Alexandre Salconi-Denis
/
ProjetOctopode
Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.
CtrlBridge
- fonction quelquonque pour communiquer avec les module
- fonction quelquonque pour faire des recherche dans les module dispo
- autre fonction pour jouer avec MemRegistre
Version 1.2.0
- Ajout d'un mode de simulation pour tester le code avec seulement un contrôleur stm32
main.cpp@41:0b5c14dda54a, 2017-01-31 (annotated)
- Committer:
- salco
- Date:
- Tue Jan 31 13:15:42 2017 +0000
- Revision:
- 41:0b5c14dda54a
- Parent:
- 37:f53e9f7a14df
Tentative de modifier les commit inutile sur debug.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 36:474d4795aafa | 1 | /** |
salco | 36:474d4795aafa | 2 | * @file main.cpp |
salco | 36:474d4795aafa | 3 | * @brief Formulaire principal du programme contact |
salco | 36:474d4795aafa | 4 | * @author Alexandre Salconi-Denis |
salco | 36:474d4795aafa | 5 | * @version 3.01 |
salco | 36:474d4795aafa | 6 | * @date 06 mars 2014 |
salco | 36:474d4795aafa | 7 | * |
salco | 36:474d4795aafa | 8 | * @mainpage |
salco | 36:474d4795aafa | 9 | * <b>Programme de sauvgarde de contact<br></b> |
salco | 36:474d4795aafa | 10 | * <em>Modifier par l'utilisation de Classe et d'operateur</em> |
salco | 36:474d4795aafa | 11 | * @author Alexandre Salconi-Denis |
salco | 36:474d4795aafa | 12 | * @section MainSection1 Description |
salco | 36:474d4795aafa | 13 | * |
salco | 36:474d4795aafa | 14 | * |
salco | 36:474d4795aafa | 15 | * |
salco | 36:474d4795aafa | 16 | * - <b>Version</b> : 3.01 |
salco | 36:474d4795aafa | 17 | */ |
salco | 36:474d4795aafa | 18 | |
salco | 0:e4151abdff23 | 19 | //------------------------------------ |
salco | 0:e4151abdff23 | 20 | // Hyperterminal configuration |
salco | 0:e4151abdff23 | 21 | // 9600 bauds, 8-bit data, no parity |
salco | 0:e4151abdff23 | 22 | //------------------------------------ |
salco | 0:e4151abdff23 | 23 | |
salco | 29:51308764fdd0 | 24 | #include "mbed.h" |
salco | 29:51308764fdd0 | 25 | //#include "OSNAPprotocoleDefine.h" |
salco | 29:51308764fdd0 | 26 | //#include "mouvement.h" |
salco | 29:51308764fdd0 | 27 | #include "debug.h" |
salco | 29:51308764fdd0 | 28 | #include "settingDebug.h" |
salco | 30:7305ea319fe6 | 29 | #include "AnsiGraphicalConsole.h" |
salco | 3:e0d6e081a9d3 | 30 | |
salco | 29:51308764fdd0 | 31 | #include "source/Task/TTaskCritique.h" |
salco | 29:51308764fdd0 | 32 | #include "source/Task/TTaskAlerte.h" |
salco | 29:51308764fdd0 | 33 | #include "source/Task/TTaskGeneral.h" |
salco | 0:e4151abdff23 | 34 | |
salco | 30:7305ea319fe6 | 35 | |
salco | 30:7305ea319fe6 | 36 | //#include <fcntl.h> |
salco | 30:7305ea319fe6 | 37 | //#include <io.h> |
salco | 30:7305ea319fe6 | 38 | //#include <stdio.h> |
salco | 30:7305ea319fe6 | 39 | //#include <iostream> |
salco | 30:7305ea319fe6 | 40 | |
salco | 31:ed23647fd16e | 41 | |
salco | 19:0ac80045ba4c | 42 | DigitalOut myled(LED1, 0); |
salco | 11:496453b45e25 | 43 | DigitalIn mybutton(USER_BUTTON); |
salco | 15:91b3c572d9df | 44 | DigitalOut pinA(PA_13); |
salco | 15:91b3c572d9df | 45 | DigitalOut pinB(PA_14); |
salco | 27:ea60d12dccdf | 46 | |
salco | 0:e4151abdff23 | 47 | int main() |
salco | 0:e4151abdff23 | 48 | { |
salco | 28:ac5c6350ed9a | 49 | wait(3); |
salco | 0:e4151abdff23 | 50 | ////////// |
salco | 0:e4151abdff23 | 51 | // Boot // |
salco | 0:e4151abdff23 | 52 | ////////// |
salco | 35:d81f6b927932 | 53 | |
salco | 35:d81f6b927932 | 54 | #ifdef ENABLE_TASK_CRIT |
salco | 35:d81f6b927932 | 55 | #ifdef DBG_MAIN_INIT |
salco | 35:d81f6b927932 | 56 | debug("\n\rInit taskCritique ..."); |
salco | 35:d81f6b927932 | 57 | #endif |
salco | 35:d81f6b927932 | 58 | TTaskCritique taskCritique(40); |
salco | 35:d81f6b927932 | 59 | #ifdef DBG_MAIN_INIT |
salco | 35:d81f6b927932 | 60 | debug(" end taskCritique"); |
