Gautier luciani / Mbed 2 deprecated scoot123

123

Dependencies:   mbed bloc_io mbed-rtos html EthernetInterface

main.cpp@1:76bf7ede6bce, 2019-03-01 (annotated)

Committer:
ghostrider06
Date:
Fri Mar 01 10:19:33 2019 +0000
Revision:
1:76bf7ede6bce
Parent:
0:e30c9ba95bd4 
123

Who changed what in which revision?

UserRevisionLine numberNew contents of line
superphil06 0:e30c9ba95bd4 1
superphil06 0:e30c9ba95bd4 2
ghostrider06 1:76bf7ede6bce 3 #include "EthernetInterface.h"
superphil06 0:e30c9ba95bd4 4 #include <stdlib.h>
superphil06 0:e30c9ba95bd4 5 #include <string.h>
superphil06 0:e30c9ba95bd4 6 #include "mbed.h"
superphil06 0:e30c9ba95bd4 7 #include "rtos.h" // need for main thread sleep
superphil06 0:e30c9ba95bd4 8 #include "html.h" // need for html patch working with web server
ghostrider06 1:76bf7ede6bce 9 #include "bloc_io.h" //need for stating the PLD
superphil06 0:e30c9ba95bd4 10 #define RADIUS 0.2F // wheel size
ghostrider06 1:76bf7ede6bce 11 #define NBPOLES 20 // magnetic pole number
superphil06 0:e30c9ba95bd4 12 #define DELTA_T 0.1F // speed measurement counting period
ghostrider06 1:76bf7ede6bce 13 #define Ioffset 0.17 // offset value added to the current measurement (measurement uncertainty correction)
ghostrider06 1:76bf7ede6bce 14 #define dT 1 // battery capacity measurement counting period in second
ghostrider06 1:76bf7ede6bce 15 Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD
ghostrider06 1:76bf7ede6bce 16 AnalogIn ngaz(p17); // reading handle command analog input connected to mbed
ghostrider06 1:76bf7ede6bce 17 AnalogIn Tension(p18); //Voltage measurement variable
ghostrider06 1:76bf7ede6bce 18 AnalogIn iTemperature(p19); //iTemperature measurement variable
ghostrider06 1:76bf7ede6bce 19 AnalogIn Imes(p20); //Current measurement variable
ghostrider06 1:76bf7ede6bce 20 DigitalOut valid_pwm(p21);// valid pwm mbed pin
ghostrider06 1:76bf7ede6bce 21 InterruptIn Hall(p22);// Top_Hall Pinw
ghostrider06 1:76bf7ede6bce 22 Serial pc(USBTX, USBRX); // tx, rx
superphil06 0:e30c9ba95bd4 23
superphil06 0:e30c9ba95bd4 24
superphil06 0:e30c9ba95bd4 25 /************ persistent file parameters section *****************/
superphil06 0:e30c9ba95bd4 26 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
superphil06 0:e30c9ba95bd4 27
ghostrider06 1:76bf7ede6bce 28
superphil06 0:e30c9ba95bd4 29 /********************* web server section **********************************/
superphil06 0:e30c9ba95bd4 30
superphil06 0:e30c9ba95bd4 31 var_field_t tab_balise[10]; //une balise est présente dans le squelette
ghostrider06 1:76bf7ede6bce 32 int iCounter=0;
superphil06 0:e30c9ba95bd4 33 int giCounter=0;// acces counting
ghostrider06 1:76bf7ede6bce 34 int iREF_PWM=0;
ghostrider06 1:76bf7ede6bce 35 int iREF_PWMfin=0;
ghostrider06 1:76bf7ede6bce 36 int iFrein=0;
ghostrider06 1:76bf7ede6bce 37 int iTemperature;
ghostrider06 1:76bf7ede6bce 38 float fngazmin=0;
ghostrider06 1:76bf7ede6bce 39 float fngazmax=0;
ghostrider06 1:76bf7ede6bce 40 float fnbhall=0;
ghostrider06 1:76bf7ede6bce 41 float fVRoue=0;
ghostrider06 1:76bf7ede6bce 42 float fBride=50;
ghostrider06 1:76bf7ede6bce 43 float fImes;
ghostrider06 1:76bf7ede6bce 44 float fVmes;
ghostrider06 1:76bf7ede6bce 45 float fPositionPoignee;
