Hesu-eco / Mbed 2 deprecated limiteur_vitesse

premiere ebauche

Dependencies:   mbed PinDetect

main.cpp@12:cf97590d9df2, 2018-11-18 (annotated)

Committer:
shovelcat
Date:
Sun Nov 18 03:30:57 2018 +0000
Revision:
12:cf97590d9df2
Parent:
10:f0b382368614
Child:
13:47806f4dbfcd
"Plan B" samedi avec Sophia. Ajoute le timestamp, ajouter du code pas encore test pour le CAN (Energy SoC, motorCurrent)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shovelcat 0:011f69c1276c 1 #include "mbed.h"
shovelcat 2:06f128641b62 2 #include "speedlimiter.hpp"
shovelcat 10:f0b382368614 3 #include "recommendedspeed.hpp"
shovelcat 10:f0b382368614 4 #include "PinDetect.h"
shovelcat 0:011f69c1276c 5
shovelcat 3:4da392d2bae8 6 /*
shovelcat 0:011f69c1276c 7 ##############################
shovelcat 4:a8c9f6a13633 8 CONSTANTS
shovelcat 4:a8c9f6a13633 9 ##############################
shovelcat 4:a8c9f6a13633 10 */
shovelcat 4:a8c9f6a13633 11
shovelcat 4:a8c9f6a13633 12 const PinName pedalInHi = PA_3; // A0 (jaune)
shovelcat 4:a8c9f6a13633 13 const PinName pedalInLo = PC_0; // A1 (vert)
shovelcat 4:a8c9f6a13633 14 const PinName pedalOutHi = PA_4; // D9 (left) (jaune)
shovelcat 4:a8c9f6a13633 15 const PinName pedalOutLo = PA_5; // D13 (right) (vert)
shovelcat 10:f0b382368614 16 //const PinName testAdcIn = PC_3;
shovelcat 4:a8c9f6a13633 17
shovelcat 4:a8c9f6a13633 18 const int CAN_FREQUENCY = 500000;
shovelcat 4:a8c9f6a13633 19
shovelcat 4:a8c9f6a13633 20 Ticker ticker;
shovelcat 10:f0b382368614 21 //InterruptIn button(USER_BUTTON);
shovelcat 4:a8c9f6a13633 22
shovelcat 10:f0b382368614 23
shovelcat 10:f0b382368614 24 Parcours parcours;
shovelcat 4:a8c9f6a13633 25 SpeedLimiter speedLimiter(pedalInHi, pedalInLo, pedalOutHi, pedalOutLo);
shovelcat 4:a8c9f6a13633 26
shovelcat 4:a8c9f6a13633 27 /*
shovelcat 4:a8c9f6a13633 28 ##############################
shovelcat 1:c6b4ccebd483 29 uC I/O
shovelcat 1:c6b4ccebd483 30 ##############################
shovelcat 3:4da392d2bae8 31 */
shovelcat 0:011f69c1276c 32
shovelcat 3:4da392d2bae8 33 //InterruptIn b1(PC_13);
shovelcat 10:f0b382368614 34 //InterruptIn pushButton(PB_3);
shovelcat 10:f0b382368614 35 PinDetect pushButton(PB_4);
shovelcat 3:4da392d2bae8 36 DigitalOut led1(LED1);
shovelcat 3:4da392d2bae8 37 DigitalOut led2(LED2);
shovelcat 3:4da392d2bae8 38 DigitalOut led3(LED3);
shovelcat 5:aef1fc6c0df1 39 DigitalOut pout(PA_7); // D11
shovelcat 4:a8c9f6a13633 40 CAN can(PD_0 /*can1 rd*/, PD_1 /*can1 td*/, CAN_FREQUENCY);
shovelcat 4:a8c9f6a13633 41 Serial pc(USBTX, USBRX);
shovelcat 0:011f69c1276c 42
shovelcat 3:4da392d2bae8 43 /*
shovelcat 4:a8c9f6a13633 44 ##############################
shovelcat 0:011f69c1276c 45
