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@47:89a088bc8866, 2018-05-17 (annotated)

Committer:
POTLESS_2
Date:
Thu May 17 07:50:14 2018 +0000
Revision:
47:89a088bc8866
Parent:
46:28298df0ac55
Child:
48:9ceb095f397a
D + D -

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 45:61ba3cc4fc55 12
potless 45:61ba3cc4fc55 13 DigitalOut E5V (PA_4);
POTLESS_2 19:cac3761a5d0b 14 #define PWM_SERVO_POUMON PB_15
POTLESS_2 19:cac3761a5d0b 15 #define nSleep_SERVO_POUMON PC_6
POTLESS_2 19:cac3761a5d0b 16 #define FWD_SERVO_POUMON PB_14
POTLESS_2 19:cac3761a5d0b 17 #define REV_SERVO_POUMON PB_13
POTLESS_2 43:5ae8baf28e32 18 #define Channel_A_SERVO_POUMON PB_2
POTLESS_2 43:5ae8baf28e32 19 #define Channel_B_SERVO_POUMON PB_1
POTLESS_2 19:cac3761a5d0b 20 #define HOME_SERVO_POUMON 0
POTLESS_2 17:bef8abc445f2 21
POTLESS_2 19:cac3761a5d0b 22 #define PWM_SERVO_FUITE PB_10
POTLESS_2 43:5ae8baf28e32 23 #define nSleep_SERVO_FUITE PB_0
POTLESS_2 19:cac3761a5d0b 24 #define FWD_SERVO_FUITE PB_4
POTLESS_2 19:cac3761a5d0b 25 #define REV_SERVO_FUITE PB_5
POTLESS_2 43:5ae8baf28e32 26 #define Channel_A_SERVO_FUITE PC_9
POTLESS_2 43:5ae8baf28e32 27 #define Channel_B_SERVO_FUITE PA_8
POTLESS_2 19:cac3761a5d0b 28 #define HOME_SERVO_FUITE 90
POTLESS_2 17:bef8abc445f2 29
POTLESS_2 43:5ae8baf28e32 30 //Pin de test des alims
POTLESS_2 43:5ae8baf28e32 31 #define PIN_V_PILES_ANALOG PA_1
POTLESS_2 43:5ae8baf28e32 32 #define PIN_V_PILES_DIGI PC_3
POTLESS_2 43:5ae8baf28e32 33 #define PIN_V_USB_DIGI PA_0
POTLESS_2 11:b2feed92584a 34
potless 44:5cd6f84a62ec 35 //#define OUTPUT(...) { NVIC_DisableIRQ(USART3_IRQn); serialMonit.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(USART3_IRQn);}
potless 44:5cd6f84a62ec 36 #define OUTPUT(...) { NVIC_DisableIRQ(USART2_IRQn); serialMonit.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(USART2_IRQn);}
POTLESS_2 46:28298df0ac55 37 #define IHM(...) { NVIC_DisableIRQ(USART3_IRQn); display.printf(__VA_ARGS__); fflush(stdout);NVIC_EnableIRQ(USART3_IRQn);}
POTLESS_2 34:26f6e3dbefb9 38
POTLESS_2 25:322ef9488e65 39 //PinName pwm, PinName nSleep, PinName fwd, PinName rev, PinName channelA, PinName channelB, int pulsesPerRev, int Rapport, Encoding encoding = X2_ENCODING
POTLESS_2 25:322ef9488e65 40 Faulhaber Servo_Poumon("Servo_Poumon", PWM_SERVO_POUMON, nSleep_SERVO_POUMON, FWD_SERVO_POUMON, REV_SERVO_POUMON, Channel_A_SERVO_POUMON, Channel_B_SERVO_POUMON, 16, 207, Faulhaber::X2_ENCODING);
POTLESS_2 43:5ae8baf28e32 41 Faulhaber Servo_Fuite("Servo_Fuite", PWM_SERVO_FUITE, nSleep_SERVO_FUITE, FWD_SERVO_FUITE, REV_SERVO_FUITE, Channel_A_SERVO_FUITE, Channel_B_SERVO_FUITE, 16, 207, Faulhaber::X2_ENCODING);
POTLESS_2 17:bef8abc445f2 42
POTLESS_2 17:bef8abc445f2 43 //Moniteur série, Serial 2
potless 45:61ba3cc4fc55 44 //Serial serialMonit(PC_10, PC_11, 115200); // UART 3 pour windev nucleo - version définitive sur uart3 pour carte ARNSRS
POTLESS_2 47:89a088bc8866 45 //Serial serialMonit(PA_2, PA_3,115200); // UART2 à décommenter pour carte ARNSRS
POTLESS_2 47:89a088bc8866 46
POTLESS_2 47:89a088bc8866 47 USBSerial serialMonit;
POTLESS_2 10:aca745a66d51 48
POTLESS_2 43:5ae8baf28e32 49 //Communication avec l'IHM
POTLESS_2 46:28298df0ac55 50 Serial display(PC_4, PC_5, 115200);
POTLESS_2 43:5ae8baf28e32 51
POTLESS_2 43:5ae8baf28e32 52 //Moniteur pour le debug avec une nucleo, a commenter avec la carte definitive
potless 44:5cd6f84a62ec 53 //Serial serial(USBTX, USBRX, 115200);
POTLESS_2 4:d84250f67dec 54
POTLESS_2 7:ad15c386e960 55 //Init de la lib ARNSRS;
POTLESS_2 7:ad15c386e960 56 SENSOR_HEAD_REV_B sensors;
potless 2:4a8bf1d53439 57
POTLESS_2 34:26f6e3dbefb9 58 //pour Param Venant du PV
POTLESS_2 42:3591ec9903b4 59 const int sizeParam = 50;
POTLESS_2 11:b2feed92584a 60 char param[sizeParam];
POTLESS_2 11:b2feed92584a 61 volatile int indexParam = 0;
POTLESS_2 6:ebed9093d661 62 bool newParamFlag = false;
potless 2:4a8bf1d53439 63
POTLESS_2 43:5ae8baf28e32 64 //Flag PID ON / OFF
POTLESS_2 43:5ae8baf28e32 65 int FLAG_PID = 0;
POTLESS_2 42:3591ec9903b4 66
POTLESS_2 42:3591ec9903b4 67 //Flag pour interrompre l'affichage si on veut...
POTLESS_2 42:3591ec9903b4 68 bool FLAG_AFF = false;
POTLESS_2 25:322ef9488e65 69
POTLESS_2 40:32d89e04ead1 70 //Flag pour envoyer à l'app windev...
POTLESS_2 40:32d89e04ead1 71 bool FLAG_WINDEV = false;
POTLESS_2 40:32d89e04ead1 72
POTLESS_2 43:5ae8baf28e32 73 //Flag pour envoyer à l'IHM...
POTLESS_2 46:28298df0ac55 74 bool FLAG_DISPLAY = true;
POTLESS_2 43:5ae8baf28e32 75
POTLESS_2 29:5b822d18bce6 76 //Flag pour interrompre l'enregistrement si on veut...
POTLESS_2 29:5b822d18bce6 77 bool FLAG_REC = true;
POTLESS_2 29:5b822d18bce6 78
POTLESS_2 33:f5d4bae05f16 79 //Flag pour interrompre les demandes O2 en cours ed calibration...
POTLESS_2 33:f5d4bae05f16 80 bool FLAG_O2 = true;
POTLESS_2 33:f5d4bae05f16 81
POTLESS_2 7:ad15c386e960 82 //Variables de stockage des infos capteurs
POTLESS_2 7:ad15c386e960 83 int co2 = 0;
POTLESS_2 7:ad15c386e960 84 float pression = 0;
POTLESS_2 9:04bfdfc029cb 85 float Temp1 = 0;
POTLESS_2 7:ad15c386e960 86 int ppO2 = 0;
POTLESS_2 7:ad15c386e960 87 int CellO2_1 = 0;
POTLESS_2 7:ad15c386e960 88 int CellO2_2 = 0;
POTLESS_2 36:1f5e2247b073 89
POTLESS_2 18:bfd78c05b589 90 //Variables et constantes OTU
POTLESS_2 18:bfd78c05b589 91 float OTU = 0;
POTLESS_2 18:bfd78c05b589 92 float COEF_OTU = 0.83;
POTLESS_2 18:bfd78c05b589 93
POTLESS_2 17:bef8abc445f2 94 //Mesure du temps d'éxecution du loop
POTLESS_2 7:ad15c386e960 95 Timer REAL_RATE;
POTLESS_2 7:ad15c386e960 96 float RATE = 0;
POTLESS_2 11:b2feed92584a 97 float RATE_TRUE = 0;
POTLESS_2 29:5b822d18bce6 98 float Ref_Time = 2.0; //La durée de la boucle désirée...
