Jean-Louis Salvat / Mbed OS scooter_mbed_correction_mbed_os

scooter correction for mbed_os V5.2

Dependencies:   bloc_io html_mbed_os

Fork of scooter_mbed by ERS3 2015-2016

main.cpp@0:8871b0c9af3b, 2015-08-11 (annotated)

Committer:
superphil06
Date:
Tue Aug 11 15:01:10 2015 +0000
Revision:
0:8871b0c9af3b
Child:
1:e3cb81b3cbea
version beta1, web, store persistent data to text file

Who changed what in which revision?

UserRevisionLine numberNew contents of line
superphil06 0:8871b0c9af3b 1
superphil06 0:8871b0c9af3b 2
superphil06 0:8871b0c9af3b 3 #include "EthernetInterface.h"
superphil06 0:8871b0c9af3b 4 #include <stdlib.h>
superphil06 0:8871b0c9af3b 5 #include <string.h>
superphil06 0:8871b0c9af3b 6 #include "mbed.h"
superphil06 0:8871b0c9af3b 7 #include "html.h" // need for html patch working with web server
superphil06 0:8871b0c9af3b 8 #include "bloc_io.h"
superphil06 0:8871b0c9af3b 9 #define RADIUS 0.2F // wheel size
superphil06 0:8871b0c9af3b 10 #define NBPOLES 8 // magnetic pole number
superphil06 0:8871b0c9af3b 11 #define DELTA_T 0.1F // speed measurement counting period
superphil06 0:8871b0c9af3b 12
superphil06 0:8871b0c9af3b 13 Ticker IT_Timer_Gaz,IT_Speed;
superphil06 0:8871b0c9af3b 14 float fSpeed=0;
superphil06 0:8871b0c9af3b 15 float fTabVal[10];// need to store analog value
superphil06 0:8871b0c9af3b 16 float fGaz,fTemp,fBat,fIdc;
superphil06 0:8871b0c9af3b 17 float fGAZ_MAX=70,fGAZ_MIN=15;
superphil06 0:8871b0c9af3b 18 unsigned int uiCptImpuls=0;
superphil06 0:8871b0c9af3b 19 Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD
superphil06 0:8871b0c9af3b 20 AnalogIn Gaz(p17),Bat(p18),Temp(p19),Idc(p20);// analog input connected to mbed
superphil06 0:8871b0c9af3b 21 DigitalOut ValidPWM (p21,0);// reset valid pmw pin
superphil06 0:8871b0c9af3b 22 Serial pc(USBTX, USBRX); // tx, rx
superphil06 0:8871b0c9af3b 23 InterruptIn TopHall(p22);
superphil06 0:8871b0c9af3b 24
superphil06 0:8871b0c9af3b 25
superphil06 0:8871b0c9af3b 26 float fGaz_Brute;
superphil06 0:8871b0c9af3b 27
superphil06 0:8871b0c9af3b 28 /************ persistent file parameters section *****************/
superphil06 0:8871b0c9af3b 29 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
superphil06 0:8871b0c9af3b 30
superphil06 0:8871b0c9af3b 31
superphil06 0:8871b0c9af3b 32
superphil06 0:8871b0c9af3b 33
superphil06 0:8871b0c9af3b 34
superphil06 0:8871b0c9af3b 35
superphil06 0:8871b0c9af3b 36
superphil06 0:8871b0c9af3b 37 /********************* web server section **********************************/
superphil06 0:8871b0c9af3b 38 char * ma_chaine3;
superphil06 0:8871b0c9af3b 39 var_field_t tab_balise[10]; //une balise est présente dans le squelette
superphil06 0:8871b0c9af3b 40 int giCounter=0;// acces counting
superphil06 0:8871b0c9af3b 41
