Jean-Louis Salvat
scooter correction for mbed_os V5.2
Dependencies: bloc_io html_mbed_os
Fork of
scooter_mbed
by 
ERS3 2015-2016
Diff: main.cpp
- Revision:
- 1:e3cb81b3cbea
- Parent:
- 0:8871b0c9af3b
- Child:
- 3:ac3990c4a479
--- a/main.cpp Tue Aug 11 15:01:10 2015 +0000
+++ b/main.cpp Wed Aug 12 15:54:13 2015 +0000
@@ -1,9 +1,10 @@
-#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"
#define RADIUS 0.2F // wheel size
@@ -35,23 +36,27 @@
/********************* web server section **********************************/
-char * ma_chaine3;
+//char * ma_chaine3;
var_field_t tab_balise[10]; //une balise est présente dans le squelette
int giCounter=0;// acces counting
+/*********************** can bus section ************/
+#define GAZ_CAN_ID 1000 // 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
+CANMessage msg_receive,msg_send;
+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
+CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield
+int iGaz_Can=0;
+bool bCan_Active=false;
+
-EthernetInterface eth; // ethernet layer management object
-TCPSocketServer svr; //
-bool serverIsListened = false;// flag to indicate server is listening
-
-#define PORT 80 // tcp port for socket listeningt
-TCPSocketConnection client;// socket to identify client side
-bool clientIsConnected = false;// flag that indicate if a web client is avalaible
-
//************ prototypes *******************
-int Init_Web_Server(void);
@@ -61,7 +66,7 @@
//***********
//* functions
-
+/**************** Read persistent data from text file located on local file system ****************/
int Read_File_Data(char * pcFileName)
{
float fRayon;
@@ -76,13 +81,17 @@
{fscanf (DataFile,"rayon:%f ",&fRayon);// insert ' ' after %format mode to separe numeric data
fscanf (DataFile,"poles:%d ",&iPoles);
fscanf (DataFile,"vit_max:%d ",&iVit_Max);
- printf("valeurs lues: rayon:%f poles:%d vit_max:%d \n\r",fRayon,iPoles,iVit_Max);
+ fscanf (DataFile,"fgaz_max:%f ",&fGAZ_MAX);
+ fscanf (DataFile,"fgaz_min:%f ",&fGAZ_MIN);
+ printf("valeurs lues: rayon:%f poles:%d vit_max:%d gaz_max:%f gaz_min:%f \n\r",fRayon,iPoles,iVit_Max,fGAZ_MAX,fGAZ_MIN);
fclose(DataFile);
return 0;
}
}
+
+/**************** write persitant data to text file located on local file system ****************/
int Write_File_Data(char * pcFileName)
{
float fRayon=0.45;
@@ -97,9 +106,9 @@
return(NULL);
}
else
- { fprintf (DataFile, "rayon:%f poles:%d vit_max:%d ",fRayon,iPoles,iVit_Max);
+ { fprintf (DataFile, "rayon:%f poles:%d vit_max:%d gaz_max:%f gaz_min:%f \n\r",fRayon,iPoles,iVit_Max,fGAZ_MAX,fGAZ_MIN);
- printf("valeurs ecrites: rayon:%f poles:%d vit_max:%d \n\r",fRayon,iPoles,iVit_Max);
+ printf("valeurs ecrites: rayon:%f poles:%d vit_max:%d gaz_max:%f gaz_min:%f \n\r",fRayon,iPoles,iVit_Max,fGAZ_MAX,fGAZ_MIN);
fclose(DataFile);
return 0;
}
@@ -107,135 +116,11 @@
}
-int Init_Web_Server(void)
- {
-
- //setup ethernet interface
- eth.init(); //Use DHCP
- eth.connect();
- pc.printf("IP Address is %s\n\r", eth.getIPAddress());// display server ip address
-
- // Set the callbacks for Listening
- //srv.setOnEvent(&onListeningTCPSocketEvent); // create a call back fonction associated with listning socket
- //setup srv tcp socket
- if(svr.bind(PORT)< 0) {
- printf("tcp server bind failed.\n\r");
- return -1;
- } else {
- printf("tcp server bind successed.\n\r");
- serverIsListened = true;
- }
-
- if(svr.listen(1) < 0) {
- printf("tcp server listen failed.\n\r");
- return -1;
- } else {
- printf("tcp server is listening...\n\r");
-
-
- }
- return 0;
- }
-
-
-
-
-
-
-/***************** thread section **************/
-#include "rtos.h"
-
-void Web_Server_Thread(void const *args)
-{
- while ( serverIsListened) {
- //blocking mode(never timeout)
- if(svr.accept(client)<0) {
- pc.printf("failed to accept connection.\n\r");
- } else {
- pc.printf("connection success!\n\rIP: %s\n\r",client.get_address());
- clientIsConnected = true;
- // Setup the new socket events
- // client.setOnEvent(&onConnectedTCPSocketEvent);
- // We can find out from where the connection is coming by looking at the
