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@4:b9b0276f5d11, 2016-11-26 (annotated)

Committer:
jlsalvat
Date:
Sat Nov 26 16:11:05 2016 +0000
Revision:
4:b9b0276f5d11
Parent:
3:ac3990c4a479 
change scooter correction for mbed_os V5.2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
superphil06 0:8871b0c9af3b 1
superphil06 0:8871b0c9af3b 2
superphil06 1:e3cb81b3cbea 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 1:e3cb81b3cbea 7 #include "rtos.h" // need for main thread sleep
superphil06 0:8871b0c9af3b 8 #include "html.h" // need for html patch working with web server
superphil06 0:8871b0c9af3b 9 #include "bloc_io.h"
superphil06 0:8871b0c9af3b 10 #define RADIUS 0.2F // wheel size
superphil06 0:8871b0c9af3b 11 #define NBPOLES 8 // magnetic pole number
superphil06 0:8871b0c9af3b 12 #define DELTA_T 0.1F // speed measurement counting period
superphil06 0:8871b0c9af3b 13
superphil06 0:8871b0c9af3b 14 Ticker IT_Timer_Gaz,IT_Speed;
jlsalvat 3:ac3990c4a479 15 int gCPT=0;
superphil06 0:8871b0c9af3b 16 float fSpeed=0;
superphil06 0:8871b0c9af3b 17 float fTabVal[10];// need to store analog value
superphil06 0:8871b0c9af3b 18 float fGaz,fTemp,fBat,fIdc;
superphil06 0:8871b0c9af3b 19 float fGAZ_MAX=70,fGAZ_MIN=15;
superphil06 0:8871b0c9af3b 20 unsigned int uiCptImpuls=0;
superphil06 0:8871b0c9af3b 21 Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD
superphil06 0:8871b0c9af3b 22 AnalogIn Gaz(p17),Bat(p18),Temp(p19),Idc(p20);// analog input connected to mbed
superphil06 0:8871b0c9af3b 23 DigitalOut ValidPWM (p21,0);// reset valid pmw pin
superphil06 0:8871b0c9af3b 24 Serial pc(USBTX, USBRX); // tx, rx
superphil06 0:8871b0c9af3b 25 InterruptIn TopHall(p22);
superphil06 0:8871b0c9af3b 26
superphil06 0:8871b0c9af3b 27
superphil06 0:8871b0c9af3b 28 float fGaz_Brute;
superphil06 0:8871b0c9af3b 29
superphil06 0:8871b0c9af3b 30 /************ persistent file parameters section *****************/
superphil06 0:8871b0c9af3b 31 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
superphil06 0:8871b0c9af3b 32
superphil06 0:8871b0c9af3b 33
superphil06 0:8871b0c9af3b 34
superphil06 0:8871b0c9af3b 35
superphil06 0:8871b0c9af3b 36
superphil06 0:8871b0c9af3b 37
superphil06 0:8871b0c9af3b 38
superphil06 0:8871b0c9af3b 39 /********************* web server section **********************************/
superphil06 1:e3cb81b3cbea 40 //char * ma_chaine3;
superphil06 0:8871b0c9af3b 41 var_field_t tab_balise[10]; //une balise est présente dans le squelette
superphil06 0:8871b0c9af3b 42 int giCounter=0;// acces counting
superphil06 0:8871b0c9af3b 43
superphil06 0:8871b0c9af3b 44
superphil06 1:e3cb81b3cbea 45 /*********************** can bus section ************/
superphil06 1:e3cb81b3cbea 46 #define GAZ_CAN_ID 1000 // determine message ID used to send Gaz ref over can bus
superphil06 1:e3cb81b3cbea 47 #define _CAN_DEBUG // used to debug can bus activity
superphil06 1:e3cb81b3cbea 48 #define USE_CAN_REF // uncomment to receive gaz ref over can_bus
