squelette de demarrage projet ERS3 IUT NICE GEII
Dependencies: mbed bloc_io mbed-rtos html EthernetInterface
main.cpp@4:08e917c15d87, 2019-12-03 (annotated)
- Committer:
- ragas
- Date:
- Tue Dec 03 08:47:42 2019 +0000
- Revision:
- 4:08e917c15d87
- Parent:
- 3:a659bef8f6a5
- Child:
- 5:e3b59050984c
cefdzcd;
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 | 4:08e917c15d87 | 20 | int val=0; |
ragas | 3:a659bef8f6a5 | 21 | float min ; |
ragas | 3:a659bef8f6a5 | 22 | float max; |
ragas | 3:a659bef8f6a5 | 23 | int tout; |
ragas | 3:a659bef8f6a5 | 24 | int Hall; |
ragas | 3:a659bef8f6a5 | 25 | int direction; |
ragas | 3:a659bef8f6a5 | 26 | int FLTA; |
ragas | 3:a659bef8f6a5 | 27 | int frein; |
ragas | 3:a659bef8f6a5 | 28 | int overcurrent; |
ragas | 3:a659bef8f6a5 | 29 | float gaz; |
ragas | 3:a659bef8f6a5 | 30 | |
ragas | 3:a659bef8f6a5 | 31 | |
ragas | 1:545a3d6b5933 | 32 | //void modulo (int ); |
ragas | 1:545a3d6b5933 | 33 | |
ragas | 1:545a3d6b5933 | 34 | /************ persistent file parameters section *****************/ |
ragas | 1:545a3d6b5933 | 35 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
superphil06 | 0:e30c9ba95bd4 | 36 | |
superphil06 | 0:e30c9ba95bd4 | 37 | |
ragas | 1:545a3d6b5933 | 38 | |
ragas | 1:545a3d6b5933 | 39 | |
superphil06 | 0:e30c9ba95bd4 | 40 | |
ragas | 1:545a3d6b5933 | 41 | |
ragas | 1:545a3d6b5933 | 42 | |
superphil06 | 0:e30c9ba95bd4 | 43 | /********************* web server section **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 44 | |
superphil06 | 0:e30c9ba95bd4 | 45 | var_field_t tab_balise[10]; //une balise est présente dans le squelette |
superphil06 | 0:e30c9ba95bd4 | 46 | int giCounter=0;// acces counting |
superphil06 | 0:e30c9ba95bd4 | 47 | |
superphil06 | 0:e30c9ba95bd4 | 48 | |
superphil06 | 0:e30c9ba95bd4 | 49 | /*********************** can bus section ************/ |
ragas | 1:545a3d6b5933 | 50 | // determine message ID used to send Gaz ref over can bus |
superphil06 | 0:e30c9ba95bd4 | 51 | #define _CAN_DEBUG // used to debug can bus activity |
superphil06 | 0:e30c9ba95bd4 | 52 | //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus |
superphil06 | 0:e30c9ba95bd4 | 53 | CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield |
superphil06 | 0:e30c9ba95bd4 | 54 | bool bCan_Active=false; |
superphil06 | 0:e30c9ba95bd4 | 55 | |
superphil06 | 0:e30c9ba95bd4 | 56 | |
superphil06 | 0:e30c9ba95bd4 | 57 | |
superphil06 | 0:e30c9ba95bd4 | 58 | DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/ |
superphil06 | 0:e30c9ba95bd4 | 59 | DigitalOut led2(LED2); |
superphil06 | 0:e30c9ba95bd4 | 60 | DigitalOut led3(LED3); // blink when can message is sent |
ragas | 1:545a3d6b5933 | 61 | DigitalOut led4(LED4); // blink when can message is received |
superphil06 | 0:e30c9ba95bd4 | 62 | |
superphil06 | 0:e30c9ba95bd4 | 63 | |
ragas | 2:153d417b318b | 64 | AnalogIn poignee (p17); |
