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Dependencies: mbed bloc_io mbed-rtos html
main.cpp@5:e3b59050984c, 2019-12-17 (annotated)
- Committer:
- ragas
- Date:
- Tue Dec 17 09:04:10 2019 +0000
- Revision:
- 5:e3b59050984c
- Parent:
- 4:08e917c15d87
- Child:
- 6:c785bc12d542
jhdf
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 |
ragas | 1:545a3d6b5933 | 20 | // Top_Hall Pin |
ragas | 5:e3b59050984c | 21 | float pi=3.14159265359; |
ragas | 1:545a3d6b5933 | 22 | int valref=0 ;//rajout |
ragas | 4:08e917c15d87 | 23 | int val=0; |
ragas | 3:a659bef8f6a5 | 24 | float min ; |
ragas | 3:a659bef8f6a5 | 25 | float max; |
ragas | 3:a659bef8f6a5 | 26 | int tout; |
ragas | 3:a659bef8f6a5 | 27 | int Hall; |
ragas | 3:a659bef8f6a5 | 28 | int direction; |
ragas | 3:a659bef8f6a5 | 29 | int FLTA; |
ragas | 3:a659bef8f6a5 | 30 | int frein; |
ragas | 3:a659bef8f6a5 | 31 | int overcurrent; |
ragas | 3:a659bef8f6a5 | 32 | float gaz; |
ragas | 3:a659bef8f6a5 | 33 | |
ragas | 3:a659bef8f6a5 | 34 | |
ragas | 1:545a3d6b5933 | 35 | //void modulo (int ); |
ragas | 1:545a3d6b5933 | 36 | |
ragas | 1:545a3d6b5933 | 37 | /************ persistent file parameters section *****************/ |
ragas | 1:545a3d6b5933 | 38 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
superphil06 | 0:e30c9ba95bd4 | 39 | |
superphil06 | 0:e30c9ba95bd4 | 40 | |
ragas | 1:545a3d6b5933 | 41 | |
ragas | 1:545a3d6b5933 | 42 | |
superphil06 | 0:e30c9ba95bd4 | 43 | |
ragas | 1:545a3d6b5933 | 44 | |
ragas | 1:545a3d6b5933 | 45 | |
superphil06 | 0:e30c9ba95bd4 | 46 | /********************* web server section **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 47 | |
superphil06 | 0:e30c9ba95bd4 | 48 | var_field_t tab_balise[10]; //une balise est présente dans le squelette |
superphil06 | 0:e30c9ba95bd4 | 49 | int giCounter=0;// acces counting |
superphil06 | 0:e30c9ba95bd4 | 50 | |
superphil06 | 0:e30c9ba95bd4 | 51 | |
superphil06 | 0:e30c9ba95bd4 | 52 | /*********************** can bus section ************/ |
ragas | 1:545a3d6b5933 | 53 | // determine message ID used to send Gaz ref over can bus |
superphil06 | 0:e30c9ba95bd4 | 54 | #define _CAN_DEBUG // used to debug can bus activity |
superphil06 | 0:e30c9ba95bd4 | 55 | //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus |
superphil06 | 0:e30c9ba95bd4 | 56 | CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield |
superphil06 | 0:e30c9ba95bd4 | 57 | bool bCan_Active=false; |
superphil06 | 0:e30c9ba95bd4 | 58 | |
superphil06 | 0:e30c9ba95bd4 | 59 | |
superphil06 | 0:e30c9ba95bd4 | 60 | |
superphil06 | 0:e30c9ba95bd4 | 61 | DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/ |
superphil06 | 0:e30c9ba95bd4 | 62 | DigitalOut led2(LED2); |
superphil06 | 0:e30c9ba95bd4 | 63 | DigitalOut led3(LED3); // blink when can message is sent |