- // Host parameter of the accept() method
-
- while(clientIsConnected) {
- char buffer[1024] = {};
- char ma_chaine4[20]={};// needed to form html response
- switch(client.receive(buffer, 1023)) {
- case 0:
- pc.printf("recieved buffer is empty.\n\r");
- clientIsConnected = false;
- break;
- case -1:
- pc.printf("failed to read data from client.\n\r");
- clientIsConnected = false;
- break;
- default:
- pc.printf("Recieved Data: %d\n\r\n\r%.*s\n\r",strlen(buffer),strlen(buffer),buffer);
- if(buffer[0] == 'G' && buffer[1] == 'E' && buffer[2] == 'T' ) {
- pc.printf("GET request incomming.\n\r");
- //setup http response header & data
- /************* patch all dynamic data in html response page ************/
- giCounter++;
- sprintf (ma_chaine4,"%d",(int)fSpeed);// convert speed as ascii string
- Html_Patch (tab_balise,0,ma_chaine4);// patch first label with dyn.string
-
- sprintf (ma_chaine4,"%d",(int)(fGaz_Brute*100)/255);// convert count as ascii string
- Html_Patch (tab_balise,1,ma_chaine4);// patch first label with dyn.string
-
- sprintf (ma_chaine4,"%d",(int)fBat);// convert count as ascii string
- Html_Patch (tab_balise,2,ma_chaine4);// patch first label with dyn.string
-
- sprintf (ma_chaine4,"%d",(int)fIdc);// convert count as ascii string
- Html_Patch (tab_balise,3,ma_chaine4);// patch first label with dyn.string
-
- sprintf (ma_chaine4,"%d",(int)fTemp);// convert count as ascii string
- Html_Patch (tab_balise,4,ma_chaine4);// patch first label with dyn.string
-
- char echoHeader[256] = {};
- sprintf(echoHeader,"HTTP/1.1 200 OK\n\rContent-Length: %d\n\rContent-Type: text\n\rConnection: Close\n\r",strlen(ma_chaine3));
- client.send(echoHeader,strlen(echoHeader));
- pc.printf("%s",echoHeader);// debut http header sent
-
- //client.send(buffer,strlen(buffer));// realise echo request to client
-
-
- client.send(ma_chaine3,strlen(ma_chaine3));// realise echo request to client
-
- pc.printf("%s",ma_chaine3);
-
-
- clientIsConnected = false;// close connection with this client at end of http response
- pc.printf("web page sent.\n\r");
- }
- break;
- }// end case
- //Thread::wait(10);// sleep for 10 ms
- }// end while Client is Connected
-
- pc.printf("close connection.\n\rtcp server is listening...\n\r");
- client.close();
-
-
- }
- Thread::wait(10);// sleep for 10 ms
- } // end while ServerIs listening
-}
-
-
-
-
-
-
-
-
-
-// needed to record min_gaz and max_gaz value to persistent text file
+//************** needed to record min_gaz and max_gaz value to persistent text file ******************
void Calibrate_Gaz(void)
{ char cJunk;
@@ -253,16 +138,17 @@
fTabVal[1]=Gaz.read()*100;// read max gaz value
fGAZ_MAX=fTabVal[1];// update local GAZ_MIN constante
pc.printf("calibration terminee: gaz_min=%f gaz_max=%f \n",fTabVal[0],fTabVal[1]);
+ Write_File_Data("/local/persist.txt"); // write persistent data to text file
}
-// top hall counting interre
+// ************top hall counting interupt needed for speed measurement
void SpeedCount(void)
{uiCptImpuls++;// top hall encoured increment speed counter
}
-// timer interrupt for speed measurement each 100ms
+//********************** timer interrupt for speed measurement each 100ms *************************
void MyITSpeed(void)
{unsigned int uiCptSpeed;
@@ -275,7 +161,7 @@
-//Timer Interrupt for gaz ref management each 10ms
+//********************* Timer Interrupt for gaz ref management each 10ms ********************
void MyITGaz (void)
{unsigned char byRefPWM=0;
@@ -283,7 +169,13 @@
fBat=Bat.read()*100;// read actual Bat voltage
fIdc=Idc.read()*100;// read actual Idc current
fTemp=Temp.read()*100;// readf actual Temp
- fGaz_Brute= (float)255/(fGAZ_MAX-fGAZ_MIN)* (fGaz-fGAZ_MIN);
+
+ #ifndef USE_CAN_REF
+ fGaz_Brute= (float)255/(fGAZ_MAX-fGAZ_MIN)* (fGaz-fGAZ_MIN);/ use local ref
+ #else
+ fGaz_Brute= iGaz_Can;// use can bus gaz ref
+ #endif
+
if (fGaz_Brute>255) fGaz_Brute=255;
if (fGaz_Brute<0) fGaz_Brute=0;
byRefPWM=(unsigned char) fGaz_Brute;
@@ -291,23 +183,82 @@
}
+/********* 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
