Revision 1:2cca28a06d74, committed 2019-11-21

Comitter:

enzo_06800

Date:

Thu Nov 21 15:42:35 2019 +0000

Parent:

0:e30c9ba95bd4

Commit message:

violer ma mere

Changed in this revision

--- a/main.cpp	Sat Aug 22 15:51:59 2015 +0000
+++ b/main.cpp	Thu Nov 21 15:42:35 2019 +0000
@@ -1,5 +1,3 @@
-
-
 //#include "EthernetInterface.h"
 #include <stdlib.h>
 #include <string.h>
@@ -9,27 +7,36 @@
 #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
-
+#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
+// analog input connected to mbed
+// valid pmw mbed pin
 Serial pc(USBTX, USBRX); // tx, rx
-    // Top_Hall Pin
-    
-    
- 
-    
+// 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
@@ -37,7 +44,7 @@
 
 
 /*********************** can bus section  ************/
-         // determine message ID used to send Gaz ref over can bus
+// 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
@@ -48,20 +55,31 @@
 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 *******************
+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 ****************/
 
 
@@ -81,9 +99,9 @@
 
 //********************** timer interrupt for speed measurement each 100ms  *************************
 
-    
-    
-    
+
+
+
 
 
 //********************* Timer Interrupt for gaz ref management each 10ms   ********************
@@ -92,47 +110,53 @@
 
 /********* 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  
+{
+    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;
+/*********************** 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 **********************************/
+    /********* main cgi function used to patch data to the web server thread **********************************/
 
-//******************************************* end web section  ************************************* / 
+//******************************************* end web section  ************************************* /
 
 
 
 
-pc.printf(" programme scooter mbed \n");
+    pc.printf(" programme scooter mbed \r\n");
 
 
 
@@ -142,28 +166,152 @@
 //********************* end can bus section *****************************************************
 
 
-while(cChoix!='q' and cChoix!='Q')
-{pc.printf(" veuillez saisir un choix parmi la liste proposee: \n");
- pc.printf(" a:saisie consigne pwm \n");
- pc.printf(" q:quitter \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 'q': 
-     break;
-     }
-} // end while
- 
-  //************** thread deinit *********************
-     //DeInit_Web_Server();
-     //bCan_Active=false;
-     //CanThread=false;// close can received thread
-    pc.printf(" fin programme scooter mbed \n");
+    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); 
+} 
+