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@18:bfd78c05b589, 2017-12-05 (annotated)

Committer:
POTLESS_2
Date:
Tue Dec 05 15:20:29 2017 +0000
Revision:
18:bfd78c05b589
Parent:
17:bef8abc445f2
Child:
19:cac3761a5d0b
OTU, secours

Who changed what in which revision?

UserRevisionLine numberNew contents of line
POTLESS_2 17:bef8abc445f2 1 /*
POTLESS_2 17:bef8abc445f2 2
POTLESS_2 17:bef8abc445f2 3 Câblage complet STM32L476RG :
POTLESS_2 17:bef8abc445f2 4
POTLESS_2 17:bef8abc445f2 5 - Port SPI carte SD :
POTLESS_2 17:bef8abc445f2 6
POTLESS_2 17:bef8abc445f2 7 MOSI -> PA_7
POTLESS_2 17:bef8abc445f2 8 MISO -> PA_6
POTLESS_2 17:bef8abc445f2 9 SCK -> PA_5
POTLESS_2 17:bef8abc445f2 10 CS -> PB_6
POTLESS_2 17:bef8abc445f2 11
POTLESS_2 17:bef8abc445f2 12 - Sensor Head :
POTLESS_2 17:bef8abc445f2 13
POTLESS_2 17:bef8abc445f2 14 Alim en 3.3v
POTLESS_2 17:bef8abc445f2 15
POTLESS_2 17:bef8abc445f2 16 SCL -> PB_8
POTLESS_2 17:bef8abc445f2 17 SDA -> PB_9
POTLESS_2 17:bef8abc445f2 18 TX -> PC_12
POTLESS_2 17:bef8abc445f2 19 RX -> PD_2
POTLESS_2 17:bef8abc445f2 20 AlertRdy -> PA_11
POTLESS_2 17:bef8abc445f2 21
POTLESS_2 17:bef8abc445f2 22
POTLESS_2 17:bef8abc445f2 23 - HC_06 :
POTLESS_2 17:bef8abc445f2 24
POTLESS_2 17:bef8abc445f2 25 Alim en 3.3v ou 5v
POTLESS_2 17:bef8abc445f2 26
POTLESS_2 17:bef8abc445f2 27 TX -> PC_10
POTLESS_2 17:bef8abc445f2 28 RX -> PC_11
POTLESS_2 17:bef8abc445f2 29
POTLESS_2 17:bef8abc445f2 30 - STM32L476RG sur H-Bridge L293 :
POTLESS_2 17:bef8abc445f2 31
POTLESS_2 17:bef8abc445f2 32 Reférence L293 : http://www.ti.com/lit/ds/symlink/l293.pdf
POTLESS_2 17:bef8abc445f2 33
POTLESS_2 17:bef8abc445f2 34 Volet Poumon :
POTLESS_2 17:bef8abc445f2 35 PWM -> PB_5 -> 1
POTLESS_2 17:bef8abc445f2 36 FWD -> PB_4 -> 2
POTLESS_2 17:bef8abc445f2 37 REV -> PB_10 -> 7
POTLESS_2 17:bef8abc445f2 38
POTLESS_2 17:bef8abc445f2 39 Volet Fuite :
POTLESS_2 17:bef8abc445f2 40 PWM -> PB_13 -> 9
POTLESS_2 17:bef8abc445f2 41 FWD -> PB_14 -> 10
POTLESS_2 17:bef8abc445f2 42 REV -> PB_15 -> 15
POTLESS_2 17:bef8abc445f2 43
POTLESS_2 17:bef8abc445f2 44 Potentiomètres retour Position :
POTLESS_2 17:bef8abc445f2 45
POTLESS_2 17:bef8abc445f2 46 Alim en 3.3v
POTLESS_2 17:bef8abc445f2 47
POTLESS_2 17:bef8abc445f2 48 Feedback Volet Poumon -> PC_2
POTLESS_2 17:bef8abc445f2 49 Feedback Volet Fuite -> PC_3
POTLESS_2 17:bef8abc445f2 50
POTLESS_2 17:bef8abc445f2 51 - Câblage complet du H-Bridge L293 :
POTLESS_2 17:bef8abc445f2 52
POTLESS_2 17:bef8abc445f2 53 1 -> PB_5
POTLESS_2 17:bef8abc445f2 54 2 -> PB_4
POTLESS_2 17:bef8abc445f2 55 3 -> Borne moteur
POTLESS_2 17:bef8abc445f2 56 4 -> non connectée
POTLESS_2 17:bef8abc445f2 57 5 -> GND
POTLESS_2 17:bef8abc445f2 58 6 -> Borne moteur
POTLESS_2 17:bef8abc445f2 59 7 -> PB_10
POTLESS_2 17:bef8abc445f2 60 8 -> V+ Alimentation moteurs 4.5v - 36v
POTLESS_2 17:bef8abc445f2 61
POTLESS_2 17:bef8abc445f2 62 9 -> PB_13
POTLESS_2 17:bef8abc445f2 63 10 -> PB_14
POTLESS_2 17:bef8abc445f2 64 11 -> Borne moteur
POTLESS_2 17:bef8abc445f2 65 12 -> GND
POTLESS_2 17:bef8abc445f2 66 13 -> non connectée
POTLESS_2 17:bef8abc445f2 67 14 -> borne moteur
POTLESS_2 17:bef8abc445f2 68 15 -> PB_15
POTLESS_2 17:bef8abc445f2 69 16 -> V+ Alimentation logic 5v (alim moteur si tension compatible....)