superphil06 1:e3cb81b3cbea 49 CANMessage msg_receive,msg_send;
superphil06 1:e3cb81b3cbea 50 DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/
superphil06 1:e3cb81b3cbea 51 DigitalOut led2(LED2);
superphil06 1:e3cb81b3cbea 52 DigitalOut led3(LED3); // blink when can message is sent
superphil06 1:e3cb81b3cbea 53 DigitalOut led4(LED4); // blink when can message is received
superphil06 1:e3cb81b3cbea 54 CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield
superphil06 1:e3cb81b3cbea 55 int iGaz_Can=0;
superphil06 1:e3cb81b3cbea 56 bool bCan_Active=false;
superphil06 1:e3cb81b3cbea 57
superphil06 0:8871b0c9af3b 58
superphil06 0:8871b0c9af3b 59
superphil06 0:8871b0c9af3b 60 //************ prototypes *******************
superphil06 0:8871b0c9af3b 61
superphil06 0:8871b0c9af3b 62
superphil06 0:8871b0c9af3b 63
superphil06 0:8871b0c9af3b 64
superphil06 0:8871b0c9af3b 65
superphil06 0:8871b0c9af3b 66
superphil06 0:8871b0c9af3b 67 //***********
superphil06 0:8871b0c9af3b 68 //* functions
superphil06 0:8871b0c9af3b 69
superphil06 1:e3cb81b3cbea 70 /**************** Read persistent data from text file located on local file system ****************/
superphil06 0:8871b0c9af3b 71 int Read_File_Data(char * pcFileName)
superphil06 0:8871b0c9af3b 72 {
superphil06 0:8871b0c9af3b 73 float fRayon;
superphil06 0:8871b0c9af3b 74 int iPoles,iVit_Max;
superphil06 0:8871b0c9af3b 75 FILE *DataFile;
superphil06 0:8871b0c9af3b 76 DataFile= fopen(pcFileName, "rt");
superphil06 0:8871b0c9af3b 77 if ( DataFile == NULL)
superphil06 0:8871b0c9af3b 78 { printf("\r\nError Open File: %s", pcFileName); //open data file from disk
superphil06 0:8871b0c9af3b 79 return(NULL);
superphil06 0:8871b0c9af3b 80 }
superphil06 0:8871b0c9af3b 81 else
superphil06 0:8871b0c9af3b 82 {fscanf (DataFile,"rayon:%f ",&fRayon);// insert ' ' after %format mode to separe numeric data
superphil06 0:8871b0c9af3b 83 fscanf (DataFile,"poles:%d ",&iPoles);
superphil06 0:8871b0c9af3b 84 fscanf (DataFile,"vit_max:%d ",&iVit_Max);
superphil06 1:e3cb81b3cbea 85 fscanf (DataFile,"fgaz_max:%f ",&fGAZ_MAX);
superphil06 1:e3cb81b3cbea 86 fscanf (DataFile,"fgaz_min:%f ",&fGAZ_MIN);
superphil06 1:e3cb81b3cbea 87 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);
superphil06 0:8871b0c9af3b 88 fclose(DataFile);
superphil06 0:8871b0c9af3b 89 return 0;
superphil06 0:8871b0c9af3b 90 }
superphil06 0:8871b0c9af3b 91
superphil06 0:8871b0c9af3b 92 }
superphil06 0:8871b0c9af3b 93
superphil06 1:e3cb81b3cbea 94
superphil06 1:e3cb81b3cbea 95 /**************** write persitant data to text file located on local file system ****************/
superphil06 0:8871b0c9af3b 96 int Write_File_Data(char * pcFileName)
superphil06 0:8871b0c9af3b 97 {
superphil06 0:8871b0c9af3b 98 float fRayon=0.45;
superphil06 0:8871b0c9af3b 99 int iPoles=10,iVit_Max=15000;
superphil06 0:8871b0c9af3b 100 FILE *DataFile;