ragas | 1:545a3d6b5933 | 64 | DigitalOut led4(LED4); // blink when can message is received |
superphil06 | 0:e30c9ba95bd4 | 65 | |
superphil06 | 0:e30c9ba95bd4 | 66 | |
ragas | 2:153d417b318b | 67 | AnalogIn poignee (p17); |
ragas | 2:153d417b318b | 68 | FILE*pfile=NULL; |
ragas | 3:a659bef8f6a5 | 69 | Ticker guidon; |
ragas | 3:a659bef8f6a5 | 70 | |
ragas | 3:a659bef8f6a5 | 71 | |
ragas | 4:08e917c15d87 | 72 | //************************************************************ |
ragas | 4:08e917c15d87 | 73 | InterruptIn tphall (p22); |
ragas | 4:08e917c15d87 | 74 | int lire; |
ragas | 4:08e917c15d87 | 75 | float vitesse; |
ragas | 4:08e917c15d87 | 76 | int cpthall=0; |
ragas | 4:08e917c15d87 | 77 | void cpt(void); |
ragas | 4:08e917c15d87 | 78 | void vit (void); |
ragas | 4:08e917c15d87 | 79 | Ticker ragas; |
ragas | 4:08e917c15d87 | 80 | float ray=0.20; |
ragas | 4:08e917c15d87 | 81 | float Bride; |
ragas | 5:e3b59050984c | 82 | Timer charo; |
ragas | 5:e3b59050984c | 83 | float d=0; |
ragas | 5:e3b59050984c | 84 | float dac; |
ragas | 5:e3b59050984c | 85 | int kpar; |
ragas | 5:e3b59050984c | 86 | int ktot; |
ragas | 4:08e917c15d87 | 87 | //************************************************************ |
ragas | 4:08e917c15d87 | 88 | |
ragas | 4:08e917c15d87 | 89 | |
ragas | 3:a659bef8f6a5 | 90 | void task1(void); |
ragas | 3:a659bef8f6a5 | 91 | int mode ; |
ragas | 4:08e917c15d87 | 92 | int kirito; |
ragas | 1:545a3d6b5933 | 93 | |
superphil06 | 0:e30c9ba95bd4 | 94 | //************ local function prototypes ******************* |
superphil06 | 0:e30c9ba95bd4 | 95 | |
superphil06 | 0:e30c9ba95bd4 | 96 | |
superphil06 | 0:e30c9ba95bd4 | 97 | |
superphil06 | 0:e30c9ba95bd4 | 98 | |
superphil06 | 0:e30c9ba95bd4 | 99 | |
superphil06 | 0:e30c9ba95bd4 | 100 | |
ragas | 1:545a3d6b5933 | 101 | |
superphil06 | 0:e30c9ba95bd4 | 102 | /**************** Read persistent data from text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 103 | |
superphil06 | 0:e30c9ba95bd4 | 104 | |
superphil06 | 0:e30c9ba95bd4 | 105 | |
superphil06 | 0:e30c9ba95bd4 | 106 | /**************** write persitant data to text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 107 | |
superphil06 | 0:e30c9ba95bd4 | 108 | |
superphil06 | 0:e30c9ba95bd4 | 109 | |
superphil06 | 0:e30c9ba95bd4 | 110 | |
superphil06 | 0:e30c9ba95bd4 | 111 | |
superphil06 | 0:e30c9ba95bd4 | 112 | |
superphil06 | 0:e30c9ba95bd4 | 113 | //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** |
superphil06 | 0:e30c9ba95bd4 | 114 | |
superphil06 | 0:e30c9ba95bd4 | 115 | |
superphil06 | 0:e30c9ba95bd4 | 116 | // ************top hall counting interrupt needed for speed measurement |
superphil06 | 0:e30c9ba95bd4 | 117 | |
superphil06 | 0:e30c9ba95bd4 | 118 | |
superphil06 | 0:e30c9ba95bd4 | 119 | //********************** timer interrupt for speed measurement each 100ms ************************* |
