CharKik & PoulpGas / Mbed 2 deprecated scooter_mbed_etudiant2

squelette de demarrage projet ERS3 IUT NICE GEII

Dependencies:   mbed bloc_io mbed-rtos html EthernetInterface

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?

UserRevisionLine numberNew 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