superphil06 0:8871b0c9af3b 101 DataFile= fopen(pcFileName,"wt");
superphil06 0:8871b0c9af3b 102
superphil06 0:8871b0c9af3b 103
superphil06 0:8871b0c9af3b 104
superphil06 0:8871b0c9af3b 105 if ( DataFile == NULL)
superphil06 0:8871b0c9af3b 106 { printf("\r\nError Open File: %s", pcFileName); //open data file from disk
superphil06 0:8871b0c9af3b 107 return(NULL);
superphil06 0:8871b0c9af3b 108 }
superphil06 0:8871b0c9af3b 109 else
superphil06 1:e3cb81b3cbea 110 { 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);
superphil06 0:8871b0c9af3b 111
superphil06 1:e3cb81b3cbea 112 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);
superphil06 0:8871b0c9af3b 113 fclose(DataFile);
superphil06 0:8871b0c9af3b 114 return 0;
superphil06 0:8871b0c9af3b 115 }
superphil06 0:8871b0c9af3b 116
superphil06 0:8871b0c9af3b 117 }
superphil06 0:8871b0c9af3b 118
superphil06 0:8871b0c9af3b 119
superphil06 0:8871b0c9af3b 120
superphil06 0:8871b0c9af3b 121
superphil06 0:8871b0c9af3b 122
superphil06 0:8871b0c9af3b 123
superphil06 1:e3cb81b3cbea 124 //************** needed to record min_gaz and max_gaz value to persistent text file ******************
superphil06 0:8871b0c9af3b 125 void Calibrate_Gaz(void)
superphil06 0:8871b0c9af3b 126 { char cJunk;
superphil06 0:8871b0c9af3b 127
superphil06 0:8871b0c9af3b 128 fGaz=Gaz.read()*100;
superphil06 0:8871b0c9af3b 129 fTemp=Temp.read()*100;
superphil06 0:8871b0c9af3b 130 fBat=Bat.read()*100;
superphil06 0:8871b0c9af3b 131 fIdc=Idc.read()*100;
superphil06 0:8871b0c9af3b 132
superphil06 0:8871b0c9af3b 133 pc.printf("mettre la poignee au minimum et appuyer sur une touche \n");
superphil06 0:8871b0c9af3b 134 pc.scanf(" %c",&cJunk);
superphil06 0:8871b0c9af3b 135 fTabVal[0]=Gaz.read()*100;// read min gaz value)
superphil06 0:8871b0c9af3b 136 fGAZ_MIN=fTabVal[0];// update local GAZ_MIN constante
superphil06 0:8871b0c9af3b 137 pc.printf("mettre la poignee au maximum et appuyer sur une touche \n");
superphil06 0:8871b0c9af3b 138 pc.scanf(" %c",&cJunk);
superphil06 0:8871b0c9af3b 139 fTabVal[1]=Gaz.read()*100;// read max gaz value
superphil06 0:8871b0c9af3b 140 fGAZ_MAX=fTabVal[1];// update local GAZ_MIN constante
superphil06 0:8871b0c9af3b 141 pc.printf("calibration terminee: gaz_min=%f gaz_max=%f \n",fTabVal[0],fTabVal[1]);
superphil06 1:e3cb81b3cbea 142 Write_File_Data("/local/persist.txt"); // write persistent data to text file
superphil06 0:8871b0c9af3b 143
superphil06 0:8871b0c9af3b 144 }
superphil06 0:8871b0c9af3b 145
superphil06 1:e3cb81b3cbea 146 // ************top hall counting interupt needed for speed measurement
superphil06 0:8871b0c9af3b 147 void SpeedCount(void)
superphil06 0:8871b0c9af3b 148 {uiCptImpuls++;// top hall encoured increment speed counter
superphil06 0:8871b0c9af3b 149 }
superphil06 0:8871b0c9af3b 150
superphil06 0:8871b0c9af3b 151
superphil06 1:e3cb81b3cbea 152 //********************** timer interrupt for speed measurement each 100ms *************************
