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Dependencies: mbed bloc_io mbed-rtos html
main.cpp@2:153d417b318b, 2019-10-22 (annotated)
- Committer:
- ragas
- Date:
- Tue Oct 22 09:18:45 2019 +0000
- Revision:
- 2:153d417b318b
- Parent:
- 1:545a3d6b5933
- Child:
- 3:a659bef8f6a5
yo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
superphil06 | 0:e30c9ba95bd4 | 1 | //#include "EthernetInterface.h" |
superphil06 | 0:e30c9ba95bd4 | 2 | #include <stdlib.h> |
superphil06 | 0:e30c9ba95bd4 | 3 | #include <string.h> |
superphil06 | 0:e30c9ba95bd4 | 4 | #include "mbed.h" |
superphil06 | 0:e30c9ba95bd4 | 5 | #include "rtos.h" // need for main thread sleep |
superphil06 | 0:e30c9ba95bd4 | 6 | #include "html.h" // need for html patch working with web server |
superphil06 | 0:e30c9ba95bd4 | 7 | #include "bloc_io.h" |
superphil06 | 0:e30c9ba95bd4 | 8 | #define RADIUS 0.2F // wheel size |
superphil06 | 0:e30c9ba95bd4 | 9 | #define NBPOLES 8 // magnetic pole number |
superphil06 | 0:e30c9ba95bd4 | 10 | #define DELTA_T 0.1F // speed measurement counting period |
ragas | 1:545a3d6b5933 | 11 | DigitalOut valid(p21);//rajout |
ragas | 1:545a3d6b5933 | 12 | void Init(int);//rajout |
ragas | 2:153d417b318b | 13 | void lecture(void);//permet lecture intern du pld |
ragas | 1:545a3d6b5933 | 14 | Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD |
ragas | 1:545a3d6b5933 | 15 | // analog input connected to mbed |
ragas | 1:545a3d6b5933 | 16 | // valid pmw mbed pin |
ragas | 1:545a3d6b5933 | 17 | Serial pc(USBTX, USBRX); // tx, rx |
ragas | 1:545a3d6b5933 | 18 | // Top_Hall Pin |
ragas | 1:545a3d6b5933 | 19 | int valref=0 ;//rajout |
ragas | 1:545a3d6b5933 | 20 | //void modulo (int ); |
ragas | 1:545a3d6b5933 | 21 | |
ragas | 1:545a3d6b5933 | 22 | /************ persistent file parameters section *****************/ |
ragas | 1:545a3d6b5933 | 23 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
superphil06 | 0:e30c9ba95bd4 | 24 | |
superphil06 | 0:e30c9ba95bd4 | 25 | |
ragas | 1:545a3d6b5933 | 26 | |
ragas | 1:545a3d6b5933 | 27 | |
superphil06 | 0:e30c9ba95bd4 | 28 | |
ragas | 1:545a3d6b5933 | 29 | |
ragas | 1:545a3d6b5933 | 30 | |
superphil06 | 0:e30c9ba95bd4 | 31 | /********************* web server section **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 32 | |
superphil06 | 0:e30c9ba95bd4 | 33 | var_field_t tab_balise[10]; //une balise est présente dans le squelette |
superphil06 | 0:e30c9ba95bd4 | 34 | int giCounter=0;// acces counting |
superphil06 | 0:e30c9ba95bd4 | 35 | |
superphil06 | 0:e30c9ba95bd4 | 36 | |
superphil06 | 0:e30c9ba95bd4 | 37 | /*********************** can bus section ************/ |
ragas | 1:545a3d6b5933 | 38 | // determine message ID used to send Gaz ref over can bus |
superphil06 | 0:e30c9ba95bd4 | 39 | #define _CAN_DEBUG // used to debug can bus activity |
superphil06 | 0:e30c9ba95bd4 | 40 | //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus |
superphil06 | 0:e30c9ba95bd4 | 41 | CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield |
superphil06 | 0:e30c9ba95bd4 | 42 | bool bCan_Active=false; |
superphil06 | 0:e30c9ba95bd4 | 43 | |
superphil06 | 0:e30c9ba95bd4 | 44 | |
superphil06 | 0:e30c9ba95bd4 | 45 | |
