CRAC Team / Mbed 2 deprecated mbed_tes_cpt

test des capteurs/actionneurs petit robot

Dependencies:   mbed

main.cpp@0:7737d7573e3b, 2017-05-10 (annotated)

Committer:
ClementBreteau
Date:
Wed May 10 16:11:35 2017 +0000
Revision:
0:7737d7573e3b
test des capteurs du petit robot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ClementBreteau 0:7737d7573e3b 1 #include "mbed.h"
ClementBreteau 0:7737d7573e3b 2
ClementBreteau 0:7737d7573e3b 3 #define SIZE_FIFO 20
ClementBreteau 0:7737d7573e3b 4
ClementBreteau 0:7737d7573e3b 5 /*
ClementBreteau 0:7737d7573e3b 6 DigitalIn IO1(p23);
ClementBreteau 0:7737d7573e3b 7 DigitalIn IO2(p24);
ClementBreteau 0:7737d7573e3b 8 DigitalIn IO3(p25);
ClementBreteau 0:7737d7573e3b 9 DigitalIn IO4(p26);
ClementBreteau 0:7737d7573e3b 10
ClementBreteau 0:7737d7573e3b 11 AnalogIn A_in1(p15);
ClementBreteau 0:7737d7573e3b 12 AnalogIn A_in2(p16);
ClementBreteau 0:7737d7573e3b 13 AnalogIn A_in3(p17);
ClementBreteau 0:7737d7573e3b 14 AnalogIn A_in4(p18);
ClementBreteau 0:7737d7573e3b 15 AnalogIn A_in5(p19);
ClementBreteau 0:7737d7573e3b 16 AnalogIn A_in6(p20);
ClementBreteau 0:7737d7573e3b 17
ClementBreteau 0:7737d7573e3b 18 PwmOut IRL_1(p21);
ClementBreteau 0:7737d7573e3b 19 PwmOut IRL_2(p22);
ClementBreteau 0:7737d7573e3b 20 */
ClementBreteau 0:7737d7573e3b 21
ClementBreteau 0:7737d7573e3b 22 AnalogIn cptGauche(p20);
ClementBreteau 0:7737d7573e3b 23 AnalogIn cptDroit(p19);
ClementBreteau 0:7737d7573e3b 24
ClementBreteau 0:7737d7573e3b 25 DigitalIn pressionGauche(p23);
ClementBreteau 0:7737d7573e3b 26 DigitalIn pressionDroit(p24);
ClementBreteau 0:7737d7573e3b 27
ClementBreteau 0:7737d7573e3b 28 PwmOut moteurGauche(p21);
ClementBreteau 0:7737d7573e3b 29 PwmOut moteurDroit(p22);
ClementBreteau 0:7737d7573e3b 30
ClementBreteau 0:7737d7573e3b 31 AnalogIn telemetre(p15);
ClementBreteau 0:7737d7573e3b 32
ClementBreteau 0:7737d7573e3b 33 DigitalIn jack(p25);
ClementBreteau 0:7737d7573e3b 34
ClementBreteau 0:7737d7573e3b 35
ClementBreteau 0:7737d7573e3b 36
ClementBreteau 0:7737d7573e3b 37 DigitalOut led(LED1);
ClementBreteau 0:7737d7573e3b 38
ClementBreteau 0:7737d7573e3b 39 CAN can1(p30,p29); // Rx&Tx pour le CAN
ClementBreteau 0:7737d7573e3b 40 CANMessage msgRxBuffer[SIZE_FIFO]; // buffer en réception pour le CAN
ClementBreteau 0:7737d7573e3b 41 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
ClementBreteau 0:7737d7573e3b 42
ClementBreteau 0:7737d7573e3b 43 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
ClementBreteau 0:7737d7573e3b 44 int printCapteurs = 0;
ClementBreteau 0:7737d7573e3b 45
ClementBreteau 0:7737d7573e3b 46 void canRx_ISR (void)
ClementBreteau 0:7737d7573e3b 47 {
ClementBreteau 0:7737d7573e3b 48 if (can1.read(msgRxBuffer[FIFO_ecriture])) {
ClementBreteau 0:7737d7573e3b 49 /*if(msgRxBuffer[FIFO_ecriture].id==RESET_ACTIONNEURS) mbed_reset();
ClementBreteau 0:7737d7573e3b 50 else FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;*/
ClementBreteau 0:7737d7573e3b 51 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
ClementBreteau 0:7737d7573e3b 52 }
ClementBreteau 0:7737d7573e3b 53 }
ClementBreteau 0:7737d7573e3b 54
ClementBreteau 0:7737d7573e3b 55
ClementBreteau 0:7737d7573e3b 56
ClementBreteau 0:7737d7573e3b 57 /*********************************************************************************************************/
ClementBreteau 0:7737d7573e3b 58 /* FUNCTION NAME: SendRawId */
ClementBreteau 0:7737d7573e3b 59 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
ClementBreteau 0:7737d7573e3b 60 /*********************************************************************************************************/
ClementBreteau 0:7737d7573e3b 61 void SendRawId (unsigned short id)
ClementBreteau 0:7737d7573e3b 62 {
ClementBreteau 0:7737d7573e3b 63 CANMessage msgTx=CANMessage();
ClementBreteau 0:7737d7573e3b 64 msgTx.id=id;