superphil06 0:8871b0c9af3b 42
superphil06 0:8871b0c9af3b 43
superphil06 0:8871b0c9af3b 44
superphil06 0:8871b0c9af3b 45 EthernetInterface eth; // ethernet layer management object
superphil06 0:8871b0c9af3b 46 TCPSocketServer svr; //
superphil06 0:8871b0c9af3b 47 bool serverIsListened = false;// flag to indicate server is listening
superphil06 0:8871b0c9af3b 48
superphil06 0:8871b0c9af3b 49 #define PORT 80 // tcp port for socket listeningt
superphil06 0:8871b0c9af3b 50 TCPSocketConnection client;// socket to identify client side
superphil06 0:8871b0c9af3b 51 bool clientIsConnected = false;// flag that indicate if a web client is avalaible
superphil06 0:8871b0c9af3b 52
superphil06 0:8871b0c9af3b 53 //************ prototypes *******************
superphil06 0:8871b0c9af3b 54 int Init_Web_Server(void);
superphil06 0:8871b0c9af3b 55
superphil06 0:8871b0c9af3b 56
superphil06 0:8871b0c9af3b 57
superphil06 0:8871b0c9af3b 58
superphil06 0:8871b0c9af3b 59
superphil06 0:8871b0c9af3b 60
superphil06 0:8871b0c9af3b 61 //***********
superphil06 0:8871b0c9af3b 62 //* functions
superphil06 0:8871b0c9af3b 63
superphil06 0:8871b0c9af3b 64
superphil06 0:8871b0c9af3b 65 int Read_File_Data(char * pcFileName)
superphil06 0:8871b0c9af3b 66 {
superphil06 0:8871b0c9af3b 67 float fRayon;
superphil06 0:8871b0c9af3b 68 int iPoles,iVit_Max;
superphil06 0:8871b0c9af3b 69 FILE *DataFile;
superphil06 0:8871b0c9af3b 70 DataFile= fopen(pcFileName, "rt");
superphil06 0:8871b0c9af3b 71 if ( DataFile == NULL)
superphil06 0:8871b0c9af3b 72 { printf("\r\nError Open File: %s", pcFileName); //open data file from disk
superphil06 0:8871b0c9af3b 73 return(NULL);
superphil06 0:8871b0c9af3b 74 }
superphil06 0:8871b0c9af3b 75 else
superphil06 0:8871b0c9af3b 76 {fscanf (DataFile,"rayon:%f ",&fRayon);// insert ' ' after %format mode to separe numeric data
superphil06 0:8871b0c9af3b 77 fscanf (DataFile,"poles:%d ",&iPoles);
superphil06 0:8871b0c9af3b 78 fscanf (DataFile,"vit_max:%d ",&iVit_Max);
superphil06 0:8871b0c9af3b 79 printf("valeurs lues: rayon:%f poles:%d vit_max:%d \n\r",fRayon,iPoles,iVit_Max);
superphil06 0:8871b0c9af3b 80 fclose(DataFile);
superphil06 0:8871b0c9af3b 81 return 0;
superphil06 0:8871b0c9af3b 82 }
superphil06 0:8871b0c9af3b 83
superphil06 0:8871b0c9af3b 84 }
superphil06 0:8871b0c9af3b 85
superphil06 0:8871b0c9af3b 86 int Write_File_Data(char * pcFileName)
superphil06 0:8871b0c9af3b 87 {
superphil06 0:8871b0c9af3b 88 float fRayon=0.45;
superphil06 0:8871b0c9af3b 89 int iPoles=10,iVit_Max=15000;
superphil06 0:8871b0c9af3b 90 FILE *DataFile;
superphil06 0:8871b0c9af3b 91 DataFile= fopen(pcFileName,"wt");
superphil06 0:8871b0c9af3b 92
superphil06 0:8871b0c9af3b 93
superphil06 0:8871b0c9af3b 94
superphil06 0:8871b0c9af3b 95 if ( DataFile == NULL)
