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Hector van der Aa
2026-03-30 22:52:33 +02:00
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# ─────────────────────────────
# PlatformIO
# ─────────────────────────────
.pio/
.pioenvs/
.piolibdeps/
.piolibdeps_cache/
.platformio/
# Build artifacts
build/
*.elf
*.bin
*.hex
*.map
*.lst
# ─────────────────────────────
# VSCode / IDE
# ─────────────────────────────
.vscode/
!.vscode/extensions.json
!.vscode/settings.json
*.code-workspace
# JetBrains (WebStorm, CLion, etc.)
.idea/
*.iml
# ─────────────────────────────
# Python (if using tooling)
# ─────────────────────────────
.venv/
venv/
__pycache__/
*.pyc
# ─────────────────────────────
# OS junk
# ─────────────────────────────
.DS_Store
Thumbs.db
# ─────────────────────────────
# Logs / temp
# ─────────────────────────────
*.log
*.tmp
# ─────────────────────────────
# Upload artifacts / debug
# ─────────────────────────────
firmware.bin
firmware.elf
# ─────────────────────────────
# Secrets / local config
# ─────────────────────────────
.env
*.key
*.pem
# ─────────────────────────────
# Optional: local overrides
# ─────────────────────────────
platformio_override.ini

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.

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# Murphy Original Code
This code is an archive of the original code running on the V1 wiring harness of the Murphy prototype. It is strictly an archive for use as a reference to understand the undocumented wiring.

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This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the convention is to give header files names that end with `.h'.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into the executable file.
The source code of each library should be placed in a separate directory
("lib/your_library_name/[Code]").
For example, see the structure of the following example libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
Example contents of `src/main.c` using Foo and Bar:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
The PlatformIO Library Dependency Finder will find automatically dependent
libraries by scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

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; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:megaatmega2560]
platform = atmelavr
board = megaatmega2560
framework = arduino
lib_deps =
sandeepmistry/LoRa@^0.8.0
adafruit/MAX6675 library@^1.1.2
mikalhart/TinyGPS@0.0.0-alpha+sha.db4ef9c97a
https://github.com/marcoschwartz/LiquidCrystal_I2C.git

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// Copyright (C) 2026 Association Exergie <association.exergie@gmail.com>
// SPDX-License-Identifier: GPL-3.0-or-later
/*
* This code is an archive of the original code running on the V1 wiring harness
* for the Murphy prototype.
*
* This code is unmaintained and is only to be used as a reference to understand
* undocumented wiring and functioning of the V1 wiring harness.
*/
// Importation des bibliothèques
// ****************************************************************************
#include <LiquidCrystal_I2C.h>
#include <LoRa.h>
#include <SPI.h>
#include <SoftwareSerial.h>
#include <TinyGPS.h>
#include <Wire.h>
#include <math.h>
#include <max6675.h>
// Déclaration des variables
// ********************************************************************************
// Ecran LCD
#define rs 31
#define e 33
#define d4 27
#define d5 25
#define d6 23
#define d7 29
// Thermocouple
#define MAX6675_CS A1
#define MAX6675_SO A0
#define MAX6675_SCK A2
MAX6675 thermocouple(MAX6675_SCK, MAX6675_CS, MAX6675_SO);
// LoRa
#define DIO0 2
#define rst 36
#define NSS 53
// Autre
#define capt_roue A4 // 21
#define inter_test 10
#define injection 37
#define Relais_LED A10
#define frein_av A5
#define frein_ar A6
float vout = 0.0;
float Tbat = 0.0;
float Tcarte = 0.0;
float R1 = 30000.0;
float R2 = 7500.0;
float R3 = 100.0;
float R4 = 220.0;
int valeur = 0;
unsigned long tps = 0;
unsigned long T;
unsigned long tThermo = 0;
unsigned long tTour = 0;
unsigned long mTour = 0;
unsigned long sTour = 0;
unsigned long msTour = 0;
unsigned long mTourFait = 0;
unsigned long sTourFait = 0;
unsigned long msTourFait = 0;
unsigned long tMoy = 0;
unsigned long tgps = 0;
unsigned long IndMoy = 0;
unsigned long TempsDepart = 0;
#define p 10
long P_of_10[p] = {1, 10, 100, 1000, 10000,
100000, 1000000, 10000000, 100000000, 1000000000};
float f;
float Vi;
float Vmoy = 0.0;
float perimetre_roue = 1.62;
float Tmot;
float distance = 0.0;
float DistanceTot = 0.0;
float DistTourFait = 0.0;
int Nb_tour_roue = 0;
uint16_t va;
long longitudeTest; // degré décimaux 10^-5
long latitudeTest; // degré décimaux 10^-5
long latitude = 999999; // degré décimaux 10^-5
long longitude = 999999; // degré décimaux 10^-5
long vieux_latitude = 999999; // degré décimaux 10^-5
long vieux_longitude = 999999; // degré décimaux 10^-5
int nbr_tour = 1;
int Nb_boucle = 0;
bool cercle = false;
int injec;
bool demarage = false;
int choix = 4; // Le choix se fait entre 0-ParkingPolytechLigneDroite,
// 1-ParkingPolytechBoucle, 2-CircuitMer, 3-Maison, 4-Circuit
// Paul Armagnac de Nogaro, 5-DunoisKart.