POTLESS_2 7:ad15c386e960 99
POTLESS_2 17:bef8abc445f2 100 //HTU21D sur l'I2C
POTLESS_2 8:a750d531b381 101 HTU21D temphumid(PB_9, PB_8); //Temp humid sensor || SDA, SCL
POTLESS_2 9:04bfdfc029cb 102 float Temp2;
POTLESS_2 9:04bfdfc029cb 103 int Humid;
POTLESS_2 9:04bfdfc029cb 104
POTLESS_2 9:04bfdfc029cb 105 //Data LOG
POTLESS_2 9:04bfdfc029cb 106 char to_store[50];
POTLESS_2 9:04bfdfc029cb 107 time_t seconds;
POTLESS_2 25:322ef9488e65 108 char Log_File_Name[] = " ";
POTLESS_2 42:3591ec9903b4 109 int count = 0;
POTLESS_2 42:3591ec9903b4 110 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 111
POTLESS_2 10:aca745a66d51 112 //Contrôle des servos
POTLESS_2 19:cac3761a5d0b 113 float Consigne_poumon = 0;
POTLESS_2 19:cac3761a5d0b 114 float volet_poumon_Position = 0;
POTLESS_2 19:cac3761a5d0b 115 float Consigne_fuite = 0;
POTLESS_2 19:cac3761a5d0b 116 float volet_fuite_Position = 0;
potless 45:61ba3cc4fc55 117 float Volets_Speed = 1;
POTLESS_2 26:a2fe19341f92 118 float Volet_DeadBand = 5;
POTLESS_2 10:aca745a66d51 119
POTLESS_2 12:7f3aadd79f89 120 //Paramètre du PID
POTLESS_2 12:7f3aadd79f89 121 float Kc = 40;
POTLESS_2 12:7f3aadd79f89 122 float Ti = 0;
POTLESS_2 12:7f3aadd79f89 123 float Td = 0;
POTLESS_2 12:7f3aadd79f89 124 float RATE_PID = Ref_Time;
POTLESS_2 12:7f3aadd79f89 125 float Commande_PID;
POTLESS_2 43:5ae8baf28e32 126 int consigne = 210;
POTLESS_2 15:efd3b3bf3f37 127 float Max_Input = 1000;
POTLESS_2 15:efd3b3bf3f37 128 float Min_Input = 80;
POTLESS_2 19:cac3761a5d0b 129 float Max_Output = 85;//Vérifier la valeur pour angle à laisser ouvert...
POTLESS_2 19:cac3761a5d0b 130 float Min_Output = 5;
POTLESS_2 10:aca745a66d51 131
POTLESS_2 12:7f3aadd79f89 132 //Init PID
POTLESS_2 17:bef8abc445f2 133 PID control_Servo(Kc, Ti, Td, RATE_PID);
POTLESS_2 10:aca745a66d51 134
POTLESS_2 19:cac3761a5d0b 135 //Boolean du status de l'appareil, en mode SECU ou nominal
POTLESS_2 19:cac3761a5d0b 136 bool EN_MODE_SECU = false;
POTLESS_2 31:231a96d1d1c8 137
POTLESS_2 31:231a96d1d1c8 138 //Test des alim
POTLESS_2 46:28298df0ac55 139 //DigitalIn V_PILES_DIGI(PIN_V_PILES_DIGI);
POTLESS_2 39:65ff3c4f9675 140
POTLESS_2 43:5ae8baf28e32 141 //Test voltage piles
POTLESS_2 43:5ae8baf28e32 142 AnalogIn V_PILES_ANALOG(PIN_V_PILES_ANALOG);
POTLESS_2 31:231a96d1d1c8 143
POTLESS_2 31:231a96d1d1c8 144 int Vusb = 1;
POTLESS_2 31:231a96d1d1c8 145 int VPiles = 1;
POTLESS_2 43:5ae8baf28e32 146 float VPiles_val = 1;
POTLESS_2 18:bfd78c05b589 147
POTLESS_2 43:5ae8baf28e32 148 //Interruption pin
POTLESS_2 43:5ae8baf28e32 149 InterruptIn vpile_off_on(PIN_V_PILES_DIGI);
POTLESS_2 43:5ae8baf28e32 150 InterruptIn vusb_off_on(PIN_V_USB_DIGI);
POTLESS_2 21:b8900130ca05 151
POTLESS_2 47:89a088bc8866 152 //Buzzer
POTLESS_2 47:89a088bc8866 153 Beep buzzer(PC_8);
POTLESS_2 47:89a088bc8866 154
POTLESS_2 47:89a088bc8866 155
POTLESS_2 29:5b822d18bce6 156 void Affichage()
POTLESS_2 29:5b822d18bce6 157 {
POTLESS_2 42:3591ec9903b4 158 //serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 159 serialMonit.printf(" CO2 = %d ppm\r\n" , co2);
POTLESS_2 29:5b822d18bce6 160 serialMonit.printf(" PPO2 = %d mb\r\n", ppO2);
POTLESS_2 31:231a96d1d1c8 161 serialMonit.printf(" OTU = %d \r\n", (int)OTU);
POTLESS_2 29:5b822d18bce6 162 serialMonit.printf(" Pression = %f msw\r\n", pression);
POTLESS_2 29:5b822d18bce6 163 serialMonit.printf(" Temp MS5837 = %f C\r\n", Temp1);
POTLESS_2 29:5b822d18bce6 164 serialMonit.printf(" Temp HTU21D = %f C\n\r", Temp2);
POTLESS_2 29:5b822d18bce6 165 serialMonit.printf(" Humidity = %d %%\n\r", Humid);
POTLESS_2 42:3591ec9903b4 166 //serialMonit.printf("\n\r");
POTLESS_2 29:5b822d18bce6 167 serialMonit.printf(" Cell O2 n 1 = %d\r\n" , CellO2_1);
POTLESS_2 29:5b822d18bce6 168 serialMonit.printf(" Cell O2 n 2 = %d\r\n" , CellO2_2);
POTLESS_2 42:3591ec9903b4 169 //serialMonit.printf("\r\n");
POTLESS_2 29:5b822d18bce6 170 serialMonit.printf(" Volet Poumon = %f\r\n" , volet_poumon_Position);
POTLESS_2 29:5b822d18bce6 171 serialMonit.printf(" Volet Fuite = %f\r\n" , volet_fuite_Position);
POTLESS_2 42:3591ec9903b4 172 //serialMonit.printf("\r\n");
POTLESS_2 42:3591ec9903b4 173 serialMonit.printf(" Temps d execution de la boucle = %f seconde(s)\r\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 42:3591ec9903b4 174 //serialMonit.printf("\r\n");
POTLESS_2 42:3591ec9903b4 175 if (FLAG_REC) serialMonit.printf(" Chaine enregistrée = %s\r\n", to_store);
POTLESS_2 30:7a16a66d76f3 176 else serialMonit.printf(" Pas d'enregistrement en cours.");
POTLESS_2 42:3591ec9903b4 177 //serialMonit.printf("\r\n");
POTLESS_2 42:3591ec9903b4 178 serialMonit.printf(" V_USB = %f\r\n", Vusb);
POTLESS_2 42:3591ec9903b4 179 //serialMonit.printf("\r\n\r\n");
POTLESS_2 29:5b822d18bce6 180 fflush(stdout);
POTLESS_2 29:5b822d18bce6 181 }
POTLESS_2 29:5b822d18bce6 182
potless 38:fe77b68eec37 183
POTLESS_2 19:cac3761a5d0b 184 //Passage en mode SECU
POTLESS_2 19:cac3761a5d0b 185 void Mode_SECU()
POTLESS_2 18:bfd78c05b589 186 {
POTLESS_2 43:5ae8baf28e32 187
POTLESS_2 18:bfd78c05b589 188 //Mise du PID en mode manuel (desactivation...)