superphil06 0:8871b0c9af3b 96 { printf("\r\nError Open File: %s", pcFileName); //open data file from disk
superphil06 0:8871b0c9af3b 97 return(NULL);
superphil06 0:8871b0c9af3b 98 }
superphil06 0:8871b0c9af3b 99 else
superphil06 0:8871b0c9af3b 100 { fprintf (DataFile, "rayon:%f poles:%d vit_max:%d ",fRayon,iPoles,iVit_Max);
superphil06 0:8871b0c9af3b 101
superphil06 0:8871b0c9af3b 102 printf("valeurs ecrites: rayon:%f poles:%d vit_max:%d \n\r",fRayon,iPoles,iVit_Max);
superphil06 0:8871b0c9af3b 103 fclose(DataFile);
superphil06 0:8871b0c9af3b 104 return 0;
superphil06 0:8871b0c9af3b 105 }
superphil06 0:8871b0c9af3b 106
superphil06 0:8871b0c9af3b 107 }
superphil06 0:8871b0c9af3b 108
superphil06 0:8871b0c9af3b 109
superphil06 0:8871b0c9af3b 110 int Init_Web_Server(void)
superphil06 0:8871b0c9af3b 111 {
superphil06 0:8871b0c9af3b 112
superphil06 0:8871b0c9af3b 113 //setup ethernet interface
superphil06 0:8871b0c9af3b 114 eth.init(); //Use DHCP
superphil06 0:8871b0c9af3b 115 eth.connect();
superphil06 0:8871b0c9af3b 116 pc.printf("IP Address is %s\n\r", eth.getIPAddress());// display server ip address
superphil06 0:8871b0c9af3b 117
superphil06 0:8871b0c9af3b 118 // Set the callbacks for Listening
superphil06 0:8871b0c9af3b 119 //srv.setOnEvent(&onListeningTCPSocketEvent); // create a call back fonction associated with listning socket
superphil06 0:8871b0c9af3b 120 //setup srv tcp socket
superphil06 0:8871b0c9af3b 121 if(svr.bind(PORT)< 0) {
superphil06 0:8871b0c9af3b 122 printf("tcp server bind failed.\n\r");
superphil06 0:8871b0c9af3b 123 return -1;
superphil06 0:8871b0c9af3b 124 } else {
superphil06 0:8871b0c9af3b 125 printf("tcp server bind successed.\n\r");
superphil06 0:8871b0c9af3b 126 serverIsListened = true;
superphil06 0:8871b0c9af3b 127 }
superphil06 0:8871b0c9af3b 128
superphil06 0:8871b0c9af3b 129 if(svr.listen(1) < 0) {
superphil06 0:8871b0c9af3b 130 printf("tcp server listen failed.\n\r");
superphil06 0:8871b0c9af3b 131 return -1;
superphil06 0:8871b0c9af3b 132 } else {
superphil06 0:8871b0c9af3b 133 printf("tcp server is listening...\n\r");
superphil06 0:8871b0c9af3b 134
superphil06 0:8871b0c9af3b 135
superphil06 0:8871b0c9af3b 136 }
superphil06 0:8871b0c9af3b 137 return 0;
superphil06 0:8871b0c9af3b 138 }
superphil06 0:8871b0c9af3b 139
superphil06 0:8871b0c9af3b 140
superphil06 0:8871b0c9af3b 141
superphil06 0:8871b0c9af3b 142
superphil06 0:8871b0c9af3b 143
superphil06 0:8871b0c9af3b 144
superphil06 0:8871b0c9af3b 145
superphil06 0:8871b0c9af3b 146
superphil06 0:8871b0c9af3b 147
superphil06 0:8871b0c9af3b 148
superphil06 0:8871b0c9af3b 149 /***************** thread section **************/
superphil06 0:8871b0c9af3b 150 #include "rtos.h"
superphil06 0:8871b0c9af3b 151
superphil06 0:8871b0c9af3b 152 void Web_Server_Thread(void const *args)