bool lora = true;
// Caractéristiques des différentes pistes
// ParkingPolytechLigneDroite
float LatParkingPolytechLigneDepartdebut = 47844095.0; // degré décimaux 10^-5
float LongParkingPolytechLigneDepartdebut = 1937724.0; // degré décimaux 10^-5
float LatParkingPolytechLigneDepartfin = 47844064.0; // degré décimaux 10^-5
float LongParkingPolytechLigneDepartfin = 1937810.0; // degré décimaux 10^-5
long LatParkingPolytechLigneDepartmilieu =
(LatParkingPolytechLigneDepartdebut + LatParkingPolytechLigneDepartfin) / 2;
long LongParkingPolytechLigneDepartmilieu =
(LongParkingPolytechLigneDepartdebut + LongParkingPolytechLigneDepartfin) /
2;
long LongeurLigneDepartParkingPolytechDeg = sqrt(
pow((LatParkingPolytechLigneDepartdebut - LatParkingPolytechLigneDepartfin),
2) +
pow((LongParkingPolytechLigneDepartdebut -
LongParkingPolytechLigneDepartfin),
2)); // distance en degré 10^-5
long LongeurLigneDepartParkingPolytechMetre = 11; // distance en metre
// ParkingPolytechBoucle
float LatParkingPolytechBoucleLigneDepartdebut =
47844287.0; // degré décimaux 10^-5
float LongParkingPolytechBoucleLigneDepartdebut =
1938343.0; // degré décimaux 10^-5
float LatParkingPolytechBoucleLigneDepartfin =
47844345.0; // degré décimaux 10^-5
float LongParkingPolytechBoucleLigneDepartfin =
1938382.0; // degré décimaux 10^-5
long LatParkingPolytechBoucleLigneDepartmilieu =
(LatParkingPolytechBoucleLigneDepartdebut +
LatParkingPolytechBoucleLigneDepartfin) /
2;
long LongParkingPolytechBoucleLigneDepartmilieu =
(LongParkingPolytechBoucleLigneDepartdebut +
LongParkingPolytechBoucleLigneDepartfin) /
2;
long LongeurLigneDepartParkingPolytechBoucleDeg =
sqrt(pow((LatParkingPolytechBoucleLigneDepartdebut -
LatParkingPolytechBoucleLigneDepartfin),
2) +
pow((LongParkingPolytechBoucleLigneDepartdebut -
LongParkingPolytechBoucleLigneDepartfin),
2)); // distance en degré 10^-5
long LongeurLigneDepartParkingPolytechBoucleMetre = 6; // distance en metre
// Circuit de Mer (CapKarting)
float LatCircuitMerLigneDepartdebut = 47728053.0; // degré décimaux 10^-5
float LongCircuitMerLigneDepartdebut = 1488901.0; // degré décimaux 10^-5
float LatCircuitMerLigneDepartfin = 47728097.0; // degré décimaux 10^-5
float LongCircuitMerLigneDepartfin = 1489006.0; // degré décimaux 10^-5
long LatCircuitMerLigneDepartmilieu =
(LatCircuitMerLigneDepartdebut + LatCircuitMerLigneDepartfin) / 2;
long LongCircuitMerLigneDepartmilieu =
(LongCircuitMerLigneDepartdebut + LongCircuitMerLigneDepartfin) / 2;
long LongeurLigneDepartCircuitMerDeg =
sqrt(pow((LatCircuitMerLigneDepartdebut - LatCircuitMerLigneDepartfin), 2) +
pow((LongCircuitMerLigneDepartdebut - LongCircuitMerLigneDepartfin),
2)); // distance en degré 10^-5
long LongeurLigneDepartCircuitMerMetre = 10; // distance en metre
// Circuit de Maison (test)
float LatCircuitMaisonLigneDepartdebut = 47938637.0; // degré décimaux 10^-5
float LongCircuitMaisonLigneDepartdebut = 1811129.0; // degré décimaux 10^-5
float LatCircuitMaisonLigneDepartfin = 47938680.0; // degré décimaux 10^-5
float LongCircuitMaisonLigneDepartfin = 1811203.0; // degré décimaux 10^-5
long LatCircuitMaisonLigneDepartmilieu =
(LatCircuitMaisonLigneDepartdebut + LatCircuitMaisonLigneDepartfin) / 2;
long LongCircuitMaisonLigneDepartmilieu =
(LongCircuitMaisonLigneDepartdebut + LongCircuitMaisonLigneDepartfin) / 2;
long LongeurLigneDepartCircuitMaisonDeg = sqrt(
pow((LatCircuitMaisonLigneDepartdebut - LatCircuitMaisonLigneDepartfin),
2) +
pow((LongCircuitMaisonLigneDepartdebut - LongCircuitMaisonLigneDepartfin),
2)); // distance en degré 10^-5
long LongeurLigneDepartCircuitMaisonMetre = 7; // distance en metre
// Circuit de Paul Armagnac (Nogaro)