ghostrider06 1:76bf7ede6bce 46 float fCapaInit;//en mAs
ghostrider06 1:76bf7ede6bce 47 float fCapa;
ghostrider06 1:76bf7ede6bce 48 float fdistance=0;//Variable pour compteur kilometrique
ghostrider06 1:76bf7ede6bce 49 float fdistpartiel=0;
ghostrider06 1:76bf7ede6bce 50 float ftop_hall_total=0;//nbre de top hall
ghostrider06 1:76bf7ede6bce 51 float ftop_hall_partiel=0;//nbre de top hall
ghostrider06 1:76bf7ede6bce 52 float fngaz;
ghostrider06 1:76bf7ede6bce 53 char cChoix='e'; //Variable pour choisir l'état
ghostrider06 1:76bf7ede6bce 54 Ticker Tgaz; //Handle reading Tick
ghostrider06 1:76bf7ede6bce 55 Ticker Vitesse; //Speed reading Tick
ghostrider06 1:76bf7ede6bce 56 Ticker Tbat; //Battery reading Tick
superphil06 0:e30c9ba95bd4 57
superphil06 0:e30c9ba95bd4 58 /*********************** can bus section ************/
ghostrider06 1:76bf7ede6bce 59 // determine message ID used to send Gaz ref over can bus
superphil06 0:e30c9ba95bd4 60 #define _CAN_DEBUG // used to debug can bus activity
superphil06 0:e30c9ba95bd4 61 //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus
superphil06 0:e30c9ba95bd4 62 CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield
superphil06 0:e30c9ba95bd4 63 bool bCan_Active=false;
superphil06 0:e30c9ba95bd4 64
superphil06 0:e30c9ba95bd4 65
superphil06 0:e30c9ba95bd4 66
superphil06 0:e30c9ba95bd4 67 DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/
superphil06 0:e30c9ba95bd4 68 DigitalOut led2(LED2);
superphil06 0:e30c9ba95bd4 69 DigitalOut led3(LED3); // blink when can message is sent
ghostrider06 1:76bf7ede6bce 70 DigitalOut led4(LED4); // blink when can message is received
superphil06 0:e30c9ba95bd4 71
superphil06 0:e30c9ba95bd4 72
superphil06 0:e30c9ba95bd4 73
superphil06 0:e30c9ba95bd4 74
superphil06 0:e30c9ba95bd4 75
ghostrider06 1:76bf7ede6bce 76 //************ local function prototypes *******************
ghostrider06 1:76bf7ede6bce 77
ghostrider06 1:76bf7ede6bce 78 /**************** Read persistent data from text file located on local file system ****************/
ghostrider06 1:76bf7ede6bce 79
ghostrider06 1:76bf7ede6bce 80 /**************** write persitant data to text file located on local file system ****************/
ghostrider06 1:76bf7ede6bce 81
superphil06 0:e30c9ba95bd4 82 //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ******************
superphil06 0:e30c9ba95bd4 83
superphil06 0:e30c9ba95bd4 84 // ************top hall counting interrupt needed for speed measurement
superphil06 0:e30c9ba95bd4 85
superphil06 0:e30c9ba95bd4 86 //********************** timer interrupt for speed measurement each 100ms *************************
superphil06 0:e30c9ba95bd4 87
superphil06 0:e30c9ba95bd4 88 //********************* Timer Interrupt for gaz ref management each 10ms ********************
superphil06 0:e30c9ba95bd4 89
superphil06 0:e30c9ba95bd4 90 /********* main cgi function used to patch data to the web server thread **********************************/
superphil06 0:e30c9ba95bd4 91 void CGI_Function(void) // cgi function that patch web data to empty web page
ghostrider06 1:76bf7ede6bce 92 {
ghostrider06 1:76bf7ede6bce 93 char ma_chaine4[20]= {}; // needed to form html response
ghostrider06 1:76bf7ede6bce 94
ghostrider06 1:76bf7ede6bce 95 sprintf (ma_chaine4,"%g",fVRoue*3.6);// convert speed as ascii string