ragas | 2:153d417b318b | 65 | FILE*pfile=NULL; |
ragas | 3:a659bef8f6a5 | 66 | Ticker guidon; |
ragas | 3:a659bef8f6a5 | 67 | |
ragas | 3:a659bef8f6a5 | 68 | |
ragas | 4:08e917c15d87 | 69 | //************************************************************ |
ragas | 4:08e917c15d87 | 70 | InterruptIn tphall (p22); |
ragas | 4:08e917c15d87 | 71 | int lire; |
ragas | 4:08e917c15d87 | 72 | float vitesse; |
ragas | 4:08e917c15d87 | 73 | int cpthall=0; |
ragas | 4:08e917c15d87 | 74 | void cpt(void); |
ragas | 4:08e917c15d87 | 75 | void vit (void); |
ragas | 4:08e917c15d87 | 76 | Ticker ragas; |
ragas | 4:08e917c15d87 | 77 | float ray=0.20; |
ragas | 4:08e917c15d87 | 78 | float Bride; |
ragas | 4:08e917c15d87 | 79 | //************************************************************ |
ragas | 4:08e917c15d87 | 80 | |
ragas | 4:08e917c15d87 | 81 | |
ragas | 3:a659bef8f6a5 | 82 | void task1(void); |
ragas | 3:a659bef8f6a5 | 83 | int mode ; |
ragas | 4:08e917c15d87 | 84 | int kirito; |
ragas | 1:545a3d6b5933 | 85 | |
superphil06 | 0:e30c9ba95bd4 | 86 | //************ local function prototypes ******************* |
superphil06 | 0:e30c9ba95bd4 | 87 | |
superphil06 | 0:e30c9ba95bd4 | 88 | |
superphil06 | 0:e30c9ba95bd4 | 89 | |
superphil06 | 0:e30c9ba95bd4 | 90 | |
superphil06 | 0:e30c9ba95bd4 | 91 | |
superphil06 | 0:e30c9ba95bd4 | 92 | |
ragas | 1:545a3d6b5933 | 93 | |
superphil06 | 0:e30c9ba95bd4 | 94 | /**************** Read persistent data from text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 95 | |
superphil06 | 0:e30c9ba95bd4 | 96 | |
superphil06 | 0:e30c9ba95bd4 | 97 | |
superphil06 | 0:e30c9ba95bd4 | 98 | /**************** write persitant data to text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 99 | |
superphil06 | 0:e30c9ba95bd4 | 100 | |
superphil06 | 0:e30c9ba95bd4 | 101 | |
superphil06 | 0:e30c9ba95bd4 | 102 | |
superphil06 | 0:e30c9ba95bd4 | 103 | |
superphil06 | 0:e30c9ba95bd4 | 104 | |
superphil06 | 0:e30c9ba95bd4 | 105 | //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** |
superphil06 | 0:e30c9ba95bd4 | 106 | |
superphil06 | 0:e30c9ba95bd4 | 107 | |
superphil06 | 0:e30c9ba95bd4 | 108 | // ************top hall counting interrupt needed for speed measurement |
superphil06 | 0:e30c9ba95bd4 | 109 | |
superphil06 | 0:e30c9ba95bd4 | 110 | |
superphil06 | 0:e30c9ba95bd4 | 111 | //********************** timer interrupt for speed measurement each 100ms ************************* |
superphil06 | 0:e30c9ba95bd4 | 112 | |
ragas | 1:545a3d6b5933 | 113 | |
ragas | 1:545a3d6b5933 | 114 | |
ragas | 1:545a3d6b5933 | 115 | |
superphil06 | 0:e30c9ba95bd4 | 116 | |
superphil06 | 0:e30c9ba95bd4 | 117 | |
superphil06 | 0:e30c9ba95bd4 | 118 | //********************* Timer Interrupt for gaz ref management each 10ms ******************** |
superphil06 | 0:e30c9ba95bd4 | 119 | |
superphil06 | 0:e30c9ba95bd4 | 120 | |
superphil06 | 0:e30c9ba95bd4 | 121 | |
