Gautier luciani
123
Dependencies: mbed bloc_io mbed-rtos html EthernetInterface
Diff: main.cpp
- Revision:
- 1:76bf7ede6bce
- Parent:
- 0:e30c9ba95bd4
--- a/main.cpp Sat Aug 22 15:51:59 2015 +0000
+++ b/main.cpp Fri Mar 01 10:19:33 2019 +0000
@@ -1,43 +1,62 @@
-//#include "EthernetInterface.h"
+#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"
+#include "bloc_io.h" //need for stating the PLD
#define RADIUS 0.2F // wheel size
-#define NBPOLES 8 // magnetic pole number
+#define NBPOLES 20 // magnetic pole number
#define DELTA_T 0.1F // speed measurement counting period
+#define Ioffset 0.17 // offset value added to the current measurement (measurement uncertainty correction)
+#define dT 1 // battery capacity measurement counting period in second
+Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD
+AnalogIn ngaz(p17); // reading handle command analog input connected to mbed
+AnalogIn Tension(p18); //Voltage measurement variable
+AnalogIn iTemperature(p19); //iTemperature measurement variable
+AnalogIn Imes(p20); //Current measurement variable
+DigitalOut valid_pwm(p21);// valid pwm mbed pin
+InterruptIn Hall(p22);// Top_Hall Pinw
+Serial pc(USBTX, USBRX); // tx, rx
-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
-
-
-
-
/************ 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 iCounter=0;
int giCounter=0;// acces counting
-
+int iREF_PWM=0;
+int iREF_PWMfin=0;
+int iFrein=0;
+int iTemperature;
+float fngazmin=0;
+float fngazmax=0;
+float fnbhall=0;
+float fVRoue=0;
+float fBride=50;
+float fImes;
+float fVmes;
+float fPositionPoignee;
+float fCapaInit;//en mAs
+float fCapa;
+float fdistance=0;//Variable pour compteur kilometrique
+float fdistpartiel=0;
+float ftop_hall_total=0;//nbre de top hall
+float ftop_hall_partiel=0;//nbre de top hall
+float fngaz;
+char cChoix='e'; //Variable pour choisir l'état
+Ticker Tgaz; //Handle reading Tick
+Ticker Vitesse; //Speed reading Tick
+Ticker Tbat; //Battery reading Tick
/*********************** 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
@@ -48,122 +67,341 @@
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 ****************/
-
+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
+{
+ char ma_chaine4[20]= {}; // needed to form html response
+
+ sprintf (ma_chaine4,"%g",fVRoue*3.6);// convert speed as ascii string
+ Html_Patch (tab_balise,0,ma_chaine4);// patch first label with dyn.string
+ sprintf (ma_chaine4,"%g",fPositionPoignee*100);// convert speed as ascii string
+ Html_Patch (tab_balise,1,ma_chaine4);// patch second label with dyn.string
+ sprintf (ma_chaine4,"%d",iTemperature);// convert speed as ascii string
+ Html_Patch (tab_balise,2,ma_chaine4);// patch third label with dyn.string
+ sprintf (ma_chaine4,"%g",fImes);// convert speed as ascii string
+ Html_Patch (tab_balise,3,ma_chaine4);// patch fourth label with dyn.string
+ sprintf (ma_chaine4,"%g",fVmes);// convert speed as ascii string
+ Html_Patch (tab_balise,4,ma_chaine4);// patch fourth label with dyn.string
+}
+
+/*********************** CAN BUS SECTION **********************/
+void CAN_REC_THREAD(void const *args)
+{
+ int iCount,iError;
+
+ while (bCan_Active) {
+ Thread::wait(100);// wait 100ms
