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@3:a659bef8f6a5, 2019-10-22 (annotated)

Committer:
ragas
Date:
Tue Oct 22 14:46:28 2019 +0000
Revision:
3:a659bef8f6a5
Parent:
2:153d417b318b
Child:
4:08e917c15d87
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 3:a659bef8f6a5 20 float min ;
ragas 3:a659bef8f6a5 21 float max;
ragas 3:a659bef8f6a5 22 int tout;
ragas 3:a659bef8f6a5 23 int Hall;
ragas 3:a659bef8f6a5 24 int direction;
ragas 3:a659bef8f6a5 25 int FLTA;
ragas 3:a659bef8f6a5 26 int frein;
ragas 3:a659bef8f6a5 27 int overcurrent;
ragas 3:a659bef8f6a5 28 float gaz;
ragas 3:a659bef8f6a5 29
ragas 3:a659bef8f6a5 30
ragas 1:545a3d6b5933 31 //void modulo (int );
ragas 1:545a3d6b5933 32
ragas 1:545a3d6b5933 33 /************ persistent file parameters section *****************/
ragas 1:545a3d6b5933 34 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
superphil06 0:e30c9ba95bd4 35
superphil06 0:e30c9ba95bd4 36
ragas 1:545a3d6b5933 37
ragas 1:545a3d6b5933 38
superphil06 0:e30c9ba95bd4 39
ragas 1:545a3d6b5933 40
ragas 1:545a3d6b5933 41
superphil06 0:e30c9ba95bd4 42 /********************* web server section **********************************/
superphil06 0:e30c9ba95bd4 43
superphil06 0:e30c9ba95bd4 44 var_field_t tab_balise[10]; //une balise est présente dans le squelette
superphil06 0:e30c9ba95bd4 45 int giCounter=0;// acces counting
superphil06 0:e30c9ba95bd4 46
superphil06 0:e30c9ba95bd4 47
superphil06 0:e30c9ba95bd4 48 /*********************** can bus section ************/
ragas 1:545a3d6b5933 49 // determine message ID used to send Gaz ref over can bus
superphil06 0:e30c9ba95bd4 50 #define _CAN_DEBUG // used to debug can bus activity
superphil06 0:e30c9ba95bd4 51 //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus
superphil06 0:e30c9ba95bd4 52 CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield
superphil06 0:e30c9ba95bd4 53 bool bCan_Active=false;
superphil06 0:e30c9ba95bd4 54
superphil06 0:e30c9ba95bd4 55
superphil06 0:e30c9ba95bd4 56
superphil06 0:e30c9ba95bd4 57 DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/
superphil06 0:e30c9ba95bd4 58 DigitalOut led2(LED2);
superphil06 0:e30c9ba95bd4 59 DigitalOut led3(LED3); // blink when can message is sent
ragas 1:545a3d6b5933 60 DigitalOut led4(LED4); // blink when can message is received
superphil06 0:e30c9ba95bd4 61
superphil06 0:e30c9ba95bd4 62
ragas 2:153d417b318b 63 AnalogIn poignee (p17);
ragas 2:153d417b318b 64 FILE*pfile=NULL;
ragas 3:a659bef8f6a5 65 Ticker guidon;
ragas 3:a659bef8f6a5 66
ragas 3:a659bef8f6a5 67
ragas 3:a659bef8f6a5 68 void task1(void);
ragas 3:a659bef8f6a5 69 int mode ;
ragas 1:545a3d6b5933 70
superphil06 0:e30c9ba95bd4 71 //************ local function prototypes *******************
superphil06 0:e30c9ba95bd4 72
superphil06 0:e30c9ba95bd4 73
superphil06 0:e30c9ba95bd4 74
superphil06 0:e30c9ba95bd4 75
superphil06 0:e30c9ba95bd4 76
