Ehhh T NUL
Dependencies: mbed bloc_io mbed-rtos html
main.cpp@6:c785bc12d542, 2019-12-17 (annotated)
- Committer:
- Couscousiste
- Date:
- Tue Dec 17 09:58:30 2019 +0000
- Revision:
- 6:c785bc12d542
- Parent:
- 5:e3b59050984c
Yo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
superphil06 | 0:e30c9ba95bd4 | 1 | //#include "EthernetInterface.h" |
ragas | 5:e3b59050984c | 2 | #define tps 0.1 |
ragas | 5:e3b59050984c | 3 | #define tpss 0.05 |
superphil06 | 0:e30c9ba95bd4 | 4 | #include <stdlib.h> |
superphil06 | 0:e30c9ba95bd4 | 5 | #include <string.h> |
superphil06 | 0:e30c9ba95bd4 | 6 | #include "mbed.h" |
superphil06 | 0:e30c9ba95bd4 | 7 | #include "rtos.h" // need for main thread sleep |
superphil06 | 0:e30c9ba95bd4 | 8 | #include "html.h" // need for html patch working with web server |
superphil06 | 0:e30c9ba95bd4 | 9 | #include "bloc_io.h" |
superphil06 | 0:e30c9ba95bd4 | 10 | #define RADIUS 0.2F // wheel size |
superphil06 | 0:e30c9ba95bd4 | 11 | #define NBPOLES 8 // magnetic pole number |
superphil06 | 0:e30c9ba95bd4 | 12 | #define DELTA_T 0.1F // speed measurement counting period |
ragas | 1:545a3d6b5933 | 13 | DigitalOut valid(p21);//rajout |
ragas | 1:545a3d6b5933 | 14 | void Init(int);//rajout |
ragas | 2:153d417b318b | 15 | void lecture(void);//permet lecture intern du pld |
ragas | 1:545a3d6b5933 | 16 | Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD |
ragas | 1:545a3d6b5933 | 17 | // analog input connected to mbed |
ragas | 1:545a3d6b5933 | 18 | // valid pmw mbed pin |
ragas | 1:545a3d6b5933 | 19 | Serial pc(USBTX, USBRX); // tx, rx |
Couscousiste | 6:c785bc12d542 | 20 | |
ragas | 1:545a3d6b5933 | 21 | // Top_Hall Pin |
ragas | 5:e3b59050984c | 22 | float pi=3.14159265359; |
ragas | 1:545a3d6b5933 | 23 | int valref=0 ;//rajout |
ragas | 4:08e917c15d87 | 24 | int val=0; |
ragas | 3:a659bef8f6a5 | 25 | float min ; |
ragas | 3:a659bef8f6a5 | 26 | float max; |
ragas | 3:a659bef8f6a5 | 27 | int tout; |
ragas | 3:a659bef8f6a5 | 28 | int Hall; |
ragas | 3:a659bef8f6a5 | 29 | int direction; |
ragas | 3:a659bef8f6a5 | 30 | int FLTA; |
ragas | 3:a659bef8f6a5 | 31 | int frein; |
ragas | 3:a659bef8f6a5 | 32 | int overcurrent; |
ragas | 3:a659bef8f6a5 | 33 | float gaz; |
Couscousiste | 6:c785bc12d542 | 34 | float temp; |
Couscousiste | 6:c785bc12d542 | 35 | float courrant; |
ragas | 3:a659bef8f6a5 | 36 | |
ragas | 3:a659bef8f6a5 | 37 | |
ragas | 1:545a3d6b5933 | 38 | //void modulo (int ); |
ragas | 1:545a3d6b5933 | 39 | |
ragas | 1:545a3d6b5933 | 40 | /************ persistent file parameters section *****************/ |
ragas | 1:545a3d6b5933 | 41 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
superphil06 | 0:e30c9ba95bd4 | 42 | |
superphil06 | 0:e30c9ba95bd4 | 43 | |
ragas | 1:545a3d6b5933 | 44 | |
ragas | 1:545a3d6b5933 | 45 | |
superphil06 | 0:e30c9ba95bd4 | 46 | |
ragas | 1:545a3d6b5933 | 47 | |
ragas | 1:545a3d6b5933 | 48 | |
superphil06 | 0:e30c9ba95bd4 | 49 | /********************* web server section **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 50 | |
superphil06 | 0:e30c9ba95bd4 | 51 | var_field_t tab_balise[10]; //une balise est présente dans le squelette |
