the famous passe partout of fort boyard
Dependencies: mbed bloc_io mbed-rtos html EthernetInterface
main.cpp
- Committer:
- enzo_06800
- Date:
- 2019-11-21
- Revision:
- 1:2cca28a06d74
- Parent:
- 0:e30c9ba95bd4
File content as of revision 1:2cca28a06d74:
//#include "EthernetInterface.h" #include <stdlib.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 0.1 // speed measurement counting period #define Nvmax 0.388034 #define Nvmin 0.258689 #define Vbatmax 30 #define P_velo 9 #define Ray 0.2 #define delta_t 0.2 #define pi 3.14159265358979 Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD // analog input connected to mbed // valid pmw mbed pin Serial pc(USBTX, USBRX); // tx, rx // Top_Hall Pin InterruptIn Top_Hall(p22); AnalogIn Vbat(p18); AnalogIn Vtemp(p19); AnalogIn Vgaz(p17); DigitalOut Valid_PWM(p21); /************ 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 float gfNMAX=0.71 ,gfNMIN=0.16; float gfNmax ,gfNmin; float gfNGAZ; float gNTemp, gTemp; float gfNVbat,gfVbat; int giPoignee; float gfPoignee; int gicpt_Valid_Hall; float gfcpt_Hall, gfVitmesure; Ticker TGaz,TickDeltaT, TickMod; //************ local function prototypes ******************* void Sauvegarde(void); void Lecture(void); void PoigneeGaz(void); void CalculTemp (void); void CalculVbat (void); void MesVit(void); void Incr_Valid_Hall(void); /**************** 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() { char cChoix=0; char cCalibration=0; Top_Hall.mode(PullUp); Top_Hall.rise(&Incr_Valid_Hall); TGaz.attach(&PoigneeGaz,0.1); TickDeltaT.attach(&MesVit,delta_t); Valid_PWM.write(1); //***************************************** 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 ************************************* / pc.printf(" programme scooter mbed \r\n"); //********************* 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 ***************************************************** while(cChoix!='q' and cChoix!='Q') { pc.printf(" veuillez saisir un choix parmi la liste proposee: \r\n"); pc.printf(" a:saisie consigne pwm \r\n"); pc.printf(" b:lecture poignee \r\n"); pc.printf(" f:Affichage informations batterie \r\n"); pc.printf(" c:calibration de la poignee \r\n"); pc.printf(" d:Affichage vitesse \r\n"); pc.printf(" q:quitter \r\n"); /************* 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': break; case 'b': while(Vgaz.read()<=0.700) { pc.printf("Val poignee=%0.3f \r\n",Vgaz.read()); pc.printf("Nmax=%0.3f \r\n",gfNMAX); pc.printf("PLD=%i \r\n",giPoignee); wait(0.1); } break; case 'c': Valid_PWM.write(0); while(cCalibration!='4') { pc.printf("1:Calibrer le max de la poignee et mettre la poignee au maximum \r\n"); pc.printf("2:Calibrer le min de la poignee et mettre la poignee au minimum \r\n"); pc.printf("3:Affichage des valeurs dans le fichier \r\n"); pc.printf("4:Retour au menu principal \r\n"); pc.scanf("%c", &cCalibration); switch(cCalibration) { case '1': gfNMAX=Vgaz.read(); pc.printf("la valeur max de la poignee est: %0.3f\r\n",gfNMAX); Sauvegarde(); break; case '2': gfNMIN=Vgaz.read(); pc.printf("la valeur min de la poignee est: %0.3f\r\n",gfNMIN); Sauvegarde(); break; case '3': Lecture(); break; case'4' : break; } } Valid_PWM.write(1); cCalibration=0; cChoix=0; break; case 'f': CalculTemp (); CalculVbat (); pc.printf(" La tension de la batterie est %f \r\n",gfVbat); pc.printf(" La temperature est de %f \r\n",gTemp); break; case 'd': pc.printf(" La vitesse de est de %f \r\n",gfVitmesure); break; case 'q': break; } } // end while //************** thread deinit ********************* //DeInit_Web_Server(); //bCan_Active=false; //CanThread=false;// close can received thread pc.printf(" fin programme scooter mbed \r\n"); } // end main void PoigneeGaz() { gfNGAZ=Vgaz.read(); gfNmin=gfNMIN; gfNmax=gfNMAX; giPoignee=(gfNGAZ-gfNmin)*(255/(gfNmax-gfNmin)); int iVal=MyPLD.read(); MyPLD.write(giPoignee); } void Lecture () { FILE* File1 = fopen("/local/CALIB.txt","r"); if (File1 == NULL) { pc.printf("Erreur\r\n"); } else { fscanf(File1, "%f %f",&gfNMIN,&gfNMAX); pc.printf("NMIN= %f \r\n",gfNMIN); pc.printf("NMAX= %f \r\n",gfNMAX); } fclose(File1); } void Sauvegarde () { FILE* File1 = fopen("/local/CALIB.txt","w"); if(File1 == NULL) { pc.printf("Erreur\r\n"); } else { fprintf(File1, "%f %f",gfNMIN,gfNMAX); pc.printf("Sauvegarde ok min et max \r\n"); } fclose(File1); } void CalculTemp() { gNTemp=Vtemp.read()*3.3; gTemp=gNTemp*100-275; } void CalculVbat() { gfNVbat=Vbat.read(); gfVbat=(gfNVbat*Vbatmax/Nvmax); } void Incr_Valid_Hall() { gicpt_Valid_Hall++; } void MesVit() { gfcpt_Hall=gicpt_Valid_Hall; gicpt_Valid_Hall=0; gfVitmesure= (gfcpt_Hall*2*pi*Ray)/(delta_t*6*P_velo); }