452
POTLESS_2 68:7f4ab9c03b32 453 //Toujours finir par \r\n
POTLESS_2 76:9dc83d5cf075 454 TRACEUR_DEBUG("\r\n");
POTLESS_2 19:cac3761a5d0b 455 }
POTLESS_2 19:cac3761a5d0b 456
POTLESS_2 18:bfd78c05b589 457
POTLESS_2 31:231a96d1d1c8 458 //Fonction test de valeur d'entrée digitale
POTLESS_2 29:5b822d18bce6 459 int Power_Test(DigitalIn& pin)
POTLESS_2 20:5f79fb4565a7 460 {
POTLESS_2 29:5b822d18bce6 461 pin.mode(PullDown);
POTLESS_2 34:26f6e3dbefb9 462
POTLESS_2 34:26f6e3dbefb9 463 if(!pin) {
POTLESS_2 68:7f4ab9c03b32 464 //Stop_Sequence();
POTLESS_2 34:26f6e3dbefb9 465 return 0;
POTLESS_2 34:26f6e3dbefb9 466 } else {
POTLESS_2 34:26f6e3dbefb9 467 return 1;
POTLESS_2 34:26f6e3dbefb9 468 }
POTLESS_2 20:5f79fb4565a7 469 }
POTLESS_2 20:5f79fb4565a7 470
POTLESS_2 31:231a96d1d1c8 471 //Fonction test de valeur d'entrée analogique
POTLESS_2 31:231a96d1d1c8 472 float Power_Test(AnalogIn& pin)
POTLESS_2 31:231a96d1d1c8 473 {
POTLESS_2 31:231a96d1d1c8 474 float Val = pin.read();
POTLESS_2 31:231a96d1d1c8 475 return Val;
POTLESS_2 31:231a96d1d1c8 476 }
POTLESS_2 31:231a96d1d1c8 477
POTLESS_2 18:bfd78c05b589 478 //Contrôle du status de l'appareil / des constantes
POTLESS_2 18:bfd78c05b589 479 bool Check()
POTLESS_2 18:bfd78c05b589 480 {
POTLESS_2 18:bfd78c05b589 481 if (ppO2 > 100)
POTLESS_2 19:cac3761a5d0b 482 return true;//Situation OK
POTLESS_2 18:bfd78c05b589 483 else
POTLESS_2 19:cac3761a5d0b 484 return false;//Situation dégradée
POTLESS_2 18:bfd78c05b589 485 }
POTLESS_2 18:bfd78c05b589 486
POTLESS_2 18:bfd78c05b589 487 //Calcul des OTU
POTLESS_2 58:694d4d00407c 488 void Calcul_OTU()
POTLESS_2 18:bfd78c05b589 489 {
POTLESS_2 18:bfd78c05b589 490 /*
POTLESS_2 18:bfd78c05b589 491 La formule suivante permet de calculer la quantité d' OTU accumulée
POTLESS_2 18:bfd78c05b589 492 OTU = T * (2* PpO2 -1)0,83
POTLESS_2 18:bfd78c05b589 493 avec :
POTLESS_2 18:bfd78c05b589 494 T = temps de plongée en minutes
POTLESS_2 18:bfd78c05b589 495 PpO2 = pression partielle d’ oxygène en bars
POTLESS_2 18:bfd78c05b589 496 */
POTLESS_2 18:bfd78c05b589 497
POTLESS_2 19:cac3761a5d0b 498 if (ppO2 > 500) {
POTLESS_2 18:bfd78c05b589 499 float val = (2 * (float)ppO2/1000 - 1);//je divise par 1000 car la PP est en mb...
POTLESS_2 58:694d4d00407c 500 OTU += pow(val, EXP_OTU);//T = 1 car le ticker est executé toutes les 60 secondes, 1 minute....
POTLESS_2 19:cac3761a5d0b 501 }
POTLESS_2 18:bfd78c05b589 502 }
POTLESS_2 10:aca745a66d51 503
POTLESS_2 17:bef8abc445f2 504 //Thread d'intérogation des capteurs, positions servo
POTLESS_2 34:26f6e3dbefb9 505 void SENSORS_thread()
POTLESS_2 6:ebed9093d661 506 {
POTLESS_2 7:ad15c386e960 507 while (true) {
POTLESS_2 36:1f5e2247b073 508 //DEEP_DEBUG(" SENSORS_thread\r\n");
POTLESS_2 7:ad15c386e960 509
POTLESS_2 7:ad15c386e960 510 //CO2 sur Cozir
POTLESS_2 7:ad15c386e960 511 co2 = sensors.requestCO2();
POTLESS_2 7:ad15c386e960 512 //P / T sur MS5837
POTLESS_2 7:ad15c386e960 513 pression = sensors.requestPress();
POTLESS_2 9:04bfdfc029cb 514 Temp1 = sensors.requestTemp();
POTLESS_2 7:ad15c386e960 515 //PPO2 sur ADS1015
POTLESS_2 33:f5d4bae05f16 516 if (FLAG_O2) ppO2 = sensors.requestPpO2();
POTLESS_2 7:ad15c386e960 517 //Cell O2 en mV
POTLESS_2 33:f5d4bae05f16 518 if (FLAG_O2) CellO2_1 = sensors.requestCellO2_1();
POTLESS_2 33:f5d4bae05f16 519 if (FLAG_O2) CellO2_2 = sensors.requestCellO2_2();
POTLESS_2 9:04bfdfc029cb 520
POTLESS_2 8:a750d531b381 521 //HTU21D
POTLESS_2 9:04bfdfc029cb 522 Temp2 = temphumid.sample_ctemp();
POTLESS_2 9:04bfdfc029cb 523 Humid = temphumid.sample_humid();
POTLESS_2 9:04bfdfc029cb 524
POTLESS_2 10:aca745a66d51 525 //Retour position des servos
POTLESS_2 17:bef8abc445f2 526 volet_poumon_Position = Servo_Poumon.Get_Position();
POTLESS_2 43:5ae8baf28e32 527 volet_fuite_Position = Servo_Fuite.Get_Position();
POTLESS_2 43:5ae8baf28e32 528
POTLESS_2 43:5ae8baf28e32 529 //Calcul des OTU
POTLESS_2 58:694d4d00407c 530 //Calcul_OTU();
potless 65:c7d09a1fbef3 531 wait(Ref_Time);
POTLESS_2 19:cac3761a5d0b 532 }
POTLESS_2 19:cac3761a5d0b 533 }
POTLESS_2 12:7f3aadd79f89 534
POTLESS_2 57:a0827fa46b03 535 void GO_TO_thread_POUMON()
POTLESS_2 19:cac3761a5d0b 536 {
POTLESS_2 19:cac3761a5d0b 537 while (true) {
POTLESS_2 57:a0827fa46b03 538 //DEEP_DEBUG(" GO_TO_Thread_POUMON\r\n");
POTLESS_2 68:7f4ab9c03b32 539
POTLESS_2 63:69f6d600807e 540 Servo_Poumon.Go_To_Prop(Consigne_poumon);
POTLESS_2 62:891379d80b1b 541 //Servo_Poumon.Go_To_PID(Consigne_poumon, Volet_DeadBand);//Nécessite de déclarer un dernier terme true dans l'init du moteur
POTLESS_2 63:69f6d600807e 542 //Servo_Poumon.Go_To(Consigne_poumon, Volets_Speed, Volet_DeadBand);
POTLESS_2 68:7f4ab9c03b32 543
POTLESS_2 57:a0827fa46b03 544 }
POTLESS_2 57:a0827fa46b03 545 }
POTLESS_2 57:a0827fa46b03 546
POTLESS_2 57:a0827fa46b03 547 void GO_TO_thread_FUITE()
POTLESS_2 57:a0827fa46b03 548 {
POTLESS_2 57:a0827fa46b03 549 while (true) {
POTLESS_2 57:a0827fa46b03 550 //DEEP_DEBUG(" GO_TO_Thread_FUITE\r\n");
POTLESS_2 34:26f6e3dbefb9 551
POTLESS_2 63:69f6d600807e 552 Servo_Fuite.Go_To_Prop(Consigne_fuite);
POTLESS_2 43:5ae8baf28e32 553 //Servo_Fuite.Go_To_PID(Consigne_fuite, Volet_DeadBand);
POTLESS_2 63:69f6d600807e 554 //Servo_Fuite.Go_To(Consigne_fuite, Volets_Speed, Volet_DeadBand);
POTLESS_2 68:7f4ab9c03b32 555
POTLESS_2 15:efd3b3bf3f37 556 }
potless 2:4a8bf1d53439 557 }
POTLESS_2 4:d84250f67dec 558
POTLESS_2 20:5f79fb4565a7 559 void SECU_thread()
POTLESS_2 20:5f79fb4565a7 560 {
POTLESS_2 34:26f6e3dbefb9 561 while (true) {
POTLESS_2 58:694d4d00407c 562 //Mettre toutes les vérifs de sécu....