float LatCircuitNogaroLigneDepartdebut = 43770616.0;
float LongCircuitNogaroLigneDepartdebut = -40627.0; // attention nombre négatif
float LatCircuitNogaroLigneDepartfin = 43770691.0;
float LongCircuitNogaroLigneDepartfin = -40463.0; // attention nombre négatif
long LatCircuitNogaroLigneDepartmilieu =
(LatCircuitNogaroLigneDepartdebut + LatCircuitNogaroLigneDepartfin) / 2;
long LongCircuitNogaroLigneDepartmilieu =
(LongCircuitNogaroLigneDepartdebut + LongCircuitNogaroLigneDepartfin) / 2;
long LongeurLigneDepartCircuitNogaroDeg = sqrt(
pow((LatCircuitNogaroLigneDepartdebut - LatCircuitNogaroLigneDepartfin),
2) +
pow((LongCircuitNogaroLigneDepartdebut - LongCircuitNogaroLigneDepartfin),
2)); // distance en degré 10^-5
long LongeurLigneDepartCircuitNogaroMetre = 15; // distance en metre
// Circuit de karting Dunois (Dunois Kart)
float LatCircuitDunoisKartLigneDepartdebut = 48052815.0;
float LongCircuitDunoisKartLigneDepartdebut =
1427610.0; // attention nombre négatif
float LatCircuitDunoisKartLigneDepartfin = 48052898.0;
float LongCircuitDunoisKartLigneDepartfin =
1427644.0; // attention nombre négatif
long LatCircuitDunoisKartLigneDepartmilieu =
(LatCircuitDunoisKartLigneDepartdebut +
LatCircuitDunoisKartLigneDepartfin) /
2;
long LongCircuitDunoisKartLigneDepartmilieu =
(LongCircuitDunoisKartLigneDepartdebut +
LongCircuitDunoisKartLigneDepartfin) /
2;
long LongeurLigneDepartCircuitDunoisKartDeg =
sqrt(pow((LatCircuitDunoisKartLigneDepartdebut -
LatCircuitDunoisKartLigneDepartfin),
2) +
pow((LongCircuitDunoisKartLigneDepartdebut -
LongCircuitDunoisKartLigneDepartfin),
2)); // distance en degré 10^-5
long LongeurLigneDepartCircuitDunoisKartMetre = 10; // distance en metre
// Piste Choisie
float LatLigneDepartdebut[] = {
LatParkingPolytechLigneDepartdebut,
LatParkingPolytechBoucleLigneDepartdebut,
LatCircuitMerLigneDepartdebut,
LatCircuitMaisonLigneDepartdebut,
LatCircuitNogaroLigneDepartdebut,
LatCircuitDunoisKartLigneDepartdebut}; // degré décimaux 10^-5
float LongLigneDepartdebut[] = {
LongParkingPolytechLigneDepartdebut,
LongParkingPolytechBoucleLigneDepartdebut,
LongCircuitMerLigneDepartdebut,
LongCircuitMaisonLigneDepartdebut,
LongCircuitNogaroLigneDepartdebut,
LongCircuitDunoisKartLigneDepartdebut}; // degré décimaux 10^-5
float LatLigneDepartfin[] = {
LatParkingPolytechLigneDepartfin,
LatParkingPolytechBoucleLigneDepartfin,
LatCircuitMerLigneDepartfin,
LatCircuitMaisonLigneDepartfin,
LatCircuitNogaroLigneDepartfin,
LatCircuitDunoisKartLigneDepartfin}; // degré décimaux 10^-5
float LongLigneDepartfin[] = {
LongParkingPolytechLigneDepartfin,
LongParkingPolytechBoucleLigneDepartfin,
LongCircuitMerLigneDepartfin,
LongCircuitMaisonLigneDepartfin,
LongCircuitNogaroLigneDepartfin,
LongCircuitDunoisKartLigneDepartfin}; // degré décimaux 10^-5
float AngleLigneDepartDeg =
atan(2 * (LatLigneDepartfin[choix] - LatLigneDepartdebut[choix]) /
(LongLigneDepartfin[choix] - LongLigneDepartdebut[choix])) *
360 / (2 * 3.14159);
long LatLigneDepartmilieu[] = {LatParkingPolytechLigneDepartmilieu,
LatParkingPolytechBoucleLigneDepartmilieu,
LatCircuitMerLigneDepartmilieu,
LatCircuitMaisonLigneDepartmilieu,
LatCircuitNogaroLigneDepartmilieu,
LatCircuitDunoisKartLigneDepartmilieu};
long LongLigneDepartmilieu[] = {LongParkingPolytechLigneDepartmilieu,
LongParkingPolytechBoucleLigneDepartmilieu,
LongCircuitMerLigneDepartmilieu,
LongCircuitMaisonLigneDepartmilieu,
LongCircuitNogaroLigneDepartmilieu,
LongCircuitDunoisKartLigneDepartmilieu};
long LongeurLigneDepartDeg[] = {LongeurLigneDepartParkingPolytechDeg,
LongeurLigneDepartParkingPolytechBoucleDeg,
LongeurLigneDepartCircuitMerDeg,
LongeurLigneDepartCircuitMaisonDeg,