ClementBreteau 0:7737d7573e3b 65 msgTx.len=0;
ClementBreteau 0:7737d7573e3b 66 can1.write(msgTx);
ClementBreteau 0:7737d7573e3b 67 wait_us(200);
ClementBreteau 0:7737d7573e3b 68 }
ClementBreteau 0:7737d7573e3b 69
ClementBreteau 0:7737d7573e3b 70 /****************************************************************************************/
ClementBreteau 0:7737d7573e3b 71 /* FUNCTION NAME: canProcessRx */
ClementBreteau 0:7737d7573e3b 72 /* DESCRIPTION : Fonction de traitement des messages CAN */
ClementBreteau 0:7737d7573e3b 73 /****************************************************************************************/
ClementBreteau 0:7737d7573e3b 74 void canProcessRx(void){
ClementBreteau 0:7737d7573e3b 75 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
ClementBreteau 0:7737d7573e3b 76 CANMessage msgTx=CANMessage();
ClementBreteau 0:7737d7573e3b 77 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
ClementBreteau 0:7737d7573e3b 78 if(FIFO_occupation<0)
ClementBreteau 0:7737d7573e3b 79 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
ClementBreteau 0:7737d7573e3b 80 if(FIFO_max_occupation<FIFO_occupation)
ClementBreteau 0:7737d7573e3b 81 FIFO_max_occupation=FIFO_occupation;
ClementBreteau 0:7737d7573e3b 82 if(FIFO_occupation!=0) {
ClementBreteau 0:7737d7573e3b 83
ClementBreteau 0:7737d7573e3b 84 switch(msgRxBuffer[FIFO_lecture].id) {
ClementBreteau 0:7737d7573e3b 85 case 0x63:
ClementBreteau 0:7737d7573e3b 86 SendRawId(0x73);
ClementBreteau 0:7737d7573e3b 87 break;
ClementBreteau 0:7737d7573e3b 88 case 0x10:
ClementBreteau 0:7737d7573e3b 89 printCapteurs = 0;
ClementBreteau 0:7737d7573e3b 90 break;
ClementBreteau 0:7737d7573e3b 91 case 0x11:
ClementBreteau 0:7737d7573e3b 92 printCapteurs = 1;
ClementBreteau 0:7737d7573e3b 93 break;
ClementBreteau 0:7737d7573e3b 94
ClementBreteau 0:7737d7573e3b 95
ClementBreteau 0:7737d7573e3b 96 }
ClementBreteau 0:7737d7573e3b 97 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
ClementBreteau 0:7737d7573e3b 98 }
ClementBreteau 0:7737d7573e3b 99 }
ClementBreteau 0:7737d7573e3b 100
ClementBreteau 0:7737d7573e3b 101 int main() {
ClementBreteau 0:7737d7573e3b 102 can1.frequency(1000000); // fréquence de travail 1Mbit/s
ClementBreteau 0:7737d7573e3b 103 can1.attach(&canRx_ISR); // création de l'interrupt attachée à la réception sur le CAN
ClementBreteau 0:7737d7573e3b 104
ClementBreteau 0:7737d7573e3b 105 CANMessage msgTx=CANMessage();
ClementBreteau 0:7737d7573e3b 106
ClementBreteau 0:7737d7573e3b 107 while(1) {
ClementBreteau 0:7737d7573e3b 108 led = !led;
ClementBreteau 0:7737d7573e3b 109
ClementBreteau 0:7737d7573e3b 110 canProcessRx();
ClementBreteau 0:7737d7573e3b 111 if (printCapteurs){
ClementBreteau 0:7737d7573e3b 112 msgTx.id=0x21;
ClementBreteau 0:7737d7573e3b 113 msgTx.format=CANStandard;
ClementBreteau 0:7737d7573e3b 114 msgTx.type=CANData;
ClementBreteau 0:7737d7573e3b 115 msgTx.len=7;
ClementBreteau 0:7737d7573e3b 116
ClementBreteau 0:7737d7573e3b 117 msgTx.data[0]=(unsigned char)cptGauche.read();
ClementBreteau 0:7737d7573e3b 118 msgTx.data[1]=(unsigned char)cptDroit.read();
ClementBreteau 0:7737d7573e3b 119 msgTx.data[2]=(unsigned char)pressionGauche.read();
ClementBreteau 0:7737d7573e3b 120 msgTx.data[3]=(unsigned char)pressionDroit.read();
ClementBreteau 0:7737d7573e3b 121 msgTx.data[4]=(unsigned char)jack.read();
ClementBreteau 0:7737d7573e3b 122 msgTx.data[5]=(unsigned char)(telemetre.read_u16()>>8);
ClementBreteau 0:7737d7573e3b 123 msgTx.data[6]=(unsigned char)telemetre.read_u16();
ClementBreteau 0:7737d7573e3b 124
ClementBreteau 0:7737d7573e3b 125 can1.write(msgTx);
ClementBreteau 0:7737d7573e3b 126
ClementBreteau 0:7737d7573e3b 127 }
ClementBreteau 0:7737d7573e3b 128 wait(0.5);
ClementBreteau 0:7737d7573e3b 129 }
ClementBreteau 0:7737d7573e3b 130 }
ClementBreteau 0:7737d7573e3b 131