superphil06 0:e30c9ba95bd4 77
ragas 1:545a3d6b5933 78
superphil06 0:e30c9ba95bd4 79 /**************** Read persistent data from text file located on local file system ****************/
superphil06 0:e30c9ba95bd4 80
superphil06 0:e30c9ba95bd4 81
superphil06 0:e30c9ba95bd4 82
superphil06 0:e30c9ba95bd4 83 /**************** write persitant data to text file located on local file system ****************/
superphil06 0:e30c9ba95bd4 84
superphil06 0:e30c9ba95bd4 85
superphil06 0:e30c9ba95bd4 86
superphil06 0:e30c9ba95bd4 87
superphil06 0:e30c9ba95bd4 88
superphil06 0:e30c9ba95bd4 89
superphil06 0:e30c9ba95bd4 90 //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ******************
superphil06 0:e30c9ba95bd4 91
superphil06 0:e30c9ba95bd4 92
superphil06 0:e30c9ba95bd4 93 // ************top hall counting interrupt needed for speed measurement
superphil06 0:e30c9ba95bd4 94
superphil06 0:e30c9ba95bd4 95
superphil06 0:e30c9ba95bd4 96 //********************** timer interrupt for speed measurement each 100ms *************************
superphil06 0:e30c9ba95bd4 97
ragas 1:545a3d6b5933 98
ragas 1:545a3d6b5933 99
ragas 1:545a3d6b5933 100
superphil06 0:e30c9ba95bd4 101
superphil06 0:e30c9ba95bd4 102
superphil06 0:e30c9ba95bd4 103 //********************* Timer Interrupt for gaz ref management each 10ms ********************
superphil06 0:e30c9ba95bd4 104
superphil06 0:e30c9ba95bd4 105
superphil06 0:e30c9ba95bd4 106
superphil06 0:e30c9ba95bd4 107 /********* main cgi function used to patch data to the web server thread **********************************/
superphil06 0:e30c9ba95bd4 108 void CGI_Function(void) // cgi function that patch web data to empty web page
ragas 1:545a3d6b5933 109 {
ragas 1:545a3d6b5933 110 char ma_chaine4[20]= {}; // needed to form html response
superphil06 0:e30c9ba95bd4 111
superphil06 0:e30c9ba95bd4 112 }
ragas 1:545a3d6b5933 113
ragas 1:545a3d6b5933 114
ragas 1:545a3d6b5933 115 /*********************** CAN BUS SECTION **********************/
ragas 1:545a3d6b5933 116
superphil06 0:e30c9ba95bd4 117
superphil06 0:e30c9ba95bd4 118
superphil06 0:e30c9ba95bd4 119 void CAN_REC_THREAD(void const *args)
ragas 1:545a3d6b5933 120 {
ragas 1:545a3d6b5933 121 int iCount,iError;
superphil06 0:e30c9ba95bd4 122
ragas 1:545a3d6b5933 123 while (bCan_Active) {
ragas 1:545a3d6b5933 124 Thread::wait(100);// wait 100ms
ragas 1:545a3d6b5933 125 // code todo
ragas 1:545a3d6b5933 126
superphil06 0:e30c9ba95bd4 127 }
ragas 1:545a3d6b5933 128
superphil06 0:e30c9ba95bd4 129 }
ragas 1:545a3d6b5933 130
ragas 1:545a3d6b5933 131
ragas 1:545a3d6b5933 132
superphil06 0:e30c9ba95bd4 133 //*************************** main function *****************************************
ragas 1:545a3d6b5933 134 int main()
ragas 1:545a3d6b5933 135 {
ragas 2:153d417b318b 136 //int x;
ragas 2:153d417b318b 137 //int data_in;
ragas 2:153d417b318b 138 char cChoix;