salco | 35:d81f6b927932 | 61 | #endif |
salco | 29:51308764fdd0 | 62 | #endif |
salco | 29:51308764fdd0 | 63 | |
salco | 35:d81f6b927932 | 64 | #ifdef ENABLE_TASK_ALERT |
salco | 35:d81f6b927932 | 65 | #ifdef DBG_MAIN_INIT |
salco | 35:d81f6b927932 | 66 | debug("\n\rInit taskAlerte ..."); |
salco | 35:d81f6b927932 | 67 | #endif |
salco | 35:d81f6b927932 | 68 | TTaskAlerte taskAlerte(20);// un-use because i dont know what to do with. |
salco | 35:d81f6b927932 | 69 | #ifdef DBG_MAIN_INIT |
salco | 35:d81f6b927932 | 70 | debug(" end taskAlerte"); |
salco | 35:d81f6b927932 | 71 | #endif |
salco | 35:d81f6b927932 | 72 | #endif |
salco | 29:51308764fdd0 | 73 | |
salco | 35:d81f6b927932 | 74 | #ifdef ENABLE_TASK_GEN |
salco | 35:d81f6b927932 | 75 | #ifdef DBG_MAIN_INIT |
salco | 35:d81f6b927932 | 76 | debug("\n\rInit taskGeneral ..."); |
salco | 35:d81f6b927932 | 77 | #endif |
salco | 37:f53e9f7a14df | 78 | TTaskGeneral taskGeneral(2/*0*/); |
salco | 35:d81f6b927932 | 79 | #ifdef DBG_MAIN_INIT |
salco | 35:d81f6b927932 | 80 | debug(" end taskGeneral"); |
salco | 35:d81f6b927932 | 81 | #endif |
salco | 29:51308764fdd0 | 82 | #endif |
salco | 30:7305ea319fe6 | 83 | |
salco | 30:7305ea319fe6 | 84 | |
salco | 29:51308764fdd0 | 85 | |
salco | 0:e4151abdff23 | 86 | while(1) { |
salco | 31:ed23647fd16e | 87 | |
salco | 34:dfd82c744b26 | 88 | |
salco | 35:d81f6b927932 | 89 | #ifdef ENABLE_TASK_CRIT |
salco | 32:65eecdf56e2c | 90 | #ifdef DBG_MAIN_FLAG |
salco | 34:dfd82c744b26 | 91 | debug("\n\r IN taskCritique"); |
salco | 32:65eecdf56e2c | 92 | #endif |
salco | 32:65eecdf56e2c | 93 | |
salco | 35:d81f6b927932 | 94 | taskCritique.exec(); |
salco | 32:65eecdf56e2c | 95 | |
salco | 32:65eecdf56e2c | 96 | #ifdef DBG_MAIN_FLAG |
salco | 32:65eecdf56e2c | 97 | debug(" Out taskCritique"); |
salco | 32:65eecdf56e2c | 98 | #endif |
salco | 29:51308764fdd0 | 99 | #endif |
salco | 29:51308764fdd0 | 100 | |
salco | 35:d81f6b927932 | 101 | #ifdef ENABLE_TASK_ALERT |
salco | 32:65eecdf56e2c | 102 | #ifdef DBG_MAIN_FLAG |
salco | 34:dfd82c744b26 | 103 | debug("\n\r IN taskAlerte"); |
salco | 32:65eecdf56e2c | 104 | #endif |
salco | 32:65eecdf56e2c | 105 | |
salco | 35:d81f6b927932 | 106 | taskAlerte.exec(); |
salco | 32:65eecdf56e2c | 107 | |
salco | 32:65eecdf56e2c | 108 | #ifdef DBG_MAIN_FLAG |
salco | 32:65eecdf56e2c | 109 | debug(" Out taskAlerte"); |
salco | 32:65eecdf56e2c | 110 | #endif |
salco | 29:51308764fdd0 | 111 | #endif |
salco | 29:51308764fdd0 | 112 | |
salco | 35:d81f6b927932 | 113 | #ifdef ENABLE_TASK_GEN |
salco | 32:65eecdf56e2c | 114 | #ifdef DBG_MAIN_FLAG |
salco | 34:dfd82c744b26 | 115 | debug("\n\r IN taskGeneral"); |
salco | 32:65eecdf56e2c | 116 | #endif |
salco | 32:65eecdf56e2c | 117 | |
salco | 35:d81f6b927932 | 118 | taskGeneral.exec(); |
salco | 32:65eecdf56e2c | 119 | |
salco | 32:65eecdf56e2c | 120 | #ifdef DBG_MAIN_FLAG |
salco | 32:65eecdf56e2c | 121 | debug(" Out taskGeneral"); |
salco | 35:d81f6b927932 | 122 | |
salco | 35:d81f6b927932 | 123 | #endif |
salco | 35:d81f6b927932 | 124 | |
salco | 35:d81f6b927932 | 125 | #ifdef DBG_MAIN_DELAY_SEC |
salco | 37:f53e9f7a14df | 126 | debug("\n\r\n TICK \n\r\n"); |
salco | 35:d81f6b927932 | 127 | wait(DBG_MAIN_DELAY_SEC); |
salco | 32:65eecdf56e2c | 128 | #endif |
salco | 29:51308764fdd0 | 129 | #endif |
salco | 29:51308764fdd0 | 130 | |
salco | 29:51308764fdd0 | 131 | /*if (mybutton == 0) { // Button is pressed |
salco | 29:51308764fdd0 | 132 | debug("Hello debug world"); |
salco | 29:51308764fdd0 | 133 | wait(2); |
salco | 27:ea60d12dccdf | 134 | |
salco | 11:496453b45e25 | 135 | myled = !myled; |
salco | 16:5ea4337d785f | 136 | wait(1); |
salco | 29:51308764fdd0 | 137 | }*/ |
salco | 11:496453b45e25 | 138 | |
salco | 29:51308764fdd0 | 139 | } |
salco | 29:51308764fdd0 | 140 | |
salco | 29:51308764fdd0 | 141 | } |