LongeurLigneDepartCircuitNogaroDeg,
LongeurLigneDepartCircuitDunoisKartDeg};
long LongeurLigneDepartMetre[] = {LongeurLigneDepartParkingPolytechMetre,
LongeurLigneDepartParkingPolytechBoucleMetre,
LongeurLigneDepartCircuitMerMetre,
LongeurLigneDepartCircuitMaisonMetre,
LongeurLigneDepartCircuitNogaroMetre,
LongeurLigneDepartCircuitDunoisKartMetre};
int signe[] = {1, 1, 1, 1, 1, 1};
long DistanceProto_LdD;
float AngleProtoDeg;
long AncienneDistanceProto_LdD;
float AncienAngleProtoDegDeg;
bool passage = false;
const int taille_message_test = 6;
int message_test[taille_message_test] = {
0, 0, 0, 0,
0, 0}; // #vitesse,vitesse moyenne,tension batterie,tension
// carte,température moteur,accélération$
const int taille_message_piste = 15;
long message_piste[taille_message_piste] = {
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0}; // #latitude,latitude,latitude,longitude,longitude,longitude,vitesse,vitesse
// moyenne,tension batterie,tension carte,température
// moteur,nombre de tour,accélération,frein
// avant,frein arrière$
String NomCircuit[] = {"Parking Polytech", "Polytech Boucle",
"Cap Karting", "Maison",
"Nogaro Paul Armagnac", "Dunois Kart"};
char temp;
#define bt_lenmax 150
int bt_ind;
int bt_v;
int bt_rxok;
// Variable de défaut
int k = 0;
int Tk = 0;
int Tkmot = 0;
bool InitGPSFailed = false;
bool PerteGPSAff = false;
bool PerteGPS = false;
bool GPSRetrouveAff = false;
int Perte = 0;
bool TFaibleAff = false;
bool TmotAff = false;
float TlimitLow = 12.3;
int TmotlimitLow = 65;
int TmotlimitHigh = 95;
// Déclaration des
// objets************************************************************************************
LiquidCrystal_I2C lcd(0x27, 20, 4);
LiquidCrystal_I2C *_display = new LiquidCrystal_I2C(0x27, 20, 4);
TinyGPS gps;
// Déclaration des sous programmes
// **************************************************************************
void LCD() {
if (Nb_boucle > 50) {
lcd.clear();
Nb_boucle = 0;
}
lcd.setCursor(0, 0);
lcd.print("Vi=");
lcd.setCursor(3, 0);
if (Vi < 10) {
lcd.print("0");
lcd.setCursor(4, 0);
}
lcd.print(Vi);
lcd.setCursor(10, 0);
lcd.print("Vmoy=");
lcd.setCursor(15, 0);
if (Vmoy < 10) {
lcd.print("0");
lcd.setCursor(16, 0);
}
lcd.print(Vmoy);
lcd.setCursor(0, 1);
lcd.print("Tmot=");
lcd.setCursor(5, 1);
lcd.print(Tmot);
if (Tmot < TmotlimitLow && TmotAff == true) {
TmotAff = false;
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(" !!! DEFAUT !!!");
lcd.setCursor(0, 1);
lcd.print("!! Tempe. moteur !!");
lcd.setCursor(0, 2);
lcd.print(" !!! Faible !!! ");
delay(2500);
lcd.clear();
}
if (Tmot > TmotlimitHigh && TmotAff == true) {
TmotAff = false;
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(" !!! DEFAUT !!!");
lcd.setCursor(0, 1);
lcd.print("!! Tempe. moteur !!");
lcd.setCursor(0, 2);
lcd.print(" !!! Haute !!! ");
delay(2500);
lcd.clear();
}
lcd.setCursor(15, 1);
lcd.print("GPS:");
lcd.setCursor(19, 1);
if (InitGPSFailed == true) {
if (latitude == longitude) {
lcd.print("X");
} else {
InitGPSFailed = false;
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Initialisation Proto");
lcd.setCursor(0, 1);
lcd.print("Init. GPS: Ok!");
Serial.println("Init. GPS: Ok!");
delay(1500);
lcd.clear();
}
} else {
if (PerteGPSAff) {
PerteGPSAff = false;
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(" !!! DEFAUT !!!");
lcd.setCursor(0, 1);
lcd.print("!!! GPS Perdu !!!");
Serial.println("!!! GPS Perdu !!!");
delay(1500);
lcd.clear();
}
if (GPSRetrouveAff) {
GPSRetrouveAff = false;
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(" !!! DEFAUT !!!");
lcd.setCursor(0, 1);
lcd.print("!!! GPS OK !!!");
Serial.println("!!! GPS OK !!!");
delay(1500);
lcd.clear();
}
if (PerteGPS) {
