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@1:545a3d6b5933, 2019-10-15 (annotated)

Committer:
ragas
Date:
Tue Oct 15 07:14:47 2019 +0000
Revision:
1:545a3d6b5933
Parent:
0:e30c9ba95bd4
Child:
2:153d417b318b
ragas

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 1:545a3d6b5933 13 void lecture(void);
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 1:545a3d6b5933 52
superphil06 0:e30c9ba95bd4 53
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 1:545a3d6b5933 120 int data_in;
ragas 1:545a3d6b5933 121 char cChoix=0;
ragas 1:545a3d6b5933 122 valid.write(0);
ragas 1:545a3d6b5933 123 MyPLD.write(0);
ragas 1:545a3d6b5933 124 valid.write(1);
superphil06 0:e30c9ba95bd4 125
superphil06 0:e30c9ba95bd4 126
superphil06 0:e30c9ba95bd4 127
superphil06 0:e30c9ba95bd4 128
superphil06 0:e30c9ba95bd4 129
superphil06 0:e30c9ba95bd4 130 //***************************************** web section ********************************************/
superphil06 0:e30c9ba95bd4 131 //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function
superphil06 0:e30c9ba95bd4 132 //Thread WebThread(Web_Server_Thread);// create and launch web server thread
ragas 1:545a3d6b5933 133 /********* main cgi function used to patch data to the web server thread **********************************/
superphil06 0:e30c9ba95bd4 134
ragas 1:545a3d6b5933 135 //******************************************* end web section ************************************* /
superphil06 0:e30c9ba95bd4 136
superphil06 0:e30c9ba95bd4 137
superphil06 0:e30c9ba95bd4 138
superphil06 0:e30c9ba95bd4 139
ragas 1:545a3d6b5933 140 pc.printf(" programme scooter mbed \n");
superphil06 0:e30c9ba95bd4 141
superphil06 0:e30c9ba95bd4 142
superphil06 0:e30c9ba95bd4 143
superphil06 0:e30c9ba95bd4 144 //********************* can bus section initialisation *******************************************
superphil06 0:e30c9ba95bd4 145 //bCan_Active=true;// needed to lauchn CAN thread
superphil06 0:e30c9ba95bd4 146 //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread
superphil06 0:e30c9ba95bd4 147 //********************* end can bus section *****************************************************
superphil06 0:e30c9ba95bd4 148
ragas 1:545a3d6b5933 149
ragas 1:545a3d6b5933 150 while(cChoix!='q' and cChoix!='Q' /*and cChoix='c'*/) {
ragas 1:545a3d6b5933 151 pc.printf(" veuillez saisir un choix parmi la liste proposee: \r\n");
ragas 1:545a3d6b5933 152 pc.printf(" a:saisie consigne pwm \r\n");
ragas 1:545a3d6b5933 153 pc.printf(" c:lecture interne \r\n");
ragas 1:545a3d6b5933 154 pc.printf(" q:quitter \r\n");
superphil06 0:e30c9ba95bd4 155
ragas 1:545a3d6b5933 156 /************* multithreading : main thread need to sleep in order to allow web response */
ragas 1:545a3d6b5933 157 while (pc.readable()==0) { // determine if char availabler
ragas 1:545a3d6b5933 158 Thread::wait(10); // wait 10 until char available on serial input
ragas 1:545a3d6b5933 159 }
ragas 1:545a3d6b5933 160 /************* end of main thread sleep ****************/
ragas 1:545a3d6b5933 161
ragas 1:545a3d6b5933 162 pc.scanf(" %c",&cChoix);
ragas 1:545a3d6b5933 163 switch (cChoix) {
ragas 1:545a3d6b5933 164 case 'a':
ragas 1:545a3d6b5933 165
ragas 1:545a3d6b5933 166 printf("donne moi une valeur de pwmref entre 0 et 255:");
ragas 1:545a3d6b5933 167 scanf("%d",&valref);