ghostrider06 1:76bf7ede6bce 96 Html_Patch (tab_balise,0,ma_chaine4);// patch first label with dyn.string
ghostrider06 1:76bf7ede6bce 97 sprintf (ma_chaine4,"%g",fPositionPoignee*100);// convert speed as ascii string
ghostrider06 1:76bf7ede6bce 98 Html_Patch (tab_balise,1,ma_chaine4);// patch second label with dyn.string
ghostrider06 1:76bf7ede6bce 99 sprintf (ma_chaine4,"%d",iTemperature);// convert speed as ascii string
ghostrider06 1:76bf7ede6bce 100 Html_Patch (tab_balise,2,ma_chaine4);// patch third label with dyn.string
ghostrider06 1:76bf7ede6bce 101 sprintf (ma_chaine4,"%g",fImes);// convert speed as ascii string
ghostrider06 1:76bf7ede6bce 102 Html_Patch (tab_balise,3,ma_chaine4);// patch fourth label with dyn.string
ghostrider06 1:76bf7ede6bce 103 sprintf (ma_chaine4,"%g",fVmes);// convert speed as ascii string
ghostrider06 1:76bf7ede6bce 104 Html_Patch (tab_balise,4,ma_chaine4);// patch fourth label with dyn.string
ghostrider06 1:76bf7ede6bce 105 }
ghostrider06 1:76bf7ede6bce 106
ghostrider06 1:76bf7ede6bce 107 /*********************** CAN BUS SECTION **********************/
ghostrider06 1:76bf7ede6bce 108 void CAN_REC_THREAD(void const *args)
ghostrider06 1:76bf7ede6bce 109 {
ghostrider06 1:76bf7ede6bce 110 int iCount,iError;
ghostrider06 1:76bf7ede6bce 111
ghostrider06 1:76bf7ede6bce 112 while (bCan_Active) {
ghostrider06 1:76bf7ede6bce 113 Thread::wait(100);// wait 100ms
ghostrider06 1:76bf7ede6bce 114 // code todo
ghostrider06 1:76bf7ede6bce 115
ghostrider06 1:76bf7ede6bce 116 }
superphil06 0:e30c9ba95bd4 117
superphil06 0:e30c9ba95bd4 118 }
ghostrider06 1:76bf7ede6bce 119
ghostrider06 1:76bf7ede6bce 120 void GazRead(void)
ghostrider06 1:76bf7ede6bce 121 {
ghostrider06 1:76bf7ede6bce 122 if(cChoix == 'a'){}
ghostrider06 1:76bf7ede6bce 123 else
ghostrider06 1:76bf7ede6bce 124 {
ghostrider06 1:76bf7ede6bce 125 nGaz=ngaz.read();
ghostrider06 1:76bf7ede6bce 126 fImes=(((Imes.read()*3.3*1.81818 - 2.5)/0.185)+Ioffset)*1000; //Current measurement (A to mA conversion) (on p20)
ghostrider06 1:76bf7ede6bce 127 fVmes=(Tension.read()*15/0.19); //Voltage measurement (on p18)
ghostrider06 1:76bf7ede6bce 128 iTemperature=iTemperature.read()*3.3/0.01-273; //Temperature measurement (on p19)
ghostrider06 1:76bf7ede6bce 129
ghostrider06 1:76bf7ede6bce 130 fPositionPoignee=(ngaz.read()-ngazmin)/(ngazmax-ngazmin); // 0 to 1 float value meaning handle position
ghostrider06 1:76bf7ede6bce 131 if(fPositionPoignee>1)
ghostrider06 1:76bf7ede6bce 132 {
ghostrider06 1:76bf7ede6bce 133 fPositionPoignee=1;
ghostrider06 1:76bf7ede6bce 134 }
ghostrider06 1:76bf7ede6bce 135 if(fPositionPoignee<0)
ghostrider06 1:76bf7ede6bce 136 {
ghostrider06 1:76bf7ede6bce 137 fPositionPoignee=0;
ghostrider06 1:76bf7ede6bce 138 }
ghostrider06 1:76bf7ede6bce 139 iREF_PWM=(255/(ngazmax-ngazmin))*(nGaz-ngazmin); //calibrate PWM (0 to 255)
ghostrider06 1:76bf7ede6bce 140 iFrein=MyPLD.read()&32; //testing 6th Bit value
ghostrider06 1:76bf7ede6bce 141 if(iFrein==32) //if brake is off
ghostrider06 1:76bf7ede6bce 142 {
ghostrider06 1:76bf7ede6bce 143 if(iREF_PWM>=255) iREF_PWM= 255;
ghostrider06 1:76bf7ede6bce 144 if(iREF_PWM<1) iREF_PWM = 0;
ghostrider06 1:76bf7ede6bce 145 if (fVRoue*3.6<=fBride) //speed flange