superphil06 | 0:e30c9ba95bd4 | 46 | DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/ |
superphil06 | 0:e30c9ba95bd4 | 47 | DigitalOut led2(LED2); |
superphil06 | 0:e30c9ba95bd4 | 48 | DigitalOut led3(LED3); // blink when can message is sent |
ragas | 1:545a3d6b5933 | 49 | DigitalOut led4(LED4); // blink when can message is received |
superphil06 | 0:e30c9ba95bd4 | 50 | |
superphil06 | 0:e30c9ba95bd4 | 51 | |
ragas | 2:153d417b318b | 52 | AnalogIn poignee (p17); |
ragas | 2:153d417b318b | 53 | FILE*pfile=NULL; |
ragas | 1:545a3d6b5933 | 54 | |
superphil06 | 0:e30c9ba95bd4 | 55 | //************ local function prototypes ******************* |
superphil06 | 0:e30c9ba95bd4 | 56 | |
superphil06 | 0:e30c9ba95bd4 | 57 | |
superphil06 | 0:e30c9ba95bd4 | 58 | |
superphil06 | 0:e30c9ba95bd4 | 59 | |
superphil06 | 0:e30c9ba95bd4 | 60 | |
superphil06 | 0:e30c9ba95bd4 | 61 | |
ragas | 1:545a3d6b5933 | 62 | |
superphil06 | 0:e30c9ba95bd4 | 63 | /**************** Read persistent data from text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 64 | |
superphil06 | 0:e30c9ba95bd4 | 65 | |
superphil06 | 0:e30c9ba95bd4 | 66 | |
superphil06 | 0:e30c9ba95bd4 | 67 | /**************** write persitant data to text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 68 | |
superphil06 | 0:e30c9ba95bd4 | 69 | |
superphil06 | 0:e30c9ba95bd4 | 70 | |
superphil06 | 0:e30c9ba95bd4 | 71 | |
superphil06 | 0:e30c9ba95bd4 | 72 | |
superphil06 | 0:e30c9ba95bd4 | 73 | |
superphil06 | 0:e30c9ba95bd4 | 74 | //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** |
superphil06 | 0:e30c9ba95bd4 | 75 | |
superphil06 | 0:e30c9ba95bd4 | 76 | |
superphil06 | 0:e30c9ba95bd4 | 77 | // ************top hall counting interrupt needed for speed measurement |
superphil06 | 0:e30c9ba95bd4 | 78 | |
superphil06 | 0:e30c9ba95bd4 | 79 | |
superphil06 | 0:e30c9ba95bd4 | 80 | //********************** timer interrupt for speed measurement each 100ms ************************* |
superphil06 | 0:e30c9ba95bd4 | 81 | |
ragas | 1:545a3d6b5933 | 82 | |
ragas | 1:545a3d6b5933 | 83 | |
ragas | 1:545a3d6b5933 | 84 | |
superphil06 | 0:e30c9ba95bd4 | 85 | |
superphil06 | 0:e30c9ba95bd4 | 86 | |
superphil06 | 0:e30c9ba95bd4 | 87 | //********************* Timer Interrupt for gaz ref management each 10ms ******************** |
superphil06 | 0:e30c9ba95bd4 | 88 | |
superphil06 | 0:e30c9ba95bd4 | 89 | |
superphil06 | 0:e30c9ba95bd4 | 90 | |
superphil06 | 0:e30c9ba95bd4 | 91 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 92 | void CGI_Function(void) // cgi function that patch web data to empty web page |
ragas | 1:545a3d6b5933 | 93 | { |
ragas | 1:545a3d6b5933 | 94 | char ma_chaine4[20]= {}; // needed to form html response |
superphil06 | 0:e30c9ba95bd4 | 95 | |
superphil06 | 0:e30c9ba95bd4 | 96 | } |
ragas | 1:545a3d6b5933 | 97 | |
ragas | 1:545a3d6b5933 | 98 | |
ragas | 1:545a3d6b5933 | 99 | /*********************** CAN BUS SECTION **********************/ |
ragas | 1:545a3d6b5933 | 100 | |
superphil06 | 0:e30c9ba95bd4 | 101 | |
superphil06 | 0:e30c9ba95bd4 | 102 | |
superphil06 | 0:e30c9ba95bd4 | 103 | void CAN_REC_THREAD(void const *args) |
ragas | 1:545a3d6b5933 | 104 | { |
ragas | 1:545a3d6b5933 | 105 | int iCount,iError; |
superphil06 | 0:e30c9ba95bd4 | 106 | |
