Pour toi Jerem
Dependencies: mbed bloc_io mbed-rtos html EthernetInterface
main.cpp
- Committer:
- RomainCorradi
- Date:
- 2019-10-28
- Revision:
- 1:687bcd4b1c6c
- Parent:
- 0:e30c9ba95bd4
- Child:
- 2:172619ae2eb7
File content as of revision 1:687bcd4b1c6c:
//#include "EthernetInterface.h" #include <stdlib.h> #include <stdio.h> #include <string.h> #include "mbed.h" #include "rtos.h" // need for main thread sleep #include "html.h" // need for html patch working with web server #include "bloc_io.h" #define RADIUS 0.2F // wheel size #define NBPOLES 8 // magnetic pole number #define DELTA_T 0.1F // speed measurement counting period DigitalOut PWM_VALID (p21); // valid pmw mbed pin AnalogIn POIGNEE (p17); // analog input connected to mbed Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD Serial pc(USBTX, USBRX); // tx, rx void PWM (); Ticker AUTO; float GazMax,GazMin; int val,x,Overcurrent,Brake,FLTA,Direction,HALLC,HALLB,HALLA; char cChoix=0; float valpwm; // Top_Hall Pin /************ persistent file parameters section *****************/ LocalFileSystem local("local");// Create the local filesystem under the name "local" /********************* web server section **********************************/ var_field_t tab_balise[10]; //une balise est présente dans le squelette int giCounter=0;// acces counting /*********************** can bus section ************/ // determine message ID used to send Gaz ref over can bus #define _CAN_DEBUG // used to debug can bus activity //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield bool bCan_Active=false; DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/ DigitalOut led2(LED2); DigitalOut led3(LED3); // blink when can message is sent DigitalOut led4(LED4); // blink when can message is received //************ local function prototypes ******************* /**************** Read persistent data from text file located on local file system ****************/ /**************** write persitant data to text file located on local file system ****************/ //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** // ************top hall counting interrupt needed for speed measurement //********************** timer interrupt for speed measurement each 100ms ************************* //********************* Timer Interrupt for gaz ref management each 10ms ******************** /********* main cgi function used to patch data to the web server thread **********************************/ void CGI_Function(void) // cgi function that patch web data to empty web page { char ma_chaine4[20]= {}; // needed to form html response } /*********************** CAN BUS SECTION **********************/ void CAN_REC_THREAD(void const *args) { int iCount,iError; while (bCan_Active) { Thread::wait(100);// wait 100ms // code todo } } //*************************** main function ***************************************** int main() { MyPLD.write(0); char carac; FILE *fp = fopen("/local/gr1.txt", "r"); if(fp != NULL) { fscanf(fp,"valeur max : %g, valeur min: %g",&GazMin,&GazMax); printf("Valeur min:%g , Valeur max:%g\n\r",GazMin,GazMax); } else printf("ERREUR FICHIER NON VALIDE"); fclose(fp); // int write,read; // f_poignee = fopen("nom-de-fichier","r"); // read=fgetc(f_poignee); // fclose(f_poignee); // printf("&d",read); //***************************************** web section ********************************************/ //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function //Thread WebThread(Web_Server_Thread);// create and launch web server thread /********* main cgi function used to patch data to the web server thread **********************************/ //******************************************* end web section ************************************* / //********************* can bus section initialisation ******************************************* //bCan_Active=true;// needed to lauchn CAN thread //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread //********************* end can bus section ***************************************************** AUTO.attach(&PWM,0.1); pc.printf("programme scooter mbed \n\r"); while(cChoix!