Ehhh T NUL
Dependencies: mbed bloc_io mbed-rtos html
main.cpp
- Committer:
- ragas
- Date:
- 2019-10-22
- Revision:
- 3:a659bef8f6a5
- Parent:
- 2:153d417b318b
- Child:
- 4:08e917c15d87
File content as of revision 3:a659bef8f6a5:
//#include "EthernetInterface.h" #include <stdlib.h> #include <string.h> #include "mbed.h" #include "rtos.h" // need for main thread sleep #include "html.h" // need for html patch working with web server #include "bloc_io.h" #define RADIUS 0.2F // wheel size #define NBPOLES 8 // magnetic pole number #define DELTA_T 0.1F // speed measurement counting period DigitalOut valid(p21);//rajout void Init(int);//rajout void lecture(void);//permet lecture intern du pld Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD // analog input connected to mbed // valid pmw mbed pin Serial pc(USBTX, USBRX); // tx, rx // Top_Hall Pin int valref=0 ;//rajout float min ; float max; int tout; int Hall; int direction; int FLTA; int frein; int overcurrent; float gaz; //void modulo (int ); /************ persistent file parameters section *****************/ LocalFileSystem local("local"); // Create the local filesystem under the name "local" /********************* web server section **********************************/ var_field_t tab_balise[10]; //une balise est présente dans le squelette int giCounter=0;// acces counting /*********************** can bus section ************/ // determine message ID used to send Gaz ref over can bus #define _CAN_DEBUG // used to debug can bus activity //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield bool bCan_Active=false; DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/ DigitalOut led2(LED2); DigitalOut led3(LED3); // blink when can message is sent DigitalOut led4(LED4); // blink when can message is received AnalogIn poignee (p17); FILE*pfile=NULL; Ticker guidon; void task1(void); int mode ; //************ local function prototypes ******************* /**************** Read persistent data from text file located on local file system ****************/ /**************** write persitant data to text file located on local file system ****************/ //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** // ************top hall counting interrupt needed for speed measurement //********************** timer interrupt for speed measurement each 100ms ************************* //********************* Timer Interrupt for gaz ref management each 10ms ******************** /********* main cgi function used to patch data to the web server thread **********************************/ void CGI_Function(void) // cgi function that patch web data to empty web page { char ma_chaine4[20]= {}; // needed to form html response } /*********************** CAN BUS SECTION **********************/ void CAN_REC_THREAD(void const *args) { int iCount,iError; while (bCan_Active) { Thread::wait(100);// wait 100ms // code todo } } //*************************** main function ***************************************** int main() { //int x; //int data_in; char cChoix; valid.write(0); MyPLD.write(0); valid.write(1); float gaz; mode=0; FILE* pfile = fopen ("/local/ragas.txt","r"); if(pfile!=NULL) { fscanf(pfile,"min=%f max=%f", &min,&max); pc.printf("\n min=%f max=%f", min,max); } else { pc.printf("erreur"); } fclose(pfile); // close file guidon.attach(&task1,0.05); //***************************************** web section ********************************************/ //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function //Thread WebThread(Web_Server_Thread);// create and launch web server thread /********* main cgi function used to patch data to the web server thread **********************************/ //******************************************* end web section ************************************* / pc.printf(" programme scooter mbed \n"); //********************* can bus section initialisation ******************************************* //bCan_Active=true;// needed to lauchn CAN thread //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread //********************* end can bus section ***************************************************** while(cChoix!='q' and cChoix!='Q' /*and cChoix='c'*/) { pc.printf(" veuillez saisir un choix parmi la liste proposee: \r\n"); pc.printf(" a:saisie consigne pwm \r\n"); pc.printf(" c:lecture interne \r\n"); pc.printf(" b:calibration \r\n"); pc.printf(" m:mode \r\n"); pc.printf(" q:quitter \r\n"); /************* multithreading : main thread need to sleep in order to allow web response */ while (pc.readable()==0) { // determine if char availabler Thread::wait(10); // wait 10 until char available on serial input } /************* end of main thread sleep ****************/ pc.scanf(" %c",&cChoix); switch (cChoix) { case 'a': printf("donne moi une valeur de pwmref entre 0 et 255:"); scanf("%d",&valref); if(valref<=255) { MyPLD.write(valref); } else { valref=0; //MyPLD.write(valref); printf("valeur entre 0 et 255"); } break; case 'c' : lecture(); break; case 'b': printf("mettre au min et appuyer sur une touche quand termine\n\r"); getchar(); min=poignee.read(); printf("min=%f\n\r",min); printf("vmettre au max max et appuyer sur une touche quand termine\n\r"); getchar(); max=poignee.read(); printf("max%f\n\r",max); FILE* pfile = fopen ("/local/ragas.txt","w"); if(pfile!=NULL) fprintf(pfile,"min=%f max=%f", min,max); fclose(pfile); // close file break; case 'm': do { printf("choisissez un mode :0 pour automatique et 1 pour manuel"); scanf("%d",&mode); } while(mode<0 || mode >1); break ; case 'q': valid.write(0); MyPLD.write(0); guidon.detach(); break; /* case 'q': frein.read(); DigitalIn flta.read(); DigitalIn overcurrent.read(); DigitalIn direction.read(); HALLA.read(); HALLB.read(); HALLC.read(); break;*/ } } // end while //************** thread deinit ********************* //DeInit_Web_Server(); //bCan_Active=false; //CanThread=false;// close can received thread pc.printf(" fin programme scooter mbed \n"); } // end main void lecture (void) { tout = MyPLD.read(); Hall= tout & 7; direction = tout & 8; FLTA = tout & 16; frein = tout &32; overcurrent = tout &64; pc.printf("Secteur=%d \t FLTA=%d \t Direction=%d \t Frein=%d \t Overcurrent = %d\n\r",Hall,FLTA,direction,frein,overcurrent); if(direction==8) { //direction 1=av 0=ar pc.printf("direction avant\n\r"); } else { printf("direction arriere\n\r"); } if(overcurrent==64) { //overcurrent actif=0 pc.printf("surcharge de courant inactif\n\r"); } else { printf("surcharge de courant actif\n\r"); } if(FLTA == 16) { //FLTA actif=1 pc.printf("FLTA actif\n\r"); } else { printf("FLTA inactif\n\r"); } if(frein == 32) { //brake actif=0 pc.printf("Frein inactif\n\r"); } else { pc.printf("Frein actif\n\r"); } } void task1(void) //0.05seconde { tout = MyPLD.read(); Hall= tout & 7; direction = tout & 8; FLTA = tout & 16; frein = tout &32; overcurrent = tout &64; int val=0; gaz=poignee.read(); float valPoignee=((255/(max-min))*gaz)-(min*(255)/(max-min)); if(mode==0) { //mode auto if(frein==0) { //frein actif val=0; } else { //frein inactif if(val<valPoignee) { //incrémentation val=val+1; } else { //bonne valeur val=valPoignee; } } } else { //mode manuel val=valref; //valeurs dans le case "a" } MyPLD.write(val); }