superphil06 0:8871b0c9af3b 153 {
superphil06 0:8871b0c9af3b 154 while ( serverIsListened) {
superphil06 0:8871b0c9af3b 155 //blocking mode(never timeout)
superphil06 0:8871b0c9af3b 156 if(svr.accept(client)<0) {
superphil06 0:8871b0c9af3b 157 pc.printf("failed to accept connection.\n\r");
superphil06 0:8871b0c9af3b 158 } else {
superphil06 0:8871b0c9af3b 159 pc.printf("connection success!\n\rIP: %s\n\r",client.get_address());
superphil06 0:8871b0c9af3b 160 clientIsConnected = true;
superphil06 0:8871b0c9af3b 161 // Setup the new socket events
superphil06 0:8871b0c9af3b 162 // client.setOnEvent(&onConnectedTCPSocketEvent);
superphil06 0:8871b0c9af3b 163 // We can find out from where the connection is coming by looking at the
superphil06 0:8871b0c9af3b 164 // Host parameter of the accept() method
superphil06 0:8871b0c9af3b 165
superphil06 0:8871b0c9af3b 166 while(clientIsConnected) {
superphil06 0:8871b0c9af3b 167 char buffer[1024] = {};
superphil06 0:8871b0c9af3b 168 char ma_chaine4[20]={};// needed to form html response
superphil06 0:8871b0c9af3b 169 switch(client.receive(buffer, 1023)) {
superphil06 0:8871b0c9af3b 170 case 0:
superphil06 0:8871b0c9af3b 171 pc.printf("recieved buffer is empty.\n\r");
superphil06 0:8871b0c9af3b 172 clientIsConnected = false;
superphil06 0:8871b0c9af3b 173 break;
superphil06 0:8871b0c9af3b 174 case -1:
superphil06 0:8871b0c9af3b 175 pc.printf("failed to read data from client.\n\r");
superphil06 0:8871b0c9af3b 176 clientIsConnected = false;
superphil06 0:8871b0c9af3b 177 break;
superphil06 0:8871b0c9af3b 178 default:
superphil06 0:8871b0c9af3b 179 pc.printf("Recieved Data: %d\n\r\n\r%.*s\n\r",strlen(buffer),strlen(buffer),buffer);
superphil06 0:8871b0c9af3b 180 if(buffer[0] == 'G' && buffer[1] == 'E' && buffer[2] == 'T' ) {
superphil06 0:8871b0c9af3b 181 pc.printf("GET request incomming.\n\r");
superphil06 0:8871b0c9af3b 182 //setup http response header & data
superphil06 0:8871b0c9af3b 183 /************* patch all dynamic data in html response page ************/
superphil06 0:8871b0c9af3b 184 giCounter++;
superphil06 0:8871b0c9af3b 185 sprintf (ma_chaine4,"%d",(int)fSpeed);// convert speed as ascii string
superphil06 0:8871b0c9af3b 186 Html_Patch (tab_balise,0,ma_chaine4);// patch first label with dyn.string
superphil06 0:8871b0c9af3b 187
superphil06 0:8871b0c9af3b 188 sprintf (ma_chaine4,"%d",(int)(fGaz_Brute*100)/255);// convert count as ascii string
superphil06 0:8871b0c9af3b 189 Html_Patch (tab_balise,1,ma_chaine4);// patch first label with dyn.string
superphil06 0:8871b0c9af3b 190
superphil06 0:8871b0c9af3b 191 sprintf (ma_chaine4,"%d",(int)fBat);// convert count as ascii string
superphil06 0:8871b0c9af3b 192 Html_Patch (tab_balise,2,ma_chaine4);// patch first label with dyn.string
superphil06 0:8871b0c9af3b 193