superphil06 0:8871b0c9af3b 153 void MyITSpeed(void)
superphil06 0:8871b0c9af3b 154 {unsigned int uiCptSpeed;
superphil06 0:8871b0c9af3b 155
superphil06 0:8871b0c9af3b 156 uiCptSpeed=uiCptImpuls;// read actual count
superphil06 0:8871b0c9af3b 157 uiCptImpuls=0;// reset counter for next counting period
superphil06 0:8871b0c9af3b 158 fSpeed=2*(float)3.14159*RADIUS*(float)uiCptSpeed*3600/(6*NBPOLES*DELTA_T);
superphil06 0:8871b0c9af3b 159 }
superphil06 0:8871b0c9af3b 160
superphil06 0:8871b0c9af3b 161
superphil06 0:8871b0c9af3b 162
superphil06 0:8871b0c9af3b 163
superphil06 0:8871b0c9af3b 164
superphil06 1:e3cb81b3cbea 165 //********************* Timer Interrupt for gaz ref management each 10ms ********************
superphil06 0:8871b0c9af3b 166 void MyITGaz (void)
superphil06 0:8871b0c9af3b 167 {unsigned char byRefPWM=0;
superphil06 0:8871b0c9af3b 168
superphil06 0:8871b0c9af3b 169 fGaz=Gaz.read()*100;// read actual gaz
superphil06 0:8871b0c9af3b 170 fBat=Bat.read()*100;// read actual Bat voltage
superphil06 0:8871b0c9af3b 171 fIdc=Idc.read()*100;// read actual Idc current
superphil06 0:8871b0c9af3b 172 fTemp=Temp.read()*100;// readf actual Temp
superphil06 1:e3cb81b3cbea 173
superphil06 1:e3cb81b3cbea 174 #ifndef USE_CAN_REF
superphil06 1:e3cb81b3cbea 175 fGaz_Brute= (float)255/(fGAZ_MAX-fGAZ_MIN)* (fGaz-fGAZ_MIN);/ use local ref
superphil06 1:e3cb81b3cbea 176 #else
superphil06 1:e3cb81b3cbea 177 fGaz_Brute= iGaz_Can;// use can bus gaz ref
superphil06 1:e3cb81b3cbea 178 #endif
superphil06 1:e3cb81b3cbea 179
superphil06 0:8871b0c9af3b 180 if (fGaz_Brute>255) fGaz_Brute=255;
superphil06 0:8871b0c9af3b 181 if (fGaz_Brute<0) fGaz_Brute=0;
superphil06 0:8871b0c9af3b 182 byRefPWM=(unsigned char) fGaz_Brute;
superphil06 0:8871b0c9af3b 183 MyPLD.write(byRefPWM);// update pwm ref on pld
superphil06 0:8871b0c9af3b 184 }
superphil06 0:8871b0c9af3b 185
superphil06 0:8871b0c9af3b 186
superphil06 1:e3cb81b3cbea 187 /********* main cgi function used to patch data to the web server thread **********************************/
superphil06 1:e3cb81b3cbea 188 void CGI_Function(void) // cgi function that patch web data to empty web page
superphil06 1:e3cb81b3cbea 189 { char ma_chaine4[20]={};// needed to form html response
jlsalvat 3:ac3990c4a479 190 sprintf (ma_chaine4,"%d",(int)gCPT++);// convert speed as ascii string
superphil06 1:e3cb81b3cbea 191 Html_Patch (tab_balise,0,ma_chaine4);// patch first label with dyn.string
superphil06 1:e3cb81b3cbea 192
superphil06 1:e3cb81b3cbea 193 sprintf (ma_chaine4,"%d",(int)(fGaz_Brute*100)/255);// convert count as ascii string
superphil06 1:e3cb81b3cbea 194 Html_Patch (tab_balise,1,ma_chaine4);// patch first label with dyn.string
superphil06 1:e3cb81b3cbea 195
superphil06 1:e3cb81b3cbea 196 sprintf (ma_chaine4,"%d",(int)fBat);// convert count as ascii string
superphil06 1:e3cb81b3cbea 197 Html_Patch (tab_balise,2,ma_chaine4);// patch first label with dyn.string
superphil06 1:e3cb81b3cbea 198