superphil06 | 0:e30c9ba95bd4 | 120 | |
ragas | 1:545a3d6b5933 | 121 | |
ragas | 1:545a3d6b5933 | 122 | |
ragas | 1:545a3d6b5933 | 123 | |
superphil06 | 0:e30c9ba95bd4 | 124 | |
superphil06 | 0:e30c9ba95bd4 | 125 | |
superphil06 | 0:e30c9ba95bd4 | 126 | //********************* Timer Interrupt for gaz ref management each 10ms ******************** |
superphil06 | 0:e30c9ba95bd4 | 127 | |
superphil06 | 0:e30c9ba95bd4 | 128 | |
superphil06 | 0:e30c9ba95bd4 | 129 | |
superphil06 | 0:e30c9ba95bd4 | 130 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 131 | void CGI_Function(void) // cgi function that patch web data to empty web page |
ragas | 1:545a3d6b5933 | 132 | { |
ragas | 1:545a3d6b5933 | 133 | char ma_chaine4[20]= {}; // needed to form html response |
superphil06 | 0:e30c9ba95bd4 | 134 | |
superphil06 | 0:e30c9ba95bd4 | 135 | } |
ragas | 1:545a3d6b5933 | 136 | |
ragas | 1:545a3d6b5933 | 137 | |
ragas | 1:545a3d6b5933 | 138 | /*********************** CAN BUS SECTION **********************/ |
ragas | 1:545a3d6b5933 | 139 | |
superphil06 | 0:e30c9ba95bd4 | 140 | |
superphil06 | 0:e30c9ba95bd4 | 141 | |
superphil06 | 0:e30c9ba95bd4 | 142 | void CAN_REC_THREAD(void const *args) |
ragas | 1:545a3d6b5933 | 143 | { |
ragas | 1:545a3d6b5933 | 144 | int iCount,iError; |
superphil06 | 0:e30c9ba95bd4 | 145 | |
ragas | 1:545a3d6b5933 | 146 | while (bCan_Active) { |
ragas | 1:545a3d6b5933 | 147 | Thread::wait(100);// wait 100ms |
ragas | 1:545a3d6b5933 | 148 | // code todo |
ragas | 1:545a3d6b5933 | 149 | |
superphil06 | 0:e30c9ba95bd4 | 150 | } |
ragas | 1:545a3d6b5933 | 151 | |
superphil06 | 0:e30c9ba95bd4 | 152 | } |
ragas | 1:545a3d6b5933 | 153 | |
ragas | 1:545a3d6b5933 | 154 | |
ragas | 1:545a3d6b5933 | 155 | |
superphil06 | 0:e30c9ba95bd4 | 156 | //*************************** main function ***************************************** |
ragas | 1:545a3d6b5933 | 157 | int main() |
ragas | 1:545a3d6b5933 | 158 | { |
ragas | 2:153d417b318b | 159 | //int x; |
ragas | 2:153d417b318b | 160 | //int data_in; |
ragas | 2:153d417b318b | 161 | char cChoix; |
ragas | 1:545a3d6b5933 | 162 | valid.write(0); |
ragas | 1:545a3d6b5933 | 163 | MyPLD.write(0); |
ragas | 1:545a3d6b5933 | 164 | valid.write(1); |
ragas | 2:153d417b318b | 165 | float gaz; |
ragas | 4:08e917c15d87 | 166 | mode=0;// mode auto |
ragas | 3:a659bef8f6a5 | 167 | |
ragas | 2:153d417b318b | 168 | FILE* pfile = fopen ("/local/ragas.txt","r"); |
ragas | 2:153d417b318b | 169 | if(pfile!=NULL) { |
ragas | 5:e3b59050984c | 170 | fscanf(pfile,"min=%f max=%f bride=%f Kpar=%d Ktot=%d", &min,&max,&Bride,&kpar,&ktot); |
ragas | 5:e3b59050984c | 171 | pc.printf("\n min=%f max=%f bride=%f Kpar=% Ktot=%d", min,max,Bride,kpar,ktot); |
ragas | 2:153d417b318b | 172 | } else { |
ragas | 2:153d417b318b | 173 | pc.printf("erreur"); |
