skusku
Dependencies: mbed bloc_io mbed-rtos html EthernetInterface
main.cpp@1:fbf189951c5e, 2021-01-14 (annotated)
- Committer:
- algrs
- Date:
- Thu Jan 14 22:34:19 2021 +0000
- Revision:
- 1:fbf189951c5e
- Parent:
- 0:e30c9ba95bd4
skusku
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
superphil06 | 0:e30c9ba95bd4 | 1 | |
superphil06 | 0:e30c9ba95bd4 | 2 | |
superphil06 | 0:e30c9ba95bd4 | 3 | //#include "EthernetInterface.h" |
algrs | 1:fbf189951c5e | 4 | #include <stdio.h> |
superphil06 | 0:e30c9ba95bd4 | 5 | #include <stdlib.h> |
superphil06 | 0:e30c9ba95bd4 | 6 | #include <string.h> |
superphil06 | 0:e30c9ba95bd4 | 7 | #include "mbed.h" |
superphil06 | 0:e30c9ba95bd4 | 8 | #include "rtos.h" // need for main thread sleep |
superphil06 | 0:e30c9ba95bd4 | 9 | #include "html.h" // need for html patch working with web server |
superphil06 | 0:e30c9ba95bd4 | 10 | #include "bloc_io.h" |
superphil06 | 0:e30c9ba95bd4 | 11 | #define RADIUS 0.2F // wheel size |
superphil06 | 0:e30c9ba95bd4 | 12 | #define NBPOLES 8 // magnetic pole number |
superphil06 | 0:e30c9ba95bd4 | 13 | #define DELTA_T 0.1F // speed measurement counting period |
algrs | 1:fbf189951c5e | 14 | #define TickVitessePeriode 0.1 |
algrs | 1:fbf189951c5e | 15 | #define CirconferenceRoue 1.25664F |
superphil06 | 0:e30c9ba95bd4 | 16 | |
superphil06 | 0:e30c9ba95bd4 | 17 | Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD |
algrs | 1:fbf189951c5e | 18 | // analog input connected to mbed |
algrs | 1:fbf189951c5e | 19 | // valid pmw mbed pin |
superphil06 | 0:e30c9ba95bd4 | 20 | Serial pc(USBTX, USBRX); // tx, rx |
algrs | 1:fbf189951c5e | 21 | // Top_Hall Pin |
algrs | 1:fbf189951c5e | 22 | |
superphil06 | 0:e30c9ba95bd4 | 23 | /************ persistent file parameters section *****************/ |
superphil06 | 0:e30c9ba95bd4 | 24 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
superphil06 | 0:e30c9ba95bd4 | 25 | |
algrs | 1:fbf189951c5e | 26 | |
superphil06 | 0:e30c9ba95bd4 | 27 | /********************* web server section **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 28 | |
superphil06 | 0:e30c9ba95bd4 | 29 | var_field_t tab_balise[10]; //une balise est présente dans le squelette |
superphil06 | 0:e30c9ba95bd4 | 30 | int giCounter=0;// acces counting |
superphil06 | 0:e30c9ba95bd4 | 31 | |
superphil06 | 0:e30c9ba95bd4 | 32 | |
superphil06 | 0:e30c9ba95bd4 | 33 | /*********************** can bus section ************/ |
algrs | 1:fbf189951c5e | 34 | // determine message ID used to send Gaz ref over can bus |
superphil06 | 0:e30c9ba95bd4 | 35 | #define _CAN_DEBUG // used to debug can bus activity |
superphil06 | 0:e30c9ba95bd4 | 36 | //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus |
superphil06 | 0:e30c9ba95bd4 | 37 | CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield |
superphil06 | 0:e30c9ba95bd4 | 38 | bool bCan_Active=false; |
superphil06 | 0:e30c9ba95bd4 | 39 | |
superphil06 | 0:e30c9ba95bd4 | 40 | |
superphil06 | 0:e30c9ba95bd4 | 41 | DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/ |
superphil06 | 0:e30c9ba95bd4 | 42 | DigitalOut led2(LED2); |