ragas | 1:545a3d6b5933 | 107 | while (bCan_Active) { |
ragas | 1:545a3d6b5933 | 108 | Thread::wait(100);// wait 100ms |
ragas | 1:545a3d6b5933 | 109 | // code todo |
ragas | 1:545a3d6b5933 | 110 | |
superphil06 | 0:e30c9ba95bd4 | 111 | } |
ragas | 1:545a3d6b5933 | 112 | |
superphil06 | 0:e30c9ba95bd4 | 113 | } |
ragas | 1:545a3d6b5933 | 114 | |
ragas | 1:545a3d6b5933 | 115 | |
ragas | 1:545a3d6b5933 | 116 | |
superphil06 | 0:e30c9ba95bd4 | 117 | //*************************** main function ***************************************** |
ragas | 1:545a3d6b5933 | 118 | int main() |
ragas | 1:545a3d6b5933 | 119 | { |
ragas | 2:153d417b318b | 120 | float min ; |
ragas | 2:153d417b318b | 121 | float max; |
ragas | 2:153d417b318b | 122 | //int x; |
ragas | 2:153d417b318b | 123 | //int data_in; |
ragas | 2:153d417b318b | 124 | char cChoix; |
ragas | 1:545a3d6b5933 | 125 | valid.write(0); |
ragas | 1:545a3d6b5933 | 126 | MyPLD.write(0); |
ragas | 1:545a3d6b5933 | 127 | valid.write(1); |
ragas | 2:153d417b318b | 128 | float gaz; |
ragas | 2:153d417b318b | 129 | FILE* pfile = fopen ("/local/ragas.txt","r"); |
ragas | 2:153d417b318b | 130 | if(pfile!=NULL) { |
ragas | 2:153d417b318b | 131 | fscanf(pfile,"min=%f max=%f", &min,&max); |
ragas | 2:153d417b318b | 132 | pc.printf("\n min=%f max=%f", min,max); |
ragas | 2:153d417b318b | 133 | } else { |
ragas | 2:153d417b318b | 134 | pc.printf("erreur"); |
ragas | 2:153d417b318b | 135 | } |
ragas | 2:153d417b318b | 136 | fclose(pfile); // close file |
superphil06 | 0:e30c9ba95bd4 | 137 | |
superphil06 | 0:e30c9ba95bd4 | 138 | |
superphil06 | 0:e30c9ba95bd4 | 139 | |
superphil06 | 0:e30c9ba95bd4 | 140 | |
superphil06 | 0:e30c9ba95bd4 | 141 | |
superphil06 | 0:e30c9ba95bd4 | 142 | //***************************************** web section ********************************************/ |
superphil06 | 0:e30c9ba95bd4 | 143 | //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function |
superphil06 | 0:e30c9ba95bd4 | 144 | //Thread WebThread(Web_Server_Thread);// create and launch web server thread |
ragas | 1:545a3d6b5933 | 145 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 146 | |
ragas | 1:545a3d6b5933 | 147 | //******************************************* end web section ************************************* / |
superphil06 | 0:e30c9ba95bd4 | 148 | |
superphil06 | 0:e30c9ba95bd4 | 149 | |
superphil06 | 0:e30c9ba95bd4 | 150 | |
superphil06 | 0:e30c9ba95bd4 | 151 | |
ragas | 1:545a3d6b5933 | 152 | pc.printf(" programme scooter mbed \n"); |
superphil06 | 0:e30c9ba95bd4 | 153 | |
superphil06 | 0:e30c9ba95bd4 | 154 | |
superphil06 | 0:e30c9ba95bd4 | 155 | |
superphil06 | 0:e30c9ba95bd4 | 156 | //********************* can bus section initialisation ******************************************* |
superphil06 | 0:e30c9ba95bd4 | 157 | //bCan_Active=true;// needed to lauchn CAN thread |
superphil06 | 0:e30c9ba95bd4 | 158 | //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread |
superphil06 | 0:e30c9ba95bd4 | 159 | //********************* end can bus section ***************************************************** |
superphil06 | 0:e30c9ba95bd4 | 160 | |
ragas | 2:153d417b318b | 161 | |
ragas | 1:545a3d6b5933 | 162 | while(cChoix!='q' and cChoix!='Q' /*and cChoix='c'*/) { |