ragas 1:545a3d6b5933 168 if(valref<=255)
ragas 1:545a3d6b5933 169 {
ragas 1:545a3d6b5933 170 MyPLD.write(valref);
ragas 1:545a3d6b5933 171 }
ragas 1:545a3d6b5933 172 else
ragas 1:545a3d6b5933 173 {
ragas 1:545a3d6b5933 174 valref=0;
ragas 1:545a3d6b5933 175 MyPLD.write(valref);
ragas 1:545a3d6b5933 176 printf("valeur entre 0 et 255");
ragas 1:545a3d6b5933 177 }
ragas 1:545a3d6b5933 178 break;
ragas 1:545a3d6b5933 179 case 'c' :
ragas 1:545a3d6b5933 180 lecture();
ragas 1:545a3d6b5933 181 if((MyPLD.read() and 4)== 4){
ragas 1:545a3d6b5933 182 pc.printf("Frein inactif\n\r");
ragas 1:545a3d6b5933 183 }
ragas 1:545a3d6b5933 184 else{
ragas 1:545a3d6b5933 185 printf("Frein actif\n\r");
ragas 1:545a3d6b5933 186 }
ragas 1:545a3d6b5933 187 if((MyPLD.read() and 8==8)){
ragas 1:545a3d6b5933 188 pc.printf("FLTA actif\n\r");
ragas 1:545a3d6b5933 189 }
ragas 1:545a3d6b5933 190 else{
ragas 1:545a3d6b5933 191 printf("FLTA inactif\n\r");
ragas 1:545a3d6b5933 192 }
ragas 1:545a3d6b5933 193 if((MyPLD.read() and 16)==16){
ragas 1:545a3d6b5933 194 pc.printf("overcurrent inactif\n\r");
ragas 1:545a3d6b5933 195 }
ragas 1:545a3d6b5933 196 else{
ragas 1:545a3d6b5933 197 printf("avercurrent actif\n\r");
ragas 1:545a3d6b5933 198 }
ragas 1:545a3d6b5933 199 if((MyPLD.read() and 32)==32){
ragas 1:545a3d6b5933 200 pc.printf("direction avant\n\r");
ragas 1:545a3d6b5933 201 }
ragas 1:545a3d6b5933 202 else{
ragas 1:545a3d6b5933 203 printf("direction arriere\n\r");
ragas 1:545a3d6b5933 204 }
ragas 1:545a3d6b5933 205 if((MyPLD.read() and 64)==64){
ragas 1:545a3d6b5933 206 pc.printf("hallC a 1\n\r");
ragas 1:545a3d6b5933 207 }
ragas 1:545a3d6b5933 208 else{
ragas 1:545a3d6b5933 209 printf("hallC a 0\n\r");
ragas 1:545a3d6b5933 210 }
ragas 1:545a3d6b5933 211 if((MyPLD.read() and 128)==128){
ragas 1:545a3d6b5933 212 pc.printf("hallB a 1\n\r");
ragas 1:545a3d6b5933 213 }
ragas 1:545a3d6b5933 214 else{
ragas 1:545a3d6b5933 215 printf("hallB a 0\n\r");
ragas 1:545a3d6b5933 216 }
ragas 1:545a3d6b5933 217 if((MyPLD.read() and 256)==256){
ragas 1:545a3d6b5933 218 pc.printf("hallA a 1\n\r");
ragas 1:545a3d6b5933 219 }
ragas 1:545a3d6b5933 220 else{
ragas 1:545a3d6b5933 221 printf("hallA a 0\n\r");
ragas 1:545a3d6b5933 222 }
ragas 1:545a3d6b5933 223
ragas 1:545a3d6b5933 224 break;
ragas 1:545a3d6b5933 225 case 'q':
ragas 1:545a3d6b5933 226 valid.write(0);
ragas 1:545a3d6b5933 227 MyPLD.write(0);
ragas 1:545a3d6b5933 228
ragas 1:545a3d6b5933 229 break;
ragas 1:545a3d6b5933 230 /* case 'q':
ragas 1:545a3d6b5933 231
ragas 1:545a3d6b5933 232 frein.read();
ragas 1:545a3d6b5933 233 DigitalIn flta.read();
ragas 1:545a3d6b5933 234 DigitalIn overcurrent.read();
ragas 1:545a3d6b5933 235 DigitalIn direction.read();
ragas 1:545a3d6b5933 236 HALLA.read();
ragas 1:545a3d6b5933 237 HALLB.read();
ragas 1:545a3d6b5933 238 HALLC.read();
ragas 1:545a3d6b5933 239 break;*/
ragas 1:545a3d6b5933 240 }
ragas 1:545a3d6b5933 241 } // end while
ragas 1:545a3d6b5933 242
ragas 1:545a3d6b5933 243 //************** thread deinit *********************
ragas 1:545a3d6b5933 244 //DeInit_Web_Server();
ragas 1:545a3d6b5933 245 //bCan_Active=false;
ragas 1:545a3d6b5933 246 //CanThread=false;// close can received thread
superphil06 0:e30c9ba95bd4 247 pc.printf(" fin programme scooter mbed \n");
superphil06 0:e30c9ba95bd4 248 } // end main