+ // code todo
+
+ }
}
-
+
+void GazRead(void)
+{
+ if(cChoix == 'a'){}
+ else
+ {
+ nGaz=ngaz.read();
+ fImes=(((Imes.read()*3.3*1.81818 - 2.5)/0.185)+Ioffset)*1000; //Current measurement (A to mA conversion) (on p20)
+ fVmes=(Tension.read()*15/0.19); //Voltage measurement (on p18)
+ iTemperature=iTemperature.read()*3.3/0.01-273; //Temperature measurement (on p19)
+
+ fPositionPoignee=(ngaz.read()-ngazmin)/(ngazmax-ngazmin); // 0 to 1 float value meaning handle position
+ if(fPositionPoignee>1)
+ {
+ fPositionPoignee=1;
+ }
+ if(fPositionPoignee<0)
+ {
+ fPositionPoignee=0;
+ }
+ iREF_PWM=(255/(ngazmax-ngazmin))*(nGaz-ngazmin); //calibrate PWM (0 to 255)
+ iFrein=MyPLD.read()&32; //testing 6th Bit value
+ if(iFrein==32) //if brake is off
+ {
+ if(iREF_PWM>=255) iREF_PWM= 255;
+ if(iREF_PWM<1) iREF_PWM = 0;
+ if (fVRoue*3.6<=fBride) //speed flange
+ {
+ /******************* Progressive speed control *****************/
+ if(iREF_PWMfin<iREF_PWM) iREF_PWMfin=iREF_PWMfin+1;
+ else iREF_PWMfin=iREF_PWM;
+ MyPLD.write(iREF_PWMfin);
+ }
+ else
+ {
+ if(iREF_PWMfin>0)
+ {
+ iREF_PWMfin=iREF_PWMfin-1;
+ MyPLD.write(iREF_PWMfin);
+ }
+ else iREF_PWMfin=0;
+ }
+ }
+ /******************* End of speed control *******************/
+
+ if(iFrein==0) //if brake is on
+ {
+ iREF_PWM=0;
+ MyPLD.write(iREF_PWM);
+ }
+ }
+}
+
+void cpt (void){
+ nbhall++;
+}
+
+void VitesseRoue (void)
+{
+ fVRoue=(nbhall*2*3.14*RADIUS)/(6*DELTA_T*NBPOLES); //Wheel speed in m/s
+ ftop_hall_total=nbhall+ftop_hall_total;
+ ftop_hall_partiel=nbhall+ftop_hall_partiel;
+ nbhall=0;
+}
+
+void Battery(void){
- /*********************** CAN BUS SECTION **********************/
+ fCapa = fCapa - 1000*dT; //Init battery capacity with dT : counting period and 1000 the current value in mA
+ if(fCapa<0){
+ fCapa=0;
+ }
+}
+
+/*char getValeur(char octet, char n)
+{
+ return (octet & (1 << n));
+}*/
-void CAN_REC_THREAD(void const *args)
-{ int iCount,iError;
-
- while (bCan_Active)
- {Thread::wait(100);// wait 100ms
- // code todo
-
- }
+//*************************** main function *****************************************
+int main()
+{
+ valid_pwm.write(0);
+ MyPLD.write(0);
+ char cClavier= 0;
+ valid_pwm.write(1);
-}
-
-
-
-//*************************** main function *****************************************
-int main() {
-char cChoix=0;
+ FILE *fp = NULL;
+ fp = fopen("/local/Config2.txt", "r");
+ if(fp != NULL){
+ fscanf(fp,"%g %g %g %g %g %g %g",&ngazmin,&ngazmax,&fBride,&ftop_hall_total,&ftop_hall_partiel,&fCapa,&fCapaInit); //Writing values in file
+ fclose(fp);
+ pc.printf("Max=%g\n\r",ngazmax);
+ pc.printf("Min=%g\n\r\n",ngazmin);
+ pc.printf("Bride=%g\n\r\n",fBride);
+ fdistance=(ftop_hall_total/(6*NBPOLES)*2*3.14*RADIUS); // meters
+ fdistpartiel=(ftop_hall_partiel/(6*NBPOLES)*2*3.14*RADIUS); // meters
+ pc.printf("Distance totale enregistree=%g m\n\r\n",fdistance);
+ pc.printf("Distance partiel enregistree=%g m\n\r\n",fdistpartiel);
+ pc.printf("Capa batterie restante: %g\n\r",fCapa);
+ pc.printf("Capa initale batterie: %g\n\r",fCapaInit);
+ }
+ else printf("Fichier introuvable\n\r");
-
-
-
+//***************************************** web section ********************************************//