superphil06 | 0:e30c9ba95bd4 | 43 | DigitalOut led3(LED3); // blink when can message is sent |
algrs | 1:fbf189951c5e | 44 | DigitalOut led4(LED4); // blink when can message is received |
algrs | 1:fbf189951c5e | 45 | |
algrs | 1:fbf189951c5e | 46 | InterruptIn TopHallSku(p22); |
superphil06 | 0:e30c9ba95bd4 | 47 | |
superphil06 | 0:e30c9ba95bd4 | 48 | |
algrs | 1:fbf189951c5e | 49 | float fVitesse = 0,fLimiteBridage=15; |
algrs | 1:fbf189951c5e | 50 | int iCompteurHallVitesse = 0,iCompteurHallTotal=0,iCompteurHallPartiel=0; |
algrs | 1:fbf189951c5e | 51 | |
algrs | 1:fbf189951c5e | 52 | AnalogIn AINPOIGNEE (p17); |
algrs | 1:fbf189951c5e | 53 | |
algrs | 1:fbf189951c5e | 54 | Ticker Ticky; |
algrs | 1:fbf189951c5e | 55 | Ticker TickVitesse; |
algrs | 1:fbf189951c5e | 56 | Ticker Bridge; |
algrs | 1:fbf189951c5e | 57 | Ticker TickPLD; |
algrs | 1:fbf189951c5e | 58 | |
algrs | 1:fbf189951c5e | 59 | FILE* fichier = NULL; |
algrs | 1:fbf189951c5e | 60 | |
algrs | 1:fbf189951c5e | 61 | int iMode=1; |
algrs | 1:fbf189951c5e | 62 | int iSortiePWM=0; |
algrs | 1:fbf189951c5e | 63 | int iConsignePWM=0; |
algrs | 1:fbf189951c5e | 64 | int iAllow=1; |
algrs | 1:fbf189951c5e | 65 | float fPoigneeMax=1,fPoigneeMin=0.5; |
algrs | 1:fbf189951c5e | 66 | |
algrs | 1:fbf189951c5e | 67 | |
algrs | 1:fbf189951c5e | 68 | int iBit6=0,iBit5=0,iBit4=0,iBit3=0,iBit2=0,iBit1=0,iBit0=0; |
superphil06 | 0:e30c9ba95bd4 | 69 | |
algrs | 1:fbf189951c5e | 70 | void ModeAutoPWM(void) |
algrs | 1:fbf189951c5e | 71 | { |
algrs | 1:fbf189951c5e | 72 | if(iMode=1) |
algrs | 1:fbf189951c5e | 73 | { |
algrs | 1:fbf189951c5e | 74 | iConsignePWM=(((AINPOIGNEE.read()-fPoigneeMin)/(fPoigneeMax-fPoigneeMin))*255); |
algrs | 1:fbf189951c5e | 75 | if(iConsignePWM>254) |
algrs | 1:fbf189951c5e | 76 | { iConsignePWM=255; } |
algrs | 1:fbf189951c5e | 77 | else if (iConsignePWM<10) |
algrs | 1:fbf189951c5e | 78 | { iConsignePWM=0; } // FIN DE L'ACTUALISATION DE LA SORTIE PWM IDEALE |
algrs | 1:fbf189951c5e | 79 | |
algrs | 1:fbf189951c5e | 80 | if(iBit5==0) //frein , faire lecture ici |
algrs | 1:fbf189951c5e | 81 | { iSortiePWM=0; } |
algrs | 1:fbf189951c5e | 82 | else if(iConsignePWM>iSortiePWM && ((fVitesse/1000)<fLimiteBridage)) |
algrs | 1:fbf189951c5e | 83 | { iSortiePWM++; } |
algrs | 1:fbf189951c5e | 84 | else if(iConsignePWM<iSortiePWM ) |
algrs | 1:fbf189951c5e | 85 | { iSortiePWM--; } // FIN DE L'ACTUALISATION DE LA SORTIE PWM PROGRESSIVE |
algrs | 1:fbf189951c5e | 86 | } |
algrs | 1:fbf189951c5e | 87 | else if(iMode=0) |
algrs | 1:fbf189951c5e | 88 | { |
algrs | 1:fbf189951c5e | 89 | iConsignePWM=0; |
algrs | 1:fbf189951c5e | 90 | iSortiePWM=0; |
algrs | 1:fbf189951c5e | 91 | } |
algrs | 1:fbf189951c5e | 92 | |
algrs | 1:fbf189951c5e | 93 | MyPLD.write(iSortiePWM); // Ecriture sortie |
algrs | 1:fbf189951c5e | 94 | } |
algrs | 1:fbf189951c5e | 95 | |
algrs | 1:fbf189951c5e | 96 | void VitesseTopHall() |
algrs | 1:fbf189951c5e | 97 | { |
algrs | 1:fbf189951c5e | 98 | fVitesse=((2*3.1415*0.2*iCompteurHallVitesse)/(TickVitessePeriode*8*6))*3600; |
