application real-time ~OK (bug intermittent)

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1 parent 0f803f1d
Showing 1 changed file with 33 additions and 33 deletions Show diff stats
RIOT/examples/real_time_app/main.c
@@ -80,6 +80,7 @@
 #define PWM_FREQ 100
 #define PWM_RES 100
+#define DEADLINE 70000
 // addr ipv6 link local node 1: fe80::3734:510e:3317:3402
 uint8_t node1[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0e,0x33,0x17,0x34,0x02};
@@ -102,6 +103,7 @@ kernel_pid_t server, client, time_server;
 int ordre = 0;
 int64_t offset = 0;
 int timer_run = 0;
+int tourne = 0;
 sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
 sock_udp_t sock; 
 sock_udp_ep_t local_ntp = SOCK_IPV6_EP_ANY;
@@ -151,7 +153,7 @@ void *sock_time_server_thread(void *arg)
       }
     return NULL;
 }
-void *pwm_thread(void *arg)
+/*void *pwm_thread(void *arg)
 {
     (void) arg;
     int tourne = 0;
@@ -173,7 +175,7 @@ void *pwm_thread(void *arg)
     }
     return NULL;
-}
+}*/
 void *sock_server_thread(void *arg)
 {
@@ -190,9 +192,6 @@ void *sock_server_thread(void *arg)
           return NULL;
     }
-    //sntp_sync(&local,5000);
-    //printf("temps : %i\n",(int)sntp_get_offset());
-    
     while (1) {
           sock_udp_ep_t remote;
           ssize_t res;
@@ -211,38 +210,38 @@ void *sock_server_thread(void *arg)
 	      offset = sntp_get_offset();
     	      deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
               printf("tps de transmission : %i\n",deadline);
-	      printf("compteur : %d\n",compteur);
-	      if(deadline<=70000 && compteur >=5)
-	      {
-		ordre = 1;
-		timer_clear(TIMER_DEV(1),0);
-	      }
-	      else if(deadline<=70000 && (ordre == 2 || ordre ==0))
-	      {
-		compteur++;
-	      } 
-	      else
+	      
+	      if(deadline >= DEADLINE && compteur >=5)
 	      {
-		ordre = 2;
+		//ordre = 2;
 		compteur = 0;
+		if(tourne == 1)
+		  pwm_set(PWM_DEV(0),1,31);
 		if(timer_run == 0)
 		{
 		  timer_set(TIMER_DEV(1),0,25200);
+		  printf("relance timer\n");
 		  timer_run = 1;
 		}
 	      }
-		
-          /*if(strcmp((char *)buf,"go")==0)
-	  {
-	      ordre = 1;
-	      timer_set(XTIMER_DEV,0,8400);
-	      timer_clear(TIMER_DEV(1),0);
- 	  }
-	  else 
-	  {
-	      ordre = 0;
-	   }
-          }*/
+	      if(deadline >= DEADLINE && compteur < 5)
+	      {
+		compteur = 0;
+	      }
+	      if(deadline<=DEADLINE && compteur >=5)
+	      {
+		//ordre = 1;
+		pwm_set(PWM_DEV(0),1,45);
+		tourne = 1;
+		timer_clear(TIMER_DEV(1),0);
+		printf("clear timer\n");
+	      }
+	      if(deadline<=DEADLINE && compteur <5)
+	      {
+		compteur++;
+	      } 
+	   
+	  printf("compteur : %d\n",compteur);
 	  memset(&buf,0,sizeof(buf));
       }
     }
@@ -274,15 +273,16 @@ void *sock_client_thread(void *arg)
      if (sock_udp_send(NULL, &data, sizeof(data), &remote) < 0) {
                puts("Error sending message");
            }
-     xtimer_sleep(1);
+     xtimer_sleep(2);
        }
      return NULL;
 }
 static void arret_urgence(void *arg,int channel)
 {
-  //pwm_set(PWM_DEV(0),1,0);
-  ordre=0;
+  pwm_set(PWM_DEV(0),1,0);
+  tourne = 0;
+  //ordre=0;
   timer_run = 0;
   printf("Arret d'urgence\n");
 }
@@ -310,7 +310,7 @@ static void _init_pwm(void)
     pwm_init(PWM_DEV(0), PWM_LEFT, PWM_FREQ, PWM_RES);
     pwm_set(PWM_DEV(0),1,0);
-    thread_create(pwm_stack,sizeof(pwm_stack),8,THREAD_CREATE_STACKTEST,pwm_thread,NULL,"pwm_thread");
+//    thread_create(pwm_stack,sizeof(pwm_stack),7,THREAD_CREATE_STACKTEST,pwm_thread,NULL,"pwm_thread");
 }