Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.

Dependencies:   debug mbed

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@41:0b5c14dda54a, 2017-01-31 (annotated)

Committer:
salco
Date:
Tue Jan 31 13:15:42 2017 +0000
Revision:
41:0b5c14dda54a
Parent:
37:f53e9f7a14df 
Tentative de modifier les commit inutile sur debug.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salco 36:474d4795aafa 1 /**
salco 36:474d4795aafa 2 * @file main.cpp
salco 36:474d4795aafa 3 * @brief Formulaire principal du programme contact
salco 36:474d4795aafa 4 * @author Alexandre Salconi-Denis
salco 36:474d4795aafa 5 * @version 3.01
salco 36:474d4795aafa 6 * @date 06 mars 2014
salco 36:474d4795aafa 7 *
salco 36:474d4795aafa 8 * @mainpage
salco 36:474d4795aafa 9 * <b>Programme de sauvgarde de contact<br></b>
salco 36:474d4795aafa 10 * <em>Modifier par l'utilisation de Classe et d'operateur</em>
salco 36:474d4795aafa 11 * @author Alexandre Salconi-Denis
salco 36:474d4795aafa 12 * @section MainSection1 Description
salco 36:474d4795aafa 13 *
salco 36:474d4795aafa 14 *
salco 36:474d4795aafa 15 *
salco 36:474d4795aafa 16 * - <b>Version</b> : 3.01
salco 36:474d4795aafa 17 */
salco 36:474d4795aafa 18
salco 0:e4151abdff23 19 //------------------------------------
salco 0:e4151abdff23 20 // Hyperterminal configuration
salco 0:e4151abdff23 21 // 9600 bauds, 8-bit data, no parity
salco 0:e4151abdff23 22 //------------------------------------
salco 0:e4151abdff23 23
salco 29:51308764fdd0 24 #include "mbed.h"
salco 29:51308764fdd0 25 //#include "OSNAPprotocoleDefine.h"
salco 29:51308764fdd0 26 //#include "mouvement.h"
salco 29:51308764fdd0 27 #include "debug.h"
salco 29:51308764fdd0 28 #include "settingDebug.h"
salco 30:7305ea319fe6 29 #include "AnsiGraphicalConsole.h"
salco 3:e0d6e081a9d3 30
salco 29:51308764fdd0 31 #include "source/Task/TTaskCritique.h"
salco 29:51308764fdd0 32 #include "source/Task/TTaskAlerte.h"
salco 29:51308764fdd0 33 #include "source/Task/TTaskGeneral.h"
salco 0:e4151abdff23 34
salco 30:7305ea319fe6 35
salco 30:7305ea319fe6 36 //#include <fcntl.h>
salco 30:7305ea319fe6 37 //#include <io.h>
salco 30:7305ea319fe6 38 //#include <stdio.h>
salco 30:7305ea319fe6 39 //#include <iostream>
salco 30:7305ea319fe6 40
salco 31:ed23647fd16e 41
salco 19:0ac80045ba4c 42 DigitalOut myled(LED1, 0);
salco 11:496453b45e25 43 DigitalIn mybutton(USER_BUTTON);
salco 15:91b3c572d9df 44 DigitalOut pinA(PA_13);
salco 15:91b3c572d9df 45 DigitalOut pinB(PA_14);
salco 27:ea60d12dccdf 46
salco 0:e4151abdff23 47 int main()
salco 0:e4151abdff23 48 {
salco 28:ac5c6350ed9a 49 wait(3);
salco 0:e4151abdff23 50 //////////
salco 0:e4151abdff23 51 // Boot //
salco 0:e4151abdff23 52 //////////
salco 35:d81f6b927932 53
salco 35:d81f6b927932 54 #ifdef ENABLE_TASK_CRIT
salco 35:d81f6b927932 55 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 56 debug("\n\rInit taskCritique ...");
salco 35:d81f6b927932 57 #endif
salco 35:d81f6b927932 58 TTaskCritique taskCritique(40);
salco 35:d81f6b927932 59 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 60 debug(" end taskCritique");
salco 35:d81f6b927932 61 #endif
salco 29:51308764fdd0 62 #endif