POTLESS_2 17:bef8abc445f2 70
POTLESS_2 17:bef8abc445f2 71 */
POTLESS_2 18:bfd78c05b589 72
potless 1:bef7856b5c0a 73 #include "mbed.h"
potless 2:4a8bf1d53439 74 #include <string>
POTLESS_2 7:ad15c386e960 75 #include "Sensor_head_revB.h"
POTLESS_2 8:a750d531b381 76 #include "HTU21D.h"
POTLESS_2 12:7f3aadd79f89 77 #include "PID.h"
POTLESS_2 17:bef8abc445f2 78 #include "Actuonix.h"
POTLESS_2 4:d84250f67dec 79
POTLESS_2 17:bef8abc445f2 80 //Commandes des servos
POTLESS_2 17:bef8abc445f2 81 #define PWM_SERVO_POUMON PB_5
POTLESS_2 17:bef8abc445f2 82 #define FWD_SERVO_POUMON PB_4
POTLESS_2 17:bef8abc445f2 83 #define REV_SERVO_POUMON PB_10
POTLESS_2 10:aca745a66d51 84 #define FEED_BACK_SERVO_POUMON PC_2
POTLESS_2 17:bef8abc445f2 85
POTLESS_2 17:bef8abc445f2 86 #define PWM_SERVO_FUITE PB_13
POTLESS_2 17:bef8abc445f2 87 #define FWD_SERVO_FUITE PB_14
POTLESS_2 17:bef8abc445f2 88 #define REV_SERVO_FUITE PB_15
POTLESS_2 10:aca745a66d51 89 #define FEED_BACK_SERVO_FUITE PC_3
POTLESS_2 9:04bfdfc029cb 90
POTLESS_2 17:bef8abc445f2 91 //Mapping des valeur.
POTLESS_2 17:bef8abc445f2 92 #define MAX_MAP 100//Mapping en pourcentage
POTLESS_2 17:bef8abc445f2 93 //#define MAX_MAP 90//Mapping en en degrés sur 90 degrés
POTLESS_2 17:bef8abc445f2 94
POTLESS_2 17:bef8abc445f2 95 //Ecrit dans le moniteur série de la tablette à 115200 bds si sur 1, penser à mettre NEED_CONSOLE_OUTPUT à 0
POTLESS_2 9:04bfdfc029cb 96 #define NEED_ANDROID_OUTPUT 1
POTLESS_2 9:04bfdfc029cb 97
POTLESS_2 10:aca745a66d51 98 //Sortie en mode VT100, à commenter si on veut une sortie type Arduino
POTLESS_2 10:aca745a66d51 99 //#define VT100
POTLESS_2 9:04bfdfc029cb 100
POTLESS_2 17:bef8abc445f2 101 //Mode PID, STD à commenter / décommenter
POTLESS_2 17:bef8abc445f2 102 #define STD_MODE
POTLESS_2 17:bef8abc445f2 103 //#define PID_MODE
POTLESS_2 11:b2feed92584a 104
POTLESS_2 12:7f3aadd79f89 105 #ifdef STD_MODE
POTLESS_2 12:7f3aadd79f89 106 int MODE_FLAG = 0;
POTLESS_2 11:b2feed92584a 107 #endif
POTLESS_2 11:b2feed92584a 108
POTLESS_2 12:7f3aadd79f89 109 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 110 int MODE_FLAG = 2;
POTLESS_2 11:b2feed92584a 111 #endif
POTLESS_2 11:b2feed92584a 112
POTLESS_2 9:04bfdfc029cb 113 #if NEED_ANDROID_OUTPUT
POTLESS_2 9:04bfdfc029cb 114 #define ANDROID(...) { android.printf(__VA_ARGS__); }
POTLESS_2 9:04bfdfc029cb 115 #else
POTLESS_2 9:04bfdfc029cb 116 #define ANDROID(...)
POTLESS_2 9:04bfdfc029cb 117 #endif
POTLESS_2 9:04bfdfc029cb 118
POTLESS_2 17:bef8abc445f2 119 Actuonix Servo_Poumon(FEED_BACK_SERVO_POUMON, PWM_SERVO_POUMON, FWD_SERVO_POUMON, REV_SERVO_POUMON, 1, MAX_MAP);
POTLESS_2 18:bfd78c05b589 120
POTLESS_2 17:bef8abc445f2 121 Actuonix Servo_Fuite(FEED_BACK_SERVO_FUITE, PWM_SERVO_FUITE, FWD_SERVO_FUITE, REV_SERVO_FUITE, 1, MAX_MAP);
POTLESS_2 17:bef8abc445f2 122
POTLESS_2 17:bef8abc445f2 123 //Moniteur série, Serial 2
POTLESS_2 17:bef8abc445f2 124 Serial serialMonit(USBTX,USBRX,115200);
POTLESS_2 10:aca745a66d51 125
POTLESS_2 9:04bfdfc029cb 126 //COM Série vers Android, Serial 3
POTLESS_2 17:bef8abc445f2 127 Serial android(PC_10,PC_11,115200);
POTLESS_2 4:d84250f67dec 128
POTLESS_2 7:ad15c386e960 129 //Init de la lib ARNSRS;
POTLESS_2 7:ad15c386e960 130 SENSOR_HEAD_REV_B sensors;
potless 2:4a8bf1d53439 131
POTLESS_2 6:ebed9093d661 132 //pour Param Cozir
POTLESS_2 9:04bfdfc029cb 133 const int sizeParam = 20;
POTLESS_2 11:b2feed92584a 134 char param[sizeParam];
POTLESS_2 11:b2feed92584a 135 volatile int indexParam = 0;
POTLESS_2 6:ebed9093d661 136 bool newParamFlag = false;
potless 2:4a8bf1d53439 137
POTLESS_2 9:04bfdfc029cb 138 //pour Commandes Android
POTLESS_2 9:04bfdfc029cb 139 const int sizeAndroid = 20;
POTLESS_2 11:b2feed92584a 140 char Android[sizeAndroid];
POTLESS_2 11:b2feed92584a 141 volatile int indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 142 bool newAndroidFlag = false;
POTLESS_2 12:7f3aadd79f89 143 char to_android[100];
POTLESS_2 9:04bfdfc029cb 144
POTLESS_2 7:ad15c386e960 145 //Variables de stockage des infos capteurs
POTLESS_2 7:ad15c386e960 146 int co2 = 0;
POTLESS_2 7:ad15c386e960 147 float pression = 0;
POTLESS_2 9:04bfdfc029cb 148 float Temp1 = 0;
POTLESS_2 7:ad15c386e960 149 int ppO2 = 0;
POTLESS_2 7:ad15c386e960 150 int CellO2_1 = 0;
POTLESS_2 7:ad15c386e960 151 int CellO2_2 = 0;
POTLESS_2 7:ad15c386e960 152
POTLESS_2 18:bfd78c05b589 153 //Variables et constantes OTU
POTLESS_2 18:bfd78c05b589 154 float OTU = 0;
POTLESS_2 18:bfd78c05b589 155 float COEF_OTU = 0.83;
POTLESS_2 18:bfd78c05b589 156
POTLESS_2 17:bef8abc445f2 157 //Mesure du temps d'éxecution du loop
POTLESS_2 7:ad15c386e960 158 Timer REAL_RATE;
POTLESS_2 7:ad15c386e960 159 float RATE = 0;
POTLESS_2 11:b2feed92584a 160 float RATE_TRUE = 0;
POTLESS_2 12:7f3aadd79f89 161 float Ref_Time = 1.0; //La durée de la boucle désirée...