POTLESS_2 18:bfd78c05b589 189 control_Servo.setMode(MANUAL_MODE);
POTLESS_2 43:5ae8baf28e32 190
POTLESS_2 19:cac3761a5d0b 191 Consigne_poumon = HOME_SERVO_POUMON;
POTLESS_2 19:cac3761a5d0b 192 Consigne_fuite = HOME_SERVO_FUITE;
POTLESS_2 34:26f6e3dbefb9 193
POTLESS_2 25:322ef9488e65 194 Volets_Speed = 0.1;
POTLESS_2 25:322ef9488e65 195 Volet_DeadBand = 10;
POTLESS_2 25:322ef9488e65 196
POTLESS_2 47:89a088bc8866 197 /*
POTLESS_2 19:cac3761a5d0b 198 while(1) {
POTLESS_2 25:322ef9488e65 199 wait_ms(100);
POTLESS_2 19:cac3761a5d0b 200 if (Servo_Poumon.Pos_OK() == true) break;
POTLESS_2 43:5ae8baf28e32 201 if (Servo_Fuite.Pos_OK() == true) break;
POTLESS_2 19:cac3761a5d0b 202 }
POTLESS_2 47:89a088bc8866 203 */
POTLESS_2 43:5ae8baf28e32 204
POTLESS_2 43:5ae8baf28e32 205 OUTPUT(" Appareil en mode SECU\r\n");
POTLESS_2 34:26f6e3dbefb9 206
POTLESS_2 25:322ef9488e65 207 wait_ms(100);
POTLESS_2 34:26f6e3dbefb9 208
POTLESS_2 19:cac3761a5d0b 209 EN_MODE_SECU = true;
POTLESS_2 43:5ae8baf28e32 210
POTLESS_2 25:322ef9488e65 211 wait_ms(100);
POTLESS_2 43:5ae8baf28e32 212 int Pos_P = Servo_Poumon.getPulses();
POTLESS_2 43:5ae8baf28e32 213 UTILS::Store_A_Val((float)Pos_P, "Servo_Poumon.sys");
POTLESS_2 43:5ae8baf28e32 214 DEBUG(" position volet poumon sauvegardée = %d pulse(s)\r\n", Pos_P);
POTLESS_2 47:89a088bc8866 215 OUTPUT(" Volet poumon en sécu\r\n");
POTLESS_2 47:89a088bc8866 216
POTLESS_2 43:5ae8baf28e32 217 int Pos_F = Servo_Fuite.getPulses();
POTLESS_2 43:5ae8baf28e32 218 UTILS::Store_A_Val((float)Pos_F, "Servo_Fuite.sys");
POTLESS_2 43:5ae8baf28e32 219 DEBUG(" position volet fuite sauvegardée = %d pulse(s)\r\n", Pos_F);
POTLESS_2 47:89a088bc8866 220 OUTPUT(" Volet fuite en sécu\r\n");
POTLESS_2 47:89a088bc8866 221
POTLESS_2 23:7477dc855fad 222 Servo_Poumon.Sleep();
POTLESS_2 43:5ae8baf28e32 223 Servo_Fuite.Sleep();
POTLESS_2 19:cac3761a5d0b 224 }
POTLESS_2 19:cac3761a5d0b 225
POTLESS_2 19:cac3761a5d0b 226 //Sequence d'arrêt
POTLESS_2 19:cac3761a5d0b 227 void Stop_Sequence()
POTLESS_2 34:26f6e3dbefb9 228 {
POTLESS_2 43:5ae8baf28e32 229 OUTPUT(" Mise en veille de l'appareil.\r\n");
POTLESS_2 43:5ae8baf28e32 230
POTLESS_2 43:5ae8baf28e32 231 wait(1);
POTLESS_2 43:5ae8baf28e32 232
POTLESS_2 34:26f6e3dbefb9 233 Mode_SECU();
POTLESS_2 47:89a088bc8866 234
POTLESS_2 47:89a088bc8866 235 wait(1);
POTLESS_2 39:65ff3c4f9675 236 //ejection de la flash pour pas crasher le system de fichiers
POTLESS_2 39:65ff3c4f9675 237 UTILS::UnMount_Flash();
POTLESS_2 47:89a088bc8866 238
POTLESS_2 47:89a088bc8866 239 OUTPUT(" Ejection de la Flash\r\n");
POTLESS_2 47:89a088bc8866 240 wait(1);
POTLESS_2 47:89a088bc8866 241 buzzer.beep(1000,0.5);
POTLESS_2 47:89a088bc8866 242 wait(1);
potless 37:f9461c6592f2 243 // préparation deepsleep
POTLESS_2 40:32d89e04ead1 244
potless 37:f9461c6592f2 245 /*
potless 37:f9461c6592f2 246 //première méthode mais je ne sais pas ce que ça consomme et il faut normalement reduire le frequence d'horloge avant
potless 37:f9461c6592f2 247 //il est possible que ça génère un plantage et la rtc ne fonctionnera pas?
potless 37:f9461c6592f2 248 HAL_PWREx_EnableLowPowerRunMode();
potless 37:f9461c6592f2 249 DEBUG("----------------LOW POWER RUN MODE--------------------\r\n");
POTLESS_2 40:32d89e04ead1 250
potless 37:f9461c6592f2 251 bool isDSallowed;
potless 37:f9461c6592f2 252 isDSallowed = sleep_manager_can_deep_sleep();
potless 37:f9461c6592f2 253 DEBUG(" Deep sleep autorisé ? %i\r\n", isDSallowed);
potless 37:f9461c6592f2 254 wait(1.0);
POTLESS_2 34:26f6e3dbefb9 255
potless 37:f9461c6592f2 256 DEBUG("\n\r Deepsleep tentative normale !(bouton bleu pour ressortir)\n");
potless 37:f9461c6592f2 257 wait(0.1);
POTLESS_2 40:32d89e04ead1 258
potless 37:f9461c6592f2 259 sleep_manager_sleep_auto(); // ne marche pas, je ne sais pas pk
potless 37:f9461c6592f2 260 */
POTLESS_2 47:89a088bc8866 261
POTLESS_2 39:65ff3c4f9675 262 /*
potless 38:fe77b68eec37 263 HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN2); // pour PC_13
POTLESS_2 40:32d89e04ead1 264 // Clear wake up Flag
POTLESS_2 40:32d89e04ead1 265 __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WUF2);
POTLESS_2 40:32d89e04ead1 266 // Enable wakeup pin WKUP2
potless 38:fe77b68eec37 267 HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN2_LOW); // low parce qu'on veut que ça redémarre avec le user button TODO à passer sur High pour que ça redémarrage avec l'arrivée du hus sur l'USB
POTLESS_2 39:65ff3c4f9675 268 */
POTLESS_2 47:89a088bc8866 269
POTLESS_2 43:5ae8baf28e32 270 HAL_PWREx_EnablePullUpPullDownConfig() ;
POTLESS_2 46:28298df0ac55 271 HAL_PWREx_EnableGPIOPullDown(PWR_GPIO_A, PWR_GPIO_BIT_0);
POTLESS_2 40:32d89e04ead1 272
potless 38:fe77b68eec37 273 HAL_PWR_DisableWakeUpPin(PWR_WAKEUP_PIN1); // pour PA_0
POTLESS_2 40:32d89e04ead1 274 // Clear wake up Flag
POTLESS_2 40:32d89e04ead1 275 __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WUF1);
POTLESS_2 40:32d89e04ead1 276 // Enable wakeup pin WKUP2
POTLESS_2 39:65ff3c4f9675 277 HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1); // high est la valeur par défaut
POTLESS_2 40:32d89e04ead1 278
POTLESS_2 40:32d89e04ead1 279 // Set RTC back-up register RTC_BKP31R to indicate
POTLESS_2 40:32d89e04ead1 280 //later on that system has entered shutdown mode
potless 37:f9461c6592f2 281 WRITE_REG( RTC->BKP31R, 0x1 );
POTLESS_2 40:32d89e04ead1 282 //Enter shutdown mode
potless 37:f9461c6592f2 283 DEBUG("\n\r Attention c'est du brutal ! bouton bleu pour ressort.... ZZZZZZZ ZZZZZ !!!\n");
POTLESS_2 40:32d89e04ead1 284
potless 37:f9461c6592f2 285 HAL_PWREx_EnterSHUTDOWNMode();
POTLESS_2 18:bfd78c05b589 286 }
POTLESS_2 18:bfd78c05b589 287
POTLESS_2 31:231a96d1d1c8 288 //Fonction test de valeur d'entrée digitale
POTLESS_2 29:5b822d18bce6 289 int Power_Test(DigitalIn& pin)
POTLESS_2 20:5f79fb4565a7 290 {
POTLESS_2 29:5b822d18bce6 291 pin.mode(PullDown);
POTLESS_2 34:26f6e3dbefb9 292
POTLESS_2 34:26f6e3dbefb9 293 if(!pin) {
POTLESS_2 34:26f6e3dbefb9 294 Stop_Sequence();
POTLESS_2 34:26f6e3dbefb9 295 return 0;
POTLESS_2 34:26f6e3dbefb9 296 } else {
POTLESS_2 34:26f6e3dbefb9 297 return 1;
POTLESS_2 34:26f6e3dbefb9 298 }
POTLESS_2 20:5f79fb4565a7 299 }
POTLESS_2 20:5f79fb4565a7 300
POTLESS_2 31:231a96d1d1c8 301 //Fonction test de valeur d'entrée analogique
POTLESS_2 31:231a96d1d1c8 302 float Power_Test(AnalogIn& pin)
POTLESS_2 31:231a96d1d1c8 303 {
POTLESS_2 31:231a96d1d1c8 304 float Val = pin.read();
POTLESS_2 31:231a96d1d1c8 305 return Val;
POTLESS_2 31:231a96d1d1c8 306 }
POTLESS_2 31:231a96d1d1c8 307
POTLESS_2 18:bfd78c05b589 308 //Contrôle du status de l'appareil / des constantes
POTLESS_2 18:bfd78c05b589 309 bool Check()
POTLESS_2 18:bfd78c05b589 310 {
POTLESS_2 18:bfd78c05b589 311 if (ppO2 > 100)
POTLESS_2 19:cac3761a5d0b 312 return true;//Situation OK
POTLESS_2 18:bfd78c05b589 313 else
POTLESS_2 19:cac3761a5d0b 314 return false;//Situation dégradée
POTLESS_2 18:bfd78c05b589 315 }
POTLESS_2 18:bfd78c05b589 316
POTLESS_2 18:bfd78c05b589 317 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 318 float Calcul_OTU()
POTLESS_2 18:bfd78c05b589 319 {
POTLESS_2 18:bfd78c05b589 320 /*
POTLESS_2 18:bfd78c05b589 321 La formule suivante permet de calculer la quantité d' OTU accumulée
POTLESS_2 18:bfd78c05b589 322 OTU = T * (2* PpO2 -1)0,83
POTLESS_2 18:bfd78c05b589 323 avec :
POTLESS_2 18:bfd78c05b589 324 T = temps de plongée en minutes
POTLESS_2 18:bfd78c05b589 325 PpO2 = pression partielle d’ oxygène en bars
POTLESS_2 18:bfd78c05b589 326 */
POTLESS_2 18:bfd78c05b589 327
POTLESS_2 19:cac3761a5d0b 328 if (ppO2 > 500) {
POTLESS_2 18:bfd78c05b589 329 float val = (2 * (float)ppO2/1000 - 1);//je divise par 1000 car la PP est en mb...
