Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.

Dependencies:   debug mbed

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@21:5c17b7836733, 2015-05-08 (annotated)

Committer:
salco
Date:
Fri May 08 01:33:51 2015 +0000
Revision:
21:5c17b7836733
Parent:
19:0ac80045ba4c
Child:
27:ea60d12dccdf
seq turn integrer.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salco 0:e4151abdff23 1
salco 0:e4151abdff23 2 #include "mbed.h"
salco 14:ca1a9230ba7f 3 //#include "OSNAPprotocoleDefine.h"
salco 2:4c5b0f6d0a6b 4 //#include "mouvement.h"
salco 8:e017e3d527d7 5 #include "debug.h"
salco 2:4c5b0f6d0a6b 6 //#include "Concience/InstinctPrimaire.h"
salco 7:dcfd81d7f93f 7 #include "source/Task/TTaskCritique.h"
salco 7:dcfd81d7f93f 8 #include "source/Task/TTaskAlerte.h"
salco 7:dcfd81d7f93f 9 #include "source/Task/TTaskGeneral.h"
salco 3:e0d6e081a9d3 10
salco 3:e0d6e081a9d3 11
salco 0:e4151abdff23 12 //------------------------------------
salco 0:e4151abdff23 13 // Hyperterminal configuration
salco 0:e4151abdff23 14 // 9600 bauds, 8-bit data, no parity
salco 0:e4151abdff23 15 //------------------------------------
salco 0:e4151abdff23 16
salco 3:e0d6e081a9d3 17
salco 0:e4151abdff23 18
salco 19:0ac80045ba4c 19 DigitalOut myled(LED1, 0);
salco 0:e4151abdff23 20 //char str [80];
salco 11:496453b45e25 21 DigitalIn mybutton(USER_BUTTON);
salco 15:91b3c572d9df 22 DigitalOut pinA(PA_13);
salco 15:91b3c572d9df 23 DigitalOut pinB(PA_14);
salco 21:5c17b7836733 24 Serial patate (PB_6, PA_10);
salco 21:5c17b7836733 25 //Serial pc(PB_10,PB_11);
salco 21:5c17b7836733 26
salco 21:5c17b7836733 27 UART_HandleTypeDef huart3;
salco 21:5c17b7836733 28 void MX_USART3_UART_Init(void)
salco 21:5c17b7836733 29 {
salco 21:5c17b7836733 30
salco 21:5c17b7836733 31 huart3.Instance = USART3;
salco 21:5c17b7836733 32 huart3.Init.BaudRate = 9600;
salco 21:5c17b7836733 33 huart3.Init.WordLength = UART_WORDLENGTH_8B;
salco 21:5c17b7836733 34 huart3.Init.StopBits = UART_STOPBITS_1;
salco 21:5c17b7836733 35 huart3.Init.Parity = UART_PARITY_NONE;
salco 21:5c17b7836733 36 huart3.Init.Mode = UART_MODE_TX_RX;
salco 21:5c17b7836733 37 huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
salco 21:5c17b7836733 38 huart3.Init.OverSampling = UART_OVERSAMPLING_16;
salco 21:5c17b7836733 39 HAL_UART_Init(&huart3);
salco 21:5c17b7836733 40
salco 21:5c17b7836733 41 }
salco 15:91b3c572d9df 42
salco 0:e4151abdff23 43 int main()
salco 0:e4151abdff23 44 {
salco 0:e4151abdff23 45 // int i = 1;
salco 0:e4151abdff23 46
salco 0:e4151abdff23 47 //pc.printf("Hello World !\n");
salco 0:e4151abdff23 48 //pc.scanf ("%79s",str);
salco 0:e4151abdff23 49 // string test="allo";
salco 0:e4151abdff23 50 // pc.printf(test.c_str());
salco 0:e4151abdff23 51
salco 19:0ac80045ba4c 52 //TTaskCritique taskCritique(1);
salco 15:91b3c572d9df 53 // TTaskAlerte taskAlerte(20);
salco 21:5c17b7836733 54 // TTaskGeneral taskGeneral(1);//40);
salco 0:e4151abdff23 55 //////////
salco 0:e4151abdff23 56 // Boot //
salco 0:e4151abdff23 57 //////////
salco 3:e0d6e081a9d3 58
salco 21:5c17b7836733 59 MX_USART3_UART_Init();
salco 21:5c17b7836733 60 uint8_t pat[5]= {'A','l','l','o',0};
salco 0:e4151abdff23 61 while(1) {
salco 21:5c17b7836733 62 HAL_UART_Transmit(&huart3,pat,5,5);
salco 0:e4151abdff23 63
salco 15:91b3c572d9df 64
salco 11:496453b45e25 65 //taskAlerte.exec();
salco 11:496453b45e25 66 //taskGeneral.exec();
salco 11:496453b45e25 67 if (mybutton == 0) { // Button is pressed
salco 15:91b3c572d9df 68 //debug("Hello debug world");
salco 19:0ac80045ba4c 69 //taskCritique.exec();
salco 21:5c17b7836733 70 patate.putc(64);
salco 21:5c17b7836733 71
salco 21:5c17b7836733 72
salco 21:5c17b7836733 73 //taskGeneral.exec();
salco 16:5ea4337d785f 74 /*if(myled) {
salco 15:91b3c572d9df 75 pinB=0;
salco 15:91b3c572d9df 76 pinA=1;
salco 15:91b3c572d9df 77
salco 15:91b3c572d9df 78 } else {
salco 15:91b3c572d9df 79 pinA=0;
salco 15:91b3c572d9df 80 pinB=1;
salco 16:5ea4337d785f 81 }*/
salco 11:496453b45e25 82 myled = !myled;
salco 16:5ea4337d785f 83 wait(1);
salco 11:496453b45e25 84 }
salco 16:5ea4337d785f 85 //wait(1);
salco 0:e4151abdff23 86 }
salco 11:496453b45e25 87
salco 7:dcfd81d7f93f 88 /*if(taskCritt)
salco 3:e0d6e081a9d3 89 delete taskCritt;
salco 3:e0d6e081a9d3 90 if(taskAlert)
salco 3:e0d6e081a9d3 91 delete taskAlert;
salco 3:e0d6e081a9d3 92 if(taskGen)
salco 7:dcfd81d7f93f 93 delete taskGen;*/
salco 0:e4151abdff23 94 }