POTLESS_2 7:ad15c386e960 162
POTLESS_2 17:bef8abc445f2 163 //HTU21D sur l'I2C
POTLESS_2 8:a750d531b381 164 HTU21D temphumid(PB_9, PB_8); //Temp humid sensor || SDA, SCL
POTLESS_2 9:04bfdfc029cb 165 float Temp2;
POTLESS_2 9:04bfdfc029cb 166 int Humid;
POTLESS_2 9:04bfdfc029cb 167
POTLESS_2 9:04bfdfc029cb 168 //Data LOG
POTLESS_2 9:04bfdfc029cb 169 char to_store[50];
POTLESS_2 9:04bfdfc029cb 170 time_t seconds;
POTLESS_2 8:a750d531b381 171
POTLESS_2 8:a750d531b381 172 //VT100
POTLESS_2 8:a750d531b381 173 static const char CLS[] = "\x1B[2J";
POTLESS_2 8:a750d531b381 174 static const char HOME[] = "\x1B[H";
POTLESS_2 8:a750d531b381 175
POTLESS_2 17:bef8abc445f2 176 //Thread d'intérogation des capteurs et de positionnement des volets
POTLESS_2 7:ad15c386e960 177 Thread thread;
POTLESS_2 7:ad15c386e960 178
POTLESS_2 10:aca745a66d51 179 //Contrôle des servos
POTLESS_2 17:bef8abc445f2 180 float Consigne_poumon = 50;
POTLESS_2 10:aca745a66d51 181 float volet_poumon_Position;
POTLESS_2 10:aca745a66d51 182
POTLESS_2 17:bef8abc445f2 183 float Consigne_fuite = 50;
POTLESS_2 10:aca745a66d51 184 float volet_fuite_Position;
POTLESS_2 10:aca745a66d51 185
POTLESS_2 12:7f3aadd79f89 186 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 187 //Paramètre du PID
POTLESS_2 12:7f3aadd79f89 188 float Kc = 40;
POTLESS_2 12:7f3aadd79f89 189 float Ti = 0;
POTLESS_2 12:7f3aadd79f89 190 float Td = 0;
POTLESS_2 12:7f3aadd79f89 191 float RATE_PID = Ref_Time;
POTLESS_2 12:7f3aadd79f89 192 float Commande_PID;
POTLESS_2 15:efd3b3bf3f37 193 float consigne = 210;
POTLESS_2 15:efd3b3bf3f37 194 float Max_Input = 1000;
POTLESS_2 15:efd3b3bf3f37 195 float Min_Input = 80;
POTLESS_2 18:bfd78c05b589 196 float Max_Output = MAX_MAP - 5;//Vérifier la valeur pour angle à laisser ouvert...
POTLESS_2 18:bfd78c05b589 197 float Min_Output = 0;
POTLESS_2 10:aca745a66d51 198
POTLESS_2 12:7f3aadd79f89 199 //Init PID
POTLESS_2 17:bef8abc445f2 200 PID control_Servo(Kc, Ti, Td, RATE_PID);
POTLESS_2 12:7f3aadd79f89 201 #endif
POTLESS_2 10:aca745a66d51 202
POTLESS_2 18:bfd78c05b589 203 //Boolean du status de l'appareil, en mode secours ou nominal
POTLESS_2 18:bfd78c05b589 204 bool EN_MODE_SCOURS = false;
POTLESS_2 18:bfd78c05b589 205
POTLESS_2 18:bfd78c05b589 206 //Passage en mode secours
POTLESS_2 18:bfd78c05b589 207 void Mode_Secours()
POTLESS_2 18:bfd78c05b589 208 {
POTLESS_2 18:bfd78c05b589 209 #ifdef PID_MODE
POTLESS_2 18:bfd78c05b589 210 //Mise du PID en mode manuel (desactivation...)
POTLESS_2 18:bfd78c05b589 211 control_Servo.setMode(MANUAL_MODE);
POTLESS_2 18:bfd78c05b589 212 #endif
POTLESS_2 18:bfd78c05b589 213 Consigne_poumon = MAX_MAP;
POTLESS_2 18:bfd78c05b589 214 Consigne_fuite = MAX_MAP;
POTLESS_2 18:bfd78c05b589 215 printf("-------------- Appareil en mode secours ---------------");
POTLESS_2 18:bfd78c05b589 216 EN_MODE_SCOURS = true;
POTLESS_2 18:bfd78c05b589 217 }
POTLESS_2 18:bfd78c05b589 218
POTLESS_2 18:bfd78c05b589 219 //Contrôle du status de l'appareil / des constantes
POTLESS_2 18:bfd78c05b589 220 bool Check()
POTLESS_2 18:bfd78c05b589 221 {
POTLESS_2 18:bfd78c05b589 222 if (ppO2 > 100)
POTLESS_2 18:bfd78c05b589 223 return true;//Situation OK
POTLESS_2 18:bfd78c05b589 224 else
POTLESS_2 18:bfd78c05b589 225 return false;//Situation dégradée
POTLESS_2 18:bfd78c05b589 226 }
POTLESS_2 18:bfd78c05b589 227
POTLESS_2 18:bfd78c05b589 228 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 229 float Calcul_OTU()
POTLESS_2 18:bfd78c05b589 230 {
POTLESS_2 18:bfd78c05b589 231 /*
POTLESS_2 18:bfd78c05b589 232 La formule suivante permet de calculer la quantité d' OTU accumulée
POTLESS_2 18:bfd78c05b589 233 OTU = T * (2* PpO2 -1)0,83
POTLESS_2 18:bfd78c05b589 234 avec :
POTLESS_2 18:bfd78c05b589 235 T = temps de plongée en minutes
POTLESS_2 18:bfd78c05b589 236 PpO2 = pression partielle d’ oxygène en bars
POTLESS_2 18:bfd78c05b589 237 */
POTLESS_2 18:bfd78c05b589 238
POTLESS_2 18:bfd78c05b589 239 if (ppO2 > 500){
POTLESS_2 18:bfd78c05b589 240 float val = (2 * (float)ppO2/1000 - 1);//je divise par 1000 car la PP est en mb...