POTLESS_2 18:bfd78c05b589 330 OTU += Ref_Time * pow(val, COEF_OTU);
POTLESS_2 19:cac3761a5d0b 331 }
POTLESS_2 18:bfd78c05b589 332 }
POTLESS_2 10:aca745a66d51 333
POTLESS_2 17:bef8abc445f2 334 //Thread d'intérogation des capteurs, positions servo
POTLESS_2 34:26f6e3dbefb9 335 void SENSORS_thread()
POTLESS_2 6:ebed9093d661 336 {
POTLESS_2 7:ad15c386e960 337 while (true) {
POTLESS_2 36:1f5e2247b073 338 //DEEP_DEBUG(" SENSORS_thread\r\n");
POTLESS_2 7:ad15c386e960 339
POTLESS_2 7:ad15c386e960 340 //CO2 sur Cozir
POTLESS_2 7:ad15c386e960 341 co2 = sensors.requestCO2();
POTLESS_2 7:ad15c386e960 342 //P / T sur MS5837
POTLESS_2 7:ad15c386e960 343 pression = sensors.requestPress();
POTLESS_2 9:04bfdfc029cb 344 Temp1 = sensors.requestTemp();
POTLESS_2 7:ad15c386e960 345 //PPO2 sur ADS1015
POTLESS_2 33:f5d4bae05f16 346 if (FLAG_O2) ppO2 = sensors.requestPpO2();
POTLESS_2 7:ad15c386e960 347 //Cell O2 en mV
POTLESS_2 33:f5d4bae05f16 348 if (FLAG_O2) CellO2_1 = sensors.requestCellO2_1();
POTLESS_2 33:f5d4bae05f16 349 if (FLAG_O2) CellO2_2 = sensors.requestCellO2_2();
POTLESS_2 9:04bfdfc029cb 350
POTLESS_2 8:a750d531b381 351 //HTU21D
POTLESS_2 9:04bfdfc029cb 352 Temp2 = temphumid.sample_ctemp();
POTLESS_2 9:04bfdfc029cb 353 Humid = temphumid.sample_humid();
POTLESS_2 9:04bfdfc029cb 354
POTLESS_2 10:aca745a66d51 355 //Retour position des servos
POTLESS_2 17:bef8abc445f2 356 volet_poumon_Position = Servo_Poumon.Get_Position();
POTLESS_2 43:5ae8baf28e32 357 volet_fuite_Position = Servo_Fuite.Get_Position();
POTLESS_2 43:5ae8baf28e32 358
POTLESS_2 43:5ae8baf28e32 359 //Calcul des OTU
POTLESS_2 43:5ae8baf28e32 360 Calcul_OTU();
POTLESS_2 34:26f6e3dbefb9 361
POTLESS_2 19:cac3761a5d0b 362 }
POTLESS_2 19:cac3761a5d0b 363 }
POTLESS_2 12:7f3aadd79f89 364
POTLESS_2 19:cac3761a5d0b 365 void GO_TO_thread()
POTLESS_2 19:cac3761a5d0b 366 {
POTLESS_2 19:cac3761a5d0b 367 while (true) {
POTLESS_2 36:1f5e2247b073 368 //DEEP_DEBUG(" GO_TO_Thread\r\n");
POTLESS_2 34:26f6e3dbefb9 369
POTLESS_2 19:cac3761a5d0b 370 //Servo_Poumon.Go_To_Prop(Consigne_poumon);
POTLESS_2 26:a2fe19341f92 371 //Servo_Poumon.Go_To_PID(Consigne_poumon, Volet_DeadBand);
POTLESS_2 34:26f6e3dbefb9 372 Servo_Poumon.Go_To(Consigne_poumon, Volets_Speed, Volet_DeadBand);
POTLESS_2 34:26f6e3dbefb9 373
POTLESS_2 19:cac3761a5d0b 374 //Servo_Fuite.Go_To_Prop(Consigne_fuite);
POTLESS_2 43:5ae8baf28e32 375 //Servo_Fuite.Go_To_PID(Consigne_fuite, Volet_DeadBand);
POTLESS_2 43:5ae8baf28e32 376 Servo_Fuite.Go_To(Consigne_fuite, Volets_Speed, Volet_DeadBand );
POTLESS_2 15:efd3b3bf3f37 377 }
potless 2:4a8bf1d53439 378 }
POTLESS_2 4:d84250f67dec 379
POTLESS_2 20:5f79fb4565a7 380 void SECU_thread()
POTLESS_2 20:5f79fb4565a7 381 {
POTLESS_2 34:26f6e3dbefb9 382 while (true) {
POTLESS_2 34:26f6e3dbefb9 383
POTLESS_2 20:5f79fb4565a7 384 }
POTLESS_2 20:5f79fb4565a7 385 }
POTLESS_2 20:5f79fb4565a7 386
POTLESS_2 11:b2feed92584a 387 //Callback de l'intérruption des envois de commandes depuis le terminal
POTLESS_2 6:ebed9093d661 388 void callbackParam()
POTLESS_2 34:26f6e3dbefb9 389 {
POTLESS_2 40:32d89e04ead1 390
POTLESS_2 40:32d89e04ead1 391
POTLESS_2 34:26f6e3dbefb9 392 while(serialMonit.readable()) {
POTLESS_2 40:32d89e04ead1 393 if ((indexParam == sizeParam) || newParamFlag == true) { //éviter la saturation du buffer
potless 44:5cd6f84a62ec 394 NVIC_DisableIRQ(USART2_IRQn); // USART 2 pour carte ARNSRS
POTLESS_2 29:5b822d18bce6 395 char char_flush = serialMonit.getc();
potless 44:5cd6f84a62ec 396 NVIC_EnableIRQ(USART2_IRQn); // USART 2 pour carte ARNSRS
POTLESS_2 40:32d89e04ead1 397 } else {
potless 44:5cd6f84a62ec 398 NVIC_DisableIRQ(USART2_IRQn); // USART 2 pour carte ARNSRS
POTLESS_2 29:5b822d18bce6 399 param [indexParam ++] = serialMonit.getc();//chargement du buffer dans le message
POTLESS_2 40:32d89e04ead1 400 if ((indexParam == sizeParam) || (param[indexParam - 1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 40:32d89e04ead1 401 param[indexParam] = 0;
POTLESS_2 40:32d89e04ead1 402 newParamFlag = true;
POTLESS_2 40:32d89e04ead1 403 }
potless 44:5cd6f84a62ec 404 NVIC_EnableIRQ(USART2_IRQn); // USART 2 pour carte ARNSRS
POTLESS_2 34:26f6e3dbefb9 405 }
POTLESS_2 34:26f6e3dbefb9 406 }
POTLESS_2 6:ebed9093d661 407 }
POTLESS_2 4:d84250f67dec 408
POTLESS_2 9:04bfdfc029cb 409 void Decoding_Message(char message [])
POTLESS_2 9:04bfdfc029cb 410 {
POTLESS_2 9:04bfdfc029cb 411
POTLESS_2 42:3591ec9903b4 412 char com[20] = "";
POTLESS_2 42:3591ec9903b4 413 char numb[30] = "";
POTLESS_2 36:1f5e2247b073 414
POTLESS_2 34:26f6e3dbefb9 415 sscanf(message,"%s %s",&com , &numb);
POTLESS_2 36:1f5e2247b073 416
POTLESS_2 35:a209a192f431 417 DEEP_DEBUG("\r\n Commande = %s Valeur = %s \r\n\r\n", com, numb);
POTLESS_2 42:3591ec9903b4 418 //serialMonit.printf("\r\n Commande = %s Valeur = %s \r\n\r\n", com, numb);
POTLESS_2 36:1f5e2247b073 419
POTLESS_2 43:5ae8baf28e32 420 OUTPUT("?\r\n");
POTLESS_2 43:5ae8baf28e32 421
POTLESS_2 30:7a16a66d76f3 422 if (0 == strcmp(com, "secu")) {
POTLESS_2 19:cac3761a5d0b 423 Mode_SECU();
POTLESS_2 42:3591ec9903b4 424 } else if (0 == strcmp(com, "PING")) {
POTLESS_2 43:5ae8baf28e32 425 FLAG_PID = 0;
POTLESS_2 43:5ae8baf28e32 426 FLAG_AFF = false;
POTLESS_2 43:5ae8baf28e32 427 FLAG_WINDEV = false;
POTLESS_2 43:5ae8baf28e32 428 control_Servo.setMode(MANUAL_MODE);
POTLESS_2 34:26f6e3dbefb9 429 } else if (0 == strcmp(com, "ARNSRS_ID")) {
POTLESS_2 43:5ae8baf28e32 430 OUTPUT("Changement de l'ID de l'appareil pour le N°: %s?\r\n", numb);
POTLESS_2 34:26f6e3dbefb9 431 UTILS::Store_A_Val(atoi(numb), "ARNSRS_ID");
POTLESS_2 43:5ae8baf28e32 432 } else if (0 == strcmp(com, "monit")) {
POTLESS_2 43:5ae8baf28e32 433 FLAG_AFF = false;
POTLESS_2 43:5ae8baf28e32 434 FLAG_WINDEV = true;
POTLESS_2 43:5ae8baf28e32 435 } else if (0 == strcmp(com, "debug")) {
POTLESS_2 43:5ae8baf28e32 436 FLAG_AFF = false;
POTLESS_2 43:5ae8baf28e32 437 FLAG_WINDEV = false;