lcd.print("X");
} else {
lcd.print("V");
}
}
lcd.setCursor(0, 2);
lcd.print("Tour=00");
lcd.setCursor(5, 2);
if (nbr_tour < 10) {
lcd.setCursor(6, 2);
}
lcd.print(nbr_tour);
if (passage) {
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(" !!! INFO !!!");
lcd.setCursor(0, 1);
lcd.print("!! Tour Effectue !!");
lcd.setCursor(0, 2);
lcd.print("t/Tour=0m00s0");
lcd.setCursor(7, 2);
lcd.print(mTourFait);
lcd.setCursor(9, 2);
if (sTour < 10) {
lcd.setCursor(10, 2);
}
lcd.print(sTourFait);
lcd.setCursor(12, 2);
lcd.print(msTourFait);
lcd.setCursor(0, 3);
lcd.print("Dist=");
lcd.setCursor(5, 3);
lcd.print(Nb_tour_roue); // DistTourFait);
delay(4500);
lcd.clear();
}
lcd.setCursor(9, 2);
lcd.print("Tbat=00.00V");
if (Tbat < 10) {
lcd.setCursor(15, 2);
lcd.print(Tbat);
}
if (Tbat >= 10) {
lcd.setCursor(14, 2);
lcd.print(Tbat);
}
if (Tbat < TlimitLow && TFaibleAff == true) {
TFaibleAff = false;
lcd.clear();
lcd.setCursor(0, 0);
lcd.print(" !!! DEFAUT !!!");
lcd.setCursor(0, 1);
lcd.print("!! Tension Faible !!");
delay(2500);
lcd.clear();
}
lcd.setCursor(0, 3);
lcd.print("t/Tour=0m00s0");
if (demarage == true) {
mTour = (millis() - tTour) / 60000;
sTour = ((millis() - tTour) / 1000) % 60;
msTour = (millis() - tTour) % 1000 / 100;
lcd.setCursor(7, 3);
lcd.print(mTour);
lcd.setCursor(9, 3);
if (sTour < 10) {
lcd.setCursor(10, 3);
}
lcd.print(sTour);
lcd.setCursor(12, 3);
lcd.print(msTour);
}
lcd.setCursor(17, 3);
lcd.print("L=");
lcd.setCursor(19, 3);
lcd.print(lora);
}
void tension_batterie() {
valeur = analogRead(A3);
vout = (valeur * 5.0) / 1023.0; // see text
Tbat = (vout * (10000.0 + 33000.0)) / 10000.0;
if (Tbat < TlimitLow) {
Tk++;
}
if (Tk > 99) {
Tk = 0;
TFaibleAff = true;
} else {
TFaibleAff = false;
}
// Serial.print("valeur =");
// Serial.print(valeur);
// Serial.print(" vout =");
// Serial.print(vout);
// Serial.print(" Tbat =");
// Serial.println(Tbat);
}
void tension_carte() {
valeur = analogRead(A4);
vout = (valeur * 5.0) / 1023.0; // see text
Tcarte = vout / (10000.0 / (10000.0 + 27000.0));
// Serial.print(" valeur =");
// Serial.print(valeur);
// Serial.print(" vout =");
// Serial.print(vout);
// Serial.print(" Tcarte =");
// Serial.println(Tcarte);
}
void vitesse() {
if (micros() - tps > 50000) {
T = micros() - tps;
tps = micros();
f = 1000000.0 / T;
Vi = f * perimetre_roue * 3.6;
if (Vi > 45) {
Vi = 45;
}
Serial.print(f);
Serial.print(", ");
Serial.println(Vi);
distance = distance + perimetre_roue;
DistanceTot = DistanceTot + perimetre_roue;
Nb_tour_roue++;
}
}
void tempmot() {
if (micros() - tThermo >= 2000000) {
float TmotThermo;
TmotThermo = thermocouple.readCelsius() - 2; //-12;
Tmot = TmotThermo; //*0.7995759526+17.1336552466;
tThermo = micros();
if (Tmot < TmotlimitLow || Tmot > TmotlimitHigh) {
if (Tkmot == 0) {
TmotAff = true;
} else {
TmotAff = false;
}
Tkmot++;
}
if (Tkmot > 49) {
Tkmot = 0;
}
}
}
void message() {
int Distance = distance * 100;
if (digitalRead(inter_test)) // envoi de la trame par liaison Série
{ // #vitesse,vitesse moyenne,tension batterie,tension carte,température
// moteur,accélération$
message_test[0] = Vi * 100;
message_test[1] = Vmoy * 100;
message_test[2] = Tbat * 100;
message_test[3] = Tcarte * 100;
message_test[4] = Tmot * 100;
message_test[5] = Nb_tour_roue / 1000;
message_test[6] = Nb_tour_roue - message_test[5] * 1000;
// message_test[7]=int(Distance-message_test[5]*1000000-message_test[6]*1000);
Serial1.print('#');
Serial1.print(message_test[0]);
Serial1.print(",");
Serial1.print(message_test[1]);
Serial1.print(",");
Serial1.print(message_test[2]);
Serial1.print(",");
Serial1.print(message_test[3]);
Serial1.print(",");
Serial1.print(message_test[4]);