superphil06 | 0:e30c9ba95bd4 | 122 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 123 | void CGI_Function(void) // cgi function that patch web data to empty web page |
ragas | 1:545a3d6b5933 | 124 | { |
ragas | 1:545a3d6b5933 | 125 | char ma_chaine4[20]= {}; // needed to form html response |
superphil06 | 0:e30c9ba95bd4 | 126 | |
superphil06 | 0:e30c9ba95bd4 | 127 | } |
ragas | 1:545a3d6b5933 | 128 | |
ragas | 1:545a3d6b5933 | 129 | |
ragas | 1:545a3d6b5933 | 130 | /*********************** CAN BUS SECTION **********************/ |
ragas | 1:545a3d6b5933 | 131 | |
superphil06 | 0:e30c9ba95bd4 | 132 | |
superphil06 | 0:e30c9ba95bd4 | 133 | |
superphil06 | 0:e30c9ba95bd4 | 134 | void CAN_REC_THREAD(void const *args) |
ragas | 1:545a3d6b5933 | 135 | { |
ragas | 1:545a3d6b5933 | 136 | int iCount,iError; |
superphil06 | 0:e30c9ba95bd4 | 137 | |
ragas | 1:545a3d6b5933 | 138 | while (bCan_Active) { |
ragas | 1:545a3d6b5933 | 139 | Thread::wait(100);// wait 100ms |
ragas | 1:545a3d6b5933 | 140 | // code todo |
ragas | 1:545a3d6b5933 | 141 | |
superphil06 | 0:e30c9ba95bd4 | 142 | } |
ragas | 1:545a3d6b5933 | 143 | |
superphil06 | 0:e30c9ba95bd4 | 144 | } |
ragas | 1:545a3d6b5933 | 145 | |
ragas | 1:545a3d6b5933 | 146 | |
ragas | 1:545a3d6b5933 | 147 | |
superphil06 | 0:e30c9ba95bd4 | 148 | //*************************** main function ***************************************** |
ragas | 1:545a3d6b5933 | 149 | int main() |
ragas | 1:545a3d6b5933 | 150 | { |
ragas | 2:153d417b318b | 151 | //int x; |
ragas | 2:153d417b318b | 152 | //int data_in; |
ragas | 2:153d417b318b | 153 | char cChoix; |
ragas | 1:545a3d6b5933 | 154 | valid.write(0); |
ragas | 1:545a3d6b5933 | 155 | MyPLD.write(0); |
ragas | 1:545a3d6b5933 | 156 | valid.write(1); |
ragas | 2:153d417b318b | 157 | float gaz; |
ragas | 4:08e917c15d87 | 158 | mode=0;// mode auto |
ragas | 3:a659bef8f6a5 | 159 | |
ragas | 2:153d417b318b | 160 | FILE* pfile = fopen ("/local/ragas.txt","r"); |
ragas | 2:153d417b318b | 161 | if(pfile!=NULL) { |
ragas | 4:08e917c15d87 | 162 | fscanf(pfile,"min=%f max=%f bride=%f", &min,&max,&Bride); |
ragas | 4:08e917c15d87 | 163 | pc.printf("\n min=%f max=%f bride=%f", min,max,Bride); |
ragas | 2:153d417b318b | 164 | } else { |
ragas | 2:153d417b318b | 165 | pc.printf("erreur"); |
ragas | 2:153d417b318b | 166 | } |
ragas | 2:153d417b318b | 167 | fclose(pfile); // close file |
ragas | 3:a659bef8f6a5 | 168 | guidon.attach(&task1,0.05); |
superphil06 | 0:e30c9ba95bd4 | 169 | |
superphil06 | 0:e30c9ba95bd4 | 170 | |
superphil06 | 0:e30c9ba95bd4 | 171 | |
superphil06 | 0:e30c9ba95bd4 | 172 | |
ragas | 4:08e917c15d87 | 173 | //*************************************************************************************** |
ragas | 4:08e917c15d87 | 174 | tphall.rise(&cpt); |
ragas | 4:08e917c15d87 | 175 | ragas.attach(&vit,0.1); |
ragas | 4:08e917c15d87 | 176 | //**************************************************************************************** |