POTLESS_2 34:26f6e3dbefb9 438 } else if (0 == strcmp(com, "Head_ID")) {
POTLESS_2 34:26f6e3dbefb9 439 //On l'enregistre dans l'eeprom
POTLESS_2 43:5ae8baf28e32 440 OUTPUT("Changement de l'ID de la tête capteur pour le N°: %s\r\n", numb);
POTLESS_2 34:26f6e3dbefb9 441 UTILS::write_EEPROM(numb, HEAD_ID);
POTLESS_2 34:26f6e3dbefb9 442 } else if (0 == strcmp(com, "O2_1_ID")) {
POTLESS_2 34:26f6e3dbefb9 443 //On l'enregistre dans l'eeprom
POTLESS_2 34:26f6e3dbefb9 444 UTILS::write_EEPROM(numb, CELL_O2_1_ID);
POTLESS_2 34:26f6e3dbefb9 445 } else if (0 == strcmp(com, "O2_2_ID")) {
POTLESS_2 34:26f6e3dbefb9 446 //On l'enregistre dans l'eeprom
POTLESS_2 34:26f6e3dbefb9 447 UTILS::write_EEPROM(numb, CELL_O2_2_ID);
POTLESS_2 34:26f6e3dbefb9 448 } else if (0 == strcmp(com, "CO2_ID")) {
POTLESS_2 34:26f6e3dbefb9 449 //On l'enregistre dans l'eeprom
POTLESS_2 34:26f6e3dbefb9 450 UTILS::write_EEPROM(numb, CO2_ID);
POTLESS_2 34:26f6e3dbefb9 451 } else if (0 == strcmp(com, "calib_O2")) {
POTLESS_2 33:f5d4bae05f16 452 FLAG_O2 = false;
POTLESS_2 33:f5d4bae05f16 453 wait_ms(100);
POTLESS_2 42:3591ec9903b4 454 float Val = sensors.Calibrate_O2(atoi(numb));
POTLESS_2 43:5ae8baf28e32 455 OUTPUT(" Calibration O2 dans l'air = %f\r\n", Val);
POTLESS_2 33:f5d4bae05f16 456 wait_ms(100);
POTLESS_2 33:f5d4bae05f16 457 FLAG_O2 = true;
POTLESS_2 41:51ba69648f9d 458 } else if (0 == strcmp(com, "calib_CO2_A")) {
POTLESS_2 43:5ae8baf28e32 459 int Val = sensors.Calibrate_CO2();
POTLESS_2 43:5ae8baf28e32 460 OUTPUT(" Calibration CO2 dans l'air = %d\r\n", Val);
POTLESS_2 34:26f6e3dbefb9 461 } else if (0 == strcmp(com, "flash_i")) {
POTLESS_2 42:3591ec9903b4 462 UTILS::Flash_Infos(&serialMonit);
POTLESS_2 36:1f5e2247b073 463 } else if (0 == strcmp(com, "flash_u")) {
POTLESS_2 43:5ae8baf28e32 464 OUTPUT(" Démontage de la Flash.\r\n");
POTLESS_2 36:1f5e2247b073 465 FLAG_REC = false;
POTLESS_2 36:1f5e2247b073 466 UTILS::UnMount_Flash();
POTLESS_2 36:1f5e2247b073 467 } else if (0 == strcmp(com, "flash_m")) {
POTLESS_2 43:5ae8baf28e32 468 OUTPUT(" Montage de la Flash.\r\n");
POTLESS_2 40:32d89e04ead1 469 UTILS::Mount_Flash();
POTLESS_2 35:a209a192f431 470 } else if (0 == strcmp(com, "check_F")) {
POTLESS_2 43:5ae8baf28e32 471 OUTPUT(" ARNSRS_ID.sys = %d\r\n", (int)UTILS::Read_A_Val("ARNSRS_ID.sys"));
POTLESS_2 43:5ae8baf28e32 472 OUTPUT(" Servo_Poumon.sys = %d\r\n", (int)UTILS::Read_A_Val("Servo_Poumon.sys"));
POTLESS_2 43:5ae8baf28e32 473 OUTPUT(" Servo_Fuite.sys = %d\r\n", (int)UTILS::Read_A_Val("Servo_Fuite.sys"));
POTLESS_2 35:a209a192f431 474 } else if (0 == strcmp(com, "check_E")) {
POTLESS_2 42:3591ec9903b4 475 sensors.Sensor_head_check(&serialMonit);
POTLESS_2 34:26f6e3dbefb9 476 } else if (0 == strcmp(com, "rec")) {
POTLESS_2 34:26f6e3dbefb9 477 if (FLAG_REC) {
POTLESS_2 34:26f6e3dbefb9 478 FLAG_REC = false;
POTLESS_2 43:5ae8baf28e32 479 OUTPUT(" Arrêt du Data Logging.\r\n");
POTLESS_2 34:26f6e3dbefb9 480 } else {
POTLESS_2 34:26f6e3dbefb9 481 FLAG_REC = true;
POTLESS_2 43:5ae8baf28e32 482 OUTPUT(" Démarrage Data Logging dans %s\r\n", Log_File_Name);
POTLESS_2 34:26f6e3dbefb9 483 }
POTLESS_2 34:26f6e3dbefb9 484 } else if (0 == strcmp(com, "help")) {
POTLESS_2 29:5b822d18bce6 485 FLAG_AFF = false;
POTLESS_2 42:3591ec9903b4 486 UTILS::Help(&serialMonit);
POTLESS_2 34:26f6e3dbefb9 487 } else if (0 == strcmp(com, "start")) {
POTLESS_2 29:5b822d18bce6 488 FLAG_AFF = true;
POTLESS_2 34:26f6e3dbefb9 489 } else if (0 == strcmp(com, "stop")) {
POTLESS_2 29:5b822d18bce6 490 FLAG_AFF = false;
POTLESS_2 40:32d89e04ead1 491 //UTILS::Help();
POTLESS_2 36:1f5e2247b073 492 } else if (0 == strcmp(com, "flash_c")) {
POTLESS_2 29:5b822d18bce6 493 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 494 UTILS::Clean_Flash();
POTLESS_2 42:3591ec9903b4 495 } else if (0 == strcmp(com, "flash_f")) {
POTLESS_2 34:26f6e3dbefb9 496 FLAG_REC = false;
POTLESS_2 43:5ae8baf28e32 497 UTILS::Clean_Flash_All();
POTLESS_2 42:3591ec9903b4 498 } else if (0 == strcmp(com, "dir")) {
POTLESS_2 43:5ae8baf28e32 499 FLAG_WINDEV = false;
POTLESS_2 43:5ae8baf28e32 500 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 501 wait(0.5);
POTLESS_2 42:3591ec9903b4 502 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 42:3591ec9903b4 503 } else if (0 == strcmp(com, "get")) {
POTLESS_2 29:5b822d18bce6 504 wait_ms(100);
POTLESS_2 43:5ae8baf28e32 505 char filename[20];
POTLESS_2 43:5ae8baf28e32 506 UTILS::Read_Flash_File(&serialMonit, numb);
POTLESS_2 43:5ae8baf28e32 507 wait_ms(100);
POTLESS_2 34:26f6e3dbefb9 508 } else if (0 == strcmp(com, "del")) {
POTLESS_2 29:5b822d18bce6 509 FLAG_REC = false;
POTLESS_2 29:5b822d18bce6 510 char filename[20];
POTLESS_2 42:3591ec9903b4 511 UTILS::Delete_Flash_File(numb);
POTLESS_2 43:5ae8baf28e32 512 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 513 wait(0.5);
POTLESS_2 43:5ae8baf28e32 514 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 31:231a96d1d1c8 515 FLAG_REC = true;
POTLESS_2 34:26f6e3dbefb9 516 } else if (0 == strcmp(com, "file_s")) {
POTLESS_2 31:231a96d1d1c8 517 char filename[20];
POTLESS_2 42:3591ec9903b4 518 UTILS::Get_File_Size(&serialMonit, numb);
POTLESS_2 29:5b822d18bce6 519 } else if (0 == strcmp(com, "calib_p")) {
POTLESS_2 20:5f79fb4565a7 520 Consigne_poumon = 0;
POTLESS_2 20:5f79fb4565a7 521 volet_poumon_Position = 0;
POTLESS_2 19:cac3761a5d0b 522 Servo_Poumon.reset();
POTLESS_2 43:5ae8baf28e32 523 OUTPUT(" Volet poumon Calibré.\r\n");
POTLESS_2 29:5b822d18bce6 524 } else if (0 == strcmp(com, "calib_f")) {
POTLESS_2 29:5b822d18bce6 525 Consigne_fuite = 0;
POTLESS_2 29:5b822d18bce6 526 volet_fuite_Position = 0;
POTLESS_2 43:5ae8baf28e32 527 Servo_Fuite.reset();
POTLESS_2 43:5ae8baf28e32 528 OUTPUT(" Volet fuite Calibré.\r\n");
POTLESS_2 29:5b822d18bce6 529 } else if (0 == strcmp(com, "sleep")) {
POTLESS_2 19:cac3761a5d0b 530 Stop_Sequence();
