979 lines
31 KiB
C++
979 lines
31 KiB
C++
// 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++;
|
|
}
|