Olivier Nastorg / Mbed OS ARNSRS_testDFU

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Dependencies:   ADS1015 Faulhaber HTU21D_mod MS5837_potless Sensor_Head_RevB_3 USBDevice_dfu Utilsdfu beep

Fork of ARNSRS_testDFU by POTLESS

main.cpp@74:f4704f312116, 2018-07-19 (annotated)

Committer:
POTLESS_2
Date:
Thu Jul 19 08:13:34 2018 +0000
Revision:
74:f4704f312116
Parent:
73:2bbea82bf1e5
Child:
75:eec3e587c8b8
mise en forme, changement des commandes

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