superphil06 0:8871b0c9af3b 194 sprintf (ma_chaine4,"%d",(int)fIdc);// convert count as ascii string
superphil06 0:8871b0c9af3b 195 Html_Patch (tab_balise,3,ma_chaine4);// patch first label with dyn.string
superphil06 0:8871b0c9af3b 196
superphil06 0:8871b0c9af3b 197 sprintf (ma_chaine4,"%d",(int)fTemp);// convert count as ascii string
superphil06 0:8871b0c9af3b 198 Html_Patch (tab_balise,4,ma_chaine4);// patch first label with dyn.string
superphil06 0:8871b0c9af3b 199
superphil06 0:8871b0c9af3b 200 char echoHeader[256] = {};
superphil06 0:8871b0c9af3b 201 sprintf(echoHeader,"HTTP/1.1 200 OK\n\rContent-Length: %d\n\rContent-Type: text\n\rConnection: Close\n\r",strlen(ma_chaine3));
superphil06 0:8871b0c9af3b 202 client.send(echoHeader,strlen(echoHeader));
superphil06 0:8871b0c9af3b 203 pc.printf("%s",echoHeader);// debut http header sent
superphil06 0:8871b0c9af3b 204
superphil06 0:8871b0c9af3b 205 //client.send(buffer,strlen(buffer));// realise echo request to client
superphil06 0:8871b0c9af3b 206
superphil06 0:8871b0c9af3b 207
superphil06 0:8871b0c9af3b 208 client.send(ma_chaine3,strlen(ma_chaine3));// realise echo request to client
superphil06 0:8871b0c9af3b 209
superphil06 0:8871b0c9af3b 210 pc.printf("%s",ma_chaine3);
superphil06 0:8871b0c9af3b 211
superphil06 0:8871b0c9af3b 212
superphil06 0:8871b0c9af3b 213 clientIsConnected = false;// close connection with this client at end of http response
superphil06 0:8871b0c9af3b 214 pc.printf("web page sent.\n\r");
superphil06 0:8871b0c9af3b 215 }
superphil06 0:8871b0c9af3b 216 break;
superphil06 0:8871b0c9af3b 217 }// end case
superphil06 0:8871b0c9af3b 218 //Thread::wait(10);// sleep for 10 ms
superphil06 0:8871b0c9af3b 219 }// end while Client is Connected
superphil06 0:8871b0c9af3b 220
superphil06 0:8871b0c9af3b 221 pc.printf("close connection.\n\rtcp server is listening...\n\r");
superphil06 0:8871b0c9af3b 222 client.close();
superphil06 0:8871b0c9af3b 223
superphil06 0:8871b0c9af3b 224
superphil06 0:8871b0c9af3b 225 }
superphil06 0:8871b0c9af3b 226 Thread::wait(10);// sleep for 10 ms
superphil06 0:8871b0c9af3b 227 } // end while ServerIs listening
superphil06 0:8871b0c9af3b 228 }
superphil06 0:8871b0c9af3b 229
superphil06 0:8871b0c9af3b 230
superphil06 0:8871b0c9af3b 231
superphil06 0:8871b0c9af3b 232
superphil06 0:8871b0c9af3b 233
superphil06 0:8871b0c9af3b 234
superphil06 0:8871b0c9af3b 235
superphil06 0:8871b0c9af3b 236
superphil06 0:8871b0c9af3b 237
superphil06 0:8871b0c9af3b 238 // needed to record min_gaz and max_gaz value to persistent text file
superphil06 0:8871b0c9af3b 239 void Calibrate_Gaz(void)
superphil06 0:8871b0c9af3b 240 { char cJunk;
superphil06 0:8871b0c9af3b 241
superphil06 0:8871b0c9af3b 242 fGaz=Gaz.read()*100;
superphil06 0:8871b0c9af3b 243 fTemp=Temp.read()*100;