algrs | 1:fbf189951c5e | 99 | iCompteurHallVitesse=0; |
algrs | 1:fbf189951c5e | 100 | } |
algrs | 1:fbf189951c5e | 101 | |
algrs | 1:fbf189951c5e | 102 | void Incrementation() |
algrs | 1:fbf189951c5e | 103 | { |
algrs | 1:fbf189951c5e | 104 | iCompteurHallVitesse++; |
algrs | 1:fbf189951c5e | 105 | iCompteurHallTotal++; |
algrs | 1:fbf189951c5e | 106 | iCompteurHallPartiel++; |
algrs | 1:fbf189951c5e | 107 | } |
superphil06 | 0:e30c9ba95bd4 | 108 | //************ local function prototypes ******************* |
superphil06 | 0:e30c9ba95bd4 | 109 | |
superphil06 | 0:e30c9ba95bd4 | 110 | |
superphil06 | 0:e30c9ba95bd4 | 111 | |
algrs | 1:fbf189951c5e | 112 | void LecturePLD(void) |
algrs | 1:fbf189951c5e | 113 | { |
algrs | 1:fbf189951c5e | 114 | int iLecture=MyPLD.read(); |
algrs | 1:fbf189951c5e | 115 | if(iLecture>=64){iBit6=1;iLecture=iLecture-64; }else{iBit6=0;} |
algrs | 1:fbf189951c5e | 116 | if(iLecture>=32){iBit5=1;iLecture=iLecture-32; }else{iBit5=0;} |
algrs | 1:fbf189951c5e | 117 | if(iLecture>=16){iBit4=1;iLecture=iLecture-16; }else{iBit4=0;} |
algrs | 1:fbf189951c5e | 118 | if(iLecture>=8) {iBit3=1;iLecture=iLecture-8; }else{iBit3=0;} |
algrs | 1:fbf189951c5e | 119 | if(iLecture>=4) {iBit2=1;iLecture=iLecture-4; }else{iBit2=0;} |
algrs | 1:fbf189951c5e | 120 | if(iLecture>=2) {iBit1=1;iLecture=iLecture-2; }else{iBit1=0;} |
algrs | 1:fbf189951c5e | 121 | if(iLecture>=1) {iBit0=1;iLecture=iLecture-1; }else{iBit0=0;} |
algrs | 1:fbf189951c5e | 122 | } |
algrs | 1:fbf189951c5e | 123 | |
algrs | 1:fbf189951c5e | 124 | void LireFichier() |
algrs | 1:fbf189951c5e | 125 | { |
algrs | 1:fbf189951c5e | 126 | fichier = NULL; |
algrs | 1:fbf189951c5e | 127 | fichier = fopen("/local/GR2B.txt", "r"); |
algrs | 1:fbf189951c5e | 128 | |
algrs | 1:fbf189951c5e | 129 | pc.printf("\n\r Ouverture du fichier pour lecture... "); |
algrs | 1:fbf189951c5e | 130 | if(fichier==NULL) |
algrs | 1:fbf189951c5e | 131 | { |
algrs | 1:fbf189951c5e | 132 | pc.printf("ERREUR !\n\r"); |
algrs | 1:fbf189951c5e | 133 | } |
algrs | 1:fbf189951c5e | 134 | else |
algrs | 1:fbf189951c5e | 135 | { |
algrs | 1:fbf189951c5e | 136 | fscanf(fichier, "%g %g %g %d %d",&fPoigneeMin,&fPoigneeMax,&fLimiteBridage,&iCompteurHallTotal,&iCompteurHallPartiel); |
algrs | 1:fbf189951c5e | 137 | pc.printf(" SUCCES !\n\r"); |
algrs | 1:fbf189951c5e | 138 | pc.printf("_____________________________________________________________________________\n\r"); |
algrs | 1:fbf189951c5e | 139 | pc.printf("PoigneeMin\tPoigneeMax\tLimiteBridage\tCompteursTot\tCompteurPart\n\r"); |
algrs | 1:fbf189951c5e | 140 | pc.printf("%g\t\t%g\t\t%g\t\t%d\t\t%d\n\r",fPoigneeMin,fPoigneeMax,fLimiteBridage,iCompteurHallTotal,iCompteurHallPartiel); |
algrs | 1:fbf189951c5e | 141 | pc.printf("_____________________________________________________________________________\n\r"); |
algrs | 1:fbf189951c5e | 142 | fclose(fichier); |
algrs | 1:fbf189951c5e | 143 | } |
algrs | 1:fbf189951c5e | 144 | } |
algrs | 1:fbf189951c5e | 145 | |
algrs | 1:fbf189951c5e | 146 | void SauvegarderFichier() |
algrs | 1:fbf189951c5e | 147 | { |