ragas | 2:153d417b318b | 174 | } |
ragas | 2:153d417b318b | 175 | fclose(pfile); // close file |
ragas | 5:e3b59050984c | 176 | guidon.attach(&task1,tpss); |
superphil06 | 0:e30c9ba95bd4 | 177 | |
superphil06 | 0:e30c9ba95bd4 | 178 | |
superphil06 | 0:e30c9ba95bd4 | 179 | |
superphil06 | 0:e30c9ba95bd4 | 180 | |
ragas | 4:08e917c15d87 | 181 | //*************************************************************************************** |
ragas | 4:08e917c15d87 | 182 | tphall.rise(&cpt); |
ragas | 5:e3b59050984c | 183 | tphall.mode(PullUp); |
ragas | 5:e3b59050984c | 184 | ragas.attach(&vit,tps); |
ragas | 4:08e917c15d87 | 185 | //**************************************************************************************** |
ragas | 4:08e917c15d87 | 186 | |
ragas | 4:08e917c15d87 | 187 | |
ragas | 4:08e917c15d87 | 188 | |
ragas | 4:08e917c15d87 | 189 | |
ragas | 4:08e917c15d87 | 190 | |
superphil06 | 0:e30c9ba95bd4 | 191 | //***************************************** web section ********************************************/ |
superphil06 | 0:e30c9ba95bd4 | 192 | //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function |
superphil06 | 0:e30c9ba95bd4 | 193 | //Thread WebThread(Web_Server_Thread);// create and launch web server thread |
ragas | 1:545a3d6b5933 | 194 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 195 | |
ragas | 1:545a3d6b5933 | 196 | //******************************************* end web section ************************************* / |
superphil06 | 0:e30c9ba95bd4 | 197 | |
superphil06 | 0:e30c9ba95bd4 | 198 | |
superphil06 | 0:e30c9ba95bd4 | 199 | |
superphil06 | 0:e30c9ba95bd4 | 200 | |
ragas | 1:545a3d6b5933 | 201 | pc.printf(" programme scooter mbed \n"); |
superphil06 | 0:e30c9ba95bd4 | 202 | |
superphil06 | 0:e30c9ba95bd4 | 203 | |
superphil06 | 0:e30c9ba95bd4 | 204 | |
superphil06 | 0:e30c9ba95bd4 | 205 | //********************* can bus section initialisation ******************************************* |
superphil06 | 0:e30c9ba95bd4 | 206 | //bCan_Active=true;// needed to lauchn CAN thread |
superphil06 | 0:e30c9ba95bd4 | 207 | //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread |
superphil06 | 0:e30c9ba95bd4 | 208 | //********************* end can bus section ***************************************************** |
superphil06 | 0:e30c9ba95bd4 | 209 | |
ragas | 2:153d417b318b | 210 | |
ragas | 1:545a3d6b5933 | 211 | while(cChoix!='q' and cChoix!='Q' /*and cChoix='c'*/) { |
ragas | 2:153d417b318b | 212 | |
ragas | 1:545a3d6b5933 | 213 | pc.printf(" veuillez saisir un choix parmi la liste proposee: \r\n"); |
ragas | 1:545a3d6b5933 | 214 | pc.printf(" a:saisie consigne pwm \r\n"); |
ragas | 1:545a3d6b5933 | 215 | pc.printf(" c:lecture interne \r\n"); |
ragas | 2:153d417b318b | 216 | pc.printf(" b:calibration \r\n"); |