ragas | 2:153d417b318b | 163 | |
ragas | 1:545a3d6b5933 | 164 | pc.printf(" veuillez saisir un choix parmi la liste proposee: \r\n"); |
ragas | 1:545a3d6b5933 | 165 | pc.printf(" a:saisie consigne pwm \r\n"); |
ragas | 1:545a3d6b5933 | 166 | pc.printf(" c:lecture interne \r\n"); |
ragas | 2:153d417b318b | 167 | pc.printf(" b:calibration \r\n"); |
ragas | 2:153d417b318b | 168 | pc.printf(" g:ccontrole \r\n"); |
ragas | 1:545a3d6b5933 | 169 | pc.printf(" q:quitter \r\n"); |
superphil06 | 0:e30c9ba95bd4 | 170 | |
ragas | 1:545a3d6b5933 | 171 | /************* multithreading : main thread need to sleep in order to allow web response */ |
ragas | 1:545a3d6b5933 | 172 | while (pc.readable()==0) { // determine if char availabler |
ragas | 1:545a3d6b5933 | 173 | Thread::wait(10); // wait 10 until char available on serial input |
ragas | 1:545a3d6b5933 | 174 | } |
ragas | 1:545a3d6b5933 | 175 | /************* end of main thread sleep ****************/ |
ragas | 1:545a3d6b5933 | 176 | |
ragas | 1:545a3d6b5933 | 177 | pc.scanf(" %c",&cChoix); |
ragas | 1:545a3d6b5933 | 178 | switch (cChoix) { |
ragas | 1:545a3d6b5933 | 179 | case 'a': |
ragas | 2:153d417b318b | 180 | |
ragas | 1:545a3d6b5933 | 181 | printf("donne moi une valeur de pwmref entre 0 et 255:"); |
ragas | 1:545a3d6b5933 | 182 | scanf("%d",&valref); |
ragas | 2:153d417b318b | 183 | if(valref<=255) { |
ragas | 2:153d417b318b | 184 | MyPLD.write(valref); |
ragas | 2:153d417b318b | 185 | } else { |
ragas | 1:545a3d6b5933 | 186 | valref=0; |
ragas | 1:545a3d6b5933 | 187 | MyPLD.write(valref); |
ragas | 1:545a3d6b5933 | 188 | printf("valeur entre 0 et 255"); |
ragas | 2:153d417b318b | 189 | } |
ragas | 1:545a3d6b5933 | 190 | break; |
ragas | 1:545a3d6b5933 | 191 | case 'c' : |
ragas | 1:545a3d6b5933 | 192 | lecture(); |
ragas | 2:153d417b318b | 193 | break; |
ragas | 2:153d417b318b | 194 | case 'b': |
ragas | 2:153d417b318b | 195 | |
ragas | 2:153d417b318b | 196 | |
ragas | 2:153d417b318b | 197 | printf("mettre au min et appuyer sur une touche quand termine\n\r"); |
ragas | 2:153d417b318b | 198 | getchar(); |
ragas | 2:153d417b318b | 199 | min=poignee.read(); |
ragas | 2:153d417b318b | 200 | printf("min=%f\n\r",min); |
ragas | 2:153d417b318b | 201 | printf("vmettre au max max et appuyer sur une touche quand termine\n\r"); |
ragas | 2:153d417b318b | 202 | getchar(); |
ragas | 2:153d417b318b | 203 | max=poignee.read(); |
ragas | 2:153d417b318b | 204 | printf("max%f\n\r",max); |
ragas | 2:153d417b318b | 205 | FILE* pfile = fopen ("/local/ragas.txt","w"); |
ragas | 2:153d417b318b | 206 | if(pfile!=NULL) |
ragas | 2:153d417b318b | 207 | fprintf(pfile,"min=%f max=%f", min,max); |
ragas | 2:153d417b318b | 208 | fclose(pfile); // close file |
ragas | 1:545a3d6b5933 | 209 | break; |
ragas | 2:153d417b318b | 210 | case 'g': |
ragas | 2:153d417b318b | 211 | |
ragas | 2:153d417b318b | 212 | gaz=poignee.read(); |
ragas | 2:153d417b318b | 213 | MyPLD.write(((255/(max-min))*gaz)-(255-(min*(255)/(max-min)))); |
ragas | 2:153d417b318b | 214 | getchar(); |
ragas | 1:545a3d6b5933 | 215 | break; |
ragas | 2:153d417b318b | 216 | |
ragas | 2:153d417b318b | 217 | |
ragas | 2:153d417b318b | 218 | case 'q': |
