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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@34:dfd82c744b26, 2015-08-31 (annotated)
- Committer:
- salco
- Date:
- Mon Aug 31 14:30:40 2015 +0000
- Revision:
- 34:dfd82c744b26
- Parent:
- 32:65eecdf56e2c
- Child:
- 35:d81f6b927932
problem detected whit the line 65 in main.c
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 0:e4151abdff23 | 1 | //------------------------------------ |
salco | 0:e4151abdff23 | 2 | // Hyperterminal configuration |
salco | 0:e4151abdff23 | 3 | // 9600 bauds, 8-bit data, no parity |
salco | 0:e4151abdff23 | 4 | //------------------------------------ |
salco | 0:e4151abdff23 | 5 | |
salco | 29:51308764fdd0 | 6 | #include "mbed.h" |
salco | 29:51308764fdd0 | 7 | //#include "OSNAPprotocoleDefine.h" |
salco | 29:51308764fdd0 | 8 | //#include "mouvement.h" |
salco | 29:51308764fdd0 | 9 | #include "debug.h" |
salco | 29:51308764fdd0 | 10 | #include "settingDebug.h" |
salco | 30:7305ea319fe6 | 11 | #include "AnsiGraphicalConsole.h" |
salco | 3:e0d6e081a9d3 | 12 | |
salco | 29:51308764fdd0 | 13 | #include "source/Task/TTaskCritique.h" |
salco | 29:51308764fdd0 | 14 | #include "source/Task/TTaskAlerte.h" |
salco | 29:51308764fdd0 | 15 | #include "source/Task/TTaskGeneral.h" |
salco | 0:e4151abdff23 | 16 | |
salco | 30:7305ea319fe6 | 17 | |
salco | 30:7305ea319fe6 | 18 | //#include <fcntl.h> |
salco | 30:7305ea319fe6 | 19 | //#include <io.h> |
salco | 30:7305ea319fe6 | 20 | //#include <stdio.h> |
salco | 30:7305ea319fe6 | 21 | //#include <iostream> |
salco | 30:7305ea319fe6 | 22 | |
salco | 31:ed23647fd16e | 23 | |
salco | 19:0ac80045ba4c | 24 | DigitalOut myled(LED1, 0); |
salco | 11:496453b45e25 | 25 | DigitalIn mybutton(USER_BUTTON); |
salco | 15:91b3c572d9df | 26 | DigitalOut pinA(PA_13); |
salco | 15:91b3c572d9df | 27 | DigitalOut pinB(PA_14); |
salco | 27:ea60d12dccdf | 28 | |
salco | 0:e4151abdff23 | 29 | int main() |
salco | 0:e4151abdff23 | 30 | { |
salco | 28:ac5c6350ed9a | 31 | wait(3); |
salco | 0:e4151abdff23 | 32 | ////////// |
salco | 0:e4151abdff23 | 33 | // Boot // |
salco | 0:e4151abdff23 | 34 | ////////// |
salco | 3:e0d6e081a9d3 | 35 | |
salco | 29:51308764fdd0 | 36 | #ifdef DBG_MAIN_INIT |
salco | 29:51308764fdd0 | 37 | debug("\n\rInit taskCritique ..."); |
salco | 29:51308764fdd0 | 38 | #endif |
salco | 29:51308764fdd0 | 39 | TTaskCritique taskCritique(40); |
salco | 29:51308764fdd0 | 40 | #ifdef DBG_MAIN_INIT |
salco | 34:dfd82c744b26 | 41 | debug(" end taskCritique"); |
salco | 29:51308764fdd0 | 42 | #endif |
salco | 29:51308764fdd0 | 43 | |
salco | 29:51308764fdd0 | 44 | //#ifdef DBG_MAIN_INIT |
salco | 29:51308764fdd0 | 45 | //debug("\n\rInit taskAlerte ..."); |
salco | 29:51308764fdd0 | 46 | //#endif |
salco | 32:65eecdf56e2c | 47 | // TTaskAlerte taskAlerte(20);// un-use because i dont know what to do with. |
salco | 29:51308764fdd0 | 48 | //#ifdef DBG_MAIN_INIT |