ragas | 4:08e917c15d87 | 217 | pc.printf(" v:vitesse\r\n"); |
ragas | 3:a659bef8f6a5 | 218 | pc.printf(" m:mode \r\n"); |
ragas | 4:08e917c15d87 | 219 | pc.printf(" w:valeur bride \r\n"); |
ragas | 5:e3b59050984c | 220 | pc.printf(" x:reset \r\n "); |
ragas | 5:e3b59050984c | 221 | pc.printf(" k:kilometre \r\n"); |
ragas | 1:545a3d6b5933 | 222 | pc.printf(" q:quitter \r\n"); |
superphil06 | 0:e30c9ba95bd4 | 223 | |
ragas | 1:545a3d6b5933 | 224 | /************* multithreading : main thread need to sleep in order to allow web response */ |
ragas | 1:545a3d6b5933 | 225 | while (pc.readable()==0) { // determine if char availabler |
ragas | 1:545a3d6b5933 | 226 | Thread::wait(10); // wait 10 until char available on serial input |
ragas | 1:545a3d6b5933 | 227 | } |
ragas | 1:545a3d6b5933 | 228 | /************* end of main thread sleep ****************/ |
ragas | 1:545a3d6b5933 | 229 | |
ragas | 1:545a3d6b5933 | 230 | pc.scanf(" %c",&cChoix); |
ragas | 1:545a3d6b5933 | 231 | switch (cChoix) { |
ragas | 1:545a3d6b5933 | 232 | case 'a': |
ragas | 2:153d417b318b | 233 | |
ragas | 1:545a3d6b5933 | 234 | printf("donne moi une valeur de pwmref entre 0 et 255:"); |
ragas | 1:545a3d6b5933 | 235 | scanf("%d",&valref); |
ragas | 2:153d417b318b | 236 | if(valref<=255) { |
ragas | 4:08e917c15d87 | 237 | //MyPLD.write(valref); |
ragas | 2:153d417b318b | 238 | } else { |
ragas | 1:545a3d6b5933 | 239 | valref=0; |
ragas | 3:a659bef8f6a5 | 240 | //MyPLD.write(valref); |
ragas | 1:545a3d6b5933 | 241 | printf("valeur entre 0 et 255"); |
ragas | 2:153d417b318b | 242 | } |
ragas | 1:545a3d6b5933 | 243 | break; |
ragas | 1:545a3d6b5933 | 244 | case 'c' : |
ragas | 1:545a3d6b5933 | 245 | lecture(); |
ragas | 2:153d417b318b | 246 | break; |
ragas | 2:153d417b318b | 247 | case 'b': |
ragas | 2:153d417b318b | 248 | printf("mettre au min et appuyer sur une touche quand termine\n\r"); |
ragas | 2:153d417b318b | 249 | getchar(); |
ragas | 2:153d417b318b | 250 | min=poignee.read(); |
ragas | 2:153d417b318b | 251 | printf("min=%f\n\r",min); |
ragas | 2:153d417b318b | 252 | printf("vmettre au max max et appuyer sur une touche quand termine\n\r"); |
ragas | 2:153d417b318b | 253 | getchar(); |
ragas | 2:153d417b318b | 254 | max=poignee.read(); |
ragas | 2:153d417b318b | 255 | printf("max%f\n\r",max); |
ragas | 5:e3b59050984c | 256 | |
ragas | 1:545a3d6b5933 | 257 | break; |
ragas | 3:a659bef8f6a5 | 258 | case 'm': |
ragas | 3:a659bef8f6a5 | 259 | do { |
ragas | 3:a659bef8f6a5 | 260 | printf("choisissez un mode :0 pour automatique et 1 pour manuel"); |
ragas | 3:a659bef8f6a5 | 261 | scanf("%d",&mode); |
ragas | 3:a659bef8f6a5 | 262 | } while(mode<0 || mode >1); |
ragas | 3:a659bef8f6a5 | 263 | break ; |
ragas | 2:153d417b318b | 264 | case 'q': |
ragas | 5:e3b59050984c | 265 | FILE* pfile = fopen ("/local/ragas.txt","w"); |