-//***************************************** 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 **********************************/
+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
-//******************************************* end web section ************************************* /
-
-
+ /********* main cgi function used to patch data to the web server thread **********************************/
+
+Gen_HtmlCode_From_File("/local/pagecgi2.htm",tab_balise,5);*/// read and localise ^VARDEF[X] tag in empty html file
+//******************************************* end web section ************************************* /
-pc.printf(" programme scooter mbed \n");
-
-
+ pc.printf("\rprogramme scooter mbed \n\r");
//********************* 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 *****************************************************
+fCapaInit=1000*60;
+Tgaz.attach(&GazRead,0.005);
+Tbat.attach(&Battery,dT);
+Hall.mode(PullUp);
+Hall.rise(&cpt);
+Vitesse.attach(&VitesseRoue,DELTA_T);
+pc.printf("commande moteur par poignee\n\r");
+
+while (1)
+{ /****************************** MBed IHM **********************/
+ pc.printf("veuillez saisir une commande parmi la liste proposee: \n\r");
+ pc.printf("a:saisie consigne pwm \n\r");
+ pc.printf("z:calibration poignee \n\r");
+ pc.printf("e:controle vitesse poignee \n\r");
+ pc.printf("r:Affichage registre interne\n\r");
+ pc.printf("t:vitesse roue\n\r");
+ pc.printf("y:bride en vitesse\n\r");
+ pc.printf("u:affichage mesures\n\r");
+ pc.printf("i:distance totale et partielle en metre\n\r");
+ pc.printf("o:RAZ compteur kilometrique\n\r");
+ pc.printf("p:Capacite restante \n\r");
+ pc.printf("d:Recharge\n\r");
+ pc.printf("q:quitter \n\n\r");
+ /**************************** END IHM ***********************/
+
+ /************* 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': //Manual PWM command
+ pc.printf("Entrez la valeur PWM entre 0 et 255 : \n\r");
+ while (pc.readable()==0) { // determine if char available
+ Thread::wait(10);
+ }
+ pc.scanf("%d",&iREF_PWM);
+ if(iREF_PWM<=255 & iREF_PWM>=0) {
+ printf("Envoie d'une commande %d/255 dans la roue\n\r",iREF_PWM);
+ MyPLD.write(iREF_PWM);
+ }
+ else
+ pc.printf("value %d out of range PWM remains unchanged\n\r",iREF_PWM);
+ break;
+
+
+ case 'z': //Manual Handle calibration
+ pc.printf("Mettez la poignee a la valeur min puis entrez o\n\r");
+ pc.scanf("%c",&cClavier);
+ if(cClavier=='o') {
+ ngazmin=ngaz.read();
+ } else {
+ while(cClavier!='o') {
+ pc.printf("tapez o\n");
+ pc.scanf("%c",&cClavier);
+ }
+ }
+
+ pc.printf("Mettez la poignee a la valeur max puis entrez o\n\r");
+ pc.scanf("%c",&cClavier);
+ if(cClavier=='o') {
+ ngazmax=ngaz.read();
+ } else {
+ while(cClavier!='o') {
+ pc.printf("tapez o\n");
+ pc.scanf("%c",&cClavier);
+ }
+ }
+
+ pc.printf("Max=%g\n\r",ngazmax);
+ pc.printf("Min=%g\n\r\n",ngazmin);
+ fp = fopen("/local/Config2.txt", "w");
+ fprintf(fp,"%g %g %g %g %g", ngazmin, ngazmax,fBride,ftop_hall_total,ftop_hall_partiel);
+ fclose(fp);
+ break;
-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;
- }
+ case 'e': //Wheel speed control only (using handle)
+ pc.printf("commande moteur par poignee\n\r");
+ break;