algrs | 1:fbf189951c5e | 148 | fclose(fichier); |
algrs | 1:fbf189951c5e | 149 | fichier = NULL; |
algrs | 1:fbf189951c5e | 150 | fichier = fopen("/local/GR2B.txt", "w"); |
algrs | 1:fbf189951c5e | 151 | |
algrs | 1:fbf189951c5e | 152 | pc.printf("\n\r Ouverture du fichier pour ecriture... "); |
algrs | 1:fbf189951c5e | 153 | |
algrs | 1:fbf189951c5e | 154 | if(fichier==NULL) |
algrs | 1:fbf189951c5e | 155 | { |
algrs | 1:fbf189951c5e | 156 | printf("ERREUR !\n\r(valeurs seulement en mémoire vive)\n\r"); |
algrs | 1:fbf189951c5e | 157 | } |
algrs | 1:fbf189951c5e | 158 | else |
algrs | 1:fbf189951c5e | 159 | { |
algrs | 1:fbf189951c5e | 160 | fprintf(fichier, "%g %g %g %d %d",fPoigneeMin,fPoigneeMax,fLimiteBridage,iCompteurHallTotal,iCompteurHallPartiel); |
algrs | 1:fbf189951c5e | 161 | pc.printf(" SUCCES !\n\r"); |
algrs | 1:fbf189951c5e | 162 | pc.printf("_____________________________________________________________________________\n\r"); |
algrs | 1:fbf189951c5e | 163 | pc.printf("PoigneeMin\tPoigneeMax\tLimiteBridage\tCompteursTot\tCompteurPart\n\r"); |
algrs | 1:fbf189951c5e | 164 | pc.printf("%g\t\t%g\t\t%g\t\t%d\t\t%d\n\r",fPoigneeMin,fPoigneeMax,fLimiteBridage,iCompteurHallTotal,iCompteurHallPartiel); |
algrs | 1:fbf189951c5e | 165 | pc.printf("_____________________________________________________________________________\n\r"); |
algrs | 1:fbf189951c5e | 166 | fclose(fichier); |
algrs | 1:fbf189951c5e | 167 | } |
algrs | 1:fbf189951c5e | 168 | |
algrs | 1:fbf189951c5e | 169 | fclose(fichier); |
algrs | 1:fbf189951c5e | 170 | } |
superphil06 | 0:e30c9ba95bd4 | 171 | |
superphil06 | 0:e30c9ba95bd4 | 172 | |
superphil06 | 0:e30c9ba95bd4 | 173 | |
superphil06 | 0:e30c9ba95bd4 | 174 | /**************** Read persistent data from text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 175 | |
superphil06 | 0:e30c9ba95bd4 | 176 | |
superphil06 | 0:e30c9ba95bd4 | 177 | |
superphil06 | 0:e30c9ba95bd4 | 178 | /**************** write persitant data to text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 179 | |
superphil06 | 0:e30c9ba95bd4 | 180 | |
superphil06 | 0:e30c9ba95bd4 | 181 | //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** |
superphil06 | 0:e30c9ba95bd4 | 182 | |
superphil06 | 0:e30c9ba95bd4 | 183 | |
superphil06 | 0:e30c9ba95bd4 | 184 | // ************top hall counting interrupt needed for speed measurement |
superphil06 | 0:e30c9ba95bd4 | 185 | |
superphil06 | 0:e30c9ba95bd4 | 186 | |
superphil06 | 0:e30c9ba95bd4 | 187 | //********************** timer interrupt for speed measurement each 100ms ************************* |
superphil06 | 0:e30c9ba95bd4 | 188 | |
algrs | 1:fbf189951c5e | 189 | |
algrs | 1:fbf189951c5e | 190 | |
algrs | 1:fbf189951c5e | 191 | |
superphil06 | 0:e30c9ba95bd4 | 192 | |
superphil06 | 0:e30c9ba95bd4 | 193 | |
superphil06 | 0:e30c9ba95bd4 | 194 | //********************* Timer Interrupt for gaz ref management each 10ms ******************** |
superphil06 | 0:e30c9ba95bd4 | 195 | |
superphil06 | 0:e30c9ba95bd4 | 196 | |
superphil06 | 0:e30c9ba95bd4 | 197 | |