ragas | 4:08e917c15d87 | 266 | if(pfile!=NULL) |
ragas | 5:e3b59050984c | 267 | fprintf(pfile,"min=%f max=%f bride=%f kpar=%d ktot=%d", min,max,Bride,kpar,ktot); |
ragas | 4:08e917c15d87 | 268 | fclose(pfile); // close file |
ragas | 2:153d417b318b | 269 | valid.write(0); |
ragas | 2:153d417b318b | 270 | MyPLD.write(0); |
ragas | 3:a659bef8f6a5 | 271 | guidon.detach(); |
ragas | 5:e3b59050984c | 272 | ragas.detach(); |
ragas | 5:e3b59050984c | 273 | dac=0; |
ragas | 2:153d417b318b | 274 | break; |
ragas | 4:08e917c15d87 | 275 | |
ragas | 4:08e917c15d87 | 276 | case 'v': |
ragas | 4:08e917c15d87 | 277 | printf ("vitesse :%g m/s \n",vitesse); |
ragas | 4:08e917c15d87 | 278 | printf ("vitesse :%g km/h \n",vitesse*3.6); |
ragas | 5:e3b59050984c | 279 | printf ("vitesse :%g tr/min \n",(vitesse*60)/(2*pi*ray)); |
ragas | 4:08e917c15d87 | 280 | break ; |
ragas | 4:08e917c15d87 | 281 | case 'w': |
ragas | 4:08e917c15d87 | 282 | do { |
ragas | 4:08e917c15d87 | 283 | printf("choisissez une valeur de bride"); |
ragas | 4:08e917c15d87 | 284 | scanf("%g",&Bride); |
ragas | 4:08e917c15d87 | 285 | } while(Bride<0 || Bride >38.9); |
ragas | 4:08e917c15d87 | 286 | break ; |
ragas | 5:e3b59050984c | 287 | |
ragas | 5:e3b59050984c | 288 | case 'k': |
ragas | 5:e3b59050984c | 289 | |
ragas | 5:e3b59050984c | 290 | d=(((2*pi*ray)/(6*8))*ktot); |
ragas | 5:e3b59050984c | 291 | |
ragas | 5:e3b59050984c | 292 | printf("distance= %g m\r\n",d); |
ragas | 5:e3b59050984c | 293 | |
ragas | 5:e3b59050984c | 294 | dac=(((2*pi*ray)/(6*8))*kpar); |
ragas | 5:e3b59050984c | 295 | |
ragas | 5:e3b59050984c | 296 | printf("distance= %g m\r\n",dac); |
ragas | 5:e3b59050984c | 297 | break; |
ragas | 5:e3b59050984c | 298 | case 'x' : |
ragas | 5:e3b59050984c | 299 | kpar=0; |
ragas | 5:e3b59050984c | 300 | break; |
ragas | 5:e3b59050984c | 301 | |
ragas | 5:e3b59050984c | 302 | |
ragas | 4:08e917c15d87 | 303 | |
ragas | 2:153d417b318b | 304 | /* case 'q': |
ragas | 2:153d417b318b | 305 | |
ragas | 2:153d417b318b | 306 | frein.read(); |
ragas | 2:153d417b318b | 307 | DigitalIn flta.read(); |
ragas | 2:153d417b318b | 308 | DigitalIn overcurrent.read(); |
ragas | 2:153d417b318b | 309 | DigitalIn direction.read(); |
ragas | 2:153d417b318b | 310 | HALLA.read(); |
ragas | 2:153d417b318b | 311 | HALLB.read(); |
ragas | 2:153d417b318b | 312 | HALLC.read(); |
ragas | 2:153d417b318b | 313 | break;*/ |
ragas | 1:545a3d6b5933 | 314 | } |
ragas | 1:545a3d6b5933 | 315 | } // end while |
ragas | 1:545a3d6b5933 | 316 | |
ragas | 1:545a3d6b5933 | 317 | //************** thread deinit ********************* |
ragas | 1:545a3d6b5933 | 318 | //DeInit_Web_Server(); |
ragas | 1:545a3d6b5933 | 319 | //bCan_Active=false; |
ragas | 1:545a3d6b5933 | 320 | //CanThread=false;// close can received thread |
superphil06 | 0:e30c9ba95bd4 | 321 | pc.printf(" fin programme scooter mbed \n"); |