Serial1.print(",");
Serial1.print(message_test[5]);
Serial1.print(",");
Serial1.print(message_test[6]);
Serial1.print(
","); // Serial1.print(message_test[7]);Serial1.print(",");//Serial1.print(message_test[5]);Serial1.print(",");
Serial1.println('$');
Serial.print('#');
Serial.print(message_test[0]);
Serial.print(",");
Serial.print(message_test[1]);
Serial.print(",");
Serial.print(message_test[2]);
Serial.print(",");
Serial.print(message_test[3]);
Serial.print(",");
Serial.print(message_test[4]);
Serial.print(",");
Serial.print(message_test[5]);
Serial.print(",");
Serial.print(message_test[6]);
Serial.print(
","); // Serial.print(message_test[7]);Serial.print(",");//Serial.print(message_test[5]);Serial.print(",");
Serial.println('$');
// Serial.println("message test envoyé");
}
if (!digitalRead(inter_test) &&
lora) // envoi de la trame par onde radio via le Lora
{ // #latitude,latitude,latitude,longitude,longitude,longitude,vitesse,vitesse
// moyenne,tension batterie,tension carte,température moteur,nombre de
// tour,accélération,frein avant,frein arrière$
message_piste[0] = latitude / 1000000;
message_piste[1] = (latitude - message_piste[0] * 1000000) / 1000;
message_piste[2] =
latitude - message_piste[0] * 1000000 - message_piste[1] * 1000;
message_piste[3] = longitude / 1000000;
message_piste[4] = (longitude - message_piste[3] * 1000000) / 1000;
message_piste[5] =
longitude - message_piste[3] * 1000000 - message_piste[4] * 1000;
message_piste[6] = Vi * 100;
message_piste[7] = Vmoy * 100;
message_piste[8] = Tbat * 100;
message_piste[9] = Tcarte * 100;
message_piste[10] = Tmot * 100;
message_piste[10] = nbr_tour;
message_piste[11] = injec;
message_piste[12] = digitalRead(frein_av);
message_piste[13] = digitalRead(frein_ar);
LoRa.beginPacket();
LoRa.print('#');
LoRa.print(message_piste[0]);
LoRa.print(message_piste[1]);
LoRa.print(message_piste[2]);
LoRa.print(",");
LoRa.print(message_piste[3]);
LoRa.print(message_piste[4]);
LoRa.print(message_piste[5]);
LoRa.print(",");
LoRa.print(message_piste[6]);
LoRa.print(",");
LoRa.print(message_piste[7]);
LoRa.print(",");
LoRa.print(message_piste[8]);
LoRa.print(",");
LoRa.print(message_piste[9]);
LoRa.print(",");
LoRa.print(message_piste[10]);
LoRa.print(",");
LoRa.print(message_piste[11]);
LoRa.print(",");
LoRa.print(message_piste[12]);
LoRa.print(",");
LoRa.print(message_piste[13]);
LoRa.print(",");
LoRa.print(mTour);
LoRa.print(",");
LoRa.print(sTour);
LoRa.print(",");
LoRa.print(msTour);
LoRa.print(",");
LoRa.print(int((distance / 1000)));
LoRa.print(",");
LoRa.print(int((distance) - (int(distance / 1000) * 1000)));
LoRa.print(",");
LoRa.print(int((distance * 1000) - (int(distance) * 1000)));
LoRa.print(","); //;LoRa.print(message_piste[14]);LoRa.print(",")
LoRa.print('$');
LoRa.endPacket();
// Serial.println(int((distance*100)/1000));
// Serial.print('#');
// Serial.print(message_piste[0]);Serial.print(message_piste[1]);Serial.print(message_piste[2]);Serial.print(",");Serial.print(message_piste[3]);Serial.print(message_piste[4]);Serial.print(message_piste[5]);Serial.print(",");Serial.print(message_piste[6]);Serial.print(",");Serial.print(message_piste[7]);Serial.print(",");Serial.print(message_piste[8]);Serial.print(",");Serial.print(message_piste[9]);Serial.print(",");Serial.print(message_piste[10]);Serial.print(",");Serial.print(message_piste[11]);Serial.print(",");Serial.print(message_piste[12]);Serial.print(",");Serial.print(message_piste[13]);Serial.print(",");Serial.print(mTour);Serial.print(",");Serial.print(sTour);Serial.print(",");Serial.print(msTour);Serial.print(",");Serial.print(int((distance/1000)));Serial.print(",");Serial.print(int((distance)-(int(distance/1000)*1000)));Serial.print(",");Serial.print(int((distance*1000)-(int(distance)*1000)));Serial.print(",");//;LoRa.print(message_piste[14]);LoRa.print(",")