ragas 1:545a3d6b5933 139 valid.write(0);
ragas 1:545a3d6b5933 140 MyPLD.write(0);
ragas 1:545a3d6b5933 141 valid.write(1);
ragas 2:153d417b318b 142 float gaz;
ragas 3:a659bef8f6a5 143 mode=0;
ragas 3:a659bef8f6a5 144
ragas 2:153d417b318b 145 FILE* pfile = fopen ("/local/ragas.txt","r");
ragas 2:153d417b318b 146 if(pfile!=NULL) {
ragas 2:153d417b318b 147 fscanf(pfile,"min=%f max=%f", &min,&max);
ragas 2:153d417b318b 148 pc.printf("\n min=%f max=%f", min,max);
ragas 2:153d417b318b 149 } else {
ragas 2:153d417b318b 150 pc.printf("erreur");
ragas 2:153d417b318b 151 }
ragas 2:153d417b318b 152 fclose(pfile); // close file
ragas 3:a659bef8f6a5 153 guidon.attach(&task1,0.05);
superphil06 0:e30c9ba95bd4 154
superphil06 0:e30c9ba95bd4 155
superphil06 0:e30c9ba95bd4 156
superphil06 0:e30c9ba95bd4 157
superphil06 0:e30c9ba95bd4 158 //***************************************** web section ********************************************/
superphil06 0:e30c9ba95bd4 159 //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function
superphil06 0:e30c9ba95bd4 160 //Thread WebThread(Web_Server_Thread);// create and launch web server thread
ragas 1:545a3d6b5933 161 /********* main cgi function used to patch data to the web server thread **********************************/
superphil06 0:e30c9ba95bd4 162
ragas 1:545a3d6b5933 163 //******************************************* end web section ************************************* /
superphil06 0:e30c9ba95bd4 164
superphil06 0:e30c9ba95bd4 165
superphil06 0:e30c9ba95bd4 166
superphil06 0:e30c9ba95bd4 167
ragas 1:545a3d6b5933 168 pc.printf(" programme scooter mbed \n");
superphil06 0:e30c9ba95bd4 169
superphil06 0:e30c9ba95bd4 170
superphil06 0:e30c9ba95bd4 171
superphil06 0:e30c9ba95bd4 172 //********************* can bus section initialisation *******************************************
superphil06 0:e30c9ba95bd4 173 //bCan_Active=true;// needed to lauchn CAN thread
superphil06 0:e30c9ba95bd4 174 //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread
superphil06 0:e30c9ba95bd4 175 //********************* end can bus section *****************************************************
superphil06 0:e30c9ba95bd4 176
ragas 2:153d417b318b 177
ragas 1:545a3d6b5933 178 while(cChoix!='q' and cChoix!='Q' /*and cChoix='c'*/) {
ragas 2:153d417b318b 179
ragas 1:545a3d6b5933 180 pc.printf(" veuillez saisir un choix parmi la liste proposee: \r\n");
ragas 1:545a3d6b5933 181 pc.printf(" a:saisie consigne pwm \r\n");
ragas 1:545a3d6b5933 182 pc.printf(" c:lecture interne \r\n");
ragas 2:153d417b318b 183 pc.printf(" b:calibration \r\n");
ragas 3:a659bef8f6a5 184
ragas 3:a659bef8f6a5 185 pc.printf(" m:mode \r\n");
ragas 1:545a3d6b5933 186 pc.printf(" q:quitter \r\n");
superphil06 0:e30c9ba95bd4 187
ragas 1:545a3d6b5933 188 /************* multithreading : main thread need to sleep in order to allow web response */