POTLESS_2 72:6d5590dbe13e 563 if (ALIM_UNPLUGGED) ALIM_unplugged();
POTLESS_2 20:5f79fb4565a7 564 }
POTLESS_2 20:5f79fb4565a7 565 }
POTLESS_2 20:5f79fb4565a7 566
POTLESS_2 76:9dc83d5cf075 567 void PID_thread()
POTLESS_2 76:9dc83d5cf075 568 {
POTLESS_2 76:9dc83d5cf075 569 while (true) {
POTLESS_2 76:9dc83d5cf075 570 if (FLAG_PID == 1 && EN_MODE_SECU == false) {
POTLESS_2 76:9dc83d5cf075 571 control_Servo.setProcessValue(ppO2);
POTLESS_2 76:9dc83d5cf075 572 //Nouvelle sortie servo poumon si on est pas en mode SECU
POTLESS_2 76:9dc83d5cf075 573 Consigne_poumon = 90 - control_Servo.compute();
POTLESS_2 76:9dc83d5cf075 574 // mode volets asservis (simule un seul moteur)
POTLESS_2 76:9dc83d5cf075 575 Consigne_fuite = 90 - Consigne_poumon;
POTLESS_2 76:9dc83d5cf075 576 wait(RATE_PID);
POTLESS_2 76:9dc83d5cf075 577 }
POTLESS_2 76:9dc83d5cf075 578 }
POTLESS_2 76:9dc83d5cf075 579 }
POTLESS_2 76:9dc83d5cf075 580
POTLESS_2 57:a0827fa46b03 581 //Callback de l'intérruption des envois de commandes depuis le terminal / WINDEV
POTLESS_2 6:ebed9093d661 582 void callbackParam()
POTLESS_2 34:26f6e3dbefb9 583 {
POTLESS_2 40:32d89e04ead1 584
POTLESS_2 34:26f6e3dbefb9 585 while(serialMonit.readable()) {
POTLESS_2 40:32d89e04ead1 586 if ((indexParam == sizeParam) || newParamFlag == true) { //éviter la saturation du buffer
POTLESS_2 29:5b822d18bce6 587 char char_flush = serialMonit.getc();
POTLESS_2 40:32d89e04ead1 588 } else {
POTLESS_2 29:5b822d18bce6 589 param [indexParam ++] = serialMonit.getc();//chargement du buffer dans le message
POTLESS_2 40:32d89e04ead1 590 if ((indexParam == sizeParam) || (param[indexParam - 1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 40:32d89e04ead1 591 param[indexParam] = 0;
POTLESS_2 40:32d89e04ead1 592 newParamFlag = true;
POTLESS_2 40:32d89e04ead1 593 }
POTLESS_2 56:61b0f4d6a890 594 }
POTLESS_2 56:61b0f4d6a890 595 }
POTLESS_2 56:61b0f4d6a890 596 }
POTLESS_2 56:61b0f4d6a890 597
POTLESS_2 56:61b0f4d6a890 598 //Callback de l'intérruption des envois de commandes depuis l'IHM
POTLESS_2 56:61b0f4d6a890 599 void callbackIHM()
POTLESS_2 56:61b0f4d6a890 600 {
POTLESS_2 56:61b0f4d6a890 601
POTLESS_2 56:61b0f4d6a890 602 while(display.readable()) {
POTLESS_2 56:61b0f4d6a890 603 if ((indexIHM == sizeIHM) || newIHMFlag == true) { //éviter la saturation du buffer
POTLESS_2 58:694d4d00407c 604 NVIC_DisableIRQ(USART3_IRQn);
POTLESS_2 56:61b0f4d6a890 605 char char_flush = display.getc();
POTLESS_2 56:61b0f4d6a890 606 NVIC_EnableIRQ(USART3_IRQn);
POTLESS_2 56:61b0f4d6a890 607 } else {
POTLESS_2 56:61b0f4d6a890 608 NVIC_DisableIRQ(USART3_IRQn);
POTLESS_2 56:61b0f4d6a890 609 IHM [indexIHM ++] = display.getc();//chargement du buffer dans le message
POTLESS_2 56:61b0f4d6a890 610 if ((indexIHM == sizeIHM) || (IHM[indexIHM - 1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 56:61b0f4d6a890 611 IHM[indexIHM] = 0;
POTLESS_2 56:61b0f4d6a890 612 newIHMFlag = true;
POTLESS_2 56:61b0f4d6a890 613 }
POTLESS_2 56:61b0f4d6a890 614 NVIC_EnableIRQ(USART3_IRQn);
POTLESS_2 34:26f6e3dbefb9 615 }
POTLESS_2 34:26f6e3dbefb9 616 }
POTLESS_2 6:ebed9093d661 617 }
POTLESS_2 4:d84250f67dec 618
POTLESS_2 9:04bfdfc029cb 619 void Decoding_Message(char message [])
POTLESS_2 9:04bfdfc029cb 620 {
POTLESS_2 9:04bfdfc029cb 621
POTLESS_2 42:3591ec9903b4 622 char com[20] = "";
POTLESS_2 42:3591ec9903b4 623 char numb[30] = "";
POTLESS_2 36:1f5e2247b073 624
POTLESS_2 34:26f6e3dbefb9 625 sscanf(message,"%s %s",&com , &numb);
POTLESS_2 36:1f5e2247b073 626
POTLESS_2 56:61b0f4d6a890 627 DEBUG("\r\n Commande = %s Valeur = %s \r\n\r\n", com, numb);
POTLESS_2 36:1f5e2247b073 628
POTLESS_2 43:5ae8baf28e32 629 OUTPUT("?\r\n");
POTLESS_2 43:5ae8baf28e32 630
POTLESS_2 30:7a16a66d76f3 631 if (0 == strcmp(com, "secu")) {
POTLESS_2 19:cac3761a5d0b 632 Mode_SECU();
POTLESS_2 68:7f4ab9c03b32 633 } else if (0 == strcmp(com, "save_pos")) {
POTLESS_2 72:6d5590dbe13e 634 Save_Pos();
POTLESS_2 68:7f4ab9c03b32 635 } else if (0 == strcmp(com, "trace")) {
POTLESS_2 76:9dc83d5cf075 636 if (FLAG_TRACE) {
POTLESS_2 68:7f4ab9c03b32 637 FLAG_TRACE = false;
POTLESS_2 68:7f4ab9c03b32 638 OUTPUT(" Arrêt du tracé Arduino.\r\n");
POTLESS_2 68:7f4ab9c03b32 639 } else {
POTLESS_2 68:7f4ab9c03b32 640 FLAG_TRACE = true;
POTLESS_2 69:9afe54d53bb0 641 OUTPUT(" Démarrage du tracé Arduino.\r\n");
POTLESS_2 76:9dc83d5cf075 642 }
POTLESS_2 74:f4704f312116 643 } else if (0 == strcmp(com, "ping")) {
POTLESS_2 71:23e7435e236f 644 E3V = 0;
POTLESS_2 80:545af6e94aa5 645 } else if (0 == strcmp(com, "res_ihm")) {
POTLESS_2 80:545af6e94aa5 646 IHM("<0/0/0 0-0-0 ;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;%d>\r\n", 4);
POTLESS_2 80:545af6e94aa5 647 } else if (0 == strcmp(com, "page_ihm")) {