// Serial.println('$');
}
}
void frein() {
if (digitalRead(frein_av) || digitalRead(frein_ar)) {
digitalWrite(Relais_LED, HIGH);
}
if (!digitalRead(frein_av) && !digitalRead(frein_ar)) {
digitalWrite(Relais_LED, LOW);
}
}
void Injection() {
if (digitalRead(injection)) {
injec = 1;
}
if (!digitalRead(injection)) {
injec = 0;
}
}
void Nbr_tour() {
if ((sqrt(pow((LatLigneDepartmilieu[choix] - latitude), 2) +
pow((LongLigneDepartmilieu[choix] - longitude), 2)) <=
1.25 * LongeurLigneDepartDeg[choix] &&
sqrt(pow((LatLigneDepartmilieu[choix] - vieux_latitude), 2) +
pow((LongLigneDepartmilieu[choix] - vieux_longitude), 2)) <=
1.25 * LongeurLigneDepartDeg[choix] &&
passage == false)) //|| mTour>0)
{
AngleProtoDeg = atan(2 * (latitude - LatLigneDepartdebut[choix]) /
(longitude - LongLigneDepartdebut[choix])) *
360 / (2 * 3.14159);
AncienAngleProtoDegDeg =
atan(2 * (vieux_latitude - LatLigneDepartdebut[choix]) /
(vieux_longitude - LongLigneDepartdebut[choix])) *
360 / (2 * 3.14159);
cercle = true;
if ((signe[choix] * (AncienAngleProtoDegDeg - AngleLigneDepartDeg) <= 0 &&
signe[choix] * (AngleProtoDeg - AngleLigneDepartDeg) >
0)) //|| mTour>0)
{
nbr_tour++;
passage = true;
tTour = millis();
mTourFait = mTour;
sTourFait = sTour;
msTourFait = msTour;
DistTourFait = distance;
mTour = 0;
sTour = 0;
msTour = 0;
distance = 0;
}
}
// if(sqrt(pow((LatLigneDepartmilieu[choix]-latitude),2)+pow((LongLigneDepartmilieu[choix]-longitude),2))>LongeurLigneDepartDeg[choix]
// ||
// sqrt(pow((LatLigneDepartmilieu[choix]-vieux_latitude),2)+pow((LongLigneDepartmilieu[choix]-vieux_longitude),2))>LongeurLigneDepartDeg[choix])
else {
cercle = false;
passage = false;
}
}
void Vmoyenne() {
if (demarage == true) {
// Vmoy=(Vmoy*(IndMoy)+Vi)/(IndMoy+1);
// IndMoy++;
Vmoy = (DistanceTot / (millis() - TempsDepart)) * 3.6;
}
}
void GPS() {
unsigned long chars;
unsigned short sentences, failed;
bool newdata = false;
// float lat;
// float lon;
latitudeTest = latitude;
longitudeTest = longitude;
while (Serial2.available()) {
char c = Serial2.read();
// Serial.write(c); // uncomment this line if you want to see the GPS data
// flowing
if (gps.encode(c)) {
vieux_latitude = latitude;
vieux_longitude = longitude;
gps.get_position(&latitude, &longitude);
if (vieux_latitude == latitude && vieux_longitude == longitude) {
Perte++;
if (Perte > 3) {
if (PerteGPS) {
PerteGPSAff = false;
} else {
PerteGPSAff = true;
}
PerteGPS = true;
}
} else {
Perte = 0;
if (PerteGPS) {
GPSRetrouveAff = true;
}
PerteGPS = false;
PerteGPSAff = false;
}
Serial.println(" Aqui GPS");
// Serial.print(" lati=");
// Serial.print(latitude);
// Serial.print(" long=");
// Serial.println(longitude);
// Serial.print(" latiTest=");
// Serial.print(latitudeTest);
// Serial.print(" longTest=");
// Serial.println(longitudeTest);
}
}
// Serial.println(" ");
// Serial.print(" lati=");
// Serial.print(latitude);
// Serial.print(" long=");
// Serial.println(longitude);
// Serial.print(" latiVieux=");
// Serial.print(vieux_latitude);
// Serial.print(" longVieux=");
// Serial.println(vieux_longitude);
// Serial.print(" Perte=");
// Serial.println(Perte);
Vmoyenne();
}
void setup() {
//************************************************************************************
//Initialisation Proto
lcd.init();
lcd.backlight();
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Initialisation Proto");
delay(1000);
//************************************************************************************
//Initialisation des ports COM