ghostrider06 1:76bf7ede6bce 146 {
ghostrider06 1:76bf7ede6bce 147 /******************* Progressive speed control *****************/
ghostrider06 1:76bf7ede6bce 148 if(iREF_PWMfin<iREF_PWM) iREF_PWMfin=iREF_PWMfin+1;
ghostrider06 1:76bf7ede6bce 149 else iREF_PWMfin=iREF_PWM;
ghostrider06 1:76bf7ede6bce 150 MyPLD.write(iREF_PWMfin);
ghostrider06 1:76bf7ede6bce 151 }
ghostrider06 1:76bf7ede6bce 152 else
ghostrider06 1:76bf7ede6bce 153 {
ghostrider06 1:76bf7ede6bce 154 if(iREF_PWMfin>0)
ghostrider06 1:76bf7ede6bce 155 {
ghostrider06 1:76bf7ede6bce 156 iREF_PWMfin=iREF_PWMfin-1;
ghostrider06 1:76bf7ede6bce 157 MyPLD.write(iREF_PWMfin);
ghostrider06 1:76bf7ede6bce 158 }
ghostrider06 1:76bf7ede6bce 159 else iREF_PWMfin=0;
ghostrider06 1:76bf7ede6bce 160 }
ghostrider06 1:76bf7ede6bce 161 }
ghostrider06 1:76bf7ede6bce 162 /******************* End of speed control *******************/
ghostrider06 1:76bf7ede6bce 163
ghostrider06 1:76bf7ede6bce 164 if(iFrein==0) //if brake is on
ghostrider06 1:76bf7ede6bce 165 {
ghostrider06 1:76bf7ede6bce 166 iREF_PWM=0;
ghostrider06 1:76bf7ede6bce 167 MyPLD.write(iREF_PWM);
ghostrider06 1:76bf7ede6bce 168 }
ghostrider06 1:76bf7ede6bce 169 }
ghostrider06 1:76bf7ede6bce 170 }
ghostrider06 1:76bf7ede6bce 171
ghostrider06 1:76bf7ede6bce 172 void cpt (void){
ghostrider06 1:76bf7ede6bce 173 nbhall++;
ghostrider06 1:76bf7ede6bce 174 }
ghostrider06 1:76bf7ede6bce 175
ghostrider06 1:76bf7ede6bce 176 void VitesseRoue (void)
ghostrider06 1:76bf7ede6bce 177 {
ghostrider06 1:76bf7ede6bce 178 fVRoue=(nbhall*2*3.14*RADIUS)/(6*DELTA_T*NBPOLES); //Wheel speed in m/s
ghostrider06 1:76bf7ede6bce 179 ftop_hall_total=nbhall+ftop_hall_total;
ghostrider06 1:76bf7ede6bce 180 ftop_hall_partiel=nbhall+ftop_hall_partiel;
ghostrider06 1:76bf7ede6bce 181 nbhall=0;
ghostrider06 1:76bf7ede6bce 182 }
ghostrider06 1:76bf7ede6bce 183
ghostrider06 1:76bf7ede6bce 184 void Battery(void){
superphil06 0:e30c9ba95bd4 185
ghostrider06 1:76bf7ede6bce 186 fCapa = fCapa - 1000*dT; //Init battery capacity with dT : counting period and 1000 the current value in mA
superphil06 0:e30c9ba95bd4 187
ghostrider06 1:76bf7ede6bce 188 if(fCapa<0){
ghostrider06 1:76bf7ede6bce 189 fCapa=0;
ghostrider06 1:76bf7ede6bce 190 }
ghostrider06 1:76bf7ede6bce 191 }
ghostrider06 1:76bf7ede6bce 192
ghostrider06 1:76bf7ede6bce 193 /*char getValeur(char octet, char n)
ghostrider06 1:76bf7ede6bce 194 {
ghostrider06 1:76bf7ede6bce 195 return (octet & (1 << n));
ghostrider06 1:76bf7ede6bce 196 }*/
superphil06 0:e30c9ba95bd4 197
superphil06 0:e30c9ba95bd4 198
ghostrider06 1:76bf7ede6bce 199 //*************************** main function *****************************************
ghostrider06 1:76bf7ede6bce 200 int main()
ghostrider06 1:76bf7ede6bce 201 {
ghostrider06 1:76bf7ede6bce 202 valid_pwm.write(0);
ghostrider06 1:76bf7ede6bce 203 MyPLD.write(0);
ghostrider06 1:76bf7ede6bce 204 char cClavier= 0;
ghostrider06 1:76bf7ede6bce 205 valid_pwm.write(1);
superphil06 0:e30c9ba95bd4 206
ghostrider06 1:76bf7ede6bce 207 FILE *fp = NULL;
ghostrider06 1:76bf7ede6bce 208 fp = fopen("/local/Config2.txt", "r");
ghostrider06 1:76bf7ede6bce 209 if(fp != NULL){
ghostrider06 1:76bf7ede6bce 210 fscanf(fp,"%g %g %g %g %g %g %g",&ngazmin,&ngazmax,&fBride,&ftop_hall_total,&ftop_hall_partiel,&fCapa,&fCapaInit); //Writing values in file