superphil06 | 0:e30c9ba95bd4 | 52 | int giCounter=0;// acces counting |
superphil06 | 0:e30c9ba95bd4 | 53 | |
superphil06 | 0:e30c9ba95bd4 | 54 | |
superphil06 | 0:e30c9ba95bd4 | 55 | /*********************** can bus section ************/ |
ragas | 1:545a3d6b5933 | 56 | // determine message ID used to send Gaz ref over can bus |
superphil06 | 0:e30c9ba95bd4 | 57 | #define _CAN_DEBUG // used to debug can bus activity |
superphil06 | 0:e30c9ba95bd4 | 58 | //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus |
superphil06 | 0:e30c9ba95bd4 | 59 | CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield |
superphil06 | 0:e30c9ba95bd4 | 60 | bool bCan_Active=false; |
superphil06 | 0:e30c9ba95bd4 | 61 | |
superphil06 | 0:e30c9ba95bd4 | 62 | |
superphil06 | 0:e30c9ba95bd4 | 63 | |
superphil06 | 0:e30c9ba95bd4 | 64 | DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/ |
superphil06 | 0:e30c9ba95bd4 | 65 | DigitalOut led2(LED2); |
superphil06 | 0:e30c9ba95bd4 | 66 | DigitalOut led3(LED3); // blink when can message is sent |
ragas | 1:545a3d6b5933 | 67 | DigitalOut led4(LED4); // blink when can message is received |
superphil06 | 0:e30c9ba95bd4 | 68 | |
superphil06 | 0:e30c9ba95bd4 | 69 | |
ragas | 2:153d417b318b | 70 | AnalogIn poignee (p17); |
ragas | 2:153d417b318b | 71 | FILE*pfile=NULL; |
ragas | 3:a659bef8f6a5 | 72 | Ticker guidon; |
ragas | 3:a659bef8f6a5 | 73 | |
ragas | 3:a659bef8f6a5 | 74 | |
ragas | 4:08e917c15d87 | 75 | //************************************************************ |
ragas | 4:08e917c15d87 | 76 | InterruptIn tphall (p22); |
ragas | 4:08e917c15d87 | 77 | int lire; |
ragas | 4:08e917c15d87 | 78 | float vitesse; |
ragas | 4:08e917c15d87 | 79 | int cpthall=0; |
ragas | 4:08e917c15d87 | 80 | void cpt(void); |
ragas | 4:08e917c15d87 | 81 | void vit (void); |
ragas | 4:08e917c15d87 | 82 | Ticker ragas; |
ragas | 4:08e917c15d87 | 83 | float ray=0.20; |
ragas | 4:08e917c15d87 | 84 | float Bride; |
ragas | 5:e3b59050984c | 85 | Timer charo; |
ragas | 5:e3b59050984c | 86 | float d=0; |
ragas | 5:e3b59050984c | 87 | float dac; |
ragas | 5:e3b59050984c | 88 | int kpar; |
ragas | 5:e3b59050984c | 89 | int ktot; |
ragas | 4:08e917c15d87 | 90 | //************************************************************ |
ragas | 4:08e917c15d87 | 91 | |
ragas | 4:08e917c15d87 | 92 | |
ragas | 3:a659bef8f6a5 | 93 | void task1(void); |
ragas | 3:a659bef8f6a5 | 94 | int mode ; |
ragas | 4:08e917c15d87 | 95 | int kirito; |
ragas | 1:545a3d6b5933 | 96 | |
superphil06 | 0:e30c9ba95bd4 | 97 | //************ local function prototypes ******************* |
superphil06 | 0:e30c9ba95bd4 | 98 | |
superphil06 | 0:e30c9ba95bd4 | 99 | |
superphil06 | 0:e30c9ba95bd4 | 100 | |
superphil06 | 0:e30c9ba95bd4 | 101 | |
superphil06 | 0:e30c9ba95bd4 | 102 | |
superphil06 | 0:e30c9ba95bd4 | 103 | |
ragas | 1:545a3d6b5933 | 104 | |
superphil06 | 0:e30c9ba95bd4 | 105 | /**************** Read persistent data from text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 106 | |
superphil06 | 0:e30c9ba95bd4 | 107 | |
superphil06 | 0:e30c9ba95bd4 | 108 | |