POTLESS_2 81:83567a0ce82c 648 IHM("<0/0/0 0-0-0 ;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;%d>\r\n", 5);
POTLESS_2 81:83567a0ce82c 649 } else if (0 == strcmp(com, "alarm")) {
POTLESS_2 81:83567a0ce82c 650 Commande_IHM = 6;
POTLESS_2 81:83567a0ce82c 651 } else if (0 == strcmp(com, "alarm_fat")) {
POTLESS_2 81:83567a0ce82c 652 Commande_IHM = 7;
POTLESS_2 81:83567a0ce82c 653 } else if (0 == strcmp(com, "ack_alarm")) {
POTLESS_2 81:83567a0ce82c 654 Commande_IHM = 8;
POTLESS_2 74:f4704f312116 655 } else if (0 == strcmp(com, "arnsrs_id")) {
POTLESS_2 58:694d4d00407c 656 OUTPUT(" Changement de l'ID de l'appareil pour le N°: %s\r\n", numb);
POTLESS_2 58:694d4d00407c 657 //UTILS::Store_A_Val(atoi(numb), "ARNSRS_ID");
POTLESS_2 71:23e7435e236f 658 UTILS::EffacePage(2, PAGE_ID_ADDR, 1);
POTLESS_2 58:694d4d00407c 659 UTILS::Write(ID_ARNSRS_ADDR, (uint64_t) atoi(numb));
POTLESS_2 43:5ae8baf28e32 660 } else if (0 == strcmp(com, "monit")) {
POTLESS_2 43:5ae8baf28e32 661 FLAG_AFF = false;
POTLESS_2 43:5ae8baf28e32 662 FLAG_WINDEV = true;
POTLESS_2 43:5ae8baf28e32 663 } else if (0 == strcmp(com, "debug")) {
POTLESS_2 43:5ae8baf28e32 664 FLAG_AFF = false;
POTLESS_2 43:5ae8baf28e32 665 FLAG_WINDEV = false;
POTLESS_2 74:f4704f312116 666 } else if (0 == strcmp(com, "head_id")) {
POTLESS_2 34:26f6e3dbefb9 667 //On l'enregistre dans l'eeprom
POTLESS_2 43:5ae8baf28e32 668 OUTPUT("Changement de l'ID de la tête capteur pour le N°: %s\r\n", numb);
POTLESS_2 34:26f6e3dbefb9 669 UTILS::write_EEPROM(numb, HEAD_ID);
POTLESS_2 74:f4704f312116 670 } else if (0 == strcmp(com, "o2_1_id")) {
POTLESS_2 34:26f6e3dbefb9 671 //On l'enregistre dans l'eeprom
POTLESS_2 34:26f6e3dbefb9 672 UTILS::write_EEPROM(numb, CELL_O2_1_ID);
POTLESS_2 74:f4704f312116 673 } else if (0 == strcmp(com, "o2_2_id")) {
POTLESS_2 34:26f6e3dbefb9 674 //On l'enregistre dans l'eeprom
POTLESS_2 34:26f6e3dbefb9 675 UTILS::write_EEPROM(numb, CELL_O2_2_ID);
POTLESS_2 74:f4704f312116 676 } else if (0 == strcmp(com, "co2_id")) {
POTLESS_2 34:26f6e3dbefb9 677 //On l'enregistre dans l'eeprom
POTLESS_2 34:26f6e3dbefb9 678 UTILS::write_EEPROM(numb, CO2_ID);
POTLESS_2 74:f4704f312116 679 } else if (0 == strcmp(com, "calib_o2")) {
POTLESS_2 33:f5d4bae05f16 680 FLAG_O2 = false;
POTLESS_2 33:f5d4bae05f16 681 wait_ms(100);
POTLESS_2 42:3591ec9903b4 682 float Val = sensors.Calibrate_O2(atoi(numb));
POTLESS_2 43:5ae8baf28e32 683 OUTPUT(" Calibration O2 dans l'air = %f\r\n", Val);
POTLESS_2 33:f5d4bae05f16 684 wait_ms(100);
POTLESS_2 33:f5d4bae05f16 685 FLAG_O2 = true;
POTLESS_2 74:f4704f312116 686 } else if (0 == strcmp(com, "calib_co2")) {
POTLESS_2 43:5ae8baf28e32 687 int Val = sensors.Calibrate_CO2();
POTLESS_2 43:5ae8baf28e32 688 OUTPUT(" Calibration CO2 dans l'air = %d\r\n", Val);
POTLESS_2 34:26f6e3dbefb9 689 } else if (0 == strcmp(com, "flash_i")) {
POTLESS_2 42:3591ec9903b4 690 UTILS::Flash_Infos(&serialMonit);
POTLESS_2 36:1f5e2247b073 691 } else if (0 == strcmp(com, "flash_u")) {
POTLESS_2 43:5ae8baf28e32 692 OUTPUT(" Démontage de la Flash.\r\n");
POTLESS_2 36:1f5e2247b073 693 FLAG_REC = false;
POTLESS_2 36:1f5e2247b073 694 UTILS::UnMount_Flash();
POTLESS_2 36:1f5e2247b073 695 } else if (0 == strcmp(com, "flash_m")) {
POTLESS_2 43:5ae8baf28e32 696 OUTPUT(" Montage de la Flash.\r\n");
POTLESS_2 40:32d89e04ead1 697 UTILS::Mount_Flash();
POTLESS_2 74:f4704f312116 698 } else if (0 == strcmp(com, "check_f")) {
POTLESS_2 58:694d4d00407c 699 OUTPUT(" ARNSRS ID = %d\r\n", (int) UTILS::Read(ID_ARNSRS_ADDR));
POTLESS_2 58:694d4d00407c 700 OUTPUT(" Dernière Position volet poumon enregistrée = %d\r\n", (int) UTILS::Read(VOLET_POUMON_ADDR));
POTLESS_2 58:694d4d00407c 701 OUTPUT(" Dernière Position volet fuite enregistrée = %d\r\n", (int) UTILS::Read(VOLET_FUITE_ADDR));
POTLESS_2 35:a209a192f431 702 } else if (0 == strcmp(com, "check_E")) {
POTLESS_2 42:3591ec9903b4 703 sensors.Sensor_head_check(&serialMonit);
POTLESS_2 34:26f6e3dbefb9 704 } else if (0 == strcmp(com, "rec")) {
POTLESS_2 34:26f6e3dbefb9 705 if (FLAG_REC) {
POTLESS_2 34:26f6e3dbefb9 706 FLAG_REC = false;
POTLESS_2 43:5ae8baf28e32 707 OUTPUT(" Arrêt du Data Logging.\r\n");
POTLESS_2 34:26f6e3dbefb9 708 } else {
POTLESS_2 34:26f6e3dbefb9 709 FLAG_REC = true;
POTLESS_2 43:5ae8baf28e32 710 OUTPUT(" Démarrage Data Logging dans %s\r\n", Log_File_Name);
POTLESS_2 34:26f6e3dbefb9 711 }
POTLESS_2 34:26f6e3dbefb9 712 } else if (0 == strcmp(com, "help")) {
POTLESS_2 29:5b822d18bce6 713 FLAG_AFF = false;
POTLESS_2 42:3591ec9903b4 714 UTILS::Help(&serialMonit);
POTLESS_2 34:26f6e3dbefb9 715 } else if (0 == strcmp(com, "start")) {
POTLESS_2 29:5b822d18bce6 716 FLAG_AFF = true;
POTLESS_2 34:26f6e3dbefb9 717 } else if (0 == strcmp(com, "stop")) {