ghostrider06 1:76bf7ede6bce 211 fclose(fp);
ghostrider06 1:76bf7ede6bce 212 pc.printf("Max=%g\n\r",ngazmax);
ghostrider06 1:76bf7ede6bce 213 pc.printf("Min=%g\n\r\n",ngazmin);
ghostrider06 1:76bf7ede6bce 214 pc.printf("Bride=%g\n\r\n",fBride);
ghostrider06 1:76bf7ede6bce 215 fdistance=(ftop_hall_total/(6*NBPOLES)*2*3.14*RADIUS); // meters
ghostrider06 1:76bf7ede6bce 216 fdistpartiel=(ftop_hall_partiel/(6*NBPOLES)*2*3.14*RADIUS); // meters
ghostrider06 1:76bf7ede6bce 217 pc.printf("Distance totale enregistree=%g m\n\r\n",fdistance);
ghostrider06 1:76bf7ede6bce 218 pc.printf("Distance partiel enregistree=%g m\n\r\n",fdistpartiel);
ghostrider06 1:76bf7ede6bce 219 pc.printf("Capa batterie restante: %g\n\r",fCapa);
ghostrider06 1:76bf7ede6bce 220 pc.printf("Capa initale batterie: %g\n\r",fCapaInit);
ghostrider06 1:76bf7ede6bce 221 }
ghostrider06 1:76bf7ede6bce 222 else printf("Fichier introuvable\n\r");
superphil06 0:e30c9ba95bd4 223
ghostrider06 1:76bf7ede6bce 224 //***************************************** web section ********************************************//
superphil06 0:e30c9ba95bd4 225
ghostrider06 1:76bf7ede6bce 226 Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function
ghostrider06 1:76bf7ede6bce 227 Thread WebThread(Web_Server_Thread);// create and launch web server thread
superphil06 0:e30c9ba95bd4 228
ghostrider06 1:76bf7ede6bce 229 /********* main cgi function used to patch data to the web server thread **********************************/
ghostrider06 1:76bf7ede6bce 230
ghostrider06 1:76bf7ede6bce 231 Gen_HtmlCode_From_File("/local/pagecgi2.htm",tab_balise,5);*/// read and localise ^VARDEF[X] tag in empty html file
superphil06 0:e30c9ba95bd4 232
ghostrider06 1:76bf7ede6bce 233 //******************************************* end web section ************************************* /
superphil06 0:e30c9ba95bd4 234
ghostrider06 1:76bf7ede6bce 235 pc.printf("\rprogramme scooter mbed \n\r");
superphil06 0:e30c9ba95bd4 236
superphil06 0:e30c9ba95bd4 237 //********************* can bus section initialisation *******************************************
superphil06 0:e30c9ba95bd4 238 //bCan_Active=true;// needed to lauchn CAN thread
superphil06 0:e30c9ba95bd4 239 //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread
superphil06 0:e30c9ba95bd4 240 //********************* end can bus section *****************************************************
ghostrider06 1:76bf7ede6bce 241 fCapaInit=1000*60;
ghostrider06 1:76bf7ede6bce 242 Tgaz.attach(&GazRead,0.005);
ghostrider06 1:76bf7ede6bce 243 Tbat.attach(&Battery,dT);
ghostrider06 1:76bf7ede6bce 244 Hall.mode(PullUp);
ghostrider06 1:76bf7ede6bce 245 Hall.rise(&cpt);
ghostrider06 1:76bf7ede6bce 246 Vitesse.attach(&VitesseRoue,DELTA_T);
ghostrider06 1:76bf7ede6bce 247 pc.printf("commande moteur par poignee\n\r");
ghostrider06 1:76bf7ede6bce 248
ghostrider06 1:76bf7ede6bce 249 while (1)
ghostrider06 1:76bf7ede6bce 250 { /****************************** MBed IHM **********************/
ghostrider06 1:76bf7ede6bce 251 pc.printf("veuillez saisir une commande parmi la liste proposee: \n\r");
ghostrider06 1:76bf7ede6bce 252 pc.printf("a:saisie consigne pwm \n\r");