superphil06 | 0:e30c9ba95bd4 | 109 | /**************** write persitant data to text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 110 | |
superphil06 | 0:e30c9ba95bd4 | 111 | |
superphil06 | 0:e30c9ba95bd4 | 112 | |
superphil06 | 0:e30c9ba95bd4 | 113 | |
superphil06 | 0:e30c9ba95bd4 | 114 | |
superphil06 | 0:e30c9ba95bd4 | 115 | |
superphil06 | 0:e30c9ba95bd4 | 116 | //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** |
superphil06 | 0:e30c9ba95bd4 | 117 | |
superphil06 | 0:e30c9ba95bd4 | 118 | |
superphil06 | 0:e30c9ba95bd4 | 119 | // ************top hall counting interrupt needed for speed measurement |
superphil06 | 0:e30c9ba95bd4 | 120 | |
superphil06 | 0:e30c9ba95bd4 | 121 | |
superphil06 | 0:e30c9ba95bd4 | 122 | //********************** timer interrupt for speed measurement each 100ms ************************* |
superphil06 | 0:e30c9ba95bd4 | 123 | |
ragas | 1:545a3d6b5933 | 124 | |
ragas | 1:545a3d6b5933 | 125 | |
ragas | 1:545a3d6b5933 | 126 | |
superphil06 | 0:e30c9ba95bd4 | 127 | |
superphil06 | 0:e30c9ba95bd4 | 128 | |
superphil06 | 0:e30c9ba95bd4 | 129 | //********************* Timer Interrupt for gaz ref management each 10ms ******************** |
superphil06 | 0:e30c9ba95bd4 | 130 | |
superphil06 | 0:e30c9ba95bd4 | 131 | |
superphil06 | 0:e30c9ba95bd4 | 132 | |
superphil06 | 0:e30c9ba95bd4 | 133 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 134 | void CGI_Function(void) // cgi function that patch web data to empty web page |
ragas | 1:545a3d6b5933 | 135 | { |
ragas | 1:545a3d6b5933 | 136 | char ma_chaine4[20]= {}; // needed to form html response |
superphil06 | 0:e30c9ba95bd4 | 137 | |
superphil06 | 0:e30c9ba95bd4 | 138 | } |
ragas | 1:545a3d6b5933 | 139 | |
ragas | 1:545a3d6b5933 | 140 | |
ragas | 1:545a3d6b5933 | 141 | /*********************** CAN BUS SECTION **********************/ |
ragas | 1:545a3d6b5933 | 142 | |
superphil06 | 0:e30c9ba95bd4 | 143 | |
superphil06 | 0:e30c9ba95bd4 | 144 | |
superphil06 | 0:e30c9ba95bd4 | 145 | void CAN_REC_THREAD(void const *args) |
ragas | 1:545a3d6b5933 | 146 | { |
ragas | 1:545a3d6b5933 | 147 | int iCount,iError; |
superphil06 | 0:e30c9ba95bd4 | 148 | |
ragas | 1:545a3d6b5933 | 149 | while (bCan_Active) { |
ragas | 1:545a3d6b5933 | 150 | Thread::wait(100);// wait 100ms |
ragas | 1:545a3d6b5933 | 151 | // code todo |
ragas | 1:545a3d6b5933 | 152 | |
superphil06 | 0:e30c9ba95bd4 | 153 | } |
ragas | 1:545a3d6b5933 | 154 | |
superphil06 | 0:e30c9ba95bd4 | 155 | } |
ragas | 1:545a3d6b5933 | 156 | |
ragas | 1:545a3d6b5933 | 157 | |
ragas | 1:545a3d6b5933 | 158 | |
superphil06 | 0:e30c9ba95bd4 | 159 | //*************************** main function ***************************************** |
ragas | 1:545a3d6b5933 | 160 | int main() |
ragas | 1:545a3d6b5933 | 161 | { |
ragas | 2:153d417b318b | 162 | //int x; |
ragas | 2:153d417b318b | 163 | //int data_in; |
ragas | 2:153d417b318b | 164 | char cChoix; |
ragas | 1:545a3d6b5933 | 165 | valid.write(0); |
ragas | 1:545a3d6b5933 | 166 | MyPLD.write(0); |
ragas | 1:545a3d6b5933 | 167 | valid.write(1); |
ragas | 2:153d417b318b | 168 | float gaz; |
ragas | 4:08e917c15d87 | 169 | mode=0;// mode auto |