superphil06 1:e3cb81b3cbea 199 sprintf (ma_chaine4,"%d",(int)fIdc);// convert count as ascii string
superphil06 1:e3cb81b3cbea 200 Html_Patch (tab_balise,3,ma_chaine4);// patch first label with dyn.string
superphil06 1:e3cb81b3cbea 201
superphil06 1:e3cb81b3cbea 202 sprintf (ma_chaine4,"%d",(int)fTemp);// convert count as ascii string
superphil06 1:e3cb81b3cbea 203 Html_Patch (tab_balise,4,ma_chaine4);// patch first label with dyn.string
superphil06 1:e3cb81b3cbea 204
superphil06 1:e3cb81b3cbea 205
superphil06 1:e3cb81b3cbea 206
superphil06 1:e3cb81b3cbea 207 }
superphil06 1:e3cb81b3cbea 208
superphil06 1:e3cb81b3cbea 209
superphil06 1:e3cb81b3cbea 210 /*********************** CAN BUS SECTION **********************/
superphil06 1:e3cb81b3cbea 211
superphil06 1:e3cb81b3cbea 212
superphil06 1:e3cb81b3cbea 213
superphil06 1:e3cb81b3cbea 214 void CAN_REC_THREAD(void const *args)
superphil06 1:e3cb81b3cbea 215 { int iCount,iError;
superphil06 1:e3cb81b3cbea 216
superphil06 1:e3cb81b3cbea 217 while (bCan_Active)
superphil06 1:e3cb81b3cbea 218 {Thread::wait(100);// wait 100ms
superphil06 1:e3cb81b3cbea 219 //printf("CAN_REC_Thread\n\r");
superphil06 1:e3cb81b3cbea 220 if(can_port.read(msg_receive)) //si on lit un message reçu */
superphil06 1:e3cb81b3cbea 221 //can_port.read(msg_receive);
superphil06 1:e3cb81b3cbea 222 {iError=0;
superphil06 1:e3cb81b3cbea 223 #ifdef _CAN_DEBUG
superphil06 1:e3cb81b3cbea 224 printf("CAN Message received : %s\n id=%d\n\r", msg_receive.data,msg_receive.id);
superphil06 1:e3cb81b3cbea 225 # endif
superphil06 1:e3cb81b3cbea 226 switch (msg_receive.id) {
superphil06 1:e3cb81b3cbea 227 case GAZ_CAN_ID: // received Gaz from can
superphil06 1:e3cb81b3cbea 228 sscanf((char *)msg_receive.data,"%03d",&iGaz_Can);// read and convert gaz ref from can bus
superphil06 1:e3cb81b3cbea 229 led4=!led4;
superphil06 1:e3cb81b3cbea 230 #ifdef _CAN_DEBUG
superphil06 1:e3cb81b3cbea 231 for (iCount=0; iCount<=5;iCount++)
superphil06 1:e3cb81b3cbea 232 {led4=!led4;
superphil06 1:e3cb81b3cbea 233 Thread::wait(100);
superphil06 1:e3cb81b3cbea 234 }
superphil06 1:e3cb81b3cbea 235 #endif
superphil06 1:e3cb81b3cbea 236 break;
superphil06 1:e3cb81b3cbea 237
superphil06 1:e3cb81b3cbea 238 }
superphil06 1:e3cb81b3cbea 239 }
superphil06 1:e3cb81b3cbea 240 }
superphil06 1:e3cb81b3cbea 241
superphil06 1:e3cb81b3cbea 242 }
superphil06 1:e3cb81b3cbea 243
superphil06 1:e3cb81b3cbea 244
superphil06 1:e3cb81b3cbea 245
superphil06 1:e3cb81b3cbea 246
superphil06 0:8871b0c9af3b 247 int main() {
superphil06 0:8871b0c9af3b 248
superphil06 0:8871b0c9af3b 249 char cChoix=0;
superphil06 1:e3cb81b3cbea 250 int iVal,iRefPWM;
superphil06 0:8871b0c9af3b 251
superphil06 0:8871b0c9af3b 252
superphil06 0:8871b0c9af3b 253 Read_File_Data("/local/persist.txt"); // read persistent data from text file
superphil06 1:e3cb81b3cbea 254 //Write_File_Data("/local/persist.txt"); // write persistent data to text file