POTLESS_2 29:5b822d18bce6 718 FLAG_AFF = false;
POTLESS_2 40:32d89e04ead1 719 //UTILS::Help();
POTLESS_2 36:1f5e2247b073 720 } else if (0 == strcmp(com, "flash_c")) {
POTLESS_2 29:5b822d18bce6 721 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 722 UTILS::Clean_Flash();
POTLESS_2 42:3591ec9903b4 723 } else if (0 == strcmp(com, "flash_f")) {
POTLESS_2 34:26f6e3dbefb9 724 FLAG_REC = false;
POTLESS_2 43:5ae8baf28e32 725 UTILS::Clean_Flash_All();
POTLESS_2 42:3591ec9903b4 726 } else if (0 == strcmp(com, "dir")) {
POTLESS_2 43:5ae8baf28e32 727 FLAG_WINDEV = false;
POTLESS_2 56:61b0f4d6a890 728 wait(0.5);
POTLESS_2 43:5ae8baf28e32 729 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 730 wait(0.5);
POTLESS_2 42:3591ec9903b4 731 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 42:3591ec9903b4 732 } else if (0 == strcmp(com, "get")) {
POTLESS_2 29:5b822d18bce6 733 wait_ms(100);
POTLESS_2 43:5ae8baf28e32 734 char filename[20];
POTLESS_2 43:5ae8baf28e32 735 UTILS::Read_Flash_File(&serialMonit, numb);
POTLESS_2 43:5ae8baf28e32 736 wait_ms(100);
POTLESS_2 34:26f6e3dbefb9 737 } else if (0 == strcmp(com, "del")) {
POTLESS_2 29:5b822d18bce6 738 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 739 char filename[20];
POTLESS_2 42:3591ec9903b4 740 UTILS::Delete_Flash_File(numb);
POTLESS_2 43:5ae8baf28e32 741 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 742 wait(0.5);
POTLESS_2 43:5ae8baf28e32 743 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 31:231a96d1d1c8 744 FLAG_REC = true;
POTLESS_2 34:26f6e3dbefb9 745 } else if (0 == strcmp(com, "file_s")) {
POTLESS_2 31:231a96d1d1c8 746 char filename[20];
POTLESS_2 42:3591ec9903b4 747 UTILS::Get_File_Size(&serialMonit, numb);
POTLESS_2 74:f4704f312116 748 } else if (0 == strcmp(com, "calib_pou")) {
POTLESS_2 59:fd64ca9dae27 749 volet_poumon_Position = 0;
POTLESS_2 59:fd64ca9dae27 750 Servo_Poumon.reset();
POTLESS_2 58:694d4d00407c 751 Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 43:5ae8baf28e32 752 OUTPUT(" Volet poumon Calibré.\r\n");
POTLESS_2 74:f4704f312116 753 } else if (0 == strcmp(com, "calib_fui")) {
POTLESS_2 59:fd64ca9dae27 754 volet_fuite_Position = 0;
POTLESS_2 59:fd64ca9dae27 755 Servo_Fuite.reset();
POTLESS_2 58:694d4d00407c 756 Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 43:5ae8baf28e32 757 OUTPUT(" Volet fuite Calibré.\r\n");
POTLESS_2 29:5b822d18bce6 758 } else if (0 == strcmp(com, "sleep")) {
POTLESS_2 19:cac3761a5d0b 759 Stop_Sequence();
POTLESS_2 29:5b822d18bce6 760 } else if (0 == strcmp(com, "time")) {//Depuis terminal MAC taper : " date +%s "
POTLESS_2 34:26f6e3dbefb9 761 set_time(atoi(numb));
POTLESS_2 43:5ae8baf28e32 762 OUTPUT(" La RTC a été mise à l'heure.\r\n");
POTLESS_2 29:5b822d18bce6 763 } else if (0 == strcmp(com, "c_pou")) {
POTLESS_2 43:5ae8baf28e32 764 Consigne_poumon = atof(numb);
POTLESS_2 43:5ae8baf28e32 765 DEBUG(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 43:5ae8baf28e32 766 } else if (0 == strcmp(com, "c_fui")) {
POTLESS_2 43:5ae8baf28e32 767 Consigne_fuite = atof(numb);
POTLESS_2 43:5ae8baf28e32 768 DEBUG(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 43:5ae8baf28e32 769 } else if (0 == strcmp(com, "mp_pou")) {
POTLESS_2 41:51ba69648f9d 770 Consigne_poumon += atof(numb);
POTLESS_2 33:f5d4bae05f16 771 DEBUG(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 43:5ae8baf28e32 772 } else if (0 == strcmp(com, "mp_fui")) {
POTLESS_2 41:51ba69648f9d 773 Consigne_fuite += atof(numb);
POTLESS_2 33:f5d4bae05f16 774 DEBUG(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 29:5b822d18bce6 775 } else if (0 == strcmp(com, "reset")) {
POTLESS_2 43:5ae8baf28e32 776 FLAG_REC = false;
POTLESS_2 71:23e7435e236f 777 //Mode_SECU();
POTLESS_2 36:1f5e2247b073 778 UTILS::UnMount_Flash();
POTLESS_2 43:5ae8baf28e32 779 OUTPUT(" Reset de l'appareil.\r\n");
POTLESS_2 43:5ae8baf28e32 780 wait(1);
POTLESS_2 10:aca745a66d51 781 NVIC_SystemReset();
POTLESS_2 74:f4704f312116 782 } else if (0 == strcmp(com, "kc")) {
POTLESS_2 43:5ae8baf28e32 783 Kc = atof(numb);
POTLESS_2 43:5ae8baf28e32 784 control_Servo.reset();
POTLESS_2 43:5ae8baf28e32 785 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 56:61b0f4d6a890 786 OUTPUT(" MAJ PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 74:f4704f312116 787 } else if (0 == strcmp(com, "ti")) {
POTLESS_2 43:5ae8baf28e32 788 Ti = atof(numb);
POTLESS_2 43:5ae8baf28e32 789 control_Servo.reset();
POTLESS_2 43:5ae8baf28e32 790 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 56:61b0f4d6a890 791 OUTPUT(" MAJ PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 74:f4704f312116 792 } else if (0 == strcmp(com, "td")) {
POTLESS_2 43:5ae8baf28e32 793 Td = atof(numb);