ragas | 3:a659bef8f6a5 | 170 | |
ragas | 2:153d417b318b | 171 | FILE* pfile = fopen ("/local/ragas.txt","r"); |
ragas | 2:153d417b318b | 172 | if(pfile!=NULL) { |
ragas | 5:e3b59050984c | 173 | fscanf(pfile,"min=%f max=%f bride=%f Kpar=%d Ktot=%d", &min,&max,&Bride,&kpar,&ktot); |
ragas | 5:e3b59050984c | 174 | pc.printf("\n min=%f max=%f bride=%f Kpar=% Ktot=%d", min,max,Bride,kpar,ktot); |
ragas | 2:153d417b318b | 175 | } else { |
ragas | 2:153d417b318b | 176 | pc.printf("erreur"); |
ragas | 2:153d417b318b | 177 | } |
ragas | 2:153d417b318b | 178 | fclose(pfile); // close file |
ragas | 5:e3b59050984c | 179 | guidon.attach(&task1,tpss); |
superphil06 | 0:e30c9ba95bd4 | 180 | |
superphil06 | 0:e30c9ba95bd4 | 181 | |
superphil06 | 0:e30c9ba95bd4 | 182 | |
superphil06 | 0:e30c9ba95bd4 | 183 | |
ragas | 4:08e917c15d87 | 184 | //*************************************************************************************** |
ragas | 4:08e917c15d87 | 185 | tphall.rise(&cpt); |
ragas | 5:e3b59050984c | 186 | tphall.mode(PullUp); |
ragas | 5:e3b59050984c | 187 | ragas.attach(&vit,tps); |
ragas | 4:08e917c15d87 | 188 | //**************************************************************************************** |
ragas | 4:08e917c15d87 | 189 | |
ragas | 4:08e917c15d87 | 190 | |
ragas | 4:08e917c15d87 | 191 | |
ragas | 4:08e917c15d87 | 192 | |
ragas | 4:08e917c15d87 | 193 | |
superphil06 | 0:e30c9ba95bd4 | 194 | //***************************************** web section ********************************************/ |
superphil06 | 0:e30c9ba95bd4 | 195 | //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function |
superphil06 | 0:e30c9ba95bd4 | 196 | //Thread WebThread(Web_Server_Thread);// create and launch web server thread |
ragas | 1:545a3d6b5933 | 197 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 198 | |
ragas | 1:545a3d6b5933 | 199 | //******************************************* end web section ************************************* / |
superphil06 | 0:e30c9ba95bd4 | 200 | |
superphil06 | 0:e30c9ba95bd4 | 201 | |
superphil06 | 0:e30c9ba95bd4 | 202 | |
superphil06 | 0:e30c9ba95bd4 | 203 | |
ragas | 1:545a3d6b5933 | 204 | pc.printf(" programme scooter mbed \n"); |
superphil06 | 0:e30c9ba95bd4 | 205 | |
superphil06 | 0:e30c9ba95bd4 | 206 | |
superphil06 | 0:e30c9ba95bd4 | 207 | |
superphil06 | 0:e30c9ba95bd4 | 208 | //********************* can bus section initialisation ******************************************* |
superphil06 | 0:e30c9ba95bd4 | 209 | //bCan_Active=true;// needed to lauchn CAN thread |
superphil06 | 0:e30c9ba95bd4 | 210 | //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread |
superphil06 | 0:e30c9ba95bd4 | 211 | //********************* end can bus section ***************************************************** |
superphil06 | 0:e30c9ba95bd4 | 212 | |
ragas | 2:153d417b318b | 213 | |
ragas | 1:545a3d6b5933 | 214 | while(cChoix!='q' and cChoix!='Q' /*and cChoix='c'*/) { |
ragas | 2:153d417b318b | 215 | |
ragas | 1:545a3d6b5933 | 216 | pc.printf(" veuillez saisir un choix parmi la liste proposee: \r\n"); |
ragas | 1:545a3d6b5933 | 217 | pc.printf(" a:saisie consigne pwm \r\n"); |