shovelcat 4:a8c9f6a13633 46 ##############################
shovelcat 3:4da392d2bae8 47 */
shovelcat 0:011f69c1276c 48
shovelcat 4:a8c9f6a13633 49 void canCallback()
shovelcat 4:a8c9f6a13633 50 {
shovelcat 4:a8c9f6a13633 51 CANMessage msg;
shovelcat 4:a8c9f6a13633 52 if(can.read(msg)) {
shovelcat 12:cf97590d9df2 53 if (msg.len != 8) {
shovelcat 12:cf97590d9df2 54 ; // drop message
shovelcat 12:cf97590d9df2 55 } else if (msg.id == 0x185) {
shovelcat 12:cf97590d9df2 56 // shift first byte to HI, then fill LO with second byte
shovelcat 4:a8c9f6a13633 57 float speed = (msg.data[6] << 8 | msg.data[7]) * 0.1;
shovelcat 12:cf97590d9df2 58 // float power = (msg.data[5]);
shovelcat 12:cf97590d9df2 59
shovelcat 4:a8c9f6a13633 60 if (speed < 45) {
shovelcat 4:a8c9f6a13633 61 speedLimiter.setMeasuredSpeed(speed);
shovelcat 4:a8c9f6a13633 62 }
shovelcat 5:aef1fc6c0df1 63 } else if(msg.id == 0x181) {
shovelcat 12:cf97590d9df2 64 // float motorCurrent = (msg.data[2] << 8 | msg.data[3]) * 1.0;
shovelcat 12:cf97590d9df2 65 } else if(msg.id == 0x322) {
shovelcat 12:cf97590d9df2 66 // float energySoc = (msg.data[2] << 8 | msg.data[3]);
shovelcat 4:a8c9f6a13633 67 }
shovelcat 4:a8c9f6a13633 68 }
shovelcat 4:a8c9f6a13633 69 }
shovelcat 4:a8c9f6a13633 70
shovelcat 3:4da392d2bae8 71 int main()
shovelcat 3:4da392d2bae8 72 {
shovelcat 10:f0b382368614 73 speedLimiter.setParcours(&parcours);
shovelcat 10:f0b382368614 74 speedLimiter.setReferenceSpeed(0.0);
shovelcat 4:a8c9f6a13633 75 can.attach(&canCallback, CAN::RxIrq);
shovelcat 4:a8c9f6a13633 76 ticker.attach(callback(&speedLimiter, &SpeedLimiter::ipControllerTransferFunction), SpeedLimiter::TRANSFER_FUNCTION_PERIOD);
shovelcat 10:f0b382368614 77 pushButton.mode(PullUp);
shovelcat 10:f0b382368614 78 pushButton.attach_deasserted(&parcours, &Parcours::incrementIndex);
shovelcat 10:f0b382368614 79 pushButton.setSampleFrequency();
shovelcat 10:f0b382368614 80 // pushButton.rise(callback(&parcours, &Parcours::incrementIndex));
shovelcat 5:aef1fc6c0df1 81
shovelcat 5:aef1fc6c0df1 82 pc.printf("Start!");
shovelcat 0:011f69c1276c 83
shovelcat 3:4da392d2bae8 84 while(1) {
shovelcat 3:4da392d2bae8 85 led1 = true;
shovelcat 3:4da392d2bae8 86 wait(1.0);
shovelcat 3:4da392d2bae8 87 led1 = false;
shovelcat 3:4da392d2bae8 88 led2 = true;
shovelcat 3:4da392d2bae8 89 wait(1.0);
shovelcat 3:4da392d2bae8 90 led2 = false;
shovelcat 3:4da392d2bae8 91 led3 = true;
shovelcat 3:4da392d2bae8 92 wait(1.0);
shovelcat 3:4da392d2bae8 93 led3 = false;
shovelcat 4:a8c9f6a13633 94 wait(0.01);
shovelcat 5:aef1fc6c0df1 95
shovelcat 5:aef1fc6c0df1 96 // pout = !pout;
shovelcat 5:aef1fc6c0df1 97 // speedLimiter.ecoEnabledAlgorithm();
shovelcat 1:c6b4ccebd483 98 }
shovelcat 5:aef1fc6c0df1 99 }