POTLESS_2 43:5ae8baf28e32 794 control_Servo.reset();
POTLESS_2 43:5ae8baf28e32 795 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 56:61b0f4d6a890 796 OUTPUT(" MAJ PID --> Kc = %f Ti = %f Td = %f\r\n", Kc, Ti, Td);
POTLESS_2 74:f4704f312116 797 } else if (0 == strcmp(com, "cons")) {
POTLESS_2 43:5ae8baf28e32 798 consigne = atoi(numb);
POTLESS_2 43:5ae8baf28e32 799 control_Servo.setSetPoint(consigne);
POTLESS_2 56:61b0f4d6a890 800 OUTPUT(" MAJ CONSIGNE PID --> Consigne = %d\r\n", consigne);
POTLESS_2 76:9dc83d5cf075 801 } else if (0 == strcmp(com, "rate")) {
POTLESS_2 76:9dc83d5cf075 802 RATE_PID = atof(numb);
POTLESS_2 76:9dc83d5cf075 803 control_Servo.reset();
POTLESS_2 76:9dc83d5cf075 804 control_Servo.setInterval(RATE_PID);
POTLESS_2 78:674882631acc 805 OUTPUT(" MAJ RATE PID --> Rate = %f\r\n", RATE_PID);
potless 49:a7432da60647 806 } else if (0 == strcmp(com, "dfu")) {
POTLESS_2 53:84571a5e2cda 807 OUTPUT(" Passage en DFU...\r\n");
POTLESS_2 58:694d4d00407c 808 FLAG_REC = false;
POTLESS_2 58:694d4d00407c 809 Mode_SECU();
POTLESS_2 58:694d4d00407c 810 UTILS::UnMount_Flash();
POTLESS_2 71:23e7435e236f 811 UTILS::EffacePage(2, PAGE_FLAG_ADDR, 1);
POTLESS_2 71:23e7435e236f 812 UTILS::Write(FLAG_ADDR, 0xDEADBEEF);
POTLESS_2 58:694d4d00407c 813 wait(1);
POTLESS_2 58:694d4d00407c 814 NVIC_SystemReset();
POTLESS_2 74:f4704f312116 815 } else if (0 == strcmp(com, "pid")) {
POTLESS_2 43:5ae8baf28e32 816 if (FLAG_PID == 1) {
POTLESS_2 56:61b0f4d6a890 817 OUTPUT(" PID OFF\r\n");
POTLESS_2 43:5ae8baf28e32 818 FLAG_PID = 0;
POTLESS_2 43:5ae8baf28e32 819 } else if (FLAG_PID == 0) {
POTLESS_2 56:61b0f4d6a890 820 OUTPUT(" PID ON\r\n");
POTLESS_2 43:5ae8baf28e32 821 FLAG_PID = 1;
POTLESS_2 43:5ae8baf28e32 822 }
POTLESS_2 12:7f3aadd79f89 823 } else {
POTLESS_2 74:f4704f312116 824 OUTPUT(" Commande COZIR, commande érronée....\r\n");
POTLESS_2 9:04bfdfc029cb 825 sensors.cozirSend(message);
POTLESS_2 9:04bfdfc029cb 826 }
POTLESS_2 34:26f6e3dbefb9 827
POTLESS_2 9:04bfdfc029cb 828 strcpy(param," ");
POTLESS_2 9:04bfdfc029cb 829 indexParam = 0;
POTLESS_2 9:04bfdfc029cb 830 newParamFlag = false;
POTLESS_2 9:04bfdfc029cb 831 }
POTLESS_2 9:04bfdfc029cb 832
POTLESS_2 56:61b0f4d6a890 833 void Decoding_IHM(char message [])
POTLESS_2 56:61b0f4d6a890 834 {
POTLESS_2 56:61b0f4d6a890 835
POTLESS_2 56:61b0f4d6a890 836 char com[20] = "";
POTLESS_2 56:61b0f4d6a890 837 char numb[30] = "";
POTLESS_2 56:61b0f4d6a890 838
POTLESS_2 56:61b0f4d6a890 839 sscanf(message,"%s %s",&com , &numb);
POTLESS_2 56:61b0f4d6a890 840
POTLESS_2 56:61b0f4d6a890 841 DEEP_DEBUG("\r\n Commande = %s Valeur = %s \r\n\r\n", com, numb);
POTLESS_2 56:61b0f4d6a890 842
POTLESS_2 56:61b0f4d6a890 843 OUTPUT("?\r\n");
POTLESS_2 56:61b0f4d6a890 844
POTLESS_2 68:7f4ab9c03b32 845 if (0 == strcmp(com, "USB")) {
POTLESS_2 68:7f4ab9c03b32 846 OUTPUT(" Passage en Mode Transfert Flash To USB...\r\n");
POTLESS_2 68:7f4ab9c03b32 847 FLAG_REC = false;
POTLESS_2 81:83567a0ce82c 848 Mode_SECU();
POTLESS_2 68:7f4ab9c03b32 849 UTILS::UnMount_Flash();
POTLESS_2 68:7f4ab9c03b32 850 UTILS::FLASH_set_boot_bank(2);
POTLESS_2 71:23e7435e236f 851 NVIC_SystemReset();
POTLESS_2 81:83567a0ce82c 852 } else if (0 == strcmp(com, "res_otu")) {
POTLESS_2 81:83567a0ce82c 853 OTU = 0;
POTLESS_2 81:83567a0ce82c 854 } else if (0 == strcmp(com, "cons")) {
POTLESS_2 81:83567a0ce82c 855 consigne = atoi(numb);
POTLESS_2 81:83567a0ce82c 856 control_Servo.setSetPoint(consigne);
POTLESS_2 81:83567a0ce82c 857 OUTPUT(" MAJ CONSIGNE PID --> Consigne = %d\r\n", consigne);
POTLESS_2 81:83567a0ce82c 858 } else if (0 == strcmp(com, "reset")) {
POTLESS_2 81:83567a0ce82c 859 NVIC_SystemReset();
POTLESS_2 81:83567a0ce82c 860 } else if (0 == strcmp(com, "sleep")) {
POTLESS_2 81:83567a0ce82c 861 Stop_Sequence();
POTLESS_2 56:61b0f4d6a890 862 }
POTLESS_2 56:61b0f4d6a890 863
POTLESS_2 56:61b0f4d6a890 864 strcpy(IHM," ");
POTLESS_2 56:61b0f4d6a890 865 indexIHM = 0;
POTLESS_2 56:61b0f4d6a890 866 newIHMFlag = false;
POTLESS_2 56:61b0f4d6a890 867 }
POTLESS_2 56:61b0f4d6a890 868
POTLESS_2 26:a2fe19341f92 869 void Create_File_Name_Date()
POTLESS_2 25:322ef9488e65 870 {
POTLESS_2 25:322ef9488e65 871 //Du nom du fichier Date / heure
POTLESS_2 25:322ef9488e65 872 seconds = time(NULL);
POTLESS_2 25:322ef9488e65 873 char Time[40];
POTLESS_2 25:322ef9488e65 874 strftime(Time, 40, "%a_%d_%m_%Y_%H%M", localtime(&seconds));
POTLESS_2 42:3591ec9903b4 875 sprintf(Log_File_Name, "%s_LOG.csv", Time);
POTLESS_2 42:3591ec9903b4 876 DEBUG(" Nouveau fichier LOG = %s \r\n", Log_File_Name);
POTLESS_2 34:26f6e3dbefb9 877 }
POTLESS_2 34:26f6e3dbefb9 878
POTLESS_2 26:a2fe19341f92 879 void Create_File_Name_Index()
POTLESS_2 26:a2fe19341f92 880 {