POTLESS_2 18:bfd78c05b589 241 OTU += Ref_Time * pow(val, COEF_OTU);
POTLESS_2 18:bfd78c05b589 242 }
POTLESS_2 18:bfd78c05b589 243 }
POTLESS_2 10:aca745a66d51 244
POTLESS_2 17:bef8abc445f2 245 //Thread d'intérogation des capteurs, positions servo
POTLESS_2 10:aca745a66d51 246 void Get_Info_thread()
POTLESS_2 6:ebed9093d661 247 {
POTLESS_2 7:ad15c386e960 248 while (true) {
POTLESS_2 7:ad15c386e960 249
POTLESS_2 7:ad15c386e960 250 //CO2 sur Cozir
POTLESS_2 7:ad15c386e960 251 co2 = sensors.requestCO2();
POTLESS_2 7:ad15c386e960 252 //P / T sur MS5837
POTLESS_2 7:ad15c386e960 253 pression = sensors.requestPress();
POTLESS_2 9:04bfdfc029cb 254 Temp1 = sensors.requestTemp();
POTLESS_2 7:ad15c386e960 255 //PPO2 sur ADS1015
POTLESS_2 7:ad15c386e960 256 ppO2 = sensors.requestPpO2();
POTLESS_2 7:ad15c386e960 257 //Cell O2 en mV
POTLESS_2 7:ad15c386e960 258 CellO2_1 = sensors.requestCellO2_1();
POTLESS_2 7:ad15c386e960 259 CellO2_2 = sensors.requestCellO2_2();
POTLESS_2 9:04bfdfc029cb 260
POTLESS_2 8:a750d531b381 261 //HTU21D
POTLESS_2 9:04bfdfc029cb 262 Temp2 = temphumid.sample_ctemp();
POTLESS_2 9:04bfdfc029cb 263 Humid = temphumid.sample_humid();
POTLESS_2 9:04bfdfc029cb 264
POTLESS_2 10:aca745a66d51 265 //Retour position des servos
POTLESS_2 17:bef8abc445f2 266 volet_poumon_Position = Servo_Poumon.Get_Position();
POTLESS_2 17:bef8abc445f2 267 volet_fuite_Position = Servo_Fuite.Get_Position();
POTLESS_2 12:7f3aadd79f89 268
POTLESS_2 17:bef8abc445f2 269 //Position des servo mise à jour en permanence dans le thread
POTLESS_2 17:bef8abc445f2 270 Servo_Poumon.Go_To_Prop(Consigne_poumon);
POTLESS_2 17:bef8abc445f2 271 Servo_Fuite.Go_To_Prop(Consigne_fuite);
POTLESS_2 18:bfd78c05b589 272
POTLESS_2 18:bfd78c05b589 273 if(!Check()) Mode_Secours();
POTLESS_2 15:efd3b3bf3f37 274 }
potless 2:4a8bf1d53439 275 }
POTLESS_2 4:d84250f67dec 276
POTLESS_2 7:ad15c386e960 277 void Affichage_moniteur()
POTLESS_2 4:d84250f67dec 278 {
POTLESS_2 12:7f3aadd79f89 279 #ifndef VT100
POTLESS_2 9:04bfdfc029cb 280 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 281 printf(" CO2 = %d ppm\r\n" , co2);
POTLESS_2 9:04bfdfc029cb 282 printf(" PPO2 = %d mb\r\n", ppO2);
POTLESS_2 18:bfd78c05b589 283 printf(" OTU = %d \r\n", OTU);
POTLESS_2 9:04bfdfc029cb 284 printf(" Pression = %f msw\r\n", pression);
POTLESS_2 10:aca745a66d51 285 printf(" Temp MS5837 = %f C\r\n", Temp1);
POTLESS_2 10:aca745a66d51 286 printf(" Temp HTU21D = %f C\n\r", Temp2);
POTLESS_2 9:04bfdfc029cb 287 printf(" Humidity = %d %%\n\r", Humid);
POTLESS_2 8:a750d531b381 288 printf("\n\r");
POTLESS_2 8:a750d531b381 289 printf(" Cell O2 n 1 = %d\r\n" , CellO2_1);
POTLESS_2 8:a750d531b381 290 printf(" Cell O2 n 2 = %d\r\n" , CellO2_2);
POTLESS_2 7:ad15c386e960 291 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 292 printf("\n");
POTLESS_2 17:bef8abc445f2 293 printf(" Volet Poumon = %f\r\n" , volet_poumon_Position);
POTLESS_2 17:bef8abc445f2 294 printf(" Volet Fuite = %f\r\n" , volet_fuite_Position);
POTLESS_2 10:aca745a66d51 295 printf("\r\n");
POTLESS_2 12:7f3aadd79f89 296 printf("Temps d execution de la boucle = %f seconde(s)\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 17:bef8abc445f2 297 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 298 printf("A enregistrer = %s\n", to_store);
POTLESS_2 9:04bfdfc029cb 299 printf("\r\n");
POTLESS_2 10:aca745a66d51 300 #endif
POTLESS_2 9:04bfdfc029cb 301
POTLESS_2 12:7f3aadd79f89 302 #ifdef VT100