ragas | 1:545a3d6b5933 | 218 | pc.printf(" c:lecture interne \r\n"); |
Couscousiste | 6:c785bc12d542 | 219 | pc.printf(" d:%analogique \r\n"); |
ragas | 2:153d417b318b | 220 | pc.printf(" b:calibration \r\n"); |
ragas | 4:08e917c15d87 | 221 | pc.printf(" v:vitesse\r\n"); |
ragas | 3:a659bef8f6a5 | 222 | pc.printf(" m:mode \r\n"); |
ragas | 4:08e917c15d87 | 223 | pc.printf(" w:valeur bride \r\n"); |
ragas | 5:e3b59050984c | 224 | pc.printf(" x:reset \r\n "); |
ragas | 5:e3b59050984c | 225 | pc.printf(" k:kilometre \r\n"); |
ragas | 1:545a3d6b5933 | 226 | pc.printf(" q:quitter \r\n"); |
superphil06 | 0:e30c9ba95bd4 | 227 | |
ragas | 1:545a3d6b5933 | 228 | /************* multithreading : main thread need to sleep in order to allow web response */ |
ragas | 1:545a3d6b5933 | 229 | while (pc.readable()==0) { // determine if char availabler |
ragas | 1:545a3d6b5933 | 230 | Thread::wait(10); // wait 10 until char available on serial input |
ragas | 1:545a3d6b5933 | 231 | } |
ragas | 1:545a3d6b5933 | 232 | /************* end of main thread sleep ****************/ |
ragas | 1:545a3d6b5933 | 233 | |
ragas | 1:545a3d6b5933 | 234 | pc.scanf(" %c",&cChoix); |
ragas | 1:545a3d6b5933 | 235 | switch (cChoix) { |
ragas | 1:545a3d6b5933 | 236 | case 'a': |
ragas | 2:153d417b318b | 237 | |
ragas | 1:545a3d6b5933 | 238 | printf("donne moi une valeur de pwmref entre 0 et 255:"); |
ragas | 1:545a3d6b5933 | 239 | scanf("%d",&valref); |
ragas | 2:153d417b318b | 240 | if(valref<=255) { |
ragas | 4:08e917c15d87 | 241 | //MyPLD.write(valref); |
ragas | 2:153d417b318b | 242 | } else { |
ragas | 1:545a3d6b5933 | 243 | valref=0; |
ragas | 3:a659bef8f6a5 | 244 | //MyPLD.write(valref); |
ragas | 1:545a3d6b5933 | 245 | printf("valeur entre 0 et 255"); |
ragas | 2:153d417b318b | 246 | } |
ragas | 1:545a3d6b5933 | 247 | break; |
ragas | 1:545a3d6b5933 | 248 | case 'c' : |
ragas | 1:545a3d6b5933 | 249 | lecture(); |
ragas | 2:153d417b318b | 250 | break; |
ragas | 2:153d417b318b | 251 | case 'b': |
ragas | 2:153d417b318b | 252 | printf("mettre au min et appuyer sur une touche quand termine\n\r"); |
ragas | 2:153d417b318b | 253 | getchar(); |
ragas | 2:153d417b318b | 254 | min=poignee.read(); |
ragas | 2:153d417b318b | 255 | printf("min=%f\n\r",min); |
ragas | 2:153d417b318b | 256 | printf("vmettre au max max et appuyer sur une touche quand termine\n\r"); |
ragas | 2:153d417b318b | 257 | getchar(); |
ragas | 2:153d417b318b | 258 | max=poignee.read(); |
ragas | 2:153d417b318b | 259 | printf("max%f\n\r",max); |
ragas | 1:545a3d6b5933 | 260 | break; |
Couscousiste | 6:c785bc12d542 | 261 | |
Couscousiste | 6:c785bc12d542 | 262 | case 'd' : |
Couscousiste | 6:c785bc12d542 | 263 | Jack(); |
Couscousiste | 6:c785bc12d542 | 264 | break; |
Couscousiste | 6:c785bc12d542 | 265 | |
ragas | 3:a659bef8f6a5 | 266 | case 'm': |
ragas | 3:a659bef8f6a5 | 267 | do { |
ragas | 3:a659bef8f6a5 | 268 | printf("choisissez un mode :0 pour automatique et 1 pour manuel"); |
ragas | 3:a659bef8f6a5 | 269 | scanf("%d",&mode); |
ragas | 3:a659bef8f6a5 | 270 | } while(mode<0 || mode >1); |
ragas | 3:a659bef8f6a5 | 271 | break ; |