superphil06 1:e3cb81b3cbea 255 //***************************************** web section ********************************************/
superphil06 1:e3cb81b3cbea 256 Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function
superphil06 1:e3cb81b3cbea 257 Thread WebThread(Web_Server_Thread);// create and launch web server thread
superphil06 1:e3cb81b3cbea 258 //******************************************* end web section ************************************* /
superphil06 0:8871b0c9af3b 259
superphil06 0:8871b0c9af3b 260
superphil06 1:e3cb81b3cbea 261 //ma_chaine3 = Gen_HtmlCode_From_File("/local/pagecgi2.htm",tab_balise,5);// read and localise ^VARDEF[X] tag
jlsalvat 3:ac3990c4a479 262 Gen_HtmlCode_From_File("/local/compteur.htm",tab_balise,2);// read and localise ^VARDEF[X] tag in empty html file
superphil06 0:8871b0c9af3b 263
superphil06 0:8871b0c9af3b 264 IT_Timer_Gaz.attach_us(&MyITGaz, 10000);// install timer it each 10ms
superphil06 0:8871b0c9af3b 265 IT_Speed.attach_us(&MyITSpeed, 100000);// install timer it each 10ms
superphil06 0:8871b0c9af3b 266 TopHall.rise(&SpeedCount);
superphil06 0:8871b0c9af3b 267
superphil06 0:8871b0c9af3b 268 pc.printf(" programme scooter mbed \n");
superphil06 0:8871b0c9af3b 269 MyPLD.write(0);// set initial PWM ref=0
superphil06 0:8871b0c9af3b 270 ValidPWM.write(1);// enable pwm generator
superphil06 0:8871b0c9af3b 271
superphil06 1:e3cb81b3cbea 272 can_port.frequency(125000); //on impose une fréquence commune pour etre s’incroniser
superphil06 1:e3cb81b3cbea 273 //can_port.attach(&CAN_REC_IRQ); // install CAN BUS IRQ on data received
superphil06 1:e3cb81b3cbea 274 bCan_Active=true;
superphil06 1:e3cb81b3cbea 275 Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread
superphil06 1:e3cb81b3cbea 276
superphil06 1:e3cb81b3cbea 277
superphil06 0:8871b0c9af3b 278 while(cChoix!='q' and cChoix!='Q')
jlsalvat 3:ac3990c4a479 279 {/*pc.printf(" veuillez saisir un choix parmi la liste proposee: \n");
superphil06 0:8871b0c9af3b 280 pc.printf(" a:saisie consigne pwm \n");
superphil06 0:8871b0c9af3b 281 pc.printf(" b:lecture registre PLD \n");
superphil06 0:8871b0c9af3b 282 pc.printf(" c:lecture ADC 4 voies \n");
superphil06 0:8871b0c9af3b 283 pc.printf(" d:calibration poignee Gaz \n");
superphil06 0:8871b0c9af3b 284 pc.printf(" e:affichage vitesse \n");
jlsalvat 3:ac3990c4a479 285 pc.printf(" q:quitter \n");*/
superphil06 1:e3cb81b3cbea 286 /************* multithreading : main thread need to sleep in order to allow web response */
superphil06 1:e3cb81b3cbea 287 while (pc.readable()==0) // determine if char availabler
superphil06 0:8871b0c9af3b 288 {Thread::wait(10);} // wait 10 until char available on serial input
superphil06 1:e3cb81b3cbea 289 /************* end of main thread sleep ****************/
superphil06 0:8871b0c9af3b 290 pc.scanf(" %c",&cChoix);
superphil06 0:8871b0c9af3b 291 switch (cChoix){