POTLESS_2 8:a750d531b381 303 printf(HOME);
POTLESS_2 8:a750d531b381 304 printf("\x1b[30m");
POTLESS_2 9:04bfdfc029cb 305 printf("\x1b[0m\r CO2 = \x1b[1m\x1b[K%d ppm\n", co2);
POTLESS_2 9:04bfdfc029cb 306 printf("\x1b[0m\r PPO2 = \x1b[1m\x1b[K%d mb\n", ppO2);
POTLESS_2 9:04bfdfc029cb 307 printf("\n");
POTLESS_2 18:bfd78c05b589 308 printf("\x1b[0m\r OTU = \x1b[1m\x1b[K%d mb\n", OTU);
POTLESS_2 18:bfd78c05b589 309 printf("\n");
POTLESS_2 9:04bfdfc029cb 310 printf("\x1b[0m\r Pression = \x1b[1m\x1b[K%.2f msw\n", pression);
POTLESS_2 9:04bfdfc029cb 311 printf("\n");
POTLESS_2 10:aca745a66d51 312 printf("\x1b[0m\r Temp MS5837 = \x1b[1m\x1b[K%.2f C\n", Temp1);
POTLESS_2 10:aca745a66d51 313 printf("\x1b[0m\r Temp HTU21D = \x1b[1m\x1b[K%.2f C\n", Temp2);
POTLESS_2 9:04bfdfc029cb 314 printf("\n");
POTLESS_2 9:04bfdfc029cb 315 printf("\x1b[0m\r Humidity = \x1b[1m\x1b[K%d %\n", Humid);
POTLESS_2 9:04bfdfc029cb 316 printf("\n");
POTLESS_2 8:a750d531b381 317 printf("\x1b[0m\r Cell O2 n 1 = \x1b[1m\x1b[K%d\n", CellO2_1);
POTLESS_2 8:a750d531b381 318 printf("\x1b[0m\r Cell O2 n 2 = \x1b[1m\x1b[K%d\n", CellO2_2);
POTLESS_2 8:a750d531b381 319 printf("\n");
POTLESS_2 17:bef8abc445f2 320 printf("\x1b[0m\r Volet Poumon = \x1b[1m\x1b[K%.2f\n", volet_poumon_Position);
POTLESS_2 17:bef8abc445f2 321 printf("\x1b[0m\r Volet Fuite = \x1b[1m\x1b[K%.2f\n", volet_fuite_Position);
POTLESS_2 10:aca745a66d51 322 printf("\n");
POTLESS_2 13:22a96dc67e85 323 printf("\x1b[0m\r Temps d execution de la boucle = \x1b[1m\x1b[K%f seconde(s)\n", (RATE + RATE_TRUE / 1000));
POTLESS_2 17:bef8abc445f2 324 printf("\r\n");
POTLESS_2 9:04bfdfc029cb 325 printf("\x1b[0m\r A enregistrer = \x1b[1m\x1b[K%s\n", to_store);
POTLESS_2 17:bef8abc445f2 326 printf("\r\n");
POTLESS_2 12:7f3aadd79f89 327 #endif
POTLESS_2 4:d84250f67dec 328 }
POTLESS_2 4:d84250f67dec 329
POTLESS_2 11:b2feed92584a 330 //Callback de l'intérruption des envois de commandes depuis le terminal
POTLESS_2 6:ebed9093d661 331 void callbackParam()
POTLESS_2 4:d84250f67dec 332 {
POTLESS_2 6:ebed9093d661 333 while(serialMonit.readable()) {
POTLESS_2 6:ebed9093d661 334 if (indexParam == sizeParam) //éviter la saturation du buffer
POTLESS_2 6:ebed9093d661 335 serialMonit.getc();
POTLESS_2 6:ebed9093d661 336 else
POTLESS_2 6:ebed9093d661 337 param [indexParam++] = serialMonit.getc();//chargement du buffer dans le message
POTLESS_2 6:ebed9093d661 338 if ((indexParam == sizeParam) || (param[indexParam -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 6:ebed9093d661 339 param[indexParam] = 0;
POTLESS_2 6:ebed9093d661 340 newParamFlag = true;
POTLESS_2 6:ebed9093d661 341 }
POTLESS_2 4:d84250f67dec 342 }
POTLESS_2 6:ebed9093d661 343 }
POTLESS_2 4:d84250f67dec 344
POTLESS_2 9:04bfdfc029cb 345 //Callback de l'intérruption des envois de commandes depuis Android
POTLESS_2 9:04bfdfc029cb 346 void callbackAndroid()
POTLESS_2 9:04bfdfc029cb 347 {
POTLESS_2 9:04bfdfc029cb 348 while(android.readable()) {
POTLESS_2 9:04bfdfc029cb 349 if (indexAndroid == sizeAndroid) //éviter la saturation du buffer
POTLESS_2 9:04bfdfc029cb 350 android.getc();
POTLESS_2 9:04bfdfc029cb 351 else
POTLESS_2 9:04bfdfc029cb 352 Android [indexAndroid++] = android.getc();//chargement du buffer dans le message
POTLESS_2 9:04bfdfc029cb 353 if ((indexAndroid == sizeAndroid) || (Android[indexAndroid -1] == '\n')) {//le message est complet ou nouvelle ligne ou autre si on veut...