ragas | 2:153d417b318b | 272 | case 'q': |
ragas | 5:e3b59050984c | 273 | FILE* pfile = fopen ("/local/ragas.txt","w"); |
ragas | 4:08e917c15d87 | 274 | if(pfile!=NULL) |
ragas | 5:e3b59050984c | 275 | fprintf(pfile,"min=%f max=%f bride=%f kpar=%d ktot=%d", min,max,Bride,kpar,ktot); |
ragas | 4:08e917c15d87 | 276 | fclose(pfile); // close file |
ragas | 2:153d417b318b | 277 | valid.write(0); |
ragas | 2:153d417b318b | 278 | MyPLD.write(0); |
ragas | 3:a659bef8f6a5 | 279 | guidon.detach(); |
ragas | 5:e3b59050984c | 280 | ragas.detach(); |
ragas | 5:e3b59050984c | 281 | dac=0; |
ragas | 2:153d417b318b | 282 | break; |
ragas | 4:08e917c15d87 | 283 | |
ragas | 4:08e917c15d87 | 284 | case 'v': |
ragas | 4:08e917c15d87 | 285 | printf ("vitesse :%g m/s \n",vitesse); |
ragas | 4:08e917c15d87 | 286 | printf ("vitesse :%g km/h \n",vitesse*3.6); |
ragas | 5:e3b59050984c | 287 | printf ("vitesse :%g tr/min \n",(vitesse*60)/(2*pi*ray)); |
ragas | 4:08e917c15d87 | 288 | break ; |
ragas | 4:08e917c15d87 | 289 | case 'w': |
ragas | 4:08e917c15d87 | 290 | do { |
ragas | 4:08e917c15d87 | 291 | printf("choisissez une valeur de bride"); |
ragas | 4:08e917c15d87 | 292 | scanf("%g",&Bride); |
ragas | 4:08e917c15d87 | 293 | } while(Bride<0 || Bride >38.9); |
ragas | 4:08e917c15d87 | 294 | break ; |
ragas | 5:e3b59050984c | 295 | |
ragas | 5:e3b59050984c | 296 | case 'k': |
ragas | 5:e3b59050984c | 297 | |
ragas | 5:e3b59050984c | 298 | d=(((2*pi*ray)/(6*8))*ktot); |
ragas | 5:e3b59050984c | 299 | |
ragas | 5:e3b59050984c | 300 | printf("distance= %g m\r\n",d); |
ragas | 5:e3b59050984c | 301 | |
ragas | 5:e3b59050984c | 302 | dac=(((2*pi*ray)/(6*8))*kpar); |
ragas | 5:e3b59050984c | 303 | |
ragas | 5:e3b59050984c | 304 | printf("distance= %g m\r\n",dac); |
ragas | 5:e3b59050984c | 305 | break; |
ragas | 5:e3b59050984c | 306 | case 'x' : |
ragas | 5:e3b59050984c | 307 | kpar=0; |
ragas | 5:e3b59050984c | 308 | break; |
ragas | 5:e3b59050984c | 309 | |
ragas | 5:e3b59050984c | 310 | |
ragas | 4:08e917c15d87 | 311 | |
ragas | 2:153d417b318b | 312 | /* case 'q': |
ragas | 2:153d417b318b | 313 | |
ragas | 2:153d417b318b | 314 | frein.read(); |
ragas | 2:153d417b318b | 315 | DigitalIn flta.read(); |
ragas | 2:153d417b318b | 316 | DigitalIn overcurrent.read(); |
ragas | 2:153d417b318b | 317 | DigitalIn direction.read(); |
ragas | 2:153d417b318b | 318 | HALLA.read(); |
ragas | 2:153d417b318b | 319 | HALLB.read(); |
ragas | 2:153d417b318b | 320 | HALLC.read(); |
ragas | 2:153d417b318b | 321 | break;*/ |
ragas | 1:545a3d6b5933 | 322 | } |
ragas | 1:545a3d6b5933 | 323 | } // end while |
ragas | 1:545a3d6b5933 | 324 | |
ragas | 1:545a3d6b5933 | 325 | //************** thread deinit ********************* |
ragas | 1:545a3d6b5933 | 326 | //DeInit_Web_Server(); |
ragas | 1:545a3d6b5933 | 327 | //bCan_Active=false; |
ragas | 1:545a3d6b5933 | 328 | //CanThread=false;// close can received thread |
superphil06 | 0:e30c9ba95bd4 | 329 | pc.printf(" fin programme scooter mbed \n"); |
superphil06 | 0:e30c9ba95bd4 | 330 | } // end main |
ragas | 1:545a3d6b5933 | 331 | |
ragas | 1:545a3d6b5933 | 332 | |