superphil06 | 0:e30c9ba95bd4 | 198 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 199 | void CGI_Function(void) // cgi function that patch web data to empty web page |
algrs | 1:fbf189951c5e | 200 | { |
algrs | 1:fbf189951c5e | 201 | char ma_chaine4[20]= {}; // needed to form html response |
superphil06 | 0:e30c9ba95bd4 | 202 | |
superphil06 | 0:e30c9ba95bd4 | 203 | } |
algrs | 1:fbf189951c5e | 204 | |
algrs | 1:fbf189951c5e | 205 | |
algrs | 1:fbf189951c5e | 206 | /*********************** CAN BUS SECTION **********************/ |
algrs | 1:fbf189951c5e | 207 | |
superphil06 | 0:e30c9ba95bd4 | 208 | |
superphil06 | 0:e30c9ba95bd4 | 209 | |
superphil06 | 0:e30c9ba95bd4 | 210 | void CAN_REC_THREAD(void const *args) |
algrs | 1:fbf189951c5e | 211 | { |
algrs | 1:fbf189951c5e | 212 | int iCount,iError; |
superphil06 | 0:e30c9ba95bd4 | 213 | |
algrs | 1:fbf189951c5e | 214 | while (bCan_Active) { |
algrs | 1:fbf189951c5e | 215 | Thread::wait(100);// wait 100ms |
algrs | 1:fbf189951c5e | 216 | // code todo |
algrs | 1:fbf189951c5e | 217 | |
superphil06 | 0:e30c9ba95bd4 | 218 | } |
algrs | 1:fbf189951c5e | 219 | |
superphil06 | 0:e30c9ba95bd4 | 220 | } |
algrs | 1:fbf189951c5e | 221 | //*************************** main function ***************************************** |
algrs | 1:fbf189951c5e | 222 | int main() |
algrs | 1:fbf189951c5e | 223 | { |
algrs | 1:fbf189951c5e | 224 | TopHallSku.mode(PullUp); |
algrs | 1:fbf189951c5e | 225 | char cChoix=0; |
algrs | 1:fbf189951c5e | 226 | |
algrs | 1:fbf189951c5e | 227 | TickVitesse.attach(&VitesseTopHall,TickVitessePeriode); |
algrs | 1:fbf189951c5e | 228 | |
algrs | 1:fbf189951c5e | 229 | |
algrs | 1:fbf189951c5e | 230 | TickPLD.attach(&LecturePLD,0.1); |
superphil06 | 0:e30c9ba95bd4 | 231 | |
algrs | 1:fbf189951c5e | 232 | TopHallSku.rise(&Incrementation); |
algrs | 1:fbf189951c5e | 233 | MyPLD.write(iConsignePWM); |
algrs | 1:fbf189951c5e | 234 | pc.printf("\n\r************************************"); |
algrs | 1:fbf189951c5e | 235 | pc.printf("\n\r** **"); |
algrs | 1:fbf189951c5e | 236 | pc.printf("\n\r** PROGRAMME SCOOTER MBED **"); |
algrs | 1:fbf189951c5e | 237 | pc.printf("\n\r** **"); |
algrs | 1:fbf189951c5e | 238 | pc.printf("\n\r************************************\n\r"); |
algrs | 1:fbf189951c5e | 239 | |
algrs | 1:fbf189951c5e | 240 | LireFichier(); |
algrs | 1:fbf189951c5e | 241 | |
superphil06 | 0:e30c9ba95bd4 | 242 | |
superphil06 | 0:e30c9ba95bd4 | 243 | |
superphil06 | 0:e30c9ba95bd4 | 244 | //***************************************** web section ********************************************/ |
superphil06 | 0:e30c9ba95bd4 | 245 | //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function |
superphil06 | 0:e30c9ba95bd4 | 246 | //Thread WebThread(Web_Server_Thread);// create and launch web server thread |
algrs | 1:fbf189951c5e | 247 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 248 | |
algrs | 1:fbf189951c5e | 249 | //******************************************* end web section ************************************* / |
superphil06 | 0:e30c9ba95bd4 | 250 | |