POTLESS_2 26:a2fe19341f92 881 //Du nom du fichier par Index
POTLESS_2 42:3591ec9903b4 882 sprintf(Log_File_Name, "LOG_%d.csv", UTILS::File_Index());
POTLESS_2 34:26f6e3dbefb9 883 DEBUG(" Nouveau fichier LOG = %s \r\n", Log_File_Name);
POTLESS_2 34:26f6e3dbefb9 884 }
POTLESS_2 34:26f6e3dbefb9 885
potless 48:9ceb095f397a 886
POTLESS_2 4:d84250f67dec 887 int main()
POTLESS_2 12:7f3aadd79f89 888 {
POTLESS_2 68:7f4ab9c03b32 889
POTLESS_2 40:32d89e04ead1 890 HAL_Init();
POTLESS_2 40:32d89e04ead1 891 __HAL_RCC_PWR_CLK_ENABLE();
potless 37:f9461c6592f2 892 HAL_PWR_EnableBkUpAccess();
POTLESS_2 76:9dc83d5cf075 893
POTLESS_2 72:6d5590dbe13e 894 //Vérifications Flag de démarrage
POTLESS_2 72:6d5590dbe13e 895 UTILS::START_FLAG();
POTLESS_2 76:9dc83d5cf075 896
POTLESS_2 56:61b0f4d6a890 897 E5V = 1;
POTLESS_2 57:a0827fa46b03 898 E3V = 1;
POTLESS_2 40:32d89e04ead1 899
POTLESS_2 58:694d4d00407c 900 if (PIN_V_USB_DIGI) flag_USB = true;
POTLESS_2 59:fd64ca9dae27 901 if (PIN_V_PILES_DIGI) flag_Piles = true;
POTLESS_2 58:694d4d00407c 902
POTLESS_2 68:7f4ab9c03b32 903 //UTILS::PVD_Config();
POTLESS_2 58:694d4d00407c 904
POTLESS_2 56:61b0f4d6a890 905 buzzer.beep(1000,0.5);
POTLESS_2 58:694d4d00407c 906
POTLESS_2 43:5ae8baf28e32 907 //Ci-dessous commande pour formater une nouvelle carte
POTLESS_2 68:7f4ab9c03b32 908 //UTILS::Format_Flash();
POTLESS_2 43:5ae8baf28e32 909
POTLESS_2 43:5ae8baf28e32 910 //Montage Flash
POTLESS_2 43:5ae8baf28e32 911 UTILS::Mount_Flash();
POTLESS_2 68:7f4ab9c03b32 912
POTLESS_2 58:694d4d00407c 913 /*
POTLESS_2 58:694d4d00407c 914 if (UTILS::File_Exist("ARNSRS_ID.sys") == false) {
POTLESS_2 58:694d4d00407c 915 UTILS::Store_A_Val(000, "ARNSRS_ID.sys");
POTLESS_2 58:694d4d00407c 916 DEBUG("ARNSRS ID forcée à 000\r\n");
POTLESS_2 58:694d4d00407c 917 }
POTLESS_2 58:694d4d00407c 918 */
POTLESS_2 68:7f4ab9c03b32 919
POTLESS_2 58:694d4d00407c 920 //pour le premier lancement quand l'appareil n'a pas d'ID.
POTLESS_2 58:694d4d00407c 921 //int ID = 0;
POTLESS_2 58:694d4d00407c 922 //UTILS::Write(ADRESSE_ID, ID);
POTLESS_2 12:7f3aadd79f89 923
POTLESS_2 57:a0827fa46b03 924 DEBUG("\r\n\r\n Démarrage de l'appareil, veuillez patienter...\r\n\r\n");
POTLESS_2 58:694d4d00407c 925
POTLESS_2 34:26f6e3dbefb9 926
POTLESS_2 43:5ae8baf28e32 927 //Vérification RTC, si on est le 01/01/70, c'est qu'il y a un problème...
POTLESS_2 43:5ae8baf28e32 928 seconds = time(NULL);
POTLESS_2 43:5ae8baf28e32 929 char YEAR[10];
POTLESS_2 43:5ae8baf28e32 930 strftime(YEAR, 10, "%D", localtime(&seconds));
potless 73:2bbea82bf1e5 931 if (0 == strcmp(YEAR, " 01/01/70 "))
potless 73:2bbea82bf1e5 932 DEBUG(" Vous devez régler la RTC...\r\n\r\n");
POTLESS_2 18:bfd78c05b589 933
POTLESS_2 43:5ae8baf28e32 934 bool calib_O2 = false;
POTLESS_2 43:5ae8baf28e32 935 bool calib_CO2 = false;
POTLESS_2 18:bfd78c05b589 936
POTLESS_2 62:891379d80b1b 937 sensors.Sensors_INIT(calib_O2, calib_CO2);
POTLESS_2 43:5ae8baf28e32 938
POTLESS_2 43:5ae8baf28e32 939 wait(1);
POTLESS_2 43:5ae8baf28e32 940
POTLESS_2 43:5ae8baf28e32 941 //Création du nouveau fichier LOG par index / par date.
POTLESS_2 43:5ae8baf28e32 942 //Create_File_Name_Index();
POTLESS_2 43:5ae8baf28e32 943 Create_File_Name_Date();
POTLESS_2 43:5ae8baf28e32 944
POTLESS_2 43:5ae8baf28e32 945 //Création et écriture du header du fichier LOG
POTLESS_2 43:5ae8baf28e32 946 sensors.Create_Header(Log_File_Name);
POTLESS_2 42:3591ec9903b4 947
POTLESS_2 58:694d4d00407c 948 /*
POTLESS_2 43:5ae8baf28e32 949 Servo_Poumon.Init("Servo_Poumon.sys");
POTLESS_2 43:5ae8baf28e32 950 Servo_Fuite.Init("Servo_Fuite.sys");
POTLESS_2 15:efd3b3bf3f37 951
POTLESS_2 58:694d4d00407c 952 Servo_Poumon.Init(VOLET_POUMON_ADDR);
POTLESS_2 58:694d4d00407c 953 Servo_Fuite.Init(VOLET_FUITE_ADDR);
POTLESS_2 58:694d4d00407c 954 */
POTLESS_2 58:694d4d00407c 955
POTLESS_2 57:a0827fa46b03 956 DEBUG(" Demarrage des threads...\r\n\r\n");
POTLESS_2 68:7f4ab9c03b32 957
POTLESS_2 68:7f4ab9c03b32 958 /*
POTLESS_2 68:7f4ab9c03b32 959
POTLESS_2 62:891379d80b1b 960 Pour mémoire, les réglage de priorité des thread
POTLESS_2 68:7f4ab9c03b32 961
POTLESS_2 68:7f4ab9c03b32 962 osPriorityIdle = -3, ///< priority: idle (lowest)
POTLESS_2 68:7f4ab9c03b32 963 osPriorityLow = -2, ///< priority: low
POTLESS_2 68:7f4ab9c03b32 964 osPriorityBelowNormal = -1, ///< priority: below normal
POTLESS_2 68:7f4ab9c03b32 965 osPriorityNormal = 0, ///< priority: normal (default)
POTLESS_2 68:7f4ab9c03b32 966 osPriorityAboveNormal = +1, ///< priority: above normal
POTLESS_2 68:7f4ab9c03b32 967 osPriorityHigh = +2, ///< priority: high
POTLESS_2 68:7f4ab9c03b32 968 osPriorityRealtime = +3, ///< priority: realtime (highest)
POTLESS_2 68:7f4ab9c03b32 969 osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