ragas | 4:08e917c15d87 | 177 | |
ragas | 4:08e917c15d87 | 178 | |
ragas | 4:08e917c15d87 | 179 | |
ragas | 4:08e917c15d87 | 180 | |
ragas | 4:08e917c15d87 | 181 | |
superphil06 | 0:e30c9ba95bd4 | 182 | //***************************************** web section ********************************************/ |
superphil06 | 0:e30c9ba95bd4 | 183 | //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function |
superphil06 | 0:e30c9ba95bd4 | 184 | //Thread WebThread(Web_Server_Thread);// create and launch web server thread |
ragas | 1:545a3d6b5933 | 185 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 186 | |
ragas | 1:545a3d6b5933 | 187 | //******************************************* end web section ************************************* / |
superphil06 | 0:e30c9ba95bd4 | 188 | |
superphil06 | 0:e30c9ba95bd4 | 189 | |
superphil06 | 0:e30c9ba95bd4 | 190 | |
superphil06 | 0:e30c9ba95bd4 | 191 | |
ragas | 1:545a3d6b5933 | 192 | pc.printf(" programme scooter mbed \n"); |
superphil06 | 0:e30c9ba95bd4 | 193 | |
superphil06 | 0:e30c9ba95bd4 | 194 | |
superphil06 | 0:e30c9ba95bd4 | 195 | |
superphil06 | 0:e30c9ba95bd4 | 196 | //********************* can bus section initialisation ******************************************* |
superphil06 | 0:e30c9ba95bd4 | 197 | //bCan_Active=true;// needed to lauchn CAN thread |
superphil06 | 0:e30c9ba95bd4 | 198 | //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread |
superphil06 | 0:e30c9ba95bd4 | 199 | //********************* end can bus section ***************************************************** |
superphil06 | 0:e30c9ba95bd4 | 200 | |
ragas | 2:153d417b318b | 201 | |
ragas | 1:545a3d6b5933 | 202 | while(cChoix!='q' and cChoix!='Q' /*and cChoix='c'*/) { |
ragas | 2:153d417b318b | 203 | |
ragas | 1:545a3d6b5933 | 204 | pc.printf(" veuillez saisir un choix parmi la liste proposee: \r\n"); |
ragas | 1:545a3d6b5933 | 205 | pc.printf(" a:saisie consigne pwm \r\n"); |
ragas | 1:545a3d6b5933 | 206 | pc.printf(" c:lecture interne \r\n"); |
ragas | 2:153d417b318b | 207 | pc.printf(" b:calibration \r\n"); |
ragas | 4:08e917c15d87 | 208 | pc.printf(" v:vitesse\r\n"); |
ragas | 3:a659bef8f6a5 | 209 | pc.printf(" m:mode \r\n"); |
ragas | 4:08e917c15d87 | 210 | pc.printf(" w:valeur bride \r\n"); |
ragas | 1:545a3d6b5933 | 211 | pc.printf(" q:quitter \r\n"); |
superphil06 | 0:e30c9ba95bd4 | 212 | |
ragas | 1:545a3d6b5933 | 213 | /************* multithreading : main thread need to sleep in order to allow web response */ |
ragas | 1:545a3d6b5933 | 214 | while (pc.readable()==0) { // determine if char availabler |
ragas | 1:545a3d6b5933 | 215 | Thread::wait(10); // wait 10 until char available on serial input |
ragas | 1:545a3d6b5933 | 216 | } |
ragas | 1:545a3d6b5933 | 217 | /************* end of main thread sleep ****************/ |
ragas | 1:545a3d6b5933 | 218 | |