algrs | 1:fbf189951c5e | 251 | |
superphil06 | 0:e30c9ba95bd4 | 252 | |
superphil06 | 0:e30c9ba95bd4 | 253 | //********************* can bus section initialisation ******************************************* |
superphil06 | 0:e30c9ba95bd4 | 254 | //bCan_Active=true;// needed to lauchn CAN thread |
superphil06 | 0:e30c9ba95bd4 | 255 | //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread |
superphil06 | 0:e30c9ba95bd4 | 256 | //********************* end can bus section ***************************************************** |
superphil06 | 0:e30c9ba95bd4 | 257 | |
superphil06 | 0:e30c9ba95bd4 | 258 | |
algrs | 1:fbf189951c5e | 259 | while(cChoix!='q' and cChoix!='Q') |
algrs | 1:fbf189951c5e | 260 | { |
algrs | 1:fbf189951c5e | 261 | if(iMode==1) |
algrs | 1:fbf189951c5e | 262 | { |
algrs | 1:fbf189951c5e | 263 | pc.printf(" \n\r\n\r\t*** MODE AUTOMATIQUE ***\n\r"); |
algrs | 1:fbf189951c5e | 264 | iAllow=1; |
algrs | 1:fbf189951c5e | 265 | Ticky.attach(&ModeAutoPWM,0.05); |
algrs | 1:fbf189951c5e | 266 | } |
algrs | 1:fbf189951c5e | 267 | else |
algrs | 1:fbf189951c5e | 268 | { |
algrs | 1:fbf189951c5e | 269 | pc.printf(" \n\r\n\r\t*** MODE MANUEL ***\n\r"); |
algrs | 1:fbf189951c5e | 270 | iAllow=0; |
algrs | 1:fbf189951c5e | 271 | Ticky.detach(); |
algrs | 1:fbf189951c5e | 272 | MyPLD.write(iConsignePWM); |
algrs | 1:fbf189951c5e | 273 | } |
algrs | 1:fbf189951c5e | 274 | pc.printf(" \t Veuillez selectionner une action : \n\r"); |
algrs | 1:fbf189951c5e | 275 | pc.printf(" a: Changer de mode \n\r"); |
algrs | 1:fbf189951c5e | 276 | pc.printf(" b: Calibrer \n\r"); |
algrs | 1:fbf189951c5e | 277 | pc.printf(" c: Afficher dernieres valeurs de calibration\n\r"); |
algrs | 1:fbf189951c5e | 278 | if(iMode==0) { pc.printf(" d: Saisir une consigne pwm \n\r"); } |
algrs | 1:fbf189951c5e | 279 | pc.printf(" e: Afficher Vitesse\n\r"); |
algrs | 1:fbf189951c5e | 280 | pc.printf(" f: Lire PLD\n\r"); |
algrs | 1:fbf189951c5e | 281 | pc.printf(" g: Changer limite bridage\n\r"); |
algrs | 1:fbf189951c5e | 282 | pc.printf(" h: Remettre a 0 le kilometrage partiel\n\r"); |
algrs | 1:fbf189951c5e | 283 | pc.printf(" q: Quitter \n\r"); |
algrs | 1:fbf189951c5e | 284 | |
algrs | 1:fbf189951c5e | 285 | /************* multithreading : main thread need to sleep in order to allow web response */ |
algrs | 1:fbf189951c5e | 286 | while (pc.readable()==0) { // determine if char availabler |
algrs | 1:fbf189951c5e | 287 | Thread::wait(10); // wait 10 until char available on serial input |
algrs | 1:fbf189951c5e | 288 | } |
algrs | 1:fbf189951c5e | 289 | /************* end of main thread sleep ****************/ |
algrs | 1:fbf189951c5e | 290 | |
algrs | 1:fbf189951c5e | 291 | |
algrs | 1:fbf189951c5e | 292 | pc.scanf("%c",&cChoix); |
algrs | 1:fbf189951c5e | 293 | printf("\n\r"); |
algrs | 1:fbf189951c5e | 294 | switch (cChoix) |
algrs | 1:fbf189951c5e | 295 | { |
algrs | 1:fbf189951c5e | 296 | case 'a': |
algrs | 1:fbf189951c5e | 297 | iMode=!iMode; |
algrs | 1:fbf189951c5e | 298 | Ticky.detach(); |
algrs | 1:fbf189951c5e | 299 | iConsignePWM=0; |