superphil06 0:8871b0c9af3b 292 case 'a': pc.printf(" veuillez saisir une consigne pwm entre 0 et 255 \n");
superphil06 0:8871b0c9af3b 293 pc.scanf("%d",&iRefPWM);
superphil06 0:8871b0c9af3b 294 if (iRefPWM>255) iRefPWM=255;
superphil06 0:8871b0c9af3b 295 if (iRefPWM<0) iRefPWM=0;
superphil06 0:8871b0c9af3b 296 MyPLD.write((unsigned char)iRefPWM);// update pwm ref on pld
superphil06 0:8871b0c9af3b 297 break;
superphil06 0:8871b0c9af3b 298 case 'b': iVal=MyPLD.read();// read PLd internal register
superphil06 0:8871b0c9af3b 299 pc.printf("valeur lue dans le registre PLD: %02x \n",iVal);
superphil06 0:8871b0c9af3b 300 pc.printf("secteur hall: %01d \n",iVal&0x07);
superphil06 0:8871b0c9af3b 301 pc.printf("direction:%01d \n",(iVal&0x08)>>3);
superphil06 0:8871b0c9af3b 302 pc.printf("flta:%01d \n",(iVal&0x10)>>4);
superphil06 0:8871b0c9af3b 303 pc.printf("brake:%01d \n",(iVal&0x20)>>5);
superphil06 0:8871b0c9af3b 304 pc.printf("overCurrent:%01d \n",(iVal&0x40)>>6);
superphil06 0:8871b0c9af3b 305 break;
superphil06 0:8871b0c9af3b 306
superphil06 0:8871b0c9af3b 307 case 'c': // lecture ADC 4 voies
superphil06 0:8871b0c9af3b 308 fGaz=Gaz.read()*100;
superphil06 0:8871b0c9af3b 309 fTemp=Temp.read()*100;
superphil06 0:8871b0c9af3b 310 fBat=Bat.read()*100;
superphil06 0:8871b0c9af3b 311 fIdc=Idc.read()*100;
superphil06 0:8871b0c9af3b 312 pc.printf("valeur gaz:%3f Temperature:%3f Vbat:%3f Idc:%3f \n",fGaz,fTemp,fBat,fIdc);
superphil06 1:e3cb81b3cbea 313 pc.printf("valeur temp:%3f \n\r",fTemp*5.1282-53.53);
superphil06 0:8871b0c9af3b 314 break;
superphil06 0:8871b0c9af3b 315
superphil06 0:8871b0c9af3b 316 case 'd': // calibration poignée gaz
superphil06 0:8871b0c9af3b 317 Calibrate_Gaz();
superphil06 0:8871b0c9af3b 318 break;
superphil06 0:8871b0c9af3b 319 case 'e': // display actual speed m/h
superphil06 0:8871b0c9af3b 320 pc.printf("vitesse=%f m/h \n",fSpeed);
superphil06 0:8871b0c9af3b 321 break;
superphil06 0:8871b0c9af3b 322
superphil06 0:8871b0c9af3b 323 case 'q': break;
superphil06 0:8871b0c9af3b 324 }
superphil06 0:8871b0c9af3b 325
superphil06 0:8871b0c9af3b 326 /*for (iIndex=0;iIndex<=255;iIndex++)
superphil06 0:8871b0c9af3b 327 {MyPLD.write((unsigned char) iIndex);
superphil06 0:8871b0c9af3b 328 // iVal=MyPLD.read();
superphil06 0:8871b0c9af3b 329
superphil06 0:8871b0c9af3b 330 wait_ms(0.02);
superphil06 0:8871b0c9af3b 331 }*/
superphil06 0:8871b0c9af3b 332 }
superphil06 0:8871b0c9af3b 333 IT_Timer_Gaz.detach();// uninstall timer interrupt
superphil06 0:8871b0c9af3b 334 IT_Speed.detach();// uninstall timer interrupt
superphil06 0:8871b0c9af3b 335 MyPLD.write(0);// stop motor before exiting
superphil06 0:8871b0c9af3b 336 ValidPWM.write(0);// disable pwm generator
superphil06 1:e3cb81b3cbea 337 DeInit_Web_Server();
superphil06 1:e3cb81b3cbea 338 bCan_Active=false;
superphil06 1:e3cb81b3cbea 339 CanThread=false;// close can received thread
superphil06 0:8871b0c9af3b 340 pc.printf(" fin programme scooter mbed \n");
superphil06 0:8871b0c9af3b 341 }