superphil06 | 0:e30c9ba95bd4 | 322 | } // end main |
ragas | 1:545a3d6b5933 | 323 | |
ragas | 1:545a3d6b5933 | 324 | |
ragas | 2:153d417b318b | 325 | void lecture (void) |
ragas | 2:153d417b318b | 326 | { |
ragas | 3:a659bef8f6a5 | 327 | tout = MyPLD.read(); |
ragas | 3:a659bef8f6a5 | 328 | Hall= tout & 7; |
ragas | 3:a659bef8f6a5 | 329 | direction = tout & 8; |
ragas | 3:a659bef8f6a5 | 330 | FLTA = tout & 16; |
ragas | 3:a659bef8f6a5 | 331 | frein = tout &32; |
ragas | 3:a659bef8f6a5 | 332 | overcurrent = tout &64; |
ragas | 2:153d417b318b | 333 | 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 | 334 | |
ragas | 3:a659bef8f6a5 | 335 | if(direction==8) { //direction 1=av 0=ar |
ragas | 2:153d417b318b | 336 | pc.printf("direction avant\n\r"); |
ragas | 2:153d417b318b | 337 | } else { |
ragas | 2:153d417b318b | 338 | printf("direction arriere\n\r"); |
ragas | 2:153d417b318b | 339 | } |
ragas | 3:a659bef8f6a5 | 340 | |
ragas | 2:153d417b318b | 341 | if(overcurrent==64) { //overcurrent actif=0 |
ragas | 2:153d417b318b | 342 | pc.printf("surcharge de courant inactif\n\r"); |
ragas | 2:153d417b318b | 343 | } else { |
ragas | 2:153d417b318b | 344 | printf("surcharge de courant actif\n\r"); |
ragas | 2:153d417b318b | 345 | } |
ragas | 3:a659bef8f6a5 | 346 | |
ragas | 2:153d417b318b | 347 | if(FLTA == 16) { //FLTA actif=1 |
ragas | 2:153d417b318b | 348 | pc.printf("FLTA actif\n\r"); |
ragas | 2:153d417b318b | 349 | } else { |
ragas | 2:153d417b318b | 350 | printf("FLTA inactif\n\r"); |
ragas | 2:153d417b318b | 351 | } |
ragas | 3:a659bef8f6a5 | 352 | |
ragas | 2:153d417b318b | 353 | if(frein == 32) { //brake actif=0 |
ragas | 2:153d417b318b | 354 | pc.printf("Frein inactif\n\r"); |
ragas | 2:153d417b318b | 355 | } else { |
ragas | 2:153d417b318b | 356 | pc.printf("Frein actif\n\r"); |
ragas | 2:153d417b318b | 357 | } |
ragas | 1:545a3d6b5933 | 358 | } |
ragas | 1:545a3d6b5933 | 359 | |
ragas | 1:545a3d6b5933 | 360 | |
ragas | 3:a659bef8f6a5 | 361 | |
ragas | 3:a659bef8f6a5 | 362 | void task1(void) //0.05seconde |
ragas | 3:a659bef8f6a5 | 363 | { |
ragas | 3:a659bef8f6a5 | 364 | tout = MyPLD.read(); |
ragas | 3:a659bef8f6a5 | 365 | Hall= tout & 7; |
ragas | 3:a659bef8f6a5 | 366 | direction = tout & 8; |
ragas | 3:a659bef8f6a5 | 367 | FLTA = tout & 16; |
ragas | 3:a659bef8f6a5 | 368 | frein = tout &32; |
ragas | 3:a659bef8f6a5 | 369 | overcurrent = tout &64; |
ragas | 4:08e917c15d87 | 370 | |
ragas | 4:08e917c15d87 | 371 | |
ragas | 3:a659bef8f6a5 | 372 | gaz=poignee.read(); |
ragas | 3:a659bef8f6a5 | 373 | float valPoignee=((255/(max-min))*gaz)-(min*(255)/(max-min)); |
ragas | 3:a659bef8f6a5 | 374 | if(mode==0) { //mode auto |
ragas | 3:a659bef8f6a5 | 375 | if(frein==0) { //frein actif |
ragas | 3:a659bef8f6a5 | 376 | val=0; |
ragas | 3:a659bef8f6a5 | 377 | } else { //frein inactif |