superphil06 0:8871b0c9af3b 244 fBat=Bat.read()*100;
superphil06 0:8871b0c9af3b 245 fIdc=Idc.read()*100;
superphil06 0:8871b0c9af3b 246
superphil06 0:8871b0c9af3b 247 pc.printf("mettre la poignee au minimum et appuyer sur une touche \n");
superphil06 0:8871b0c9af3b 248 pc.scanf(" %c",&cJunk);
superphil06 0:8871b0c9af3b 249 fTabVal[0]=Gaz.read()*100;// read min gaz value)
superphil06 0:8871b0c9af3b 250 fGAZ_MIN=fTabVal[0];// update local GAZ_MIN constante
superphil06 0:8871b0c9af3b 251 pc.printf("mettre la poignee au maximum et appuyer sur une touche \n");
superphil06 0:8871b0c9af3b 252 pc.scanf(" %c",&cJunk);
superphil06 0:8871b0c9af3b 253 fTabVal[1]=Gaz.read()*100;// read max gaz value
superphil06 0:8871b0c9af3b 254 fGAZ_MAX=fTabVal[1];// update local GAZ_MIN constante
superphil06 0:8871b0c9af3b 255 pc.printf("calibration terminee: gaz_min=%f gaz_max=%f \n",fTabVal[0],fTabVal[1]);
superphil06 0:8871b0c9af3b 256
superphil06 0:8871b0c9af3b 257 }
superphil06 0:8871b0c9af3b 258
superphil06 0:8871b0c9af3b 259 // top hall counting interre
superphil06 0:8871b0c9af3b 260 void SpeedCount(void)
superphil06 0:8871b0c9af3b 261 {uiCptImpuls++;// top hall encoured increment speed counter
superphil06 0:8871b0c9af3b 262 }
superphil06 0:8871b0c9af3b 263
superphil06 0:8871b0c9af3b 264
superphil06 0:8871b0c9af3b 265 // timer interrupt for speed measurement each 100ms
superphil06 0:8871b0c9af3b 266 void MyITSpeed(void)
superphil06 0:8871b0c9af3b 267 {unsigned int uiCptSpeed;
superphil06 0:8871b0c9af3b 268
superphil06 0:8871b0c9af3b 269 uiCptSpeed=uiCptImpuls;// read actual count
superphil06 0:8871b0c9af3b 270 uiCptImpuls=0;// reset counter for next counting period
superphil06 0:8871b0c9af3b 271 fSpeed=2*(float)3.14159*RADIUS*(float)uiCptSpeed*3600/(6*NBPOLES*DELTA_T);
superphil06 0:8871b0c9af3b 272 }
superphil06 0:8871b0c9af3b 273
superphil06 0:8871b0c9af3b 274
superphil06 0:8871b0c9af3b 275
superphil06 0:8871b0c9af3b 276
superphil06 0:8871b0c9af3b 277
superphil06 0:8871b0c9af3b 278 //Timer Interrupt for gaz ref management each 10ms
superphil06 0:8871b0c9af3b 279 void MyITGaz (void)
superphil06 0:8871b0c9af3b 280 {unsigned char byRefPWM=0;
superphil06 0:8871b0c9af3b 281
superphil06 0:8871b0c9af3b 282 fGaz=Gaz.read()*100;// read actual gaz
superphil06 0:8871b0c9af3b 283 fBat=Bat.read()*100;// read actual Bat voltage
superphil06 0:8871b0c9af3b 284 fIdc=Idc.read()*100;// read actual Idc current
superphil06 0:8871b0c9af3b 285 fTemp=Temp.read()*100;// readf actual Temp
superphil06 0:8871b0c9af3b 286 fGaz_Brute= (float)255/(fGAZ_MAX-fGAZ_MIN)* (fGaz-fGAZ_MIN);
superphil06 0:8871b0c9af3b 287 if (fGaz_Brute>255) fGaz_Brute=255;
superphil06 0:8871b0c9af3b 288 if (fGaz_Brute<0) fGaz_Brute=0;
superphil06 0:8871b0c9af3b 289 byRefPWM=(unsigned char) fGaz_Brute;
