Diff: main.cpp

Revision:

108:2fd41d299a8c

Parent:

107:0965c72c798e

Child:

109:4ee7ffc8f175

diff -r 0965c72c798e -r 2fd41d299a8c main.cpp
--- a/main.cpp	Thu Mar 24 21:23:09 2022 +0000
+++ b/main.cpp	Tue Apr 05 11:19:38 2022 +0000
@@ -7,79 +7,83 @@
 #include "platform/mbed_thread.h"
 #include <string.h>
 #include <stdio.h>
+#include <stdlib.h>
+#include <SPISlave.h>
 
 
 // Blinking rate in milliseconds
-#define BLINKING_RATE_MS                                                    500
+#define BLINKING_RATE_MS    2000
 
-AnalogIn capteurIR_G(A0);
-AnalogIn capteurIR_D(A2);
+//Define SPI
+#define SPI3_MOSI   D11
+#define SPI3_MISO   D12
+#define SPI3_SCLK   D13
+#define SPI3_CS     A3
 
-PwmOut propulsion(D9);
-PwmOut direction(D6);
+//Define PWM
+#define PWM_PROP    D10
+#define PWM_DIR     D9
 
-DigitalIn BP1(D2);
-DigitalIn BP2(D3);
+//Déclarations PWM
+PwmOut propulsion(PWM_PROP);
+PwmOut direction(PWM_DIR);
 
 DigitalOut led(LED1);
 
+
+//Déclarations Liaisons
 static BufferedSerial serial_port(USBTX, USBRX,115200);
-SPISlave device(D11, D12, D13, A3); // mosi, miso, sclk, ssel
+SPISlave device(SPI3_MOSI, SPI3_MISO, SPI3_SCLK, SPI3_CS); // mosi, miso, sclk, ssel
 
 int main()
 {
-    char text[50] = {};
-    uint32_t bp1,bp1_old = 1;
-    uint32_t bp2,bp2_old = 1;
     uint32_t pulsewidth_direction = 1100;
-    uint16_t capteurIR_g,capteurIR_d;
+    char texte[32];
+    sprintf(texte,"Test\n\r");
+    serial_port.write(texte,strlen(texte));
     propulsion.period_us(20000);
     propulsion.pulsewidth_us(1500);
+    thread_sleep_for(2000);
     direction.period_us(20000);
     direction.pulsewidth_us(pulsewidth_direction);
+    led = 1;
+    device.format(8);
+    
     while (true) {
-        bp1 = BP1.read();
-        bp2 = BP2.read();
+        /*
         
-        if(!bp1 && bp1_old)
-        {
-            led = !led;
-            if(pulsewidth_direction >1000)
-            {
-                pulsewidth_direction -= 10;
-            }
-            direction.pulsewidth_us(pulsewidth_direction);
-            sprintf(text,"pulsewidth_direction = %d\n\r",pulsewidth_direction);
-            serial_port.write(text,strlen(text));
-            capteurIR_g = capteurIR_G.read_u16();
-            sprintf(text,"capteurIR G = %d\n\r",capteurIR_g);
-            serial_port.write(text,strlen(text));
-        }
-        
-        if(!bp2 && bp2_old)
-        {
-            if(pulsewidth_direction < 1300)
-            {
-                pulsewidth_direction += 10;
-            }
-            direction.pulsewidth_us(pulsewidth_direction);
-            sprintf(text,"pulsewidth_direction = %d\n\r",pulsewidth_direction);
-            serial_port.write(text,strlen(text));
-            capteurIR_d = capteurIR_D.read_u16();
-            sprintf(text,"capteurIR D = %d\n\r",capteurIR_d);
-            serial_port.write(text,strlen(text));
-        }
+        propulsion.pulsewidth_us(1450);
+        thread_sleep_for(BLINKING_RATE_MS);
+        led = !led;
+        propulsion.pulsewidth_us(1400);
+        thread_sleep_for(BLINKING_RATE_MS);
+        led = !led;
+        propulsion.pulsewidth_us(1500);
+        thread_sleep_for(BLINKING_RATE_MS);
+        led = !led;
+        propulsion.pulsewidth_us(1550);
+        thread_sleep_for(BLINKING_RATE_MS);
+        led = !led;
+        propulsion.pulsewidth_us(1600);
+        thread_sleep_for(BLINKING_RATE_MS);
+        led = !led;
+        propulsion.pulsewidth_us(1800);
+        thread_sleep_for(BLINKING_RATE_MS);
+        */
         
         if (device.receive()) {
+            led = !led;
             int v = device.read();   // Read byte from master
-            v = (v + 1) % 0x100;     // Add one to it, modulo 256
-            device.reply(v);         // Make this the next reply
-            sprintf(text,"valeur du caractere recu SPI : %d\n\r",v);
-            serial_port.write(text,strlen(text));
+            if (v == 'a')
+            {
+                //device.reply('o');
+                led = 1;
+            }
+            else if (v == 'e')
+            {
+                //device.reply('n');
+                led = 0;
+            }
         }
-        
-        bp1_old = bp1;
-        bp2_old = bp2;
-        //thread_sleep_for(BLINKING_RATE_MS);
     }
 }