CRAC Team
code de la carte à tout faire / carte strat
Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:76bc3ed27822
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed May 10 09:10:26 2017 +0000
@@ -0,0 +1,237 @@
+#include "global.h"
+
+/****************************************************************************************/
+/* FUNCTION NAME: automate_process */
+/* DESCRIPTION : Automate de gestion de la stratégie du robot */
+/****************************************************************************************/
+void automate_process(void);
+
+/****************************************************************************************/
+/* FUNCTION NAME: canProcessRx */
+/* DESCRIPTION : Fonction de traitement des messages CAN */
+/****************************************************************************************/
+void canProcessRx(void);
+
+/*********************************************************************************************************/
+/* FUNCTION NAME: SendRawId */
+/* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
+/*********************************************************************************************************/
+void SendRawId (unsigned short id);
+
+DigitalOut led(LED1);
+Serial pc(SERIAL_TX, SERIAL_RX);
+/*DigitalIn IO1(PB_7);
+DigitalIn IO2(PB_6);
+DigitalIn IO3(PF_1);
+DigitalIn IO4(PA_8);
+
+DigitalIn A_in1(PB_7);
+DigitalIn A_in2(PA_6);
+DigitalIn A_in3(PA_4);
+DigitalIn A_in4(PA_1);
+DigitalIn A_in5(PA_0);
+
+DigitalOut AX12(PA_9);
+*/
+
+AnalogIn cptGauche(PA_1);
+AnalogIn cptDroit(PA_0);
+DigitalIn pressionGauche(PA_8);
+DigitalIn pressionDroit(PB_7);
+
+
+
+
+CAN can1(PA_11,PA_12); // Rx&Tx pour le CAN
+CANMessage msgRxBuffer[SIZE_FIFO]; // buffer en réception pour le CAN
+unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
+
+signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
+
+extern "C" void mbed_reset();//Pour pouvoir reset la carte
+
+E_GameEtat carte_etat = ETAT_ATTENTE;
+E_Couleur couleurSelect = BLEU;
+
+AX12 *myAX12;
+
+
+
+
+void canRx_ISR (void)
+{
+ if (can1.read(msgRxBuffer[FIFO_ecriture])) {
+ /*if(msgRxBuffer[FIFO_ecriture].id==RESET_ACTIONNEURS) mbed_reset();
+ else FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;*/
+ FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
+ }
+}
+int main() {
+ char truc = 0;
+
+ can1.frequency(1000000); // fréquence de travail 1Mbit/s
+ can1.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
+
+ CANMessage msgTx=CANMessage();
+
+ myAX12-> Set_Goal_speed(vitesse);
+ myAX12-> Set_Mode(0);
+
+ pc.printf("Hello World\n");
+ while(1) {
+
+ led = ((led == 1)?0:1);
+
+ automate_process();
+ canProcessRx();
+ //SendRawId(cpt);
+ wait(0.5);
+ }
+}
+
+
+
+
+int action;
+char localAX12 = AX12_POSIOTION_BASSE;
+/****************************************************************************************/
+/* FUNCTION NAME: automate_process */
+/* DESCRIPTION : Automate de gestion de la stratégie du robot */
+/****************************************************************************************/
+void automate_process(void){
+ SendRawId(carte_etat);
+ switch(carte_etat){
+ case ETAT_ATTENTE:
+ break;
+
+ case ETAT_TRAITEMENT_ACTION_AX12:
+ switch(action){