ragas | 1:545a3d6b5933 | 219 | pc.scanf(" %c",&cChoix); |
ragas | 1:545a3d6b5933 | 220 | switch (cChoix) { |
ragas | 1:545a3d6b5933 | 221 | case 'a': |
ragas | 2:153d417b318b | 222 | |
ragas | 1:545a3d6b5933 | 223 | printf("donne moi une valeur de pwmref entre 0 et 255:"); |
ragas | 1:545a3d6b5933 | 224 | scanf("%d",&valref); |
ragas | 2:153d417b318b | 225 | if(valref<=255) { |
ragas | 4:08e917c15d87 | 226 | //MyPLD.write(valref); |
ragas | 2:153d417b318b | 227 | } else { |
ragas | 1:545a3d6b5933 | 228 | valref=0; |
ragas | 3:a659bef8f6a5 | 229 | //MyPLD.write(valref); |
ragas | 1:545a3d6b5933 | 230 | printf("valeur entre 0 et 255"); |
ragas | 2:153d417b318b | 231 | } |
ragas | 1:545a3d6b5933 | 232 | break; |
ragas | 1:545a3d6b5933 | 233 | case 'c' : |
ragas | 1:545a3d6b5933 | 234 | lecture(); |
ragas | 2:153d417b318b | 235 | break; |
ragas | 2:153d417b318b | 236 | case 'b': |
ragas | 2:153d417b318b | 237 | printf("mettre au min et appuyer sur une touche quand termine\n\r"); |
ragas | 2:153d417b318b | 238 | getchar(); |
ragas | 2:153d417b318b | 239 | min=poignee.read(); |
ragas | 2:153d417b318b | 240 | printf("min=%f\n\r",min); |
ragas | 2:153d417b318b | 241 | printf("vmettre au max max et appuyer sur une touche quand termine\n\r"); |
ragas | 2:153d417b318b | 242 | getchar(); |
ragas | 2:153d417b318b | 243 | max=poignee.read(); |
ragas | 2:153d417b318b | 244 | printf("max%f\n\r",max); |
ragas | 4:08e917c15d87 | 245 | |
ragas | 1:545a3d6b5933 | 246 | break; |
ragas | 3:a659bef8f6a5 | 247 | case 'm': |
ragas | 3:a659bef8f6a5 | 248 | do { |
ragas | 3:a659bef8f6a5 | 249 | printf("choisissez un mode :0 pour automatique et 1 pour manuel"); |
ragas | 3:a659bef8f6a5 | 250 | scanf("%d",&mode); |
ragas | 3:a659bef8f6a5 | 251 | } while(mode<0 || mode >1); |
ragas | 3:a659bef8f6a5 | 252 | break ; |
ragas | 2:153d417b318b | 253 | case 'q': |
ragas | 4:08e917c15d87 | 254 | FILE* pfile = fopen ("/local/ragas.txt","w"); |
ragas | 4:08e917c15d87 | 255 | if(pfile!=NULL) |
ragas | 4:08e917c15d87 | 256 | fprintf(pfile,"min=%f max=%f bride=%f", min,max,Bride); |
ragas | 4:08e917c15d87 | 257 | fclose(pfile); // close file |
ragas | 2:153d417b318b | 258 | valid.write(0); |
ragas | 2:153d417b318b | 259 | MyPLD.write(0); |
ragas | 3:a659bef8f6a5 | 260 | guidon.detach(); |
ragas | 2:153d417b318b | 261 | break; |
ragas | 4:08e917c15d87 | 262 | |
ragas | 4:08e917c15d87 | 263 | case 'v': |
ragas | 4:08e917c15d87 | 264 | printf ("vitesse :%g m/s \n",vitesse); |
ragas | 4:08e917c15d87 | 265 | printf ("vitesse :%g km/h \n",vitesse*3.6); |
ragas | 4:08e917c15d87 | 266 | printf ("vitesse :%g tr/min \n",(vitesse*60)/(2*3.14159265359*ray)); |
ragas | 4:08e917c15d87 | 267 | break ; |
ragas | 4:08e917c15d87 | 268 | case 'w': |
ragas | 4:08e917c15d87 | 269 | do { |
ragas | 4:08e917c15d87 | 270 | printf("choisissez une valeur de bride"); |
ragas | 4:08e917c15d87 | 271 | scanf("%g",&Bride); |