superphil06 0:8871b0c9af3b 290 MyPLD.write(byRefPWM);// update pwm ref on pld
superphil06 0:8871b0c9af3b 291 }
superphil06 0:8871b0c9af3b 292
superphil06 0:8871b0c9af3b 293
superphil06 0:8871b0c9af3b 294 int main() {
superphil06 0:8871b0c9af3b 295
superphil06 0:8871b0c9af3b 296 char cChoix=0;
superphil06 0:8871b0c9af3b 297 int iIndex,iVal,iRefPWM;
superphil06 0:8871b0c9af3b 298
superphil06 0:8871b0c9af3b 299
superphil06 0:8871b0c9af3b 300 Read_File_Data("/local/persist.txt"); // read persistent data from text file
superphil06 0:8871b0c9af3b 301 Write_File_Data("/local/persist.txt"); // write persistent data to text file
superphil06 0:8871b0c9af3b 302 //***************************************** web section ********************************************
superphil06 0:8871b0c9af3b 303
superphil06 0:8871b0c9af3b 304
superphil06 0:8871b0c9af3b 305 Init_Web_Server(); // create and initialize tcp server socket
superphil06 0:8871b0c9af3b 306 Thread WebThread(Web_Server_Thread);// create and launch web server thread
superphil06 0:8871b0c9af3b 307 //******************************************* end web section *************************************
superphil06 0:8871b0c9af3b 308
superphil06 0:8871b0c9af3b 309
superphil06 0:8871b0c9af3b 310 ma_chaine3 = Gen_HtmlCode_From_File("/local/pagecgi2.htm",tab_balise,5);// read and localise ^VARDEF[X] tag
superphil06 0:8871b0c9af3b 311
superphil06 0:8871b0c9af3b 312 IT_Timer_Gaz.attach_us(&MyITGaz, 10000);// install timer it each 10ms
superphil06 0:8871b0c9af3b 313 IT_Speed.attach_us(&MyITSpeed, 100000);// install timer it each 10ms
superphil06 0:8871b0c9af3b 314 TopHall.rise(&SpeedCount);
superphil06 0:8871b0c9af3b 315
superphil06 0:8871b0c9af3b 316 pc.printf(" programme scooter mbed \n");
superphil06 0:8871b0c9af3b 317 MyPLD.write(0);// set initial PWM ref=0
superphil06 0:8871b0c9af3b 318 ValidPWM.write(1);// enable pwm generator
superphil06 0:8871b0c9af3b 319
superphil06 0:8871b0c9af3b 320 while(cChoix!='q' and cChoix!='Q')
superphil06 0:8871b0c9af3b 321 {pc.printf(" veuillez saisir un choix parmi la liste proposee: \n");
superphil06 0:8871b0c9af3b 322 pc.printf(" a:saisie consigne pwm \n");
superphil06 0:8871b0c9af3b 323 pc.printf(" b:lecture registre PLD \n");
superphil06 0:8871b0c9af3b 324 pc.printf(" c:lecture ADC 4 voies \n");
superphil06 0:8871b0c9af3b 325 pc.printf(" d:calibration poignee Gaz \n");
superphil06 0:8871b0c9af3b 326 pc.printf(" e:affichage vitesse \n");
superphil06 0:8871b0c9af3b 327 pc.printf(" q:quitter \n");
superphil06 0:8871b0c9af3b 328
superphil06 0:8871b0c9af3b 329 while (pc.readable()==0)// determine if char available)
superphil06 0:8871b0c9af3b 330 {Thread::wait(10);} // wait 10 until char available on serial input
superphil06 0:8871b0c9af3b 331 pc.scanf(" %c",&cChoix);