ragas | 5:e3b59050984c | 378 | |
ragas | 5:e3b59050984c | 379 | if(val<valPoignee) { //incrémentation |
ragas | 5:e3b59050984c | 380 | val=val+1; |
ragas | 5:e3b59050984c | 381 | } else { //bonne valeur |
ragas | 5:e3b59050984c | 382 | val=valPoignee; |
ragas | 5:e3b59050984c | 383 | } |
ragas | 5:e3b59050984c | 384 | if(Bride<vitesse*3.6) { |
ragas | 5:e3b59050984c | 385 | val=val-1; |
ragas | 5:e3b59050984c | 386 | } |
ragas | 5:e3b59050984c | 387 | |
ragas | 5:e3b59050984c | 388 | if(val<0) { |
ragas | 5:e3b59050984c | 389 | val=0; |
ragas | 5:e3b59050984c | 390 | }/* |
ragas | 4:08e917c15d87 | 391 | if(val>valPoignee) { //décrémentation |
ragas | 4:08e917c15d87 | 392 | val=val-1; |
ragas | 4:08e917c15d87 | 393 | } else { //bonne valeur |
ragas | 4:08e917c15d87 | 394 | val=valPoignee; |
ragas | 4:08e917c15d87 | 395 | } |
ragas | 4:08e917c15d87 | 396 | if(val>255) { |
ragas | 4:08e917c15d87 | 397 | val=255; |
ragas | 4:08e917c15d87 | 398 | } |
ragas | 4:08e917c15d87 | 399 | if(val<0) { |
ragas | 4:08e917c15d87 | 400 | val=0; |
ragas | 4:08e917c15d87 | 401 | } |
ragas | 4:08e917c15d87 | 402 | kirito=val; //valeur actuel de la pwm dans une variable globale |
ragas | 4:08e917c15d87 | 403 | } else { |
ragas | 4:08e917c15d87 | 404 | MyPLD.write(kirito); |
ragas | 4:08e917c15d87 | 405 | }*/ |
ragas | 3:a659bef8f6a5 | 406 | } |
ragas | 3:a659bef8f6a5 | 407 | } else { //mode manuel |
ragas | 3:a659bef8f6a5 | 408 | val=valref; //valeurs dans le case "a" |
ragas | 3:a659bef8f6a5 | 409 | } |
ragas | 4:08e917c15d87 | 410 | //val=127; |
ragas | 3:a659bef8f6a5 | 411 | MyPLD.write(val); |
ragas | 3:a659bef8f6a5 | 412 | } |
ragas | 4:08e917c15d87 | 413 | void cpt (void) |
ragas | 4:08e917c15d87 | 414 | { |
ragas | 4:08e917c15d87 | 415 | cpthall++; |
ragas | 4:08e917c15d87 | 416 | } |
ragas | 3:a659bef8f6a5 | 417 | |
ragas | 4:08e917c15d87 | 418 | void vit (void) |
ragas | 4:08e917c15d87 | 419 | { |
ragas | 4:08e917c15d87 | 420 | lire=cpthall; |
ragas | 4:08e917c15d87 | 421 | cpthall=0; |
ragas | 5:e3b59050984c | 422 | vitesse=(((2*pi*ray)/(6*8))*lire)/tps; |
ragas | 5:e3b59050984c | 423 | /*if (vitesse!=0) |
ragas | 5:e3b59050984c | 424 | { |
ragas | 5:e3b59050984c | 425 | |
ragas | 5:e3b59050984c | 426 | charo.start(); |
ragas | 5:e3b59050984c | 427 | vitesse=vitesse/3600; |
ragas | 5:e3b59050984c | 428 | } |
ragas | 5:e3b59050984c | 429 | else |
ragas | 5:e3b59050984c | 430 | { |
ragas | 5:e3b59050984c | 431 | charo.stop(); |
ragas | 5:e3b59050984c | 432 | } |
ragas | 5:e3b59050984c | 433 | |
ragas | 5:e3b59050984c | 434 | d=d+vitesse*charo; |
ragas | 5:e3b59050984c | 435 | dac=dac+vitesse*charo; |
ragas | 5:e3b59050984c | 436 | charo.reset();*/ |
ragas | 5:e3b59050984c | 437 | kpar=kpar+lire; |
ragas | 5:e3b59050984c | 438 | ktot=ktot+lire; |
ragas | 4:08e917c15d87 | 439 | } |