+
+ case 'r': //Internal register : reading PLD 1st to 6th bits (
+
+ int RegPLD = MyPLD.read();
+
+ pc.printf("Registre interne : %d\n\r",RegPLD ); //Reading all Bits in PLD
+
+ pc.printf("Numero secteur hall : %d\n\n\r",RegPLD & 7); //Current sector
+
+ if((RegPLD & 0x20) == 0x00) pc.printf("Etat frein: actif\n\n\r"); //Testing brake
+ else pc.printf("Etat frein: inactif\n\n\r");
+
+ if((RegPLD & 0x08) == 0x08) pc.printf("Direction: avant \n\n\r"); //Testing direction
+ else pc.printf("Direction: arriere \n\n\r");
+
+ if((RegPLD & 0x10) == 0x10) pc.printf("Defaillance detecte \n\n\r");//Testing system failure
+ else pc.printf("Pas de defaillance \n\n\r");
+
+ if((RegPLD & 0x40) == 0x00) pc.printf("Surintensite detecte \n\n\r");//Testing overcurrent
+ else pc.printf("Pas de surintensite \n\n\r");
+ break;
+
+ case 't':
+ pc.printf("Vitesse roue : %gm/s\n\r",fVRoue); //Reading wheel speed : km/h and m/s
+ pc.printf("Vitesse roue : %gkm/h\n\r",fVRoue*3.6);
+ break;
+
+ case 'y':
+ pc.printf("Choisissez une vitesse limite en km/h \n\r"); //Wheel speed flange configuration
+ pc.scanf("%g",&fBride);
+ fp = fopen("/local/Config2.txt", "w");
+ fprintf(fp,"%g %g %g %g %g", ngazmin, ngazmax,fBride,ftop_hall_total,ftop_hall_partiel);
+ fclose(fp);
+ break;
+
+ case 'u':
+ pc.printf("Mesure courant: %gA\n\r",fImes/1000); //Ampere
+ pc.printf("Mesure tension: %gV\n\r",fVmes); //Voltage
+ pc.printf("iTemperature: %d\n\r",iTemperature); //°C
+ pc.printf("Poignee a: %g",fPositionPoignee*100); //0 to 100%
+ pc.puts("%\n\r");
+ break;
+
+ case 'i':
+ fdistance=(ftop_hall_total/(6*NBPOLES)*2*3.14*RADIUS); // total distance traveled in meters
+ fdistpartiel=(ftop_hall_partiel/(6*NBPOLES)*2*3.14*RADIUS); // current session distance traveled in meters
+ pc.printf("distance totale=%g m\n\r",fdistance);
+ pc.printf("distance partiel=%g m\n\r",fdistpartiel);
+ break;
+
+ case 'o':
+ pc.printf("RAZ\n\r");
+ ftop_hall_partiel = 0; //Current session distance reset
+ break;
+
+ case 'p':
+ pc.printf("Capa batt restante:%.2f\n\r",(fCapa/fCapaInit)*100); //battery remaining
+ break;
+
+ case 'd':
+ fCapa=fCapaInit;
+ pc.printf("Recharge de la batterie effectuee\n\r"); //Battery recharger
+ break;
+
+ case 'q':
+ /********************** END of program (save all) *******************/
+ pc.printf("Capa batterie restante: %.2f\n\r",fCapa);
+ pc.printf("Capa initale batterie: %.2f\n\r",fCapaInit);
+ pc.printf("%g m parcourus cette session\n\r",fdistpartiel);
+ fp = fopen("/local/Config2.txt","w");
+ fprintf(fp,"%g %g %g %g %g %g %g", ngazmin, ngazmax,fBride,ftop_hall_total,ftop_hall_partiel,fCapa,fCapaInit);
+ fclose(fp);
+ Tgaz.detach();
+ Vitesse.detach();
+ Tbat.detach();
+ MyPLD.write(0);
+ pc.printf(" fin programme scooter mbed \n");
+ return 0;
+ }
} // end while
-
- //************** thread deinit *********************
- //DeInit_Web_Server();
- //bCan_Active=false;
- //CanThread=false;// close can received thread
- pc.printf(" fin programme scooter mbed \n");
-} // end main
+
+ //************** thread deinit *********************
+ // DeInit_Web_Server();
+ //bCan_Active=false;
+ //CanThread=false;// close can received thread
+} // end main
\ No newline at end of file