salco | 34:dfd82c744b26 | 49 | //debug(" end taskAlerte"); |
salco | 29:51308764fdd0 | 50 | //#endif |
salco | 29:51308764fdd0 | 51 | |
salco | 29:51308764fdd0 | 52 | #ifdef DBG_MAIN_INIT |
salco | 29:51308764fdd0 | 53 | debug("\n\rInit taskGeneral ..."); |
salco | 29:51308764fdd0 | 54 | #endif |
salco | 32:65eecdf56e2c | 55 | TTaskGeneral taskGeneral(20); |
salco | 29:51308764fdd0 | 56 | #ifdef DBG_MAIN_INIT |
salco | 34:dfd82c744b26 | 57 | debug(" end taskGeneral"); |
salco | 29:51308764fdd0 | 58 | #endif |
salco | 30:7305ea319fe6 | 59 | |
salco | 30:7305ea319fe6 | 60 | |
salco | 29:51308764fdd0 | 61 | |
salco | 0:e4151abdff23 | 62 | while(1) { |
salco | 31:ed23647fd16e | 63 | |
salco | 34:dfd82c744b26 | 64 | |
salco | 29:51308764fdd0 | 65 | #if taskCritique |
salco | 32:65eecdf56e2c | 66 | #ifdef DBG_MAIN_FLAG |
salco | 34:dfd82c744b26 | 67 | debug("\n\r IN taskCritique"); |
salco | 32:65eecdf56e2c | 68 | #endif |
salco | 32:65eecdf56e2c | 69 | |
salco | 29:51308764fdd0 | 70 | taskCritique.exec(); |
salco | 32:65eecdf56e2c | 71 | |
salco | 32:65eecdf56e2c | 72 | #ifdef DBG_MAIN_FLAG |
salco | 32:65eecdf56e2c | 73 | debug(" Out taskCritique"); |
salco | 32:65eecdf56e2c | 74 | #endif |
salco | 29:51308764fdd0 | 75 | #endif |
salco | 29:51308764fdd0 | 76 | |
salco | 29:51308764fdd0 | 77 | #if taskAlerte |
salco | 32:65eecdf56e2c | 78 | #ifdef DBG_MAIN_FLAG |
salco | 34:dfd82c744b26 | 79 | debug("\n\r IN taskAlerte"); |
salco | 32:65eecdf56e2c | 80 | #endif |
salco | 32:65eecdf56e2c | 81 | |
salco | 29:51308764fdd0 | 82 | taskAlerte.exec(); |
salco | 32:65eecdf56e2c | 83 | |
salco | 32:65eecdf56e2c | 84 | #ifdef DBG_MAIN_FLAG |
salco | 32:65eecdf56e2c | 85 | debug(" Out taskAlerte"); |
salco | 32:65eecdf56e2c | 86 | #endif |
salco | 29:51308764fdd0 | 87 | #endif |
salco | 29:51308764fdd0 | 88 | |
salco | 29:51308764fdd0 | 89 | #if taskGeneral |
salco | 32:65eecdf56e2c | 90 | #ifdef DBG_MAIN_FLAG |
salco | 34:dfd82c744b26 | 91 | debug("\n\r IN taskGeneral"); |
salco | 32:65eecdf56e2c | 92 | #endif |
salco | 32:65eecdf56e2c | 93 | |
salco | 28:ac5c6350ed9a | 94 | taskGeneral.exec(); |
salco | 32:65eecdf56e2c | 95 | |
salco | 32:65eecdf56e2c | 96 | #ifdef DBG_MAIN_FLAG |
salco | 32:65eecdf56e2c | 97 | debug(" Out taskGeneral"); |
salco | 34:dfd82c744b26 | 98 | wait(1); |
salco | 32:65eecdf56e2c | 99 | #endif |
salco | 29:51308764fdd0 | 100 | #endif |
salco | 29:51308764fdd0 | 101 | |
salco | 29:51308764fdd0 | 102 | /*if (mybutton == 0) { // Button is pressed |
salco | 29:51308764fdd0 | 103 | debug("Hello debug world"); |
salco | 29:51308764fdd0 | 104 | wait(2); |
salco | 27:ea60d12dccdf | 105 | |
salco | 11:496453b45e25 | 106 | myled = !myled; |
salco | 16:5ea4337d785f | 107 | wait(1); |
salco | 29:51308764fdd0 | 108 | }*/ |
salco | 11:496453b45e25 | 109 | |
salco | 29:51308764fdd0 | 110 | } |
salco | 29:51308764fdd0 | 111 | |
salco | 29:51308764fdd0 | 112 | } |