POTLESS_2 9:04bfdfc029cb 354 Android[indexAndroid] = 0;
POTLESS_2 9:04bfdfc029cb 355 newAndroidFlag = true;
POTLESS_2 9:04bfdfc029cb 356 }
POTLESS_2 9:04bfdfc029cb 357 }
POTLESS_2 9:04bfdfc029cb 358 }
POTLESS_2 11:b2feed92584a 359
POTLESS_2 9:04bfdfc029cb 360 void Decoding_Message(char message [])
POTLESS_2 9:04bfdfc029cb 361 {
POTLESS_2 9:04bfdfc029cb 362 char *commande = 0;
POTLESS_2 14:b5e0e882205e 363 float valeur = 0;
POTLESS_2 9:04bfdfc029cb 364
POTLESS_2 14:b5e0e882205e 365 sscanf(message,"%s %f",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 366
POTLESS_2 9:04bfdfc029cb 367 if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 368 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 369 } else if ((char)commande == 'I') {
POTLESS_2 17:bef8abc445f2 370 Consigne_poumon = (float)valeur;
POTLESS_2 17:bef8abc445f2 371 printf(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 12:7f3aadd79f89 372 } else if ((char)commande == 'O') {
POTLESS_2 17:bef8abc445f2 373 Consigne_fuite = (float)valeur;
POTLESS_2 17:bef8abc445f2 374 printf(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 10:aca745a66d51 375 } else if ((char)commande == 'R') {
POTLESS_2 10:aca745a66d51 376 NVIC_SystemReset();
POTLESS_2 12:7f3aadd79f89 377 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 378 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 379 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 380 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 381 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 382 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 383 } else {
POTLESS_2 9:04bfdfc029cb 384 sensors.cozirSend(message);
POTLESS_2 9:04bfdfc029cb 385 }
POTLESS_2 9:04bfdfc029cb 386
POTLESS_2 9:04bfdfc029cb 387 strcpy(param," ");
POTLESS_2 9:04bfdfc029cb 388 indexParam = 0;
POTLESS_2 9:04bfdfc029cb 389 newParamFlag = false;
POTLESS_2 9:04bfdfc029cb 390 }
POTLESS_2 9:04bfdfc029cb 391
POTLESS_2 9:04bfdfc029cb 392 void Decoding_Message_Android(char message [])
POTLESS_2 9:04bfdfc029cb 393 {
POTLESS_2 9:04bfdfc029cb 394 char *commande = 0;
POTLESS_2 14:b5e0e882205e 395 float valeur = 0;
POTLESS_2 9:04bfdfc029cb 396
POTLESS_2 14:b5e0e882205e 397 sscanf(message,"%s %f",&commande , &valeur);
POTLESS_2 9:04bfdfc029cb 398
POTLESS_2 9:04bfdfc029cb 399 if ((char)commande == 'T') {
POTLESS_2 9:04bfdfc029cb 400 set_time(valeur);
POTLESS_2 12:7f3aadd79f89 401 } else if ((char)commande == 'I') {
POTLESS_2 17:bef8abc445f2 402 Consigne_poumon = (float)valeur;
POTLESS_2 17:bef8abc445f2 403 printf(" Servo Poumon = %f\r\n", Consigne_poumon);
POTLESS_2 12:7f3aadd79f89 404 } else if ((char)commande == 'O') {
POTLESS_2 17:bef8abc445f2 405 Consigne_fuite = (float)valeur;
POTLESS_2 17:bef8abc445f2 406 printf(" Servo Fuite = %f\r\n", Consigne_fuite);
POTLESS_2 12:7f3aadd79f89 407 /////////////////////////////////////////
POTLESS_2 12:7f3aadd79f89 408 //Pour rajouter une commande
POTLESS_2 12:7f3aadd79f89 409 //} else if ((char)commande == 'X') {
POTLESS_2 12:7f3aadd79f89 410 // attribuer à une VARIABLE = valeur;
POTLESS_2 12:7f3aadd79f89 411 // ou une action, avec ou sans valeur
POTLESS_2 12:7f3aadd79f89 412 /////////////////////////////////////////
POTLESS_2 9:04bfdfc029cb 413 } else if ((char)commande == 'R') {
POTLESS_2 9:04bfdfc029cb 414 NVIC_SystemReset();
POTLESS_2 9:04bfdfc029cb 415 }
POTLESS_2 12:7f3aadd79f89 416 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 417 else if ((char)commande == 'p') {
POTLESS_2 12:7f3aadd79f89 418 Kc = (float)valeur;
POTLESS_2 16:917656586772 419 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 420 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 14:b5e0e882205e 421 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 422 } else if ((char)commande == 'i') {
POTLESS_2 12:7f3aadd79f89 423 Ti = (float)valeur;
POTLESS_2 16:917656586772 424 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 425 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 14:b5e0e882205e 426 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 427 } else if ((char)commande == 'd') {
POTLESS_2 12:7f3aadd79f89 428 Td = (float)valeur;
POTLESS_2 16:917656586772 429 control_Servo.reset();
POTLESS_2 12:7f3aadd79f89 430 control_Servo.setTunings(Kc, Ti, Td);
POTLESS_2 14:b5e0e882205e 431 printf(" UPDATE PID --> Kc = %f Ti = %f Td = %f\r\n\n", Kc, Ti, Td);
POTLESS_2 15:efd3b3bf3f37 432 } else if ((char)commande == 'c') {
POTLESS_2 12:7f3aadd79f89 433 consigne = valeur;
POTLESS_2 15:efd3b3bf3f37 434 control_Servo.setSetPoint(consigne);
POTLESS_2 14:b5e0e882205e 435 printf(" UPDATE CONSIGNE PID --> Consigne = %d\r\n\n", consigne);
POTLESS_2 12:7f3aadd79f89 436 }
POTLESS_2 15:efd3b3bf3f37 437 #endif
POTLESS_2 18:bfd78c05b589 438
POTLESS_2 9:04bfdfc029cb 439 strcpy(Android," ");
POTLESS_2 9:04bfdfc029cb 440 indexAndroid = 0;
POTLESS_2 9:04bfdfc029cb 441 newAndroidFlag = false;
POTLESS_2 9:04bfdfc029cb 442 }
POTLESS_2 9:04bfdfc029cb 443
POTLESS_2 4:d84250f67dec 444 int main()
POTLESS_2 12:7f3aadd79f89 445 {
POTLESS_2 12:7f3aadd79f89 446
POTLESS_2 17:bef8abc445f2 447 Servo_Poumon.Calibrate();
POTLESS_2 17:bef8abc445f2 448 Servo_Fuite.Calibrate();
POTLESS_2 12:7f3aadd79f89 449
POTLESS_2 18:bfd78c05b589 450 /*
POTLESS_2 18:bfd78c05b589 451 Par défaut les valeur en cas de calibration sur true sont les suivant
POTLESS_2 18:bfd78c05b589 452
POTLESS_2 18:bfd78c05b589 453 nbCalibO2 = 5
POTLESS_2 18:bfd78c05b589 454 Mode = SPOOLING
POTLESS_2 18:bfd78c05b589 455 Filtre = DIGI_FILTER32
POTLESS_2 18:bfd78c05b589 456 CalibrationCO2 = "CALIB_AIR"
POTLESS_2 18:bfd78c05b589 457
POTLESS_2 18:bfd78c05b589 458 Parfois la calibration du Cozir coince...faire reset et relancer...