POTLESS_2 29:5b822d18bce6 531 } else if (0 == strcmp(com, "time")) {//Depuis terminal MAC taper : " date +%s "
POTLESS_2 34:26f6e3dbefb9 532 set_time(atoi(numb));
POTLESS_2 43:5ae8baf28e32 533 OUTPUT(" La RTC a été mise à l'heure.\r\n");
POTLESS_2 29:5b822d18bce6 534 } else if (0 == strcmp(com, "c_pou")) {
POTLESS_2 43:5ae8baf28e32 535 Consigne_poumon = atof(numb);
POTLESS_2 43:5ae8baf28e32 536 DEBUG(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 43:5ae8baf28e32 537 } else if (0 == strcmp(com, "c_fui")) {
POTLESS_2 43:5ae8baf28e32 538 Consigne_fuite = atof(numb);
POTLESS_2 43:5ae8baf28e32 539 DEBUG(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 43:5ae8baf28e32 540 } else if (0 == strcmp(com, "mp_pou")) {
POTLESS_2 41:51ba69648f9d 541 Consigne_poumon += atof(numb);
POTLESS_2 33:f5d4bae05f16 542 DEBUG(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 43:5ae8baf28e32 543 } else if (0 == strcmp(com, "mp_fui")) {
POTLESS_2 41:51ba69648f9d 544 Consigne_fuite += atof(numb);
POTLESS_2 33:f5d4bae05f16 545 DEBUG(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 29:5b822d18bce6 546 } else if (0 == strcmp(com, "reset")) {
POTLESS_2 43:5ae8baf28e32 547 FLAG_REC = false;
POTLESS_2 36:1f5e2247b073 548 UTILS::UnMount_Flash();
POTLESS_2 43:5ae8baf28e32 549 OUTPUT(" Reset de l'appareil.\r\n");
POTLESS_2 43:5ae8baf28e32 550 wait(1);
POTLESS_2 10:aca745a66d51 551 NVIC_SystemReset();
POTLESS_2 43:5ae8baf28e32 552 } else if (0 == strcmp(com, "Kc")) {
POTLESS_2 43:5ae8baf28e32 553 Kc = atof(numb);
POTLESS_2 43:5ae8baf28e32 554 control_Servo.reset();
POTLESS_2 43:5ae8baf28e32 555 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 43:5ae8baf28e32 556 OUTPUT(" MAJ PID --> Kc = %f Ti = %f Td = %f?\r\n", Kc, Ti, Td);
POTLESS_2 43:5ae8baf28e32 557 } else if (0 == strcmp(com, "Ti")) {
POTLESS_2 43:5ae8baf28e32 558 Ti = atof(numb);
POTLESS_2 43:5ae8baf28e32 559 control_Servo.reset();
POTLESS_2 43:5ae8baf28e32 560 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 43:5ae8baf28e32 561 OUTPUT(" MAJ PID --> Kc = %f Ti = %f Td = %f?\r\n", Kc, Ti, Td);
POTLESS_2 43:5ae8baf28e32 562 } else if (0 == strcmp(com, "Td")) {
POTLESS_2 43:5ae8baf28e32 563 Td = atof(numb);
POTLESS_2 43:5ae8baf28e32 564 control_Servo.reset();
POTLESS_2 43:5ae8baf28e32 565 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 43:5ae8baf28e32 566 OUTPUT(" MAJ PID --> Kc = %f Ti = %f Td = %f?\r\n", Kc, Ti, Td);
POTLESS_2 43:5ae8baf28e32 567 } else if (0 == strcmp(com, "Cons")) {
POTLESS_2 43:5ae8baf28e32 568 consigne = atoi(numb);
POTLESS_2 43:5ae8baf28e32 569 control_Servo.setSetPoint(consigne);
POTLESS_2 43:5ae8baf28e32 570 OUTPUT(" MAJ CONSIGNE PID --> Consigne = %d?\r\n", consigne);
POTLESS_2 43:5ae8baf28e32 571 } else if (0 == strcmp(com, "PID")) {
POTLESS_2 43:5ae8baf28e32 572 if (FLAG_PID == 1) {
POTLESS_2 43:5ae8baf28e32 573 control_Servo.setMode(MANUAL_MODE);
POTLESS_2 43:5ae8baf28e32 574 OUTPUT(" PID OFF?\r\n");
POTLESS_2 43:5ae8baf28e32 575 FLAG_PID = 0;
POTLESS_2 43:5ae8baf28e32 576 } else if (FLAG_PID == 0) {
POTLESS_2 43:5ae8baf28e32 577 control_Servo.setMode(AUTO_MODE);
POTLESS_2 43:5ae8baf28e32 578 OUTPUT(" PID ON?\r\n");
POTLESS_2 43:5ae8baf28e32 579 FLAG_PID = 1;
POTLESS_2 43:5ae8baf28e32 580 }
POTLESS_2 12:7f3aadd79f89 581 } else {
POTLESS_2 43:5ae8baf28e32 582
POTLESS_2 9:04bfdfc029cb 583 sensors.cozirSend(message);
POTLESS_2 9:04bfdfc029cb 584 }
POTLESS_2 34:26f6e3dbefb9 585
POTLESS_2 9:04bfdfc029cb 586 strcpy(param," ");
POTLESS_2 9:04bfdfc029cb 587 indexParam = 0;
POTLESS_2 9:04bfdfc029cb 588 newParamFlag = false;
POTLESS_2 9:04bfdfc029cb 589 }
POTLESS_2 9:04bfdfc029cb 590
POTLESS_2 26:a2fe19341f92 591 void Create_File_Name_Date()
POTLESS_2 25:322ef9488e65 592 {
POTLESS_2 25:322ef9488e65 593 //Du nom du fichier Date / heure
POTLESS_2 25:322ef9488e65 594 seconds = time(NULL);
POTLESS_2 25:322ef9488e65 595 char Time[40];
POTLESS_2 25:322ef9488e65 596 strftime(Time, 40, "%a_%d_%m_%Y_%H%M", localtime(&seconds));
POTLESS_2 42:3591ec9903b4 597 sprintf(Log_File_Name, "%s_LOG.csv", Time);
POTLESS_2 42:3591ec9903b4 598 DEBUG(" Nouveau fichier LOG = %s \r\n", Log_File_Name);
POTLESS_2 34:26f6e3dbefb9 599 }
POTLESS_2 34:26f6e3dbefb9 600
POTLESS_2 26:a2fe19341f92 601 void Create_File_Name_Index()
POTLESS_2 26:a2fe19341f92 602 {
POTLESS_2 26:a2fe19341f92 603 //Du nom du fichier par Index
POTLESS_2 42:3591ec9903b4 604 sprintf(Log_File_Name, "LOG_%d.csv", UTILS::File_Index());
POTLESS_2 34:26f6e3dbefb9 605 DEBUG(" Nouveau fichier LOG = %s \r\n", Log_File_Name);
POTLESS_2 34:26f6e3dbefb9 606 }
POTLESS_2 34:26f6e3dbefb9 607
POTLESS_2 4:d84250f67dec 608 int main()
POTLESS_2 12:7f3aadd79f89 609 {
POTLESS_2 47:89a088bc8866 610
POTLESS_2 40:32d89e04ead1 611 HAL_Init();
POTLESS_2 40:32d89e04ead1 612
POTLESS_2 40:32d89e04ead1 613 __HAL_RCC_PWR_CLK_ENABLE();
potless 37:f9461c6592f2 614 HAL_PWR_EnableBkUpAccess();
POTLESS_2 40:32d89e04ead1 615
POTLESS_2 43:5ae8baf28e32 616 //Ci-dessous commande pour formater une nouvelle carte
POTLESS_2 43:5ae8baf28e32 617 //UTILS::Format_Flash();
POTLESS_2 43:5ae8baf28e32 618
POTLESS_2 43:5ae8baf28e32 619 //Montage Flash
POTLESS_2 43:5ae8baf28e32 620 UTILS::Mount_Flash();
POTLESS_2 12:7f3aadd79f89 621
POTLESS_2 43:5ae8baf28e32 622 //Liste des fichiers sur la Flash
POTLESS_2 43:5ae8baf28e32 623 //UTILS::Dir_Flash(&serialMonit);
POTLESS_2 26:a2fe19341f92 624
POTLESS_2 43:5ae8baf28e32 625 if (UTILS::File_Exist("ARNSRS_ID.sys") == false) {
POTLESS_2 43:5ae8baf28e32 626 UTILS::Store_A_Val(000, "ARNSRS_ID.sys");
POTLESS_2 43:5ae8baf28e32 627 DEBUG("ARNSRS ID forcée à 000\r\n");
POTLESS_2 43:5ae8baf28e32 628 }
potless 45:61ba3cc4fc55 629 /*
potless 45:61ba3cc4fc55 630 while(1){
potless 45:61ba3cc4fc55 631 OUTPUT("\r\n\r\n Démarrage de l'appareil, veuillez patienter...\r\n\r\n");}
potless 45:61ba3cc4fc55 632 */
POTLESS_2 34:26f6e3dbefb9 633
POTLESS_2 43:5ae8baf28e32 634 //Vérification RTC, si on est le 01/01/70, c'est qu'il y a un problème...