ragas 1:545a3d6b5933 249
ragas 1:545a3d6b5933 250
ragas 1:545a3d6b5933 251 void lecture (void){
ragas 1:545a3d6b5933 252 if((MyPLD.read() and 4)== 4){
ragas 1:545a3d6b5933 253 pc.printf("Frein inactif\n\r");
ragas 1:545a3d6b5933 254 }
ragas 1:545a3d6b5933 255 else{
ragas 1:545a3d6b5933 256 printf("Frein actif\n\r");
ragas 1:545a3d6b5933 257 }
ragas 1:545a3d6b5933 258 if((MyPLD.read() and 8==8)){
ragas 1:545a3d6b5933 259 pc.printf("FLTA actif\n\r");
ragas 1:545a3d6b5933 260 }
ragas 1:545a3d6b5933 261 else{
ragas 1:545a3d6b5933 262 printf("FLTA inactif\n\r");
ragas 1:545a3d6b5933 263 }
ragas 1:545a3d6b5933 264 if((MyPLD.read() and 16)==16){
ragas 1:545a3d6b5933 265 pc.printf("overcurrent inactif\n\r");
ragas 1:545a3d6b5933 266 }
ragas 1:545a3d6b5933 267 else{
ragas 1:545a3d6b5933 268 printf("avercurrent actif\n\r");
ragas 1:545a3d6b5933 269 }
ragas 1:545a3d6b5933 270 if((MyPLD.read() and 32)==32){
ragas 1:545a3d6b5933 271 pc.printf("direction avant\n\r");
ragas 1:545a3d6b5933 272 }
ragas 1:545a3d6b5933 273 else{
ragas 1:545a3d6b5933 274 printf("direction arriere\n\r");
ragas 1:545a3d6b5933 275 }
ragas 1:545a3d6b5933 276 if((MyPLD.read() and 64)==64){
ragas 1:545a3d6b5933 277 pc.printf("hallC a 1\n\r");
ragas 1:545a3d6b5933 278 }
ragas 1:545a3d6b5933 279 else{
ragas 1:545a3d6b5933 280 printf("hallC a 0\n\r");
ragas 1:545a3d6b5933 281 }
ragas 1:545a3d6b5933 282 if((MyPLD.read() and 128)==128){
ragas 1:545a3d6b5933 283 pc.printf("hallB a 1\n\r");
ragas 1:545a3d6b5933 284 }
ragas 1:545a3d6b5933 285 else{
ragas 1:545a3d6b5933 286 printf("hallB a 0\n\r");
ragas 1:545a3d6b5933 287 }
ragas 1:545a3d6b5933 288 if((MyPLD.read() and 256)==256){
ragas 1:545a3d6b5933 289 pc.printf("hallA a 1\n\r");
ragas 1:545a3d6b5933 290 }
ragas 1:545a3d6b5933 291 else{
ragas 1:545a3d6b5933 292 printf("hallA a 0\n\r");
ragas 1:545a3d6b5933 293 }
ragas 1:545a3d6b5933 294 }
ragas 1:545a3d6b5933 295 /*void Init(int r)
ragas 1:545a3d6b5933 296 {
ragas 1:545a3d6b5933 297 valid.write(r);
ragas 1:545a3d6b5933 298 //MyPLD.write(valref);
ragas 1:545a3d6b5933 299
ragas 1:545a3d6b5933 300 }*/
ragas 1:545a3d6b5933 301
ragas 1:545a3d6b5933 302
ragas 1:545a3d6b5933 303 /*void modulo (int a)
ragas 1:545a3d6b5933 304 {
ragas 1:545a3d6b5933 305 char x;
ragas 1:545a3d6b5933 306 if(a==0)
ragas 1:545a3d6b5933 307 {
ragas 1:545a3d6b5933 308 x=0;
ragas 1:545a3d6b5933 309 MyPLD.write(x); a
ragas 1:545a3d6b5933 310
ragas 1:545a3d6b5933 311 }
ragas 1:545a3d6b5933 312 if(a==64)
ragas 1:545a3d6b5933 313 {
ragas 1:545a3d6b5933 314 x=64;
ragas 1:545a3d6b5933 315 MyPLD.write(x);
ragas 1:545a3d6b5933 316
ragas 1:545a3d6b5933 317 }
ragas 1:545a3d6b5933 318 if(a==96)
ragas 1:545a3d6b5933 319 {
ragas 1:545a3d6b5933 320 x=96;
ragas 1:545a3d6b5933 321 MyPLD.write(x);
ragas 1:545a3d6b5933 322
ragas 1:545a3d6b5933 323 }
ragas 1:545a3d6b5933 324 if(a==112)
ragas 1:545a3d6b5933 325 {
ragas 1:545a3d6b5933 326 x=112;
ragas 1:545a3d6b5933 327 MyPLD.write(x);
ragas 1:545a3d6b5933 328
ragas 1:545a3d6b5933 329 } if(a==80)
ragas 1:545a3d6b5933 330 {
ragas 1:545a3d6b5933 331 x=80;
ragas 1:545a3d6b5933 332 MyPLD.write(x);
ragas 1:545a3d6b5933 333
ragas 1:545a3d6b5933 334 } if(a==48)
ragas 1:545a3d6b5933 335 {
ragas 1:545a3d6b5933 336 x=48;
ragas 1:545a3d6b5933 337 MyPLD.write(x);
ragas 1:545a3d6b5933 338
ragas 1:545a3d6b5933 339 }}*/