POTLESS_2 62:891379d80b1b 970 */
POTLESS_2 68:7f4ab9c03b32 971
POTLESS_2 62:891379d80b1b 972 thread_Volets_POUMON.set_priority(osPriorityHigh);
POTLESS_2 68:7f4ab9c03b32 973
POTLESS_2 62:891379d80b1b 974 thread_Volets_POUMON.start(callback(GO_TO_thread_POUMON));
POTLESS_2 68:7f4ab9c03b32 975
POTLESS_2 62:891379d80b1b 976 DEBUG(" Contrôle volet Poumon démarré\r\n\r\n");
POTLESS_2 68:7f4ab9c03b32 977
POTLESS_2 43:5ae8baf28e32 978 wait(1);
POTLESS_2 68:7f4ab9c03b32 979
POTLESS_2 62:891379d80b1b 980 thread_Volets_FUITE.set_priority(osPriorityHigh);
POTLESS_2 68:7f4ab9c03b32 981
POTLESS_2 62:891379d80b1b 982 thread_Volets_FUITE.start(callback(GO_TO_thread_FUITE));
POTLESS_2 68:7f4ab9c03b32 983
POTLESS_2 62:891379d80b1b 984 DEBUG(" Contrôle volet Fuite démarré\r\n\r\n");
POTLESS_2 68:7f4ab9c03b32 985
POTLESS_2 62:891379d80b1b 986 wait(1);
POTLESS_2 68:7f4ab9c03b32 987
POTLESS_2 62:891379d80b1b 988 thread_Secu.set_priority(osPriorityNormal);
POTLESS_2 68:7f4ab9c03b32 989
POTLESS_2 62:891379d80b1b 990 thread_Secu.start(callback(SECU_thread));
POTLESS_2 68:7f4ab9c03b32 991
POTLESS_2 62:891379d80b1b 992 DEBUG(" Contrôle des paramètres de sécu démarré\r\n\r\n");
POTLESS_2 68:7f4ab9c03b32 993
POTLESS_2 62:891379d80b1b 994 wait(1);
POTLESS_2 68:7f4ab9c03b32 995
POTLESS_2 62:891379d80b1b 996 thread_Head.set_priority(osPriorityNormal);
POTLESS_2 68:7f4ab9c03b32 997
POTLESS_2 43:5ae8baf28e32 998 thread_Head.start(callback(SENSORS_thread));
POTLESS_2 68:7f4ab9c03b32 999
POTLESS_2 56:61b0f4d6a890 1000 DEBUG(" Tête capteurs démarrée\r\n\r\n");
POTLESS_2 68:7f4ab9c03b32 1001
POTLESS_2 43:5ae8baf28e32 1002 wait(1);
POTLESS_2 9:04bfdfc029cb 1003
POTLESS_2 43:5ae8baf28e32 1004 //Init PID
POTLESS_2 43:5ae8baf28e32 1005 //Entrée PPO2 entre 100 et 1000 mb
POTLESS_2 43:5ae8baf28e32 1006 control_Servo.setInputLimits(Min_Input, Max_Input);
POTLESS_2 43:5ae8baf28e32 1007 //Sortie servo entre 0 et 100 %
POTLESS_2 43:5ae8baf28e32 1008 control_Servo.setOutputLimits(Min_Output, Max_Output);
POTLESS_2 57:a0827fa46b03 1009 //Reglage de l'interval du PID
POTLESS_2 57:a0827fa46b03 1010 control_Servo.setInterval(RATE_PID);
POTLESS_2 43:5ae8baf28e32 1011 //Consigne à x mb
POTLESS_2 43:5ae8baf28e32 1012 control_Servo.setSetPoint(consigne);
POTLESS_2 57:a0827fa46b03 1013 //Mode auto au démarrage
POTLESS_2 58:694d4d00407c 1014 control_Servo.setMode(AUTO_MODE);
POTLESS_2 79:d22473a0e20d 1015
POTLESS_2 76:9dc83d5cf075 1016 thread_PID.set_priority(osPriorityNormal);
POTLESS_2 34:26f6e3dbefb9 1017
POTLESS_2 76:9dc83d5cf075 1018 thread_PID.start(callback(PID_thread));
POTLESS_2 79:d22473a0e20d 1019
POTLESS_2 77:0cecc4adbab2 1020 DEBUG(" PID thread démarré\r\n\r\n");
POTLESS_2 77:0cecc4adbab2 1021
POTLESS_2 77:0cecc4adbab2 1022 wait(1);
POTLESS_2 79:d22473a0e20d 1023
POTLESS_2 56:61b0f4d6a890 1024 DEBUG(" Cliquez sur le bouton help pour voir la liste des \r\n commandes administrateur disponibles.\r\n");
POTLESS_2 7:ad15c386e960 1025
POTLESS_2 46:28298df0ac55 1026 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 1027 wait(0.5);
POTLESS_2 43:5ae8baf28e32 1028 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 43:5ae8baf28e32 1029
POTLESS_2 47:89a088bc8866 1030 serialMonit.attach(&callbackParam);
POTLESS_2 58:694d4d00407c 1031
POTLESS_2 56:61b0f4d6a890 1032 display.attach(&callbackIHM);
POTLESS_2 68:7f4ab9c03b32 1033
POTLESS_2 58:694d4d00407c 1034 OTU_Ticker.attach(&Calcul_OTU, 60);
POTLESS_2 68:7f4ab9c03b32 1035
POTLESS_2 72:6d5590dbe13e 1036 vusb_off_on.fall(&ALIM_is_unplugged);
POTLESS_2 68:7f4ab9c03b32 1037
POTLESS_2 72:6d5590dbe13e 1038 vpiles_off_on.fall(&ALIM_is_unplugged);
POTLESS_2 80:545af6e94aa5 1039
POTLESS_2 80:545af6e94aa5 1040 IHM("<0/0/0 0-0-0 ;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;0;%d>\r\n", 4);
POTLESS_2 80:545af6e94aa5 1041
POTLESS_2 56:61b0f4d6a890 1042 buzzer.beep(1000,0.3);
POTLESS_2 56:61b0f4d6a890 1043 wait_ms(500);
POTLESS_2 56:61b0f4d6a890 1044 buzzer.beep(1000,0.3);
POTLESS_2 58:694d4d00407c 1045
POTLESS_2 43:5ae8baf28e32 1046 while (true) {
POTLESS_2 36:1f5e2247b073 1047
POTLESS_2 43:5ae8baf28e32 1048 //Démarrage du Timer mesurant le temps d'éxecution du code
POTLESS_2 43:5ae8baf28e32 1049 REAL_RATE.start();
POTLESS_2 36:1f5e2247b073 1050
POTLESS_2 43:5ae8baf28e32 1051 if (newParamFlag) {
POTLESS_2 43:5ae8baf28e32 1052 DEEP_DEBUG(" From PC = %s\r\n", param);
POTLESS_2 43:5ae8baf28e32 1053 Decoding_Message(param);
POTLESS_2 43:5ae8baf28e32 1054 }
POTLESS_2 58:694d4d00407c 1055
POTLESS_2 56:61b0f4d6a890 1056 if (newIHMFlag) {
POTLESS_2 56:61b0f4d6a890 1057 DEEP_DEBUG(" From IHM = %s\r\n", IHM);
POTLESS_2 56:61b0f4d6a890 1058 Decoding_IHM(IHM);
POTLESS_2 56:61b0f4d6a890 1059 }
POTLESS_2 34:26f6e3dbefb9 1060