POTLESS_2 43:5ae8baf28e32 635 seconds = time(NULL);
POTLESS_2 43:5ae8baf28e32 636 char YEAR[10];
POTLESS_2 43:5ae8baf28e32 637 strftime(YEAR, 10, "%D", localtime(&seconds));
POTLESS_2 43:5ae8baf28e32 638 if (0 == strcmp(YEAR, "01/01/70")); //OUTPUT(" Vous devez régler la RTC...\r\n\r\n");
POTLESS_2 18:bfd78c05b589 639
POTLESS_2 43:5ae8baf28e32 640 bool calib_O2 = false;
POTLESS_2 43:5ae8baf28e32 641 bool calib_CO2 = false;
POTLESS_2 18:bfd78c05b589 642
POTLESS_2 43:5ae8baf28e32 643 /*
POTLESS_2 43:5ae8baf28e32 644 Par défaut les valeur en cas de calibration sur true sont les suivant
POTLESS_2 18:bfd78c05b589 645
POTLESS_2 43:5ae8baf28e32 646 nbCalibO2 = 5
POTLESS_2 43:5ae8baf28e32 647 Mode = SPOOLING
POTLESS_2 43:5ae8baf28e32 648 Filtre = DIGI_FILTER32
POTLESS_2 43:5ae8baf28e32 649 CalibrationCO2 = "CALIB_AIR"
POTLESS_2 18:bfd78c05b589 650
POTLESS_2 43:5ae8baf28e32 651 Parfois la calibration du Cozir coince...faire reset et relancer...
POTLESS_2 43:5ae8baf28e32 652
POTLESS_2 43:5ae8baf28e32 653 Pour calibrer avec ces paramètres :
POTLESS_2 18:bfd78c05b589 654
POTLESS_2 43:5ae8baf28e32 655 sensors.Sensors_INIT(true, true);
POTLESS_2 43:5ae8baf28e32 656
POTLESS_2 43:5ae8baf28e32 657 Pour changer utiliser la syntaxe suivante :
POTLESS_2 43:5ae8baf28e32 658
POTLESS_2 43:5ae8baf28e32 659 sensors.Sensors_INIT(true, true, true, 5, SPOOLING, DIGI_FILTER32, CALIB_AIR);
POTLESS_2 43:5ae8baf28e32 660
POTLESS_2 43:5ae8baf28e32 661 */
POTLESS_2 43:5ae8baf28e32 662
POTLESS_2 43:5ae8baf28e32 663 sensors.Sensors_INIT(calib_O2, calib_CO2);
POTLESS_2 43:5ae8baf28e32 664
POTLESS_2 43:5ae8baf28e32 665 wait(1);
POTLESS_2 43:5ae8baf28e32 666
POTLESS_2 43:5ae8baf28e32 667 //Création du nouveau fichier LOG par index / par date.
POTLESS_2 43:5ae8baf28e32 668 //Create_File_Name_Index();
POTLESS_2 43:5ae8baf28e32 669 Create_File_Name_Date();
POTLESS_2 43:5ae8baf28e32 670
POTLESS_2 43:5ae8baf28e32 671 //Création et écriture du header du fichier LOG
POTLESS_2 43:5ae8baf28e32 672 sensors.Create_Header(Log_File_Name);
POTLESS_2 42:3591ec9903b4 673
POTLESS_2 43:5ae8baf28e32 674 Servo_Poumon.Init("Servo_Poumon.sys");
POTLESS_2 43:5ae8baf28e32 675 Servo_Fuite.Init("Servo_Fuite.sys");
POTLESS_2 15:efd3b3bf3f37 676
POTLESS_2 43:5ae8baf28e32 677 //OUTPUT(" Demarrage des threads...\r\n\r\n");
POTLESS_2 43:5ae8baf28e32 678
POTLESS_2 43:5ae8baf28e32 679 /*
POTLESS_2 43:5ae8baf28e32 680
POTLESS_2 43:5ae8baf28e32 681 Pour mémoire, les réglage de priorité des thread
POTLESS_2 15:efd3b3bf3f37 682
POTLESS_2 43:5ae8baf28e32 683 osPriorityIdle = -3, ///< priority: idle (lowest)
POTLESS_2 43:5ae8baf28e32 684 osPriorityLow = -2, ///< priority: low
POTLESS_2 43:5ae8baf28e32 685 osPriorityBelowNormal = -1, ///< priority: below normal
POTLESS_2 43:5ae8baf28e32 686 osPriorityNormal = 0, ///< priority: normal (default)
POTLESS_2 43:5ae8baf28e32 687 osPriorityAboveNormal = +1, ///< priority: above normal
POTLESS_2 43:5ae8baf28e32 688 osPriorityHigh = +2, ///< priority: high
POTLESS_2 43:5ae8baf28e32 689 osPriorityRealtime = +3, ///< priority: realtime (highest)
POTLESS_2 43:5ae8baf28e32 690 osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
POTLESS_2 43:5ae8baf28e32 691 */
POTLESS_2 18:bfd78c05b589 692
POTLESS_2 43:5ae8baf28e32 693 wait(1);
POTLESS_2 20:5f79fb4565a7 694
POTLESS_2 43:5ae8baf28e32 695 Thread thread_Volets(osPriorityNormal);
POTLESS_2 43:5ae8baf28e32 696
POTLESS_2 43:5ae8baf28e32 697 thread_Volets.start(callback(GO_TO_thread));
POTLESS_2 12:7f3aadd79f89 698
POTLESS_2 43:5ae8baf28e32 699 //OUTPUT(" Contrôle des volets démarré\r\n\r\n");
POTLESS_2 43:5ae8baf28e32 700
POTLESS_2 43:5ae8baf28e32 701 wait(1);
POTLESS_2 34:26f6e3dbefb9 702
POTLESS_2 43:5ae8baf28e32 703 Thread thread_Secu(osPriorityNormal);
POTLESS_2 43:5ae8baf28e32 704
POTLESS_2 43:5ae8baf28e32 705 thread_Secu.start(callback(SECU_thread));
POTLESS_2 34:26f6e3dbefb9 706
POTLESS_2 43:5ae8baf28e32 707 //OUTPUT(" Contrôle des paramètres de sécu démarré\r\n\r\n");
POTLESS_2 43:5ae8baf28e32 708
POTLESS_2 43:5ae8baf28e32 709 wait(1);
POTLESS_2 43:5ae8baf28e32 710
POTLESS_2 43:5ae8baf28e32 711 Thread thread_Head(osPriorityNormal);
POTLESS_2 36:1f5e2247b073 712
POTLESS_2 43:5ae8baf28e32 713 thread_Head.start(callback(SENSORS_thread));
POTLESS_2 36:1f5e2247b073 714
POTLESS_2 43:5ae8baf28e32 715 //OUTPUT(" Tête capteurs démarrée\r\n\r\n");
POTLESS_2 43:5ae8baf28e32 716
POTLESS_2 43:5ae8baf28e32 717 wait(1);
POTLESS_2 9:04bfdfc029cb 718
POTLESS_2 43:5ae8baf28e32 719 //Init PID
POTLESS_2 43:5ae8baf28e32 720 //Entrée PPO2 entre 100 et 1000 mb
POTLESS_2 43:5ae8baf28e32 721 control_Servo.setInputLimits(Min_Input, Max_Input);
POTLESS_2 43:5ae8baf28e32 722 //Sortie servo entre 0 et 100 %
POTLESS_2 43:5ae8baf28e32 723 control_Servo.setOutputLimits(Min_Output, Max_Output);
POTLESS_2 43:5ae8baf28e32 724 //Mode auto au démarrage
POTLESS_2 43:5ae8baf28e32 725 control_Servo.setMode(MANUAL_MODE);
POTLESS_2 43:5ae8baf28e32 726 //Consigne à x mb
POTLESS_2 43:5ae8baf28e32 727 control_Servo.setSetPoint(consigne);
POTLESS_2 34:26f6e3dbefb9 728
POTLESS_2 43:5ae8baf28e32 729 //OUTPUT(" Cliquez sur le bouton help pour voir la liste des \r\n commandes administrateur disponibles.\r\n");
POTLESS_2 7:ad15c386e960 730
POTLESS_2 43:5ae8baf28e32 731