ghostrider06 1:76bf7ede6bce 253 pc.printf("z:calibration poignee \n\r");
ghostrider06 1:76bf7ede6bce 254 pc.printf("e:controle vitesse poignee \n\r");
ghostrider06 1:76bf7ede6bce 255 pc.printf("r:Affichage registre interne\n\r");
ghostrider06 1:76bf7ede6bce 256 pc.printf("t:vitesse roue\n\r");
ghostrider06 1:76bf7ede6bce 257 pc.printf("y:bride en vitesse\n\r");
ghostrider06 1:76bf7ede6bce 258 pc.printf("u:affichage mesures\n\r");
ghostrider06 1:76bf7ede6bce 259 pc.printf("i:distance totale et partielle en metre\n\r");
ghostrider06 1:76bf7ede6bce 260 pc.printf("o:RAZ compteur kilometrique\n\r");
ghostrider06 1:76bf7ede6bce 261 pc.printf("p:Capacite restante \n\r");
ghostrider06 1:76bf7ede6bce 262 pc.printf("d:Recharge\n\r");
ghostrider06 1:76bf7ede6bce 263 pc.printf("q:quitter \n\n\r");
ghostrider06 1:76bf7ede6bce 264 /**************************** END IHM ***********************/
ghostrider06 1:76bf7ede6bce 265
ghostrider06 1:76bf7ede6bce 266 /************* multithreading : main thread need to sleep in order to allow web response ****************/
ghostrider06 1:76bf7ede6bce 267 while (pc.readable()==0) // determine if char availabler
ghostrider06 1:76bf7ede6bce 268 {Thread::wait(10);} // wait 10 until char available on serial input
ghostrider06 1:76bf7ede6bce 269 /************* end of main thread sleep ****************/
ghostrider06 1:76bf7ede6bce 270
ghostrider06 1:76bf7ede6bce 271 pc.scanf("%c",&cChoix);
ghostrider06 1:76bf7ede6bce 272 switch (cChoix) {
ghostrider06 1:76bf7ede6bce 273 case 'a': //Manual PWM command
ghostrider06 1:76bf7ede6bce 274 pc.printf("Entrez la valeur PWM entre 0 et 255 : \n\r");
ghostrider06 1:76bf7ede6bce 275 while (pc.readable()==0) { // determine if char available
ghostrider06 1:76bf7ede6bce 276 Thread::wait(10);
ghostrider06 1:76bf7ede6bce 277 }
ghostrider06 1:76bf7ede6bce 278 pc.scanf("%d",&iREF_PWM);
ghostrider06 1:76bf7ede6bce 279 if(iREF_PWM<=255 & iREF_PWM>=0) {
ghostrider06 1:76bf7ede6bce 280 printf("Envoie d'une commande %d/255 dans la roue\n\r",iREF_PWM);
ghostrider06 1:76bf7ede6bce 281 MyPLD.write(iREF_PWM);
ghostrider06 1:76bf7ede6bce 282 }
ghostrider06 1:76bf7ede6bce 283 else
ghostrider06 1:76bf7ede6bce 284 pc.printf("value %d out of range PWM remains unchanged\n\r",iREF_PWM);
ghostrider06 1:76bf7ede6bce 285 break;
ghostrider06 1:76bf7ede6bce 286
ghostrider06 1:76bf7ede6bce 287
ghostrider06 1:76bf7ede6bce 288 case 'z': //Manual Handle calibration
ghostrider06 1:76bf7ede6bce 289 pc.printf("Mettez la poignee a la valeur min puis entrez o\n\r");
ghostrider06 1:76bf7ede6bce 290 pc.scanf("%c",&cClavier);
ghostrider06 1:76bf7ede6bce 291 if(cClavier=='o') {
ghostrider06 1:76bf7ede6bce 292 ngazmin=ngaz.read();
ghostrider06 1:76bf7ede6bce 293 } else {
ghostrider06 1:76bf7ede6bce 294 while(cClavier!='o') {
ghostrider06 1:76bf7ede6bce 295 pc.printf("tapez o\n");
ghostrider06 1:76bf7ede6bce 296 pc.scanf("%c",&cClavier);
ghostrider06 1:76bf7ede6bce 297 }
ghostrider06 1:76bf7ede6bce 298 }
ghostrider06 1:76bf7ede6bce 299
ghostrider06 1:76bf7ede6bce 300 pc.printf("Mettez la poignee a la valeur max puis entrez o\n\r");
ghostrider06 1:76bf7ede6bce 301 pc.scanf("%c",&cClavier);
ghostrider06 1:76bf7ede6bce 302 if(cClavier=='o') {
ghostrider06 1:76bf7ede6bce 303 ngazmax=ngaz.read();