ragas | 2:153d417b318b | 219 | valid.write(0); |
ragas | 2:153d417b318b | 220 | MyPLD.write(0); |
ragas | 2:153d417b318b | 221 | |
ragas | 2:153d417b318b | 222 | break; |
ragas | 2:153d417b318b | 223 | /* case 'q': |
ragas | 2:153d417b318b | 224 | |
ragas | 2:153d417b318b | 225 | frein.read(); |
ragas | 2:153d417b318b | 226 | DigitalIn flta.read(); |
ragas | 2:153d417b318b | 227 | DigitalIn overcurrent.read(); |
ragas | 2:153d417b318b | 228 | DigitalIn direction.read(); |
ragas | 2:153d417b318b | 229 | HALLA.read(); |
ragas | 2:153d417b318b | 230 | HALLB.read(); |
ragas | 2:153d417b318b | 231 | HALLC.read(); |
ragas | 2:153d417b318b | 232 | break;*/ |
ragas | 1:545a3d6b5933 | 233 | } |
ragas | 1:545a3d6b5933 | 234 | } // end while |
ragas | 1:545a3d6b5933 | 235 | |
ragas | 1:545a3d6b5933 | 236 | //************** thread deinit ********************* |
ragas | 1:545a3d6b5933 | 237 | //DeInit_Web_Server(); |
ragas | 1:545a3d6b5933 | 238 | //bCan_Active=false; |
ragas | 1:545a3d6b5933 | 239 | //CanThread=false;// close can received thread |
superphil06 | 0:e30c9ba95bd4 | 240 | pc.printf(" fin programme scooter mbed \n"); |
superphil06 | 0:e30c9ba95bd4 | 241 | } // end main |
ragas | 1:545a3d6b5933 | 242 | |
ragas | 1:545a3d6b5933 | 243 | |
ragas | 2:153d417b318b | 244 | void lecture (void) |
ragas | 2:153d417b318b | 245 | { |
ragas | 2:153d417b318b | 246 | int tout = MyPLD.read(); |
ragas | 2:153d417b318b | 247 | int Hall= tout & 7; |
ragas | 2:153d417b318b | 248 | int FLTA = tout & 16; |
ragas | 2:153d417b318b | 249 | int direction = tout & 8; |
ragas | 2:153d417b318b | 250 | int overcurrent = tout &64; |
ragas | 2:153d417b318b | 251 | int frein = tout &32; |
ragas | 2:153d417b318b | 252 | |
ragas | 2:153d417b318b | 253 | pc.printf("Secteur=%d \t FLTA=%d \t Direction=%d \t Frein=%d \t Overcurrent = %d\n\r",Hall,FLTA,direction,frein,overcurrent); |
ragas | 2:153d417b318b | 254 | |
ragas | 2:153d417b318b | 255 | if(direction==8) { //direction 1=av 0=ar |
ragas | 2:153d417b318b | 256 | pc.printf("direction avant\n\r"); |
ragas | 2:153d417b318b | 257 | } else { |
ragas | 2:153d417b318b | 258 | printf("direction arriere\n\r"); |
ragas | 2:153d417b318b | 259 | } |
ragas | 2:153d417b318b | 260 | |
ragas | 2:153d417b318b | 261 | if(overcurrent==64) { //overcurrent actif=0 |
ragas | 2:153d417b318b | 262 | pc.printf("surcharge de courant inactif\n\r"); |
ragas | 2:153d417b318b | 263 | } else { |
ragas | 2:153d417b318b | 264 | printf("surcharge de courant actif\n\r"); |
ragas | 2:153d417b318b | 265 | } |
ragas | 2:153d417b318b | 266 | |
ragas | 2:153d417b318b | 267 | if(FLTA == 16) { //FLTA actif=1 |
ragas | 2:153d417b318b | 268 | pc.printf("FLTA actif\n\r"); |
ragas | 2:153d417b318b | 269 | } else { |
ragas | 2:153d417b318b | 270 | printf("FLTA inactif\n\r"); |
ragas | 2:153d417b318b | 271 | } |
ragas | 2:153d417b318b | 272 | |
ragas | 2:153d417b318b | 273 | if(frein == 32) { //brake actif=0 |
ragas | 2:153d417b318b | 274 | pc.printf("Frein inactif\n\r"); |
ragas | 2:153d417b318b | 275 | } else { |
ragas | 2:153d417b318b | 276 | pc.printf("Frein actif\n\r"); |
ragas | 2:153d417b318b | 277 | } |
ragas | 1:545a3d6b5933 | 278 | } |
ragas | 1:545a3d6b5933 | 279 | |
ragas | 1:545a3d6b5933 | 280 |