+ sprintf (ma_chaine4,"%d",(int)fSpeed);// convert speed as ascii string
+ Html_Patch (tab_balise,0,ma_chaine4);// patch first label with dyn.string
+
+ sprintf (ma_chaine4,"%d",(int)(fGaz_Brute*100)/255);// convert count as ascii string
+ Html_Patch (tab_balise,1,ma_chaine4);// patch first label with dyn.string
+
+ sprintf (ma_chaine4,"%d",(int)fBat);// convert count as ascii string
+ Html_Patch (tab_balise,2,ma_chaine4);// patch first label with dyn.string
+
+ sprintf (ma_chaine4,"%d",(int)fIdc);// convert count as ascii string
+ Html_Patch (tab_balise,3,ma_chaine4);// patch first label with dyn.string
+
+ sprintf (ma_chaine4,"%d",(int)fTemp);// convert count as ascii string
+ Html_Patch (tab_balise,4,ma_chaine4);// patch first 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
+ //printf("CAN_REC_Thread\n\r");
+ if(can_port.read(msg_receive)) //si on lit un message reçu */
+ //can_port.read(msg_receive);
+ {iError=0;
+ #ifdef _CAN_DEBUG
+ printf("CAN Message received : %s\n id=%d\n\r", msg_receive.data,msg_receive.id);
+ # endif
+ switch (msg_receive.id) {
+ case GAZ_CAN_ID: // received Gaz from can
+ sscanf((char *)msg_receive.data,"%03d",&iGaz_Can);// read and convert gaz ref from can bus
+ led4=!led4;
+ #ifdef _CAN_DEBUG
+ for (iCount=0; iCount<=5;iCount++)
+ {led4=!led4;
+ Thread::wait(100);
+ }
+ #endif
+ break;
+
+ }
+ }
+ }
+
+}
+
+
+
+
int main() {
char cChoix=0;
-int iIndex,iVal,iRefPWM;
+int iVal,iRefPWM;
Read_File_Data("/local/persist.txt"); // read persistent data from text file
- Write_File_Data("/local/persist.txt"); // write persistent data to text file
-//***************************************** web section ********************************************
+ //Write_File_Data("/local/persist.txt"); // write persistent data to text file
+//***************************************** 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
+//******************************************* end web section ************************************* /
-Init_Web_Server(); // create and initialize tcp server socket
-Thread WebThread(Web_Server_Thread);// create and launch web server thread
-//******************************************* end web section *************************************
-
-
- ma_chaine3 = Gen_HtmlCode_From_File("/local/pagecgi2.htm",tab_balise,5);// read and localise ^VARDEF[X] tag
+//ma_chaine3 = Gen_HtmlCode_From_File("/local/pagecgi2.htm",tab_balise,5);// read and localise ^VARDEF[X] tag
+Gen_HtmlCode_From_File("/local/pagecgi2.htm",tab_balise,5);// read and localise ^VARDEF[X] tag in empty html file
IT_Timer_Gaz.attach_us(&MyITGaz, 10000);// install timer it each 10ms
IT_Speed.attach_us(&MyITSpeed, 100000);// install timer it each 10ms
@@ -317,6 +268,12 @@
MyPLD.write(0);// set initial PWM ref=0
ValidPWM.write(1);// enable pwm generator
+can_port.frequency(125000); //on impose une fréquence commune pour etre s’incroniser
+//can_port.attach(&CAN_REC_IRQ); // install CAN BUS IRQ on data received
+bCan_Active=true;
+Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread
+
+
while(cChoix!='q' and cChoix!='Q')
{pc.printf(" veuillez saisir un choix parmi la liste proposee: \n");
pc.printf(" a:saisie consigne pwm \n");
@@ -325,9 +282,10 @@
pc.printf(" d:calibration poignee Gaz \n");
pc.printf(" e:affichage vitesse \n");
pc.printf(" q:quitter \n");
-
- while (pc.readable()==0)// determine if char available)
+ /************* 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': pc.printf(" veuillez saisir une consigne pwm entre 0 et 255 \n");
@@ -351,6 +309,7 @@
fBat=Bat.read()*100;
fIdc=Idc.read()*100;
pc.printf("valeur gaz:%3f Temperature:%3f Vbat:%3f Idc:%3f \n",fGaz,fTemp,fBat,fIdc);
+ pc.printf("valeur temp:%3f \n\r",fTemp*5.1282-53.53);
break;
case 'd': // calibration poignée gaz
@@ -374,5 +333,8 @@
IT_Speed.detach();// uninstall timer interrupt
MyPLD.write(0);// stop motor before exiting
ValidPWM.write(0);// disable pwm generator
+ DeInit_Web_Server();
+ bCan_Active=false;
+ CanThread=false;// close can received thread
pc.printf(" fin programme scooter mbed \n");
}