POTLESS_2 6:ebed9093d661 459
POTLESS_2 18:bfd78c05b589 460 Pour calibrer avec ces paramètres :
POTLESS_2 18:bfd78c05b589 461
POTLESS_2 18:bfd78c05b589 462 sensors.Sensors_INIT(true, true);
POTLESS_2 18:bfd78c05b589 463
POTLESS_2 18:bfd78c05b589 464 Pour changer utiliser la syntaxe suivante :
POTLESS_2 18:bfd78c05b589 465
POTLESS_2 18:bfd78c05b589 466 sensors.Sensors_INIT(true, true, 5, SPOOLING, DIGI_FILTER32, CALIB_AIR);
POTLESS_2 18:bfd78c05b589 467
POTLESS_2 18:bfd78c05b589 468 */
POTLESS_2 18:bfd78c05b589 469
POTLESS_2 16:917656586772 470 sensors.Sensors_INIT(false, true);
POTLESS_2 18:bfd78c05b589 471
POTLESS_2 6:ebed9093d661 472 serialMonit.attach(&callbackParam, Serial::RxIrq);
POTLESS_2 6:ebed9093d661 473
POTLESS_2 9:04bfdfc029cb 474 android.attach(&callbackAndroid, Serial::RxIrq);
POTLESS_2 9:04bfdfc029cb 475
POTLESS_2 7:ad15c386e960 476 serialMonit.printf(" Demarrage...\r\n\r\n Entrez les comandes COZIR si besoin :\r\n");
POTLESS_2 6:ebed9093d661 477
POTLESS_2 18:bfd78c05b589 478 /*
POTLESS_2 15:efd3b3bf3f37 479
POTLESS_2 18:bfd78c05b589 480 Pour mémoire, les réglage de priorité des thread
POTLESS_2 15:efd3b3bf3f37 481
POTLESS_2 18:bfd78c05b589 482 osPriorityIdle = -3, ///< priority: idle (lowest)
POTLESS_2 18:bfd78c05b589 483 osPriorityLow = -2, ///< priority: low
POTLESS_2 18:bfd78c05b589 484 osPriorityBelowNormal = -1, ///< priority: below normal
POTLESS_2 18:bfd78c05b589 485 osPriorityNormal = 0, ///< priority: normal (default)
POTLESS_2 18:bfd78c05b589 486 osPriorityAboveNormal = +1, ///< priority: above normal
POTLESS_2 18:bfd78c05b589 487 osPriorityHigh = +2, ///< priority: high
POTLESS_2 18:bfd78c05b589 488 osPriorityRealtime = +3, ///< priority: realtime (highest)
POTLESS_2 18:bfd78c05b589 489 osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
POTLESS_2 18:bfd78c05b589 490 */
POTLESS_2 18:bfd78c05b589 491
POTLESS_2 10:aca745a66d51 492 thread.start(Get_Info_thread);
POTLESS_2 9:04bfdfc029cb 493
POTLESS_2 16:917656586772 494 thread.set_priority(osPriorityNormal);
POTLESS_2 12:7f3aadd79f89 495
POTLESS_2 12:7f3aadd79f89 496 #ifdef PID_MODE
POTLESS_2 12:7f3aadd79f89 497 //Init PID
POTLESS_2 12:7f3aadd79f89 498 //Entrée PPO2 entre 100 et 1000 mb
POTLESS_2 12:7f3aadd79f89 499 control_Servo.setInputLimits(Min_Input, Max_Input);
POTLESS_2 12:7f3aadd79f89 500 //Sortie servo entre 0 et 100 %
POTLESS_2 12:7f3aadd79f89 501 control_Servo.setOutputLimits(Min_Output, Max_Output);
POTLESS_2 15:efd3b3bf3f37 502 //Mode auto au démarrage
POTLESS_2 12:7f3aadd79f89 503 control_Servo.setMode(AUTO_MODE);
POTLESS_2 12:7f3aadd79f89 504 //Consigne à x mb
POTLESS_2 12:7f3aadd79f89 505 control_Servo.setSetPoint(consigne);
POTLESS_2 15:efd3b3bf3f37 506 #endif
POTLESS_2 15:efd3b3bf3f37 507
POTLESS_2 11:b2feed92584a 508 #ifdef VT100
POTLESS_2 8:a750d531b381 509 printf(CLS);
POTLESS_2 11:b2feed92584a 510 #endif
POTLESS_2 9:04bfdfc029cb 511
POTLESS_2 7:ad15c386e960 512 while (true) {
POTLESS_2 6:ebed9093d661 513
POTLESS_2 7:ad15c386e960 514 //Démarrage du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 515 REAL_RATE.start();
POTLESS_2 7:ad15c386e960 516
POTLESS_2 6:ebed9093d661 517 if (newParamFlag) {
POTLESS_2 6:ebed9093d661 518 serialMonit.printf("Param = %s\r\n", param);
POTLESS_2 9:04bfdfc029cb 519 Decoding_Message(param);
POTLESS_2 9:04bfdfc029cb 520 }
POTLESS_2 9:04bfdfc029cb 521
POTLESS_2 9:04bfdfc029cb 522 if (newAndroidFlag) {
POTLESS_2 9:04bfdfc029cb 523 serialMonit.printf("Android = %s\r\n", Android);
POTLESS_2 9:04bfdfc029cb 524 Decoding_Message_Android(Android);
POTLESS_2 6:ebed9093d661 525 }
POTLESS_2 7:ad15c386e960 526
POTLESS_2 15:efd3b3bf3f37 527 //Fabrication de la chaine Date / heure
POTLESS_2 15:efd3b3bf3f37 528 seconds = time(NULL);
POTLESS_2 15:efd3b3bf3f37 529 char Time_buf[32];
POTLESS_2 15:efd3b3bf3f37 530 strftime(Time_buf, 32, "%D %I-%M-%S ", localtime(&seconds));
POTLESS_2 15:efd3b3bf3f37 531
POTLESS_2 17:bef8abc445f2 532 #ifdef PID_MODE
POTLESS_2 15:efd3b3bf3f37 533 //Fabrication de la chaine à enregistrer
POTLESS_2 17:bef8abc445f2 534 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d",