ragas | 4:08e917c15d87 | 272 | } while(Bride<0 || Bride >38.9); |
ragas | 4:08e917c15d87 | 273 | break ; |
ragas | 4:08e917c15d87 | 274 | |
ragas | 2:153d417b318b | 275 | /* case 'q': |
ragas | 2:153d417b318b | 276 | |
ragas | 2:153d417b318b | 277 | frein.read(); |
ragas | 2:153d417b318b | 278 | DigitalIn flta.read(); |
ragas | 2:153d417b318b | 279 | DigitalIn overcurrent.read(); |
ragas | 2:153d417b318b | 280 | DigitalIn direction.read(); |
ragas | 2:153d417b318b | 281 | HALLA.read(); |
ragas | 2:153d417b318b | 282 | HALLB.read(); |
ragas | 2:153d417b318b | 283 | HALLC.read(); |
ragas | 2:153d417b318b | 284 | break;*/ |
ragas | 1:545a3d6b5933 | 285 | } |
ragas | 1:545a3d6b5933 | 286 | } // end while |
ragas | 1:545a3d6b5933 | 287 | |
ragas | 1:545a3d6b5933 | 288 | //************** thread deinit ********************* |
ragas | 1:545a3d6b5933 | 289 | //DeInit_Web_Server(); |
ragas | 1:545a3d6b5933 | 290 | //bCan_Active=false; |
ragas | 1:545a3d6b5933 | 291 | //CanThread=false;// close can received thread |
superphil06 | 0:e30c9ba95bd4 | 292 | pc.printf(" fin programme scooter mbed \n"); |
superphil06 | 0:e30c9ba95bd4 | 293 | } // end main |
ragas | 1:545a3d6b5933 | 294 | |
ragas | 1:545a3d6b5933 | 295 | |
ragas | 2:153d417b318b | 296 | void lecture (void) |
ragas | 2:153d417b318b | 297 | { |
ragas | 3:a659bef8f6a5 | 298 | tout = MyPLD.read(); |
ragas | 3:a659bef8f6a5 | 299 | Hall= tout & 7; |
ragas | 3:a659bef8f6a5 | 300 | direction = tout & 8; |
ragas | 3:a659bef8f6a5 | 301 | FLTA = tout & 16; |
ragas | 3:a659bef8f6a5 | 302 | frein = tout &32; |
ragas | 3:a659bef8f6a5 | 303 | overcurrent = tout &64; |
ragas | 2:153d417b318b | 304 | 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 | 305 | |
ragas | 3:a659bef8f6a5 | 306 | if(direction==8) { //direction 1=av 0=ar |
ragas | 2:153d417b318b | 307 | pc.printf("direction avant\n\r"); |
ragas | 2:153d417b318b | 308 | } else { |
ragas | 2:153d417b318b | 309 | printf("direction arriere\n\r"); |
ragas | 2:153d417b318b | 310 | } |
ragas | 3:a659bef8f6a5 | 311 | |
ragas | 2:153d417b318b | 312 | if(overcurrent==64) { //overcurrent actif=0 |
ragas | 2:153d417b318b | 313 | pc.printf("surcharge de courant inactif\n\r"); |
ragas | 2:153d417b318b | 314 | } else { |
ragas | 2:153d417b318b | 315 | printf("surcharge de courant actif\n\r"); |
ragas | 2:153d417b318b | 316 | } |
ragas | 3:a659bef8f6a5 | 317 | |
ragas | 2:153d417b318b | 318 | if(FLTA == 16) { //FLTA actif=1 |
ragas | 2:153d417b318b | 319 | pc.printf("FLTA actif\n\r"); |
ragas | 2:153d417b318b | 320 | } else { |
ragas | 2:153d417b318b | 321 | printf("FLTA inactif\n\r"); |
ragas | 2:153d417b318b | 322 | } |
ragas | 3:a659bef8f6a5 | 323 | |
ragas | 2:153d417b318b | 324 | if(frein == 32) { //brake actif=0 |
ragas | 2:153d417b318b | 325 | pc.printf("Frein inactif\n\r"); |
ragas | 2:153d417b318b | 326 | } else { |