ghostrider06 1:76bf7ede6bce 304 } else {
ghostrider06 1:76bf7ede6bce 305 while(cClavier!='o') {
ghostrider06 1:76bf7ede6bce 306 pc.printf("tapez o\n");
ghostrider06 1:76bf7ede6bce 307 pc.scanf("%c",&cClavier);
ghostrider06 1:76bf7ede6bce 308 }
ghostrider06 1:76bf7ede6bce 309 }
ghostrider06 1:76bf7ede6bce 310
ghostrider06 1:76bf7ede6bce 311 pc.printf("Max=%g\n\r",ngazmax);
ghostrider06 1:76bf7ede6bce 312 pc.printf("Min=%g\n\r\n",ngazmin);
ghostrider06 1:76bf7ede6bce 313 fp = fopen("/local/Config2.txt", "w");
ghostrider06 1:76bf7ede6bce 314 fprintf(fp,"%g %g %g %g %g", ngazmin, ngazmax,fBride,ftop_hall_total,ftop_hall_partiel);
ghostrider06 1:76bf7ede6bce 315 fclose(fp);
ghostrider06 1:76bf7ede6bce 316 break;
superphil06 0:e30c9ba95bd4 317
superphil06 0:e30c9ba95bd4 318
ghostrider06 1:76bf7ede6bce 319 case 'e': //Wheel speed control only (using handle)
ghostrider06 1:76bf7ede6bce 320 pc.printf("commande moteur par poignee\n\r");
ghostrider06 1:76bf7ede6bce 321 break;
ghostrider06 1:76bf7ede6bce 322
ghostrider06 1:76bf7ede6bce 323 case 'r': //Internal register : reading PLD 1st to 6th bits (
ghostrider06 1:76bf7ede6bce 324
ghostrider06 1:76bf7ede6bce 325 int RegPLD = MyPLD.read();
ghostrider06 1:76bf7ede6bce 326
ghostrider06 1:76bf7ede6bce 327 pc.printf("Registre interne : %d\n\r",RegPLD ); //Reading all Bits in PLD
ghostrider06 1:76bf7ede6bce 328
ghostrider06 1:76bf7ede6bce 329 pc.printf("Numero secteur hall : %d\n\n\r",RegPLD & 7); //Current sector
ghostrider06 1:76bf7ede6bce 330
ghostrider06 1:76bf7ede6bce 331 if((RegPLD & 0x20) == 0x00) pc.printf("Etat frein: actif\n\n\r"); //Testing brake
ghostrider06 1:76bf7ede6bce 332 else pc.printf("Etat frein: inactif\n\n\r");
ghostrider06 1:76bf7ede6bce 333
ghostrider06 1:76bf7ede6bce 334 if((RegPLD & 0x08) == 0x08) pc.printf("Direction: avant \n\n\r"); //Testing direction
ghostrider06 1:76bf7ede6bce 335 else pc.printf("Direction: arriere \n\n\r");
ghostrider06 1:76bf7ede6bce 336
ghostrider06 1:76bf7ede6bce 337 if((RegPLD & 0x10) == 0x10) pc.printf("Defaillance detecte \n\n\r");//Testing system failure
ghostrider06 1:76bf7ede6bce 338 else pc.printf("Pas de defaillance \n\n\r");
ghostrider06 1:76bf7ede6bce 339
ghostrider06 1:76bf7ede6bce 340 if((RegPLD & 0x40) == 0x00) pc.printf("Surintensite detecte \n\n\r");//Testing overcurrent
ghostrider06 1:76bf7ede6bce 341 else pc.printf("Pas de surintensite \n\n\r");
ghostrider06 1:76bf7ede6bce 342 break;
ghostrider06 1:76bf7ede6bce 343
ghostrider06 1:76bf7ede6bce 344 case 't':
ghostrider06 1:76bf7ede6bce 345 pc.printf("Vitesse roue : %gm/s\n\r",fVRoue); //Reading wheel speed : km/h and m/s
ghostrider06 1:76bf7ede6bce 346 pc.printf("Vitesse roue : %gkm/h\n\r",fVRoue*3.6);
ghostrider06 1:76bf7ede6bce 347 break;
ghostrider06 1:76bf7ede6bce 348
ghostrider06 1:76bf7ede6bce 349 case 'y':
ghostrider06 1:76bf7ede6bce 350 pc.printf("Choisissez une vitesse limite en km/h \n\r"); //Wheel speed flange configuration
ghostrider06 1:76bf7ede6bce 351 pc.scanf("%g",&fBride);
ghostrider06 1:76bf7ede6bce 352 fp = fopen("/local/Config2.txt", "w");
ghostrider06 1:76bf7ede6bce 353 fprintf(fp,"%g %g %g %g %g", ngazmin, ngazmax,fBride,ftop_hall_total,ftop_hall_partiel);
ghostrider06 1:76bf7ede6bce 354 fclose(fp);
ghostrider06 1:76bf7ede6bce 355 break;
