File content as of revision 1:d2ed8dcf965a:

#include "mbed.h"
#include "dsp.h"
#define maxX        0.5
#define PER_ACQ     0.0001
#define PER_STEP    0.001
#define PER_LED     2000
#define MAX_CHAR    128

/* Modules pour Asservissement */
Ticker      tik_asst;
AnalogIn    inX(PC_2);
AnalogIn    inY(PC_0);
AnalogOut   outX(PA_4);
//AnalogOut   outY(PA_5);
DigitalOut  out_led(D13);
arm_pid_instance_f32    pidX;
arm_pid_instance_f32    pidY;
/* Modules pour communication avec Matlab */
Serial          pc(USBTX, USBRX); //TX - transmission, RX - reception
InterruptIn     button (USER_BUTTON);

/* Variables globales pour Asservissement */
double Kp = 1.0;
/* Variables gloables pour Rampe / Step */
double valX;
int signeX;
double pasX = 0.01;
/* Variables globales pour communication avec Matlab */
char g_value[MAX_CHAR];
int g_index=0;
char g_ch;
int g_t_temp=0;
char data_ok = 0;
int periode_led = PER_LED;

/* Fonction d'interruption PID - X et Y */
void controlLoop(void)
{
    out_led = 1;
    //Process the PID controller
    float outxx = arm_pid_f32(&pidX, (float) inX.read()-0.5);
    float outyy = arm_pid_f32(&pidY, (float) inY.read()-0.5);
    //Range limit the output
    if (outxx < -0.5)
        outxx = -0.5;
    else if (outxx > 0.5)
        outxx = 0.5;
    if (outyy < -0.5)
        outyy = -0.5;
    else if (outyy > 0.5)
        outyy = 0.5;  
    //Set the new output duty cycle
    outX.write(outxx+0.5);
    //outY.write(outyy+0.5);
    out_led = 0;
    g_t_temp++;
}
/* Fonction d'interruption de test - Rampe */
void stepLoop(void){
    out_led = 1;
    valX = valX + signeX * pasX;
    if(valX > maxX){ signeX = -1; }
    if(valX < 0.0){ signeX = 1; }
    outX.write(valX);
    out_led = 0;
    g_t_temp++;
}  
/* Fonction d'interruption de test - NOTHING */
void noLoop(void){
    g_t_temp++;
}
/* Fonction d'interruption pour la communication RS232 avec Matlab */
void IT_Rx_Matlab(){
    tik_asst.detach();
    g_ch = pc.getc();   // read it
    if ((g_index<MAX_CHAR-1) and (data_ok == 0)){           
        g_value[g_index]=g_ch;  // put it into the value array and increment the index
        g_index++;
    }
    if(g_ch == '\n'){
        g_value[g_index] = '\0';
        g_index=0;
        data_ok = 1;
    }
    tik_asst.attach(&controlLoop, PER_ACQ);
}

/* Fonction d'interruption pour bouton */
void IT_button_pressed(void){
    int k=0;
    do{
        pc.putc(g_value[k]);
        k++;   
    } while (g_value[k]!='\0');    // loop until the '\n' character    
}
/* Fonction principale */
int main()
{
    valX = 0;
    signeX = 1;
    pc.baud(9600);
    pc.attach(&IT_Rx_Matlab);
    strcpy(g_value, "Coucou");
    g_value[6] = '\r';
    g_value[7] = '\n';
    //Initialize the PID instance structure
    pidX.Kp = 1.0;
    pidX.Ki = 0.001;
    pidX.Kd = 0.0;
    arm_pid_init_f32(&pidX, 1);
    pidY.Kp = 1.0;
    pidY.Ki = 0.001;
    pidY.Kd = 0.0;
    arm_pid_init_f32(&pidY, 1);
    //Run the PID control loop every 1ms
    // tik_asst.attach(&stepLoop, PER_STEP);
    button.fall(&IT_button_pressed);
    tik_asst.attach(&controlLoop, PER_ACQ);
    //tik_asst.attach(&noLoop, PER_ACQ);
    
    pc.printf("im here !!\r\n");
    
    while (true) {
     
        if(g_t_temp>=periode_led) // LED blinking
        {    
            g_t_temp=0;
            out_led = !out_led;
        }
        
        if(data_ok){
            if(g_value[0] == 'P'){   // Mode PID
                periode_led = 10000;
                pc.printf("P_OK!");
            }
            if(g_value[0] == 'S'){   // Mode STEP
                periode_led = 2000;    
                pc.printf("S_OK!");
            }
            data_ok = 0;
            g_index = 0;
        }     
    } 
}