ragas | 2:153d417b318b | 333 | void lecture (void) |
ragas | 2:153d417b318b | 334 | { |
ragas | 3:a659bef8f6a5 | 335 | tout = MyPLD.read(); |
ragas | 3:a659bef8f6a5 | 336 | Hall= tout & 7; |
ragas | 3:a659bef8f6a5 | 337 | direction = tout & 8; |
ragas | 3:a659bef8f6a5 | 338 | FLTA = tout & 16; |
ragas | 3:a659bef8f6a5 | 339 | frein = tout &32; |
ragas | 3:a659bef8f6a5 | 340 | overcurrent = tout &64; |
ragas | 2:153d417b318b | 341 | pc.printf("Secteur=%d \t FLTA=%d \t Direction=%d \t Frein=%d \t Overcurrent = %d\n\r",Hall,FLTA,direction,frein,overcurrent); |
ragas | 3:a659bef8f6a5 | 342 | |
ragas | 3:a659bef8f6a5 | 343 | if(direction==8) { //direction 1=av 0=ar |
ragas | 2:153d417b318b | 344 | pc.printf("direction avant\n\r"); |
ragas | 2:153d417b318b | 345 | } else { |
ragas | 2:153d417b318b | 346 | printf("direction arriere\n\r"); |
ragas | 2:153d417b318b | 347 | } |
ragas | 3:a659bef8f6a5 | 348 | |
ragas | 2:153d417b318b | 349 | if(overcurrent==64) { //overcurrent actif=0 |
ragas | 2:153d417b318b | 350 | pc.printf("surcharge de courant inactif\n\r"); |
ragas | 2:153d417b318b | 351 | } else { |
ragas | 2:153d417b318b | 352 | printf("surcharge de courant actif\n\r"); |
ragas | 2:153d417b318b | 353 | } |
ragas | 3:a659bef8f6a5 | 354 | |
ragas | 2:153d417b318b | 355 | if(FLTA == 16) { //FLTA actif=1 |
ragas | 2:153d417b318b | 356 | pc.printf("FLTA actif\n\r"); |
ragas | 2:153d417b318b | 357 | } else { |
ragas | 2:153d417b318b | 358 | printf("FLTA inactif\n\r"); |
ragas | 2:153d417b318b | 359 | } |
ragas | 3:a659bef8f6a5 | 360 | |
ragas | 2:153d417b318b | 361 | if(frein == 32) { //brake actif=0 |
ragas | 2:153d417b318b | 362 | pc.printf("Frein inactif\n\r"); |
ragas | 2:153d417b318b | 363 | } else { |
ragas | 2:153d417b318b | 364 | pc.printf("Frein actif\n\r"); |
ragas | 2:153d417b318b | 365 | } |
ragas | 1:545a3d6b5933 | 366 | } |
ragas | 1:545a3d6b5933 | 367 | |
ragas | 1:545a3d6b5933 | 368 | |
ragas | 3:a659bef8f6a5 | 369 | |
ragas | 3:a659bef8f6a5 | 370 | void task1(void) //0.05seconde |
ragas | 3:a659bef8f6a5 | 371 | { |
ragas | 3:a659bef8f6a5 | 372 | tout = MyPLD.read(); |
ragas | 3:a659bef8f6a5 | 373 | Hall= tout & 7; |
ragas | 3:a659bef8f6a5 | 374 | direction = tout & 8; |
ragas | 3:a659bef8f6a5 | 375 | FLTA = tout & 16; |
ragas | 3:a659bef8f6a5 | 376 | frein = tout &32; |
ragas | 3:a659bef8f6a5 | 377 | overcurrent = tout &64; |
ragas | 4:08e917c15d87 | 378 | |
ragas | 4:08e917c15d87 | 379 | |
ragas | 3:a659bef8f6a5 | 380 | gaz=poignee.read(); |
ragas | 3:a659bef8f6a5 | 381 | float valPoignee=((255/(max-min))*gaz)-(min*(255)/(max-min)); |
ragas | 3:a659bef8f6a5 | 382 | if(mode==0) { //mode auto |
ragas | 3:a659bef8f6a5 | 383 | if(frein==0) { //frein actif |
ragas | 3:a659bef8f6a5 | 384 | val=0; |
ragas | 3:a659bef8f6a5 | 385 | } else { //frein inactif |
ragas | 5:e3b59050984c | 386 | |
ragas | 5:e3b59050984c | 387 | if(val<valPoignee) { //incrémentation |
ragas | 5:e3b59050984c | 388 | val=val+1; |
ragas | 5:e3b59050984c | 389 | } else { //bonne valeur |
ragas | 5:e3b59050984c | 390 | val=valPoignee; |
ragas | 5:e3b59050984c | 391 | } |
ragas | 5:e3b59050984c | 392 | if(Bride<vitesse*3.6) { |