POTLESS_2 46:28298df0ac55 732 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 733 wait(0.5);
POTLESS_2 43:5ae8baf28e32 734 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 43:5ae8baf28e32 735
POTLESS_2 47:89a088bc8866 736 serialMonit.attach(&callbackParam);
potless 45:61ba3cc4fc55 737
POTLESS_2 46:28298df0ac55 738 vusb_off_on.fall(&Stop_Sequence);
POTLESS_2 46:28298df0ac55 739
POTLESS_2 46:28298df0ac55 740 E5V = 1;
POTLESS_2 36:1f5e2247b073 741
POTLESS_2 47:89a088bc8866 742 buzzer.beep(1000,0.5);
POTLESS_2 47:89a088bc8866 743
POTLESS_2 43:5ae8baf28e32 744 while (true) {
POTLESS_2 36:1f5e2247b073 745
POTLESS_2 43:5ae8baf28e32 746 //Démarrage du Timer mesurant le temps d'éxecution du code
POTLESS_2 43:5ae8baf28e32 747 REAL_RATE.start();
POTLESS_2 36:1f5e2247b073 748
POTLESS_2 43:5ae8baf28e32 749 if (newParamFlag) {
POTLESS_2 43:5ae8baf28e32 750 DEEP_DEBUG(" From PC = %s\r\n", param);
POTLESS_2 43:5ae8baf28e32 751 Decoding_Message(param);
POTLESS_2 43:5ae8baf28e32 752 }
POTLESS_2 34:26f6e3dbefb9 753
POTLESS_2 43:5ae8baf28e32 754 //Fabrication de la chaine Date / heure
POTLESS_2 43:5ae8baf28e32 755 seconds = time(NULL);
POTLESS_2 43:5ae8baf28e32 756 char Time_buf[32];
POTLESS_2 43:5ae8baf28e32 757 strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds));
POTLESS_2 19:cac3761a5d0b 758
POTLESS_2 43:5ae8baf28e32 759 //Fabrication de la chaine à enregistrer
POTLESS_2 43:5ae8baf28e32 760 sprintf(to_store,"<%s;%d;%d;%.2f;%d;%.2f;%.2f;%d;%d;%d;%.2f;%.2f;%d;%.3f;%.3f;%.3f;%d>",
POTLESS_2 43:5ae8baf28e32 761 Time_buf,
POTLESS_2 43:5ae8baf28e32 762 co2,
POTLESS_2 43:5ae8baf28e32 763 ppO2,
POTLESS_2 43:5ae8baf28e32 764 pression,
POTLESS_2 43:5ae8baf28e32 765 (int)OTU,
POTLESS_2 43:5ae8baf28e32 766 Temp1,
POTLESS_2 43:5ae8baf28e32 767 Temp2,
POTLESS_2 43:5ae8baf28e32 768 Humid,
POTLESS_2 43:5ae8baf28e32 769 CellO2_1,
POTLESS_2 43:5ae8baf28e32 770 CellO2_2,
POTLESS_2 43:5ae8baf28e32 771 volet_poumon_Position,
POTLESS_2 43:5ae8baf28e32 772 volet_fuite_Position,
POTLESS_2 43:5ae8baf28e32 773 FLAG_PID,
POTLESS_2 43:5ae8baf28e32 774 Kc,
POTLESS_2 43:5ae8baf28e32 775 Ti,
POTLESS_2 43:5ae8baf28e32 776 Td,
POTLESS_2 43:5ae8baf28e32 777 consigne
POTLESS_2 43:5ae8baf28e32 778 );
POTLESS_2 15:efd3b3bf3f37 779
POTLESS_2 15:efd3b3bf3f37 780
POTLESS_2 43:5ae8baf28e32 781 //Pour windev
POTLESS_2 43:5ae8baf28e32 782 if (FLAG_WINDEV) {
POTLESS_2 43:5ae8baf28e32 783 OUTPUT("%s\r\n", to_store);
POTLESS_2 43:5ae8baf28e32 784 }
POTLESS_2 43:5ae8baf28e32 785
POTLESS_2 43:5ae8baf28e32 786 //Pour l'IHM
POTLESS_2 46:28298df0ac55 787 if (FLAG_DISPLAY) {
POTLESS_2 46:28298df0ac55 788 IHM("%s\r\n", to_store);
POTLESS_2 46:28298df0ac55 789 }
POTLESS_2 43:5ae8baf28e32 790
POTLESS_2 43:5ae8baf28e32 791 //Vers le moniteur série
POTLESS_2 43:5ae8baf28e32 792 if (FLAG_AFF) {
potless 44:5cd6f84a62ec 793 NVIC_DisableIRQ(USART3_IRQn); // USART 2 si ARNSRS mais plus utilisé
POTLESS_2 43:5ae8baf28e32 794 Affichage();
potless 44:5cd6f84a62ec 795 NVIC_EnableIRQ(USART3_IRQn); // USART 2 si ARNSRS mais plus utilisé
POTLESS_2 43:5ae8baf28e32 796 }
POTLESS_2 12:7f3aadd79f89 797
POTLESS_2 43:5ae8baf28e32 798 //Enregistrement de la chaine
POTLESS_2 43:5ae8baf28e32 799 if (FLAG_REC) {
POTLESS_2 43:5ae8baf28e32 800 UTILS::Write_Flash_File(to_store, Log_File_Name);
POTLESS_2 43:5ae8baf28e32 801 count ++;
POTLESS_2 43:5ae8baf28e32 802 if (count > Max_Log_Size) {
POTLESS_2 43:5ae8baf28e32 803 Create_File_Name_Date();
POTLESS_2 43:5ae8baf28e32 804 sensors.Create_Header(Log_File_Name);
POTLESS_2 43:5ae8baf28e32 805 count = 0;
POTLESS_2 43:5ae8baf28e32 806 OUTPUT("$\r\n");
POTLESS_2 43:5ae8baf28e32 807 wait(0.5);
POTLESS_2 43:5ae8baf28e32 808 UTILS::Dir_Flash(&serialMonit);
POTLESS_2 34:26f6e3dbefb9 809 }
POTLESS_2 34:26f6e3dbefb9 810 }
POTLESS_2 43:5ae8baf28e32 811
POTLESS_2 43:5ae8baf28e32 812 //Update du PID
POTLESS_2 43:5ae8baf28e32 813 control_Servo.setProcessValue(ppO2);
POTLESS_2 43:5ae8baf28e32 814 //Nouvelle sortie servo fuite si on est pas en mode SECU
potless 45:61ba3cc4fc55 815 //if(!EN_MODE_SECU) Consigne_fuite = control_Servo.compute();
POTLESS_2 43:5ae8baf28e32 816
POTLESS_2 43:5ae8baf28e32 817 //Arrêt du Timer mesurant le temps d'éxecution du code
POTLESS_2 43:5ae8baf28e32 818 REAL_RATE.stop();
POTLESS_2 43:5ae8baf28e32 819 //Définition de la nouvelle valeur du temps d'échantillonage du PID.
POTLESS_2 43:5ae8baf28e32 820 RATE = REAL_RATE.read();
POTLESS_2 43:5ae8baf28e32 821 //Reset du Timer
POTLESS_2 43:5ae8baf28e32 822 REAL_RATE.reset();
POTLESS_2 43:5ae8baf28e32 823
POTLESS_2 43:5ae8baf28e32 824 //Pour ralentir le code à Ref_Time seconde fixe quelque soit les intéruptions du loop....
POTLESS_2 43:5ae8baf28e32 825 if (Ref_Time > RATE) {
POTLESS_2 43:5ae8baf28e32 826 RATE_TRUE = (Ref_Time - RATE) * 1000;
POTLESS_2 43:5ae8baf28e32 827 } else {
POTLESS_2 43:5ae8baf28e32 828 RATE_TRUE = 0;
POTLESS_2 43:5ae8baf28e32 829
POTLESS_2 43:5ae8baf28e32 830 //control_Servo.setInterval(RATE);
POTLESS_2 43:5ae8baf28e32 831
POTLESS_2 43:5ae8baf28e32 832 DEEP_DEBUG("Pour ralentir le code, Ref_Time doit être supérieur à %f seconde(s)\r\n\n", RATE);
POTLESS_2 43:5ae8baf28e32 833 }
POTLESS_2 43:5ae8baf28e32 834
POTLESS_2 43:5ae8baf28e32 835 wait_ms(RATE_TRUE);
POTLESS_2 34:26f6e3dbefb9 836 }
POTLESS_2 4:d84250f67dec 837 }
POTLESS_2 43:5ae8baf28e32 838
POTLESS_2 43:5ae8baf28e32 839