='q' and cChoix!='Q') { pc.printf("Veuillez saisir un choix parmi la liste proposee:\n\r"); pc.printf("a:saisie consigne pwm\n\r"); pc.printf("b:Calibration poignee\n\r"); pc.printf("d:Mode automatique\n\r"); pc.printf("e:Lecture du registre interne\n\r"); pc.printf("q:quitter\n\r"); //************* multithreading : main thread need to sleep in order to allow web response */ while (pc.readable()==0) { // determine if char availabler Thread::wait(10); // wait 10 until char available on serial input } /************* end of main thread sleep ****************/ pc.scanf("%c",&cChoix); switch (cChoix) { case 'a': printf("veuillez entrer une valeur de PWM entre 0 et 255\n\r"); scanf("%d",&val); /* if (val < 0 && val > 255) { PWM_VALID.write(0); MyPLD.write(0); printf("Erreur\n\r "); printf("veuillez entrer une valeur de PWM entre 0 et 255 \n\r"); scanf("%d",&val); }*/ /* PWM_VALID.write(1); MyPLD.write(val);*/ break; case 'q': AUTO.detach(); PWM_VALID.write(0); if (PWM_VALID.read()==0) MyPLD.write(0); printf("BYE"); break; case 'b': AUTO.detach(); PWM_VALID.write(0); if (PWM_VALID.read()==0) MyPLD.write(0); printf("Veuillez entrer n'importe quel caractere si vous etes OK pour la valeur min\n\r"); scanf("%c ",&carac); GazMin=POIGNEE.read(); printf("\n\r"); printf("Veuillez entrer n'importe quel caractere si vous etes OK pour la valeur max\n\r"); scanf("%c ",&carac); GazMax=POIGNEE.read(); printf("\n\r"); printf("Valeur de la poignee min:%g\n\r",GazMin); printf("Valeur de la poignee max:%g\n\r",GazMax); FILE *fp = fopen("/local/gr1.txt", "w"); if(fp != NULL) fprintf(fp,"valeur max : %f, valeur min: %f",GazMin,GazMax); else printf("ERREUR FICHIER NON VALIDE"); fclose(fp); break; case 'd': PWM_VALID.write(1); AUTO.attach(&PWM,0.1); printf("Veuillez entrer n'importe quel caractere si vous voulez sortir du mode automatique\n\r"); scanf("%c ",&carac); AUTO.detach(); MyPLD.write(0); break; case 'e': x=MyPLD.read(); Overcurrent= (x & 64)/64 ; //Technique pour avoir la valeur en binaire Brake= (x & 32)/32; FLTA=(x & 16)/16; Direction=(x & 8)/8; HALLC=(x & 4)/4; HALLB=(x & 2)/2; HALLA= x & 1; int hall=0; if (HALLA == 1){ hall++; } if (HALLB == 1){ hall+=2; } if (HALLC == 1){ hall+=4; } pc.printf("hall=%d\r\n", hall); if (Overcurrent == 1) { printf("Surintensité "); } else { printf( " desactive"); } if (Brake == 1) { printf(" desactive"); } else { printf( " active"); } if (FLTA == 1) { printf("Overcurrent active"); } else { printf( " desactive"); } if (Direction == 1) { printf("marche avant active"); } else { printf( "mzrche avant desactive"); } // printf("%d\n\r",x); //printf("Overcurrent:%d, Brake:%d,FLTA:%d,Direction:%d,HALLC:%d,HALLB:%d,HALLA:%d\n\r",Overcurrent,Brake,FLTA,Direction,HALLC,HALLB,HALLA); // break; //f_poignee = fopen("nom-de-fichier","w"); // while(read=fgetc(f_poignee)!= E0F) { // write= GazMin; // fputc('Valeur min:',f_poignee); // fputc(write,f_poignee); //write= GazMax; // fputc('Valeur max':,f_poignee); //fputc(write,f_poignee); // fclose(f_poignee); } } pc.printf("fin programme scooter mbed\n\r"); } // end while //************** thread deinit ********************* //DeInit_Web_Server(); //bCan_Active=false; //CanThread=false;// close can received thread // end main void PWM() { x=MyPLD.read(); Overcurrent= (x & 64)/64; Brake= (x & 32)/32; FLTA=(x & 16)/16; Direction=(x & 8)/8; HALLC=(x & 4)/4; HALLB=(x & 2)/2; HALLA= x & 1; if (cChoix =='a') { MyPLD.write(0); if (val > 0 && val <=255) { PWM_VALID.write(1); MyPLD.write(val); } } else { if ( Brake == 0 ) { PWM_VALID.write(0); MyPLD.write(0); } else if ( Brake == 1 ) { PWM_VALID.write(1); valpwm =(int)(255/(GazMax-GazMin))*POIGNEE.read()-(255/(GazMax-GazMin))*GazMin; MyPLD.write(valpwm); } } }