ragas | 2:153d417b318b | 327 | pc.printf("Frein actif\n\r"); |
ragas | 2:153d417b318b | 328 | } |
ragas | 1:545a3d6b5933 | 329 | } |
ragas | 1:545a3d6b5933 | 330 | |
ragas | 1:545a3d6b5933 | 331 | |
ragas | 3:a659bef8f6a5 | 332 | |
ragas | 3:a659bef8f6a5 | 333 | void task1(void) //0.05seconde |
ragas | 3:a659bef8f6a5 | 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 | 4:08e917c15d87 | 341 | |
ragas | 4:08e917c15d87 | 342 | |
ragas | 3:a659bef8f6a5 | 343 | gaz=poignee.read(); |
ragas | 3:a659bef8f6a5 | 344 | float valPoignee=((255/(max-min))*gaz)-(min*(255)/(max-min)); |
ragas | 3:a659bef8f6a5 | 345 | if(mode==0) { //mode auto |
ragas | 3:a659bef8f6a5 | 346 | if(frein==0) { //frein actif |
ragas | 3:a659bef8f6a5 | 347 | val=0; |
ragas | 3:a659bef8f6a5 | 348 | } else { //frein inactif |
ragas | 4:08e917c15d87 | 349 | |
ragas | 4:08e917c15d87 | 350 | if(val<valPoignee) { //incrémentation |
ragas | 4:08e917c15d87 | 351 | val=val+1; |
ragas | 4:08e917c15d87 | 352 | } else { //bonne valeur |
ragas | 4:08e917c15d87 | 353 | val=valPoignee; |
ragas | 4:08e917c15d87 | 354 | } |
ragas | 4:08e917c15d87 | 355 | if(Bride<vitesse*3.6){ |
ragas | 4:08e917c15d87 | 356 | val=val-1; |
ragas | 4:08e917c15d87 | 357 | } |
ragas | 4:08e917c15d87 | 358 | |
ragas | 4:08e917c15d87 | 359 | if(val<0) { |
ragas | 4:08e917c15d87 | 360 | val=0; |
ragas | 4:08e917c15d87 | 361 | }/* |
ragas | 4:08e917c15d87 | 362 | if(val>valPoignee) { //décrémentation |
ragas | 4:08e917c15d87 | 363 | val=val-1; |
ragas | 4:08e917c15d87 | 364 | } else { //bonne valeur |
ragas | 4:08e917c15d87 | 365 | val=valPoignee; |
ragas | 4:08e917c15d87 | 366 | } |
ragas | 4:08e917c15d87 | 367 | if(val>255) { |
ragas | 4:08e917c15d87 | 368 | val=255; |
ragas | 4:08e917c15d87 | 369 | } |
ragas | 4:08e917c15d87 | 370 | if(val<0) { |
ragas | 4:08e917c15d87 | 371 | val=0; |
ragas | 4:08e917c15d87 | 372 | } |
ragas | 4:08e917c15d87 | 373 | kirito=val; //valeur actuel de la pwm dans une variable globale |
ragas | 4:08e917c15d87 | 374 | } else { |
ragas | 4:08e917c15d87 | 375 | MyPLD.write(kirito); |
ragas | 4:08e917c15d87 | 376 | }*/ |
ragas | 3:a659bef8f6a5 | 377 | } |
ragas | 3:a659bef8f6a5 | 378 | } else { //mode manuel |
ragas | 3:a659bef8f6a5 | 379 | val=valref; //valeurs dans le case "a" |
ragas | 3:a659bef8f6a5 | 380 | } |
ragas | 4:08e917c15d87 | 381 | //val=127; |
ragas | 3:a659bef8f6a5 | 382 | MyPLD.write(val); |
ragas | 3:a659bef8f6a5 | 383 | } |
ragas | 4:08e917c15d87 | 384 | void cpt (void) |
ragas | 4:08e917c15d87 | 385 | { |
ragas | 4:08e917c15d87 | 386 | cpthall++; |
ragas | 4:08e917c15d87 | 387 | } |
ragas | 3:a659bef8f6a5 | 388 | |
ragas | 4:08e917c15d87 | 389 | void vit (void) |
ragas | 4:08e917c15d87 | 390 | { |
ragas | 4:08e917c15d87 | 391 | lire=cpthall; |
ragas | 4:08e917c15d87 | 392 | cpthall=0; |
ragas | 4:08e917c15d87 | 393 | vitesse=(((2*3.14159265359*ray)/(6*8))*lire)/0.1; |
ragas | 4:08e917c15d87 | 394 | } |