lcd.setCursor(0, 1);
lcd.print("Init. Port COM ...");
Serial.begin(9600);
Serial1.begin(9600);
Serial2.begin(9600);
lcd.setCursor(0, 2);
lcd.print("Init. Port COM: Ok!");
delay(1000);
tgps = millis();
tTour = millis();
pinMode(capt_roue, INPUT_PULLUP);
pinMode(injection, INPUT);
pinMode(Relais_LED, OUTPUT);
pinMode(MAX6675_CS, OUTPUT);
pinMode(MAX6675_SO, INPUT);
pinMode(MAX6675_SCK, OUTPUT);
attachInterrupt(1, vitesse, FALLING);
//************************************************************************************
//Initialisation LoRa
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Initialisation Proto");
lcd.setCursor(0, 1);
lcd.print("Init. LoRa ...");
delay(1000);
LoRa.setPins(NSS, rst, DIO0); // NSS, NRESET, and DIO0 pins can be changed by
// using LoRa.setPins(ss, reset, dio0).
LoRa.begin(433E6);
LoRa.setTxPower(20);
if (!LoRa.begin(433E6)) // porteuse de 433MHz
{
Serial.println("Starting LoRa failed!");
lcd.setCursor(0, 2);
lcd.print("Init. LoRa failed!");
delay(1000);
lora = false;
lcd.clear();
} else {
lcd.setCursor(0, 2);
lcd.print("Init. LoRa: Ok!");
delay(1000);
}
LoRa.setSpreadingFactor(7);
// LoRa.setSignalBandwidth(41.7E3);
// LoRa.crc();
// Serial.println("LoRa Initializing OK!");
//************************************************************************************
//Initialisation GPS
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Initialisation Proto");
lcd.setCursor(0, 1);
lcd.print("Init. GPS: .");
lcd.setCursor(0, 2);
lcd.print("Lat:");
lcd.setCursor(6, 2);
lcd.print(latitude);
lcd.setCursor(0, 3);
lcd.print("Long:");
lcd.setCursor(6, 3);
lcd.print(longitude);
delay(500);
while (latitude == longitude && InitGPSFailed == false) {
GPS();
if (k == 3) {
k = 0;
}
if (k == 0) {
lcd.setCursor(0, 1);
lcd.print("Init. GPS: .. ");
} else if (k == 1) {
lcd.setCursor(0, 1);
lcd.print("Init. GPS: ...");
} else if (k == 2) {
lcd.setCursor(0, 1);
lcd.print("Init. GPS: . ");
}
lcd.setCursor(0, 2);
lcd.print("Lat:");
lcd.setCursor(6, 2);
lcd.print(latitude);
lcd.setCursor(0, 3);
lcd.print("Long:");
lcd.setCursor(6, 3);
lcd.print(longitude);
lcd.setCursor(15, 3);
lcd.print(millis() - tgps);
delay(500);
k++;
if (millis() - tgps > 25000) {
InitGPSFailed = true;
}
}
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Initialisation Proto");
lcd.setCursor(0, 1);
if (InitGPSFailed == true) {
lcd.print("Init. GPS: Failed!");
} else {
lcd.print("Init. GPS: Ok!");
}
delay(1000);
//************************************************************************************
//Initialisation Piste
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("Piste selectionnee :");
lcd.setCursor(0, 1);
lcd.print(NomCircuit[choix]);
lcd.setCursor(0, 2);
lcd.print(AngleLigneDepartDeg);
delay(3000);
lcd.clear();
LCD();
}
void loop() {
if (LoRa.begin(433E6)) {
lora = true;
}
if (!LoRa.begin(433E6)) {
lora = false;
}
if (digitalRead(injection) == 1 &&
demarage == false) // Initialise le démarrage des chronos au premier appui
// sur le bouton d'injection.
{
demarage = true;
tTour = millis();
tMoy = millis();
TempsDepart = millis() / 1000;
}
if (micros() - tps > 4000000) {
Vi = 0.0;
}
LCD();
tension_batterie();
tension_carte();
tempmot();
// frein();
Injection();
Nbr_tour();
message();
GPS();
// Serial.print(" lati=");
// Serial.print(latitude);
// Serial.print(" long=");
// Serial.println(longitude);
// Serial.println(digitalRead(capt_roue));
Nb_boucle++;
}

11
test/README Normal file
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This directory is intended for PlatformIO Test Runner and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PlatformIO Unit Testing:
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html