algrs | 1:fbf189951c5e | 300 | MyPLD.write(iConsignePWM); |
algrs | 1:fbf189951c5e | 301 | break; |
algrs | 1:fbf189951c5e | 302 | case 'b': |
algrs | 1:fbf189951c5e | 303 | iConsignePWM=0; |
algrs | 1:fbf189951c5e | 304 | MyPLD.write(iConsignePWM); |
algrs | 1:fbf189951c5e | 305 | Ticky.detach(); |
algrs | 1:fbf189951c5e | 306 | |
algrs | 1:fbf189951c5e | 307 | pc.printf("\n\r MODE DE CALIBRATION ! \n\r"); |
algrs | 1:fbf189951c5e | 308 | pc.printf("MAINTENEZ LA POIGNEE AU MAX PENDANT 3 SECONDES : \n\r"); |
algrs | 1:fbf189951c5e | 309 | pc.printf(" 1.. "); wait(1);pc.printf(" 2.. ");wait(1);pc.printf(" 3.. ");wait(1); |
algrs | 1:fbf189951c5e | 310 | fPoigneeMax=AINPOIGNEE.read()*100;fPoigneeMax=(int)fPoigneeMax;fPoigneeMax=fPoigneeMax/100;pc.printf("\t %g \n\r",fPoigneeMax); |
algrs | 1:fbf189951c5e | 311 | pc.printf("MAINTENEZ LA POIGNEE AU MIN PENDANT 3 SECONDES : \n\r"); |
algrs | 1:fbf189951c5e | 312 | pc.printf(" 1.. "); wait(1);pc.printf(" 2.. ");wait(1);pc.printf(" 3.. ");wait(1); |
algrs | 1:fbf189951c5e | 313 | fPoigneeMin=AINPOIGNEE.read()*100;fPoigneeMin=(int)fPoigneeMin;fPoigneeMin=fPoigneeMin/100;pc.printf("\t %g \n\r",fPoigneeMin); |
algrs | 1:fbf189951c5e | 314 | pc.printf("ECRITURE EN MEMOIRE ... \n\r"); |
algrs | 1:fbf189951c5e | 315 | //ecriture du fichier |
algrs | 1:fbf189951c5e | 316 | SauvegarderFichier(); |
algrs | 1:fbf189951c5e | 317 | Ticky.attach(&ModeAutoPWM,0.01); |
algrs | 1:fbf189951c5e | 318 | //fin de l'ecriture du fichier |
algrs | 1:fbf189951c5e | 319 | pc.printf("FIN DU MODE DE CALIBRATION ! \n\r"); |
algrs | 1:fbf189951c5e | 320 | break; |
algrs | 1:fbf189951c5e | 321 | case 'c': |
algrs | 1:fbf189951c5e | 322 | pc.printf("\n\r\t Valeurs de calibration : \t MIN=%.2f \tMAX=%.2f \n\r",fPoigneeMin,fPoigneeMax); |
algrs | 1:fbf189951c5e | 323 | break; |
algrs | 1:fbf189951c5e | 324 | case 'd': |
algrs | 1:fbf189951c5e | 325 | if(iMode==0) |
algrs | 1:fbf189951c5e | 326 | { |
algrs | 1:fbf189951c5e | 327 | iAllow=0; |
algrs | 1:fbf189951c5e | 328 | Ticky.detach(); |
algrs | 1:fbf189951c5e | 329 | iConsignePWM=0; |
algrs | 1:fbf189951c5e | 330 | pc.printf("\n\r\t MODE DE SAISIE DE CONSIGNE PWM\n\r"); |
algrs | 1:fbf189951c5e | 331 | pc.printf("ENTREE DE LA CONSIGNE ...\n\r(valeur entiere entre 0 et 255)\n\r"); |
algrs | 1:fbf189951c5e | 332 | pc.scanf("%d",&iConsignePWM); |
algrs | 1:fbf189951c5e | 333 | MyPLD.write(iConsignePWM); |
algrs | 1:fbf189951c5e | 334 | pc.printf("CONSIGNE ENREGISTREE ! : %d\n\r",iConsignePWM); |
algrs | 1:fbf189951c5e | 335 | pc.printf("FIN DU MODE SAISIE !\n\r\n\r"); |
algrs | 1:fbf189951c5e | 336 | Ticky.detach(); |
algrs | 1:fbf189951c5e | 337 | } |
algrs | 1:fbf189951c5e | 338 | |
algrs | 1:fbf189951c5e | 339 | break; |
algrs | 1:fbf189951c5e | 340 | case 'e': |
algrs | 1:fbf189951c5e | 341 | |
algrs | 1:fbf189951c5e | 342 | pc.printf("\n\r\n\r Vitesse = %.2F km/h",fVitesse/1000); |
algrs | 1:fbf189951c5e | 343 | pc.printf("\n\r Vitesse = %.2F m/s\n\r",fVitesse/3600); |
algrs | 1:fbf189951c5e | 344 | pc.printf("\n\r Bridage : %g km/h\n\r",fLimiteBridage); |