POTLESS_2 15:efd3b3bf3f37 535 Time_buf,
POTLESS_2 15:efd3b3bf3f37 536 co2,
POTLESS_2 15:efd3b3bf3f37 537 ppO2,
POTLESS_2 15:efd3b3bf3f37 538 pression,
POTLESS_2 15:efd3b3bf3f37 539 Temp1,
POTLESS_2 15:efd3b3bf3f37 540 Temp2,
POTLESS_2 15:efd3b3bf3f37 541 Humid,
POTLESS_2 15:efd3b3bf3f37 542 CellO2_1,
POTLESS_2 15:efd3b3bf3f37 543 CellO2_2,
POTLESS_2 15:efd3b3bf3f37 544 volet_poumon_Position,
POTLESS_2 15:efd3b3bf3f37 545 volet_fuite_Position,
POTLESS_2 15:efd3b3bf3f37 546 MODE_FLAG,
POTLESS_2 15:efd3b3bf3f37 547 Kc,
POTLESS_2 15:efd3b3bf3f37 548 Ti,
POTLESS_2 18:bfd78c05b589 549 Td,
POTLESS_2 17:bef8abc445f2 550 (int)consigne
POTLESS_2 18:bfd78c05b589 551 );
POTLESS_2 17:bef8abc445f2 552 #endif
POTLESS_2 17:bef8abc445f2 553 #ifndef PID_MODE
POTLESS_2 17:bef8abc445f2 554 //Fabrication de la chaine à enregistrer sans les variables du PID
POTLESS_2 17:bef8abc445f2 555 sprintf(to_store,"%s:%d:%d:%.2f:%.2f:%.2f:%d:%d:%d:%.2f:%.2f:%d:%.3f:%.3f:%.3f:%d",
POTLESS_2 17:bef8abc445f2 556 Time_buf,
POTLESS_2 17:bef8abc445f2 557 co2,
POTLESS_2 17:bef8abc445f2 558 ppO2,
POTLESS_2 17:bef8abc445f2 559 pression,
POTLESS_2 17:bef8abc445f2 560 Temp1,
POTLESS_2 17:bef8abc445f2 561 Temp2,
POTLESS_2 17:bef8abc445f2 562 Humid,
POTLESS_2 17:bef8abc445f2 563 CellO2_1,
POTLESS_2 17:bef8abc445f2 564 CellO2_2,
POTLESS_2 17:bef8abc445f2 565 volet_poumon_Position,
POTLESS_2 17:bef8abc445f2 566 volet_fuite_Position,
POTLESS_2 17:bef8abc445f2 567 MODE_FLAG,
POTLESS_2 17:bef8abc445f2 568 0,
POTLESS_2 17:bef8abc445f2 569 0,
POTLESS_2 18:bfd78c05b589 570 0,
POTLESS_2 17:bef8abc445f2 571 0
POTLESS_2 18:bfd78c05b589 572 );
POTLESS_2 17:bef8abc445f2 573 #endif
POTLESS_2 15:efd3b3bf3f37 574
POTLESS_2 15:efd3b3bf3f37 575 //Enregistrement de la chaine
POTLESS_2 15:efd3b3bf3f37 576 sensors.Write_SD((string)to_store);
POTLESS_2 15:efd3b3bf3f37 577
POTLESS_2 15:efd3b3bf3f37 578 //Pour Android on ajoute < et > pour décoder l'arrivée du message
POTLESS_2 9:04bfdfc029cb 579 if (NEED_ANDROID_OUTPUT == 1) {
POTLESS_2 15:efd3b3bf3f37 580 sprintf(to_android,"<%s>",to_store);
POTLESS_2 12:7f3aadd79f89 581 ANDROID(to_android);
POTLESS_2 9:04bfdfc029cb 582 }
POTLESS_2 15:efd3b3bf3f37 583
POTLESS_2 18:bfd78c05b589 584 //Calcul des OTU
POTLESS_2 18:bfd78c05b589 585 Calcul_OTU();
POTLESS_2 18:bfd78c05b589 586
POTLESS_2 13:22a96dc67e85 587 //Vers le moniteur dérie
POTLESS_2 13:22a96dc67e85 588 Affichage_moniteur();
POTLESS_2 15:efd3b3bf3f37 589
POTLESS_2 15:efd3b3bf3f37 590
POTLESS_2 15:efd3b3bf3f37 591 #ifdef PID_MODE
POTLESS_2 15:efd3b3bf3f37 592 //Update du PID
POTLESS_2 15:efd3b3bf3f37 593 control_Servo.setProcessValue(ppO2);
POTLESS_2 18:bfd78c05b589 594 //Nouvelle sortie servo fuite si on est pas en mode secours
POTLESS_2 18:bfd78c05b589 595 if(!EN_MODE_SCOURS) Consigne_fuite = control_Servo.compute();
POTLESS_2 12:7f3aadd79f89 596 #endif
POTLESS_2 15:efd3b3bf3f37 597
POTLESS_2 7:ad15c386e960 598 //Arrêt du Timer mesurant le temps d'éxecution du code
POTLESS_2 7:ad15c386e960 599 REAL_RATE.stop();
POTLESS_2 7:ad15c386e960 600 //Définition de la nouvelle valeur du temps d'échantillonage du PID.
POTLESS_2 7:ad15c386e960 601 RATE = REAL_RATE.read();
POTLESS_2 7:ad15c386e960 602 //Reset du Timer
POTLESS_2 7:ad15c386e960 603 REAL_RATE.reset();
POTLESS_2 12:7f3aadd79f89 604
POTLESS_2 16:917656586772 605 //Pour ralentir le code à Ref_Time seconde fixe quelque soit les intéruptions du loop....
POTLESS_2 18:bfd78c05b589 606 if (Ref_Time > RATE) {
POTLESS_2 18:bfd78c05b589 607 RATE_TRUE = (Ref_Time - RATE) * 1000;
POTLESS_2 18:bfd78c05b589 608 } else {
POTLESS_2 18:bfd78c05b589 609 RATE_TRUE = 0;
POTLESS_2 16:917656586772 610 #ifdef PID_MODE
POTLESS_2 18:bfd78c05b589 611 control_Servo.setInterval(RATE);
POTLESS_2 18:bfd78c05b589 612 #endif
POTLESS_2 18:bfd78c05b589 613 printf("Pour ralentir le code, Ref_Time doit être supérieur à %f seconde(s)\r\n\n", RATE);
POTLESS_2 16:917656586772 614 }
POTLESS_2 18:bfd78c05b589 615
POTLESS_2 11:b2feed92584a 616 wait_ms(RATE_TRUE);
POTLESS_2 4:d84250f67dec 617 }
POTLESS_2 4:d84250f67dec 618 }