ragas 1:545a3d6b5933 189 while (pc.readable()==0) { // determine if char availabler
ragas 1:545a3d6b5933 190 Thread::wait(10); // wait 10 until char available on serial input
ragas 1:545a3d6b5933 191 }
ragas 1:545a3d6b5933 192 /************* end of main thread sleep ****************/
ragas 1:545a3d6b5933 193
ragas 1:545a3d6b5933 194 pc.scanf(" %c",&cChoix);
ragas 1:545a3d6b5933 195 switch (cChoix) {
ragas 1:545a3d6b5933 196 case 'a':
ragas 2:153d417b318b 197
ragas 1:545a3d6b5933 198 printf("donne moi une valeur de pwmref entre 0 et 255:");
ragas 1:545a3d6b5933 199 scanf("%d",&valref);
ragas 2:153d417b318b 200 if(valref<=255) {
ragas 2:153d417b318b 201 MyPLD.write(valref);
ragas 2:153d417b318b 202 } else {
ragas 1:545a3d6b5933 203 valref=0;
ragas 3:a659bef8f6a5 204 //MyPLD.write(valref);
ragas 1:545a3d6b5933 205 printf("valeur entre 0 et 255");
ragas 2:153d417b318b 206 }
ragas 1:545a3d6b5933 207 break;
ragas 1:545a3d6b5933 208 case 'c' :
ragas 1:545a3d6b5933 209 lecture();
ragas 2:153d417b318b 210 break;
ragas 2:153d417b318b 211 case 'b':
ragas 2:153d417b318b 212 printf("mettre au min et appuyer sur une touche quand termine\n\r");
ragas 2:153d417b318b 213 getchar();
ragas 2:153d417b318b 214 min=poignee.read();
ragas 2:153d417b318b 215 printf("min=%f\n\r",min);
ragas 2:153d417b318b 216 printf("vmettre au max max et appuyer sur une touche quand termine\n\r");
ragas 2:153d417b318b 217 getchar();
ragas 2:153d417b318b 218 max=poignee.read();
ragas 2:153d417b318b 219 printf("max%f\n\r",max);
ragas 2:153d417b318b 220 FILE* pfile = fopen ("/local/ragas.txt","w");
ragas 2:153d417b318b 221 if(pfile!=NULL)
ragas 2:153d417b318b 222 fprintf(pfile,"min=%f max=%f", min,max);
ragas 2:153d417b318b 223 fclose(pfile); // close file
ragas 1:545a3d6b5933 224 break;
ragas 2:153d417b318b 225
ragas 2:153d417b318b 226
ragas 3:a659bef8f6a5 227 case 'm':
ragas 3:a659bef8f6a5 228 do {
ragas 3:a659bef8f6a5 229 printf("choisissez un mode :0 pour automatique et 1 pour manuel");
ragas 3:a659bef8f6a5 230 scanf("%d",&mode);
ragas 3:a659bef8f6a5 231 } while(mode<0 || mode >1);
ragas 3:a659bef8f6a5 232 break ;
ragas 2:153d417b318b 233 case 'q':
ragas 2:153d417b318b 234 valid.write(0);
ragas 2:153d417b318b 235 MyPLD.write(0);
ragas 3:a659bef8f6a5 236 guidon.detach();
ragas 2:153d417b318b 237 break;
ragas 2:153d417b318b 238 /* case 'q':
ragas 2:153d417b318b 239
ragas 2:153d417b318b 240 frein.read();
ragas 2:153d417b318b 241 DigitalIn flta.read();
ragas 2:153d417b318b 242 DigitalIn overcurrent.read();
ragas 2:153d417b318b 243 DigitalIn direction.read();
ragas 2:153d417b318b 244 HALLA.read();
ragas 2:153d417b318b 245 HALLB.read();
ragas 2:153d417b318b 246 HALLC.read();
ragas 2:153d417b318b 247 break;*/
ragas 1:545a3d6b5933 248 }
ragas 1:545a3d6b5933 249 } // end while
ragas 1:545a3d6b5933 250
ragas 1:545a3d6b5933 251 //************** thread deinit *********************