ghostrider06 1:76bf7ede6bce 356
ghostrider06 1:76bf7ede6bce 357 case 'u':
ghostrider06 1:76bf7ede6bce 358 pc.printf("Mesure courant: %gA\n\r",fImes/1000); //Ampere
ghostrider06 1:76bf7ede6bce 359 pc.printf("Mesure tension: %gV\n\r",fVmes); //Voltage
ghostrider06 1:76bf7ede6bce 360 pc.printf("iTemperature: %d\n\r",iTemperature); //°C
ghostrider06 1:76bf7ede6bce 361 pc.printf("Poignee a: %g",fPositionPoignee*100); //0 to 100%
ghostrider06 1:76bf7ede6bce 362 pc.puts("%\n\r");
ghostrider06 1:76bf7ede6bce 363 break;
ghostrider06 1:76bf7ede6bce 364
ghostrider06 1:76bf7ede6bce 365 case 'i':
ghostrider06 1:76bf7ede6bce 366 fdistance=(ftop_hall_total/(6*NBPOLES)*2*3.14*RADIUS); // total distance traveled in meters
ghostrider06 1:76bf7ede6bce 367 fdistpartiel=(ftop_hall_partiel/(6*NBPOLES)*2*3.14*RADIUS); // current session distance traveled in meters
ghostrider06 1:76bf7ede6bce 368 pc.printf("distance totale=%g m\n\r",fdistance);
ghostrider06 1:76bf7ede6bce 369 pc.printf("distance partiel=%g m\n\r",fdistpartiel);
ghostrider06 1:76bf7ede6bce 370 break;
ghostrider06 1:76bf7ede6bce 371
ghostrider06 1:76bf7ede6bce 372 case 'o':
ghostrider06 1:76bf7ede6bce 373 pc.printf("RAZ\n\r");
ghostrider06 1:76bf7ede6bce 374 ftop_hall_partiel = 0; //Current session distance reset
ghostrider06 1:76bf7ede6bce 375 break;
ghostrider06 1:76bf7ede6bce 376
ghostrider06 1:76bf7ede6bce 377 case 'p':
ghostrider06 1:76bf7ede6bce 378 pc.printf("Capa batt restante:%.2f\n\r",(fCapa/fCapaInit)*100); //battery remaining
ghostrider06 1:76bf7ede6bce 379 break;
ghostrider06 1:76bf7ede6bce 380
ghostrider06 1:76bf7ede6bce 381 case 'd':
ghostrider06 1:76bf7ede6bce 382 fCapa=fCapaInit;
ghostrider06 1:76bf7ede6bce 383 pc.printf("Recharge de la batterie effectuee\n\r"); //Battery recharger
ghostrider06 1:76bf7ede6bce 384 break;
ghostrider06 1:76bf7ede6bce 385
ghostrider06 1:76bf7ede6bce 386 case 'q':
ghostrider06 1:76bf7ede6bce 387 /********************** END of program (save all) *******************/
ghostrider06 1:76bf7ede6bce 388 pc.printf("Capa batterie restante: %.2f\n\r",fCapa);
ghostrider06 1:76bf7ede6bce 389 pc.printf("Capa initale batterie: %.2f\n\r",fCapaInit);
ghostrider06 1:76bf7ede6bce 390 pc.printf("%g m parcourus cette session\n\r",fdistpartiel);
ghostrider06 1:76bf7ede6bce 391 fp = fopen("/local/Config2.txt","w");
ghostrider06 1:76bf7ede6bce 392 fprintf(fp,"%g %g %g %g %g %g %g", ngazmin, ngazmax,fBride,ftop_hall_total,ftop_hall_partiel,fCapa,fCapaInit);
ghostrider06 1:76bf7ede6bce 393 fclose(fp);
ghostrider06 1:76bf7ede6bce 394 Tgaz.detach();
ghostrider06 1:76bf7ede6bce 395 Vitesse.detach();
ghostrider06 1:76bf7ede6bce 396 Tbat.detach();
ghostrider06 1:76bf7ede6bce 397 MyPLD.write(0);
ghostrider06 1:76bf7ede6bce 398 pc.printf(" fin programme scooter mbed \n");
ghostrider06 1:76bf7ede6bce 399 return 0;
ghostrider06 1:76bf7ede6bce 400 }
superphil06 0:e30c9ba95bd4 401 } // end while
ghostrider06 1:76bf7ede6bce 402
ghostrider06 1:76bf7ede6bce 403 //************** thread deinit *********************
ghostrider06 1:76bf7ede6bce 404 // DeInit_Web_Server();
ghostrider06 1:76bf7ede6bce 405 //bCan_Active=false;
ghostrider06 1:76bf7ede6bce 406 //CanThread=false;// close can received thread
ghostrider06 1:76bf7ede6bce 407 } // end main