superphil06 0:8871b0c9af3b 332 switch (cChoix){
superphil06 0:8871b0c9af3b 333 case 'a': pc.printf(" veuillez saisir une consigne pwm entre 0 et 255 \n");
superphil06 0:8871b0c9af3b 334 pc.scanf("%d",&iRefPWM);
superphil06 0:8871b0c9af3b 335 if (iRefPWM>255) iRefPWM=255;
superphil06 0:8871b0c9af3b 336 if (iRefPWM<0) iRefPWM=0;
superphil06 0:8871b0c9af3b 337 MyPLD.write((unsigned char)iRefPWM);// update pwm ref on pld
superphil06 0:8871b0c9af3b 338 break;
superphil06 0:8871b0c9af3b 339 case 'b': iVal=MyPLD.read();// read PLd internal register
superphil06 0:8871b0c9af3b 340 pc.printf("valeur lue dans le registre PLD: %02x \n",iVal);
superphil06 0:8871b0c9af3b 341 pc.printf("secteur hall: %01d \n",iVal&0x07);
superphil06 0:8871b0c9af3b 342 pc.printf("direction:%01d \n",(iVal&0x08)>>3);
superphil06 0:8871b0c9af3b 343 pc.printf("flta:%01d \n",(iVal&0x10)>>4);
superphil06 0:8871b0c9af3b 344 pc.printf("brake:%01d \n",(iVal&0x20)>>5);
superphil06 0:8871b0c9af3b 345 pc.printf("overCurrent:%01d \n",(iVal&0x40)>>6);
superphil06 0:8871b0c9af3b 346 break;
superphil06 0:8871b0c9af3b 347
superphil06 0:8871b0c9af3b 348 case 'c': // lecture ADC 4 voies
superphil06 0:8871b0c9af3b 349 fGaz=Gaz.read()*100;
superphil06 0:8871b0c9af3b 350 fTemp=Temp.read()*100;
superphil06 0:8871b0c9af3b 351 fBat=Bat.read()*100;
superphil06 0:8871b0c9af3b 352 fIdc=Idc.read()*100;
superphil06 0:8871b0c9af3b 353 pc.printf("valeur gaz:%3f Temperature:%3f Vbat:%3f Idc:%3f \n",fGaz,fTemp,fBat,fIdc);
superphil06 0:8871b0c9af3b 354 break;
superphil06 0:8871b0c9af3b 355
superphil06 0:8871b0c9af3b 356 case 'd': // calibration poignée gaz
superphil06 0:8871b0c9af3b 357 Calibrate_Gaz();
superphil06 0:8871b0c9af3b 358 break;
superphil06 0:8871b0c9af3b 359 case 'e': // display actual speed m/h
superphil06 0:8871b0c9af3b 360 pc.printf("vitesse=%f m/h \n",fSpeed);
superphil06 0:8871b0c9af3b 361 break;
superphil06 0:8871b0c9af3b 362
superphil06 0:8871b0c9af3b 363 case 'q': break;
superphil06 0:8871b0c9af3b 364 }
superphil06 0:8871b0c9af3b 365
superphil06 0:8871b0c9af3b 366 /*for (iIndex=0;iIndex<=255;iIndex++)
superphil06 0:8871b0c9af3b 367 {MyPLD.write((unsigned char) iIndex);
superphil06 0:8871b0c9af3b 368 // iVal=MyPLD.read();
superphil06 0:8871b0c9af3b 369
superphil06 0:8871b0c9af3b 370 wait_ms(0.02);
superphil06 0:8871b0c9af3b 371 }*/
superphil06 0:8871b0c9af3b 372 }
superphil06 0:8871b0c9af3b 373 IT_Timer_Gaz.detach();// uninstall timer interrupt
superphil06 0:8871b0c9af3b 374 IT_Speed.detach();// uninstall timer interrupt
superphil06 0:8871b0c9af3b 375 MyPLD.write(0);// stop motor before exiting
superphil06 0:8871b0c9af3b 376 ValidPWM.write(0);// disable pwm generator
superphil06 0:8871b0c9af3b 377 pc.printf(" fin programme scooter mbed \n");
superphil06 0:8871b0c9af3b 378 }