ragas 1:545a3d6b5933 252 //DeInit_Web_Server();
ragas 1:545a3d6b5933 253 //bCan_Active=false;
ragas 1:545a3d6b5933 254 //CanThread=false;// close can received thread
superphil06 0:e30c9ba95bd4 255 pc.printf(" fin programme scooter mbed \n");
superphil06 0:e30c9ba95bd4 256 } // end main
ragas 1:545a3d6b5933 257
ragas 1:545a3d6b5933 258
ragas 2:153d417b318b 259 void lecture (void)
ragas 2:153d417b318b 260 {
ragas 3:a659bef8f6a5 261 tout = MyPLD.read();
ragas 3:a659bef8f6a5 262 Hall= tout & 7;
ragas 3:a659bef8f6a5 263 direction = tout & 8;
ragas 3:a659bef8f6a5 264 FLTA = tout & 16;
ragas 3:a659bef8f6a5 265 frein = tout &32;
ragas 3:a659bef8f6a5 266 overcurrent = tout &64;
ragas 2:153d417b318b 267 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 268
ragas 3:a659bef8f6a5 269 if(direction==8) { //direction 1=av 0=ar
ragas 2:153d417b318b 270 pc.printf("direction avant\n\r");
ragas 2:153d417b318b 271 } else {
ragas 2:153d417b318b 272 printf("direction arriere\n\r");
ragas 2:153d417b318b 273 }
ragas 3:a659bef8f6a5 274
ragas 2:153d417b318b 275 if(overcurrent==64) { //overcurrent actif=0
ragas 2:153d417b318b 276 pc.printf("surcharge de courant inactif\n\r");
ragas 2:153d417b318b 277 } else {
ragas 2:153d417b318b 278 printf("surcharge de courant actif\n\r");
ragas 2:153d417b318b 279 }
ragas 3:a659bef8f6a5 280
ragas 2:153d417b318b 281 if(FLTA == 16) { //FLTA actif=1
ragas 2:153d417b318b 282 pc.printf("FLTA actif\n\r");
ragas 2:153d417b318b 283 } else {
ragas 2:153d417b318b 284 printf("FLTA inactif\n\r");
ragas 2:153d417b318b 285 }
ragas 3:a659bef8f6a5 286
ragas 2:153d417b318b 287 if(frein == 32) { //brake actif=0
ragas 2:153d417b318b 288 pc.printf("Frein inactif\n\r");
ragas 2:153d417b318b 289 } else {
ragas 2:153d417b318b 290 pc.printf("Frein actif\n\r");
ragas 2:153d417b318b 291 }
ragas 1:545a3d6b5933 292 }
ragas 1:545a3d6b5933 293
ragas 1:545a3d6b5933 294
ragas 3:a659bef8f6a5 295
ragas 3:a659bef8f6a5 296 void task1(void) //0.05seconde
ragas 3:a659bef8f6a5 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 3:a659bef8f6a5 304
ragas 3:a659bef8f6a5 305 int val=0;
ragas 3:a659bef8f6a5 306 gaz=poignee.read();
ragas 3:a659bef8f6a5 307 float valPoignee=((255/(max-min))*gaz)-(min*(255)/(max-min));
ragas 3:a659bef8f6a5 308 if(mode==0) { //mode auto
ragas 3:a659bef8f6a5 309 if(frein==0) { //frein actif
ragas 3:a659bef8f6a5 310 val=0;
ragas 3:a659bef8f6a5 311 } else { //frein inactif
ragas 3:a659bef8f6a5 312 if(val<valPoignee) { //incrémentation
ragas 3:a659bef8f6a5 313 val=val+1;
ragas 3:a659bef8f6a5 314 } else { //bonne valeur
ragas 3:a659bef8f6a5 315 val=valPoignee;
ragas 3:a659bef8f6a5 316 }
ragas 3:a659bef8f6a5 317 }
ragas 3:a659bef8f6a5 318 } else { //mode manuel
ragas 3:a659bef8f6a5 319 val=valref; //valeurs dans le case "a"
ragas 3:a659bef8f6a5 320 }
ragas 3:a659bef8f6a5 321 MyPLD.write(val);
ragas 3:a659bef8f6a5 322 }
ragas 3:a659bef8f6a5 323