algrs | 1:fbf189951c5e | 345 | pc.printf("\n\r Kilometres parcourus (total): %.3f km\n\r",(((iCompteurHallTotal/48)*CirconferenceRoue)/1000)); |
algrs | 1:fbf189951c5e | 346 | pc.printf("\n\r Kilometres parcourus (partiel): %.3f km\n\r",(((iCompteurHallPartiel/48)*CirconferenceRoue)/1000)); |
algrs | 1:fbf189951c5e | 347 | |
algrs | 1:fbf189951c5e | 348 | break; |
algrs | 1:fbf189951c5e | 349 | case 'f': |
algrs | 1:fbf189951c5e | 350 | LecturePLD(); |
algrs | 1:fbf189951c5e | 351 | //pc.printf("\n\r\t Valeur de PLD en int : %d \n\r",MyPLD.read()); |
algrs | 1:fbf189951c5e | 352 | |
algrs | 1:fbf189951c5e | 353 | if(iBit3==1){pc.printf("\n\r PAS DE SURCHARGE COURRANT ");} else{pc.printf("\n\r SURCHARGE COURRANT ");} |
algrs | 1:fbf189951c5e | 354 | if(iBit5==1){pc.printf("\n\r Frein INACTIF ");} else{pc.printf("\n\r Frein ACTIF ");} |
algrs | 1:fbf189951c5e | 355 | if(iBit4==1){pc.printf("\n\r PAS D'ERREUR CONVERTISSEUR ");} else{pc.printf("\n\r ERREUR CONVERTISSEUR ");} |
algrs | 1:fbf189951c5e | 356 | if(iBit3==1){pc.printf("\n\r Direction AVANT ");} else{pc.printf("\n\r Direction ARRIERE ");} |
algrs | 1:fbf189951c5e | 357 | /* |
algrs | 1:fbf189951c5e | 358 | pc.printf("\n\r BIT 2 : %d HALL C ",iBit2); |
algrs | 1:fbf189951c5e | 359 | pc.printf("\n\r BIT 1 : %d HALL B ",iBit1); |
algrs | 1:fbf189951c5e | 360 | pc.printf("\n\r BIT 0 : %d HALL A ",iBit0); |
algrs | 1:fbf189951c5e | 361 | */ |
algrs | 1:fbf189951c5e | 362 | pc.printf("\n\r SECTEUR HALL : %d\n\r",iBit0*1+iBit1*2+iBit2*4); |
algrs | 1:fbf189951c5e | 363 | break; |
algrs | 1:fbf189951c5e | 364 | case 'g': |
algrs | 1:fbf189951c5e | 365 | pc.printf("\n\r Veuillez entrer une nouvelle valeur de limite bridage : \n\r"); |
algrs | 1:fbf189951c5e | 366 | scanf("%g",&fLimiteBridage); |
algrs | 1:fbf189951c5e | 367 | |
algrs | 1:fbf189951c5e | 368 | SauvegarderFichier(); |
algrs | 1:fbf189951c5e | 369 | Ticky.attach(&ModeAutoPWM,0.01); |
algrs | 1:fbf189951c5e | 370 | //fin de l'ecriture du fichier |
algrs | 1:fbf189951c5e | 371 | |
algrs | 1:fbf189951c5e | 372 | break; |
algrs | 1:fbf189951c5e | 373 | case 'h': |
algrs | 1:fbf189951c5e | 374 | printf("\n\rRemise a 0 ... ");iCompteurHallPartiel=0;printf("Fait !\n\r"); |
algrs | 1:fbf189951c5e | 375 | break; |
algrs | 1:fbf189951c5e | 376 | case 'q': |
algrs | 1:fbf189951c5e | 377 | iConsignePWM=0; |
algrs | 1:fbf189951c5e | 378 | MyPLD.write(iConsignePWM); |
algrs | 1:fbf189951c5e | 379 | Ticky.detach(); |
algrs | 1:fbf189951c5e | 380 | SauvegarderFichier(); |
algrs | 1:fbf189951c5e | 381 | |
algrs | 1:fbf189951c5e | 382 | break; |
algrs | 1:fbf189951c5e | 383 | } |
algrs | 1:fbf189951c5e | 384 | } // end while |
algrs | 1:fbf189951c5e | 385 | |
algrs | 1:fbf189951c5e | 386 | //************** thread deinit ********************* |
algrs | 1:fbf189951c5e | 387 | //DeInit_Web_Server(); |
algrs | 1:fbf189951c5e | 388 | //bCan_Active=false; |
algrs | 1:fbf189951c5e | 389 | //CanThread=false;// close can received thread |
algrs | 1:fbf189951c5e | 390 | pc.printf("\n\r=== FIN DU PROGRAMME === \n\r"); |
superphil06 | 0:e30c9ba95bd4 | 391 | } // end main |