Diff: main.cpp

Revision:

0:8871b0c9af3b

Child:

1:e3cb81b3cbea

diff -r 000000000000 -r 8871b0c9af3b main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 11 15:01:10 2015 +0000
@@ -0,0 +1,378 @@
+
+
+#include "EthernetInterface.h"
+#include <stdlib.h>
+#include <string.h>
+#include "mbed.h"
+#include "html.h" // need for html patch working with web server
+#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
+
+Ticker IT_Timer_Gaz,IT_Speed;
+ float fSpeed=0;
+float fTabVal[10];// need to store analog value 
+ float fGaz,fTemp,fBat,fIdc;
+ float fGAZ_MAX=70,fGAZ_MIN=15;
+ unsigned int uiCptImpuls=0;
+Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD
+AnalogIn Gaz(p17),Bat(p18),Temp(p19),Idc(p20);// analog input connected to mbed 
+DigitalOut ValidPWM (p21,0);// reset valid pmw pin
+Serial pc(USBTX, USBRX); // tx, rx
+InterruptIn TopHall(p22);
+    
+    
+ float fGaz_Brute;    
+    
+/************ persistent file parameters section *****************/
+LocalFileSystem local("local");               // Create the local filesystem under the name "local"
+ 
+
+  
+    
+    
+    
+    
+/********************* web server section **********************************/
+char * ma_chaine3;
+var_field_t tab_balise[10];  //une balise est présente dans le squelette
+int giCounter=0;// acces counting
+
+
+
+ 
+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);
+
+
+
+
+
+
+ //***********
+//* functions
+
+
+int Read_File_Data(char * pcFileName)
+{
+float fRayon;
+int iPoles,iVit_Max;
+FILE *DataFile;
+DataFile= fopen(pcFileName, "rt");
+if ( DataFile   == NULL)
+   {    printf("\r\nError Open File: %s", pcFileName); //open data file from disk
+    return(NULL);
+   }
+ else
+ {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);
+  fclose(DataFile);
+  return 0; 
+  } 
+    
+}
+
+int Write_File_Data(char * pcFileName)
+{
+float fRayon=0.45;
+int iPoles=10,iVit_Max=15000;
+FILE *DataFile;
+DataFile= fopen(pcFileName,"wt");
+
+ 
+
+if ( DataFile   == NULL)
+   {    printf("\r\nError Open File: %s", pcFileName); //open data file from disk
+    return(NULL);
+   }
+ else
+ { fprintf (DataFile, "rayon:%f poles:%d vit_max:%d ",fRayon,iPoles,iVit_Max);
+    
+ printf("valeurs ecrites: rayon:%f poles:%d  vit_max:%d \n\r",fRayon,iPoles,iVit_Max);
+  fclose(DataFile);
+  return 0; 
+  } 
+    
+}
+
+
+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
+void Calibrate_Gaz(void)
+{ char cJunk;     
+
+ fGaz=Gaz.read()*100;
+       fTemp=Temp.read()*100;
+       fBat=Bat.read()*100;
+       fIdc=Idc.read()*100;
+    
+    pc.printf("mettre la poignee au minimum et appuyer sur une touche \n");
+    pc.scanf(" %c",&cJunk);
+    fTabVal[0]=Gaz.read()*100;// read min gaz value)
+    fGAZ_MIN=fTabVal[0];// update local GAZ_MIN constante
+    pc.printf("mettre la poignee au maximum et appuyer sur une touche \n");
+    pc.scanf(" %c",&cJunk);
+    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]); 
+
+}
+
+// top hall counting interre
+void SpeedCount(void)
+{uiCptImpuls++;// top hall encoured increment speed counter
+    }
+
+
+// timer interrupt for speed measurement each 100ms
+void MyITSpeed(void)
+{unsigned int uiCptSpeed;
+
+uiCptSpeed=uiCptImpuls;// read actual count
+uiCptImpuls=0;// reset counter for next counting period
+fSpeed=2*(float)3.14159*RADIUS*(float)uiCptSpeed*3600/(6*NBPOLES*DELTA_T);
+}
+    
+    
+    
+
+
+//Timer Interrupt for gaz ref management each 10ms
+void MyITGaz (void) 
+{unsigned char byRefPWM=0;
+
+ fGaz=Gaz.read()*100;// read actual gaz
+ 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);
+ if (fGaz_Brute>255) fGaz_Brute=255;
+ if (fGaz_Brute<0) fGaz_Brute=0;
+ byRefPWM=(unsigned char) fGaz_Brute;
+ MyPLD.write(byRefPWM);// update pwm ref on pld
+}
+
+
+int main() {
+    
+    char cChoix=0;
+int iIndex,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 ********************************************
+
+
+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
+
+IT_Timer_Gaz.attach_us(&MyITGaz, 10000);// install timer it each 10ms
+IT_Speed.attach_us(&MyITSpeed, 100000);// install timer it each 10ms
+TopHall.rise(&SpeedCount);
+
+pc.printf(" programme scooter mbed \n");
+MyPLD.write(0);// set initial PWM ref=0
+ValidPWM.write(1);// enable pwm generator
+
+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(" b:lecture registre PLD \n");
+pc.printf(" c:lecture ADC 4 voies \n");
+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)
+ {Thread::wait(10);} // wait 10 until char available on serial input
+ pc.scanf(" %c",&cChoix);
+ switch (cChoix){
+     case 'a': pc.printf(" veuillez saisir une consigne pwm entre 0 et 255 \n");
+     pc.scanf("%d",&iRefPWM);
+     if (iRefPWM>255) iRefPWM=255;
+        if (iRefPWM<0) iRefPWM=0;
+     MyPLD.write((unsigned char)iRefPWM);// update pwm ref on pld
+     break;
+     case 'b': iVal=MyPLD.read();// read PLd internal register
+       pc.printf("valeur lue dans le registre PLD: %02x \n",iVal);
+       pc.printf("secteur hall: %01d \n",iVal&0x07);
+       pc.printf("direction:%01d \n",(iVal&0x08)>>3);
+       pc.printf("flta:%01d \n",(iVal&0x10)>>4);
+       pc.printf("brake:%01d \n",(iVal&0x20)>>5);
+       pc.printf("overCurrent:%01d \n",(iVal&0x40)>>6);
+       break;
+       
+       case 'c': // lecture ADC 4 voies
+       fGaz=Gaz.read()*100;
+       fTemp=Temp.read()*100;
+       fBat=Bat.read()*100;
+       fIdc=Idc.read()*100;
+       pc.printf("valeur gaz:%3f  Temperature:%3f   Vbat:%3f   Idc:%3f \n",fGaz,fTemp,fBat,fIdc);
+       break;
+       
+       case 'd': // calibration poignée gaz
+       Calibrate_Gaz();
+       break;
+        case 'e': // display actual speed m/h
+         pc.printf("vitesse=%f m/h \n",fSpeed);
+         break;
+     
+     case 'q': break;
+     }
+
+ /*for (iIndex=0;iIndex<=255;iIndex++)
+ {MyPLD.write((unsigned char) iIndex);
+ // iVal=MyPLD.read();
+     
+        wait_ms(0.02);
+    }*/
+    }
+    IT_Timer_Gaz.detach();// uninstall timer interrupt
+    IT_Speed.detach();// uninstall timer interrupt
+    MyPLD.write(0);// stop motor before exiting
+    ValidPWM.write(0);// disable pwm generator
+    pc.printf(" fin programme scooter mbed \n");
+}