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@19:cac3761a5d0b, 2018-02-06 (annotated)

Committer:
POTLESS_2
Date:
Tue Feb 06 13:18:34 2018 +0000
Revision:
19:cac3761a5d0b
Parent:
18:bfd78c05b589
Child:
20:5f79fb4565a7
Code complet qui fonctionne avec la carte alim et les moteurs Faulhaber...A affiner encore bien sur....

Who changed what in which revision?

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