ragas | 5:e3b59050984c | 393 | val=val-1; |
ragas | 5:e3b59050984c | 394 | } |
ragas | 5:e3b59050984c | 395 | |
ragas | 5:e3b59050984c | 396 | if(val<0) { |
ragas | 5:e3b59050984c | 397 | val=0; |
ragas | 5:e3b59050984c | 398 | }/* |
ragas | 4:08e917c15d87 | 399 | if(val>valPoignee) { //décrémentation |
ragas | 4:08e917c15d87 | 400 | val=val-1; |
ragas | 4:08e917c15d87 | 401 | } else { //bonne valeur |
ragas | 4:08e917c15d87 | 402 | val=valPoignee; |
ragas | 4:08e917c15d87 | 403 | } |
ragas | 4:08e917c15d87 | 404 | if(val>255) { |
ragas | 4:08e917c15d87 | 405 | val=255; |
ragas | 4:08e917c15d87 | 406 | } |
ragas | 4:08e917c15d87 | 407 | if(val<0) { |
ragas | 4:08e917c15d87 | 408 | val=0; |
ragas | 4:08e917c15d87 | 409 | } |
ragas | 4:08e917c15d87 | 410 | kirito=val; //valeur actuel de la pwm dans une variable globale |
ragas | 4:08e917c15d87 | 411 | } else { |
ragas | 4:08e917c15d87 | 412 | MyPLD.write(kirito); |
ragas | 4:08e917c15d87 | 413 | }*/ |
ragas | 3:a659bef8f6a5 | 414 | } |
ragas | 3:a659bef8f6a5 | 415 | } else { //mode manuel |
ragas | 3:a659bef8f6a5 | 416 | val=valref; //valeurs dans le case "a" |
ragas | 3:a659bef8f6a5 | 417 | } |
ragas | 4:08e917c15d87 | 418 | //val=127; |
ragas | 3:a659bef8f6a5 | 419 | MyPLD.write(val); |
ragas | 3:a659bef8f6a5 | 420 | } |
ragas | 4:08e917c15d87 | 421 | void cpt (void) |
ragas | 4:08e917c15d87 | 422 | { |
ragas | 4:08e917c15d87 | 423 | cpthall++; |
ragas | 4:08e917c15d87 | 424 | } |
ragas | 3:a659bef8f6a5 | 425 | |
ragas | 4:08e917c15d87 | 426 | void vit (void) |
ragas | 4:08e917c15d87 | 427 | { |
ragas | 4:08e917c15d87 | 428 | lire=cpthall; |
ragas | 4:08e917c15d87 | 429 | cpthall=0; |
ragas | 5:e3b59050984c | 430 | vitesse=(((2*pi*ray)/(6*8))*lire)/tps; |
ragas | 5:e3b59050984c | 431 | /*if (vitesse!=0) |
ragas | 5:e3b59050984c | 432 | { |
ragas | 5:e3b59050984c | 433 | |
ragas | 5:e3b59050984c | 434 | charo.start(); |
ragas | 5:e3b59050984c | 435 | vitesse=vitesse/3600; |
ragas | 5:e3b59050984c | 436 | } |
ragas | 5:e3b59050984c | 437 | else |
ragas | 5:e3b59050984c | 438 | { |
ragas | 5:e3b59050984c | 439 | charo.stop(); |
ragas | 5:e3b59050984c | 440 | } |
ragas | 5:e3b59050984c | 441 | |
ragas | 5:e3b59050984c | 442 | d=d+vitesse*charo; |
ragas | 5:e3b59050984c | 443 | dac=dac+vitesse*charo; |
ragas | 5:e3b59050984c | 444 | charo.reset();*/ |
ragas | 5:e3b59050984c | 445 | kpar=kpar+lire; |
ragas | 5:e3b59050984c | 446 | ktot=ktot+lire; |
ragas | 4:08e917c15d87 | 447 | } |
Couscousiste | 6:c785bc12d542 | 448 | |
Couscousiste | 6:c785bc12d542 | 449 | void Jack () |
Couscousiste | 6:c785bc12d542 | 450 | { |
Couscousiste | 6:c785bc12d542 | 451 | valGaz=((Vgaz-min)*100)/(max-min); |
Couscousiste | 6:c785bc12d542 | 452 | x=Vbat.read(); |
Couscousiste | 6:c785bc12d542 | 453 | pc.printf("%g",x); |
Couscousiste | 6:c785bc12d542 | 454 | valBat=(100*x); //20=val max batterie |
Couscousiste | 6:c785bc12d542 | 455 | Temp; |
Couscousiste | 6:c785bc12d542 | 456 | Courrant; |
Couscousiste | 6:c785bc12d542 | 457 | pc.printf("Poigne : %g \t Batterie : %g \n\r",valGaz,valBat); |
Couscousiste | 6:c785bc12d542 | 458 | } |