salco 29:51308764fdd0 63
salco 35:d81f6b927932 64 #ifdef ENABLE_TASK_ALERT
salco 35:d81f6b927932 65 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 66 debug("\n\rInit taskAlerte ...");
salco 35:d81f6b927932 67 #endif
salco 35:d81f6b927932 68 TTaskAlerte taskAlerte(20);// un-use because i dont know what to do with.
salco 35:d81f6b927932 69 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 70 debug(" end taskAlerte");
salco 35:d81f6b927932 71 #endif
salco 35:d81f6b927932 72 #endif
salco 29:51308764fdd0 73
salco 35:d81f6b927932 74 #ifdef ENABLE_TASK_GEN
salco 35:d81f6b927932 75 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 76 debug("\n\rInit taskGeneral ...");
salco 35:d81f6b927932 77 #endif
salco 37:f53e9f7a14df 78 TTaskGeneral taskGeneral(2/*0*/);
salco 35:d81f6b927932 79 #ifdef DBG_MAIN_INIT
salco 35:d81f6b927932 80 debug(" end taskGeneral");
salco 35:d81f6b927932 81 #endif
salco 29:51308764fdd0 82 #endif
salco 30:7305ea319fe6 83
salco 30:7305ea319fe6 84
salco 29:51308764fdd0 85
salco 0:e4151abdff23 86 while(1) {
salco 31:ed23647fd16e 87
salco 34:dfd82c744b26 88
salco 35:d81f6b927932 89 #ifdef ENABLE_TASK_CRIT
salco 32:65eecdf56e2c 90 #ifdef DBG_MAIN_FLAG
salco 34:dfd82c744b26 91 debug("\n\r IN taskCritique");
salco 32:65eecdf56e2c 92 #endif
salco 32:65eecdf56e2c 93
salco 35:d81f6b927932 94 taskCritique.exec();
salco 32:65eecdf56e2c 95
salco 32:65eecdf56e2c 96 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 97 debug(" Out taskCritique");
salco 32:65eecdf56e2c 98 #endif
salco 29:51308764fdd0 99 #endif
salco 29:51308764fdd0 100
salco 35:d81f6b927932 101 #ifdef ENABLE_TASK_ALERT
salco 32:65eecdf56e2c 102 #ifdef DBG_MAIN_FLAG
salco 34:dfd82c744b26 103 debug("\n\r IN taskAlerte");
salco 32:65eecdf56e2c 104 #endif
salco 32:65eecdf56e2c 105
salco 35:d81f6b927932 106 taskAlerte.exec();
salco 32:65eecdf56e2c 107
salco 32:65eecdf56e2c 108 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 109 debug(" Out taskAlerte");
salco 32:65eecdf56e2c 110 #endif
salco 29:51308764fdd0 111 #endif
salco 29:51308764fdd0 112
salco 35:d81f6b927932 113 #ifdef ENABLE_TASK_GEN
salco 32:65eecdf56e2c 114 #ifdef DBG_MAIN_FLAG
salco 34:dfd82c744b26 115 debug("\n\r IN taskGeneral");
salco 32:65eecdf56e2c 116 #endif
salco 32:65eecdf56e2c 117
salco 35:d81f6b927932 118 taskGeneral.exec();
salco 32:65eecdf56e2c 119
salco 32:65eecdf56e2c 120 #ifdef DBG_MAIN_FLAG
salco 32:65eecdf56e2c 121 debug(" Out taskGeneral");
salco 35:d81f6b927932 122
salco 35:d81f6b927932 123 #endif
salco 35:d81f6b927932 124
salco 35:d81f6b927932 125 #ifdef DBG_MAIN_DELAY_SEC
salco 37:f53e9f7a14df 126 debug("\n\r\n TICK \n\r\n");
salco 35:d81f6b927932 127 wait(DBG_MAIN_DELAY_SEC);
salco 32:65eecdf56e2c 128 #endif
salco 29:51308764fdd0 129 #endif
salco 29:51308764fdd0 130
salco 29:51308764fdd0 131 /*if (mybutton == 0) { // Button is pressed
salco 29:51308764fdd0 132 debug("Hello debug world");
salco 29:51308764fdd0 133 wait(2);
salco 27:ea60d12dccdf 134
salco 11:496453b45e25 135 myled = !myled;
salco 16:5ea4337d785f 136 wait(1);
salco 29:51308764fdd0 137 }*/
salco 11:496453b45e25 138
salco 29:51308764fdd0 139 }
salco 29:51308764fdd0 140
salco 29:51308764fdd0 141 }