POTLESS_2 43:5ae8baf28e32 1061 //Fabrication de la chaine Date / heure
POTLESS_2 43:5ae8baf28e32 1062 seconds = time(NULL);
POTLESS_2 43:5ae8baf28e32 1063 char Time_buf[32];
POTLESS_2 43:5ae8baf28e32 1064 strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds));
POTLESS_2 19:cac3761a5d0b 1065
POTLESS_2 56:61b0f4d6a890 1066 //Fabrication de la chaine de com
POTLESS_2 71:23e7435e236f 1067 sprintf(to_store,"<%s;%d;%d;%.1f;%d;%.2f;%.2f;%d;%d;%d;%.2f;%.2f;%d;%.3f;%.3f;%.3f;%d;%d>",
POTLESS_2 43:5ae8baf28e32 1068 Time_buf,
POTLESS_2 43:5ae8baf28e32 1069 co2,
POTLESS_2 43:5ae8baf28e32 1070 ppO2,
POTLESS_2 43:5ae8baf28e32 1071 pression,
POTLESS_2 43:5ae8baf28e32 1072 (int)OTU,
POTLESS_2 43:5ae8baf28e32 1073 Temp1,
POTLESS_2 43:5ae8baf28e32 1074 Temp2,
POTLESS_2 43:5ae8baf28e32 1075 Humid,
POTLESS_2 43:5ae8baf28e32 1076 CellO2_1,
POTLESS_2 43:5ae8baf28e32 1077 CellO2_2,
POTLESS_2 43:5ae8baf28e32 1078 volet_poumon_Position,
POTLESS_2 43:5ae8baf28e32 1079 volet_fuite_Position,
POTLESS_2 43:5ae8baf28e32 1080 FLAG_PID,
POTLESS_2 43:5ae8baf28e32 1081 Kc,
POTLESS_2 43:5ae8baf28e32 1082 Ti,
POTLESS_2 43:5ae8baf28e32 1083 Td,
POTLESS_2 56:61b0f4d6a890 1084 consigne,
POTLESS_2 56:61b0f4d6a890 1085 Commande_IHM
POTLESS_2 58:694d4d00407c 1086 );
POTLESS_2 15:efd3b3bf3f37 1087
POTLESS_2 15:efd3b3bf3f37 1088
POTLESS_2 43:5ae8baf28e32 1089 //Pour windev
POTLESS_2 43:5ae8baf28e32 1090 if (FLAG_WINDEV) {
POTLESS_2 43:5ae8baf28e32 1091 OUTPUT("%s\r\n", to_store);
POTLESS_2 43:5ae8baf28e32 1092 }
POTLESS_2 53:84571a5e2cda 1093
POTLESS_2 43:5ae8baf28e32 1094 //Pour l'IHM
POTLESS_2 46:28298df0ac55 1095 if (FLAG_DISPLAY) {
POTLESS_2 46:28298df0ac55 1096 IHM("%s\r\n", to_store);
POTLESS_2 46:28298df0ac55 1097 }
POTLESS_2 53:84571a5e2cda 1098
POTLESS_2 43:5ae8baf28e32 1099 //Vers le moniteur série
POTLESS_2 43:5ae8baf28e32 1100 if (FLAG_AFF) {
POTLESS_2 43:5ae8baf28e32 1101 Affichage();
POTLESS_2 43:5ae8baf28e32 1102 }
POTLESS_2 76:9dc83d5cf075 1103
POTLESS_2 68:7f4ab9c03b32 1104 //Vers le traceur série
POTLESS_2 68:7f4ab9c03b32 1105 if (FLAG_TRACE) {
POTLESS_2 68:7f4ab9c03b32 1106 Traceur_Arduino();
POTLESS_2 68:7f4ab9c03b32 1107 }
POTLESS_2 68:7f4ab9c03b32 1108
POTLESS_2 12:7f3aadd79f89 1109
POTLESS_2 43:5ae8baf28e32 1110 //Enregistrement de la chaine
POTLESS_2 43:5ae8baf28e32 1111 if (FLAG_REC) {
POTLESS_2 43:5ae8baf28e32 1112 UTILS::Write_Flash_File(to_store, Log_File_Name);
POTLESS_2 43:5ae8baf28e32 1113 count ++;
POTLESS_2 43:5ae8baf28e32 1114 if (count > Max_Log_Size) {
POTLESS_2 43:5ae8baf28e32 1115 Create_File_Name_Date();
POTLESS_2 43:5ae8baf28e32 1116 sensors.Create_Header(Log_File_Name);
POTLESS_2 43:5ae8baf28e32 1117 count = 0;
POTLESS_2 43:5ae8baf28e32 1118 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 1119 wait(0.5);
POTLESS_2 43:5ae8baf28e32 1120 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 34:26f6e3dbefb9 1121 }
POTLESS_2 34:26f6e3dbefb9 1122 }
POTLESS_2 43:5ae8baf28e32 1123
POTLESS_2 76:9dc83d5cf075 1124 /*
POTLESS_2 76:9dc83d5cf075 1125 //Update du PID
POTLESS_2 76:9dc83d5cf075 1126 if (FLAG_PID == 1 && EN_MODE_SECU == false) {
POTLESS_2 76:9dc83d5cf075 1127 control_Servo.setProcessValue(ppO2);
POTLESS_2 76:9dc83d5cf075 1128 //Nouvelle sortie servo poumon si on est pas en mode SECU
POTLESS_2 76:9dc83d5cf075 1129 Consigne_poumon = 90 - control_Servo.compute();
POTLESS_2 76:9dc83d5cf075 1130 // mode volets asservis (simule un seul moteur)
POTLESS_2 76:9dc83d5cf075 1131 Consigne_fuite = 90 - Consigne_poumon;
POTLESS_2 76:9dc83d5cf075 1132 }
POTLESS_2 76:9dc83d5cf075 1133 */
POTLESS_2 79:d22473a0e20d 1134
POTLESS_2 43:5ae8baf28e32 1135 //Arrêt du Timer mesurant le temps d'éxecution du code
POTLESS_2 43:5ae8baf28e32 1136 REAL_RATE.stop();
POTLESS_2 43:5ae8baf28e32 1137 //Définition de la nouvelle valeur du temps d'échantillonage du PID.
POTLESS_2 43:5ae8baf28e32 1138 RATE = REAL_RATE.read();
POTLESS_2 43:5ae8baf28e32 1139 //Reset du Timer
POTLESS_2 43:5ae8baf28e32 1140 REAL_RATE.reset();
POTLESS_2 43:5ae8baf28e32 1141
POTLESS_2 43:5ae8baf28e32 1142 //Pour ralentir le code à Ref_Time seconde fixe quelque soit les intéruptions du loop....
POTLESS_2 43:5ae8baf28e32 1143 if (Ref_Time > RATE) {
POTLESS_2 43:5ae8baf28e32 1144 RATE_TRUE = (Ref_Time - RATE) * 1000;
POTLESS_2 43:5ae8baf28e32 1145 } else {
POTLESS_2 43:5ae8baf28e32 1146 RATE_TRUE = 0;
POTLESS_2 43:5ae8baf28e32 1147
POTLESS_2 43:5ae8baf28e32 1148 DEEP_DEBUG("Pour ralentir le code, Ref_Time doit être supérieur à %f seconde(s)\r\n\n", RATE);
POTLESS_2 43:5ae8baf28e32 1149 }
POTLESS_2 43:5ae8baf28e32 1150
POTLESS_2 43:5ae8baf28e32 1151 wait_ms(RATE_TRUE);
POTLESS_2 34:26f6e3dbefb9 1152 }
POTLESS_2 4:d84250f67dec 1153 }
POTLESS_2 43:5ae8baf28e32 1154
POTLESS_2 43:5ae8baf28e32 1155