+ #define ACTION_TOURNER_MODULE_GAUCHE 0x10
+ #define ACTION_TOURNER_MODULE_DROIT 0x11
+ case ACTION_TOURNER_MODULE_GAUCHE:
+ carte_etat = ETAT_BAISSER_MAIN_GAUCHE;
+ break;
+ case ACTION_TOURNER_MODULE_DROIT:
+ carte_etat = ETAT_BAISSER_MAIN_DROITE;
+ break;
+ default:
+ carte_etat = ETAT_ATTENTE;
+ }
+ break;
+
+ case ETAT_BAISSER_MAIN_GAUCHE:
+ if(pressionGauche.read() == ENFONCER){
+ carte_etat = ETAT_CHECK_COULEUR;
+ } else{
+ //
+ localAX12 = AX12BaisserMainGauche(localAX12);
+ }
+ break;
+
+ case ETAT_BAISSER_MAIN_DROITE:
+ if(pressionDroit.read() == ENFONCER){
+ carte_etat = ETAT_CHECK_COULEUR;
+ }else{
+ //
+ localAX12 = AX12BaisserMainDroite(localAX12);
+ }
+ break;
+
+ case ETAT_CHECK_COULEUR:
+ //if (((unsigned short)cptGauche.read()&(unsigned short)cptDroit.read()) == 0){
+ if ((unsigned short)cptDroit.read() == 0){
+ carte_etat = ETAT_ATTENTE;
+ }else{
+ // on active les moteurs
+ localAX12 = AX12BaisserMainGauche(localAX12);
+ }
+ break;
+
+ case ETAT_TURBINE:
+ carte_etat = ETAT_ATTENTE;
+ turbineWritePWM(50);
+ break;
+
+ case ETAT_POMPES:
+ carte_etat = ETAT_ATTENTE;
+ pompeWritePWM(50);
+ break;
+
+
+
+ default:
+ pc.printf("etat non identifie");
+ }
+ }
+
+
+/*********************************************************************************************************/
+/* FUNCTION NAME: SendRawId */
+/* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
+/*********************************************************************************************************/
+void SendRawId (unsigned short id)
+{
+ CANMessage msgTx=CANMessage();
+ msgTx.id=id;
+ msgTx.len=0;
+ can1.write(msgTx);
+ wait_us(200);
+}
+
+
+/****************************************************************************************/
+/* FUNCTION NAME: canProcessRx */
+/* DESCRIPTION : Fonction de traitement des messages CAN */
+/****************************************************************************************/
+void canProcessRx(void){
+ static signed char FIFO_occupation=0,FIFO_max_occupation=0;
+ CANMessage msgTx=CANMessage();
+ FIFO_occupation=FIFO_ecriture-FIFO_lecture;
+ if(FIFO_occupation<0)
+ FIFO_occupation=FIFO_occupation+SIZE_FIFO;
+ if(FIFO_max_occupation<FIFO_occupation)
+ FIFO_max_occupation=FIFO_occupation;
+ if(FIFO_occupation!=0) {
+
+ switch(msgRxBuffer[FIFO_lecture].id) {
+ case CHECK_ACTIONNEURS:
+ SendRawId(ALIVE_ACTIONNEURS);
+ break;
+
+ case SERVO_AX12_ACTION :
+ carte_etat = ETAT_TRAITEMENT_ACTION_AX12;
+
+ action = msgRxBuffer[FIFO_lecture].data[0];
+ couleurSelect = (E_Couleur)msgRxBuffer[FIFO_lecture].data[1];
+ //ACK de reception des actions a effectuer
+ msgTx.id = ACKNOWLEDGE_AX12;
+ msgTx.len = 1;
+ msgTx.data[0] = msgRxBuffer[FIFO_lecture].data[0];
+ can1.write(msgTx);
+ break;
+
+ case POMPE_PWM:
+ carte_etat = ETAT_POMPES;
+
+ msgTx.id = ACKNOWLEDGE_POMPES;
+ msgTx.len = 1;
+ msgTx.data[0] = msgRxBuffer[FIFO_lecture].data[0];
+ can1.write(msgTx);
+ break;
+
+ #define TURBINE_PWM 0xa1
+ #define ACKNOWLEDGE_TURBINE 0x107
+ case TURBINE_PWM:
+ carte_etat = ETAT_TURBINE;
+
+ msgTx.id = ACKNOWLEDGE_TURBINE;
+ msgTx.len = 1;
+ msgTx.data[0] = msgRxBuffer[FIFO_lecture].data[0];
+ can1.write(msgTx);
+ break;
+
+ }
+ FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
+ }
+ }
+