squelette de demarrage projet ERS3 IUT NICE GEII
Dependencies: mbed bloc_io mbed-rtos html EthernetInterface
main.cpp@1:da3240668253, 2019-10-30 (annotated)
- Committer:
- johan04
- Date:
- Wed Oct 30 13:51:08 2019 +0000
- Revision:
- 1:da3240668253
- Parent:
- 0:e30c9ba95bd4
Start
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
superphil06 | 0:e30c9ba95bd4 | 1 | |
superphil06 | 0:e30c9ba95bd4 | 2 | |
superphil06 | 0:e30c9ba95bd4 | 3 | //#include "EthernetInterface.h" |
superphil06 | 0:e30c9ba95bd4 | 4 | #include <stdlib.h> |
superphil06 | 0:e30c9ba95bd4 | 5 | #include <string.h> |
superphil06 | 0:e30c9ba95bd4 | 6 | #include "mbed.h" |
superphil06 | 0:e30c9ba95bd4 | 7 | #include "rtos.h" // need for main thread sleep |
superphil06 | 0:e30c9ba95bd4 | 8 | #include "html.h" // need for html patch working with web server |
superphil06 | 0:e30c9ba95bd4 | 9 | #include "bloc_io.h" |
superphil06 | 0:e30c9ba95bd4 | 10 | #define RADIUS 0.2F // wheel size |
superphil06 | 0:e30c9ba95bd4 | 11 | #define NBPOLES 8 // magnetic pole number |
superphil06 | 0:e30c9ba95bd4 | 12 | #define DELTA_T 0.1F // speed measurement counting period |
superphil06 | 0:e30c9ba95bd4 | 13 | |
superphil06 | 0:e30c9ba95bd4 | 14 | |
superphil06 | 0:e30c9ba95bd4 | 15 | Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD |
superphil06 | 0:e30c9ba95bd4 | 16 | // analog input connected to mbed |
superphil06 | 0:e30c9ba95bd4 | 17 | // valid pmw mbed pin |
johan04 | 1:da3240668253 | 18 | AnalogIn Poig(p17); |
superphil06 | 0:e30c9ba95bd4 | 19 | Serial pc(USBTX, USBRX); // tx, rx |
superphil06 | 0:e30c9ba95bd4 | 20 | // Top_Hall Pin |
superphil06 | 0:e30c9ba95bd4 | 21 | |
superphil06 | 0:e30c9ba95bd4 | 22 | |
superphil06 | 0:e30c9ba95bd4 | 23 | |
superphil06 | 0:e30c9ba95bd4 | 24 | |
superphil06 | 0:e30c9ba95bd4 | 25 | /************ persistent file parameters section *****************/ |
superphil06 | 0:e30c9ba95bd4 | 26 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
superphil06 | 0:e30c9ba95bd4 | 27 | |
superphil06 | 0:e30c9ba95bd4 | 28 | |
superphil06 | 0:e30c9ba95bd4 | 29 | |
superphil06 | 0:e30c9ba95bd4 | 30 | |
superphil06 | 0:e30c9ba95bd4 | 31 | |
superphil06 | 0:e30c9ba95bd4 | 32 | |
superphil06 | 0:e30c9ba95bd4 | 33 | |
superphil06 | 0:e30c9ba95bd4 | 34 | /********************* web server section **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 35 | |
johan04 | 1:da3240668253 | 36 | //var_field_t tab_balise[10]; //une balise est présente dans le squelette |
superphil06 | 0:e30c9ba95bd4 | 37 | int giCounter=0;// acces counting |
superphil06 | 0:e30c9ba95bd4 | 38 | |
superphil06 | 0:e30c9ba95bd4 | 39 | |
superphil06 | 0:e30c9ba95bd4 | 40 | /*********************** can bus section ************/ |
superphil06 | 0:e30c9ba95bd4 | 41 | // determine message ID used to send Gaz ref over can bus |
superphil06 | 0:e30c9ba95bd4 | 42 | #define _CAN_DEBUG // used to debug can bus activity |
superphil06 | 0:e30c9ba95bd4 | 43 | //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus |
superphil06 | 0:e30c9ba95bd4 | 44 | CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield |
superphil06 | 0:e30c9ba95bd4 | 45 | bool bCan_Active=false; |
superphil06 | 0:e30c9ba95bd4 | 46 | |
superphil06 | 0:e30c9ba95bd4 | 47 | |
superphil06 | 0:e30c9ba95bd4 | 48 | |
superphil06 | 0:e30c9ba95bd4 | 49 | DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/ |
superphil06 | 0:e30c9ba95bd4 | 50 | DigitalOut led2(LED2); |
superphil06 | 0:e30c9ba95bd4 | 51 | DigitalOut led3(LED3); // blink when can message is sent |
superphil06 | 0:e30c9ba95bd4 | 52 | DigitalOut led4(LED4); // blink when can message is received |
superphil06 | 0:e30c9ba95bd4 | 53 | |
johan04 | 1:da3240668253 | 54 | DigitalOut VALID_PWM(p21); |
johan04 | 1:da3240668253 | 55 | InterruptIn TopHall(p22); |
johan04 | 1:da3240668253 | 56 | Ticker Timode; |
johan04 | 1:da3240668253 | 57 | Ticker T; |
superphil06 | 0:e30c9ba95bd4 | 58 | |
superphil06 | 0:e30c9ba95bd4 | 59 | |
superphil06 | 0:e30c9ba95bd4 | 60 | //************ local function prototypes ******************* |
johan04 | 1:da3240668253 | 61 | void lecture(void); |
johan04 | 1:da3240668253 | 62 | void Init(void); |
johan04 | 1:da3240668253 | 63 | void recupD(void); |
johan04 | 1:da3240668253 | 64 | void choix(void); |
johan04 | 1:da3240668253 | 65 | void compteur(void); |
johan04 | 1:da3240668253 | 66 | void mesures(void); |
superphil06 | 0:e30c9ba95bd4 | 67 | |
johan04 | 1:da3240668253 | 68 | char cChoix=0; |
johan04 | 1:da3240668253 | 69 | int mode; |
johan04 | 1:da3240668253 | 70 | int giRefPwm =0; |
johan04 | 1:da3240668253 | 71 | int MODE,PWM; |
johan04 | 1:da3240668253 | 72 | float val_poig ,Val_PwmPoig; |
johan04 | 1:da3240668253 | 73 | float NgazMin=0.15F, NgazMax=0.65F; |
johan04 | 1:da3240668253 | 74 | float Delta_Gaz = NgazMax - NgazMin; |
johan04 | 1:da3240668253 | 75 | int Hall,Brake,Overcurrent,Fault,Direction; |
johan04 | 1:da3240668253 | 76 | int toto ; |
johan04 | 1:da3240668253 | 77 | int reF; |
johan04 | 1:da3240668253 | 78 | int val; |
johan04 | 1:da3240668253 | 79 | int giRefPwm_av; |
johan04 | 1:da3240668253 | 80 | float vitesse; |
johan04 | 1:da3240668253 | 81 | int tophall,cptTopHall; |
superphil06 | 0:e30c9ba95bd4 | 82 | |
superphil06 | 0:e30c9ba95bd4 | 83 | |
johan04 | 1:da3240668253 | 84 | FILE* File1 = NULL; |
superphil06 | 0:e30c9ba95bd4 | 85 | /**************** Read persistent data from text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 86 | |
superphil06 | 0:e30c9ba95bd4 | 87 | |
superphil06 | 0:e30c9ba95bd4 | 88 | |
superphil06 | 0:e30c9ba95bd4 | 89 | /**************** write persitant data to text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 90 | |
superphil06 | 0:e30c9ba95bd4 | 91 | |
superphil06 | 0:e30c9ba95bd4 | 92 | |
superphil06 | 0:e30c9ba95bd4 | 93 | |
superphil06 | 0:e30c9ba95bd4 | 94 | |
superphil06 | 0:e30c9ba95bd4 | 95 | |
superphil06 | 0:e30c9ba95bd4 | 96 | //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** |
superphil06 | 0:e30c9ba95bd4 | 97 | |
superphil06 | 0:e30c9ba95bd4 | 98 | |
superphil06 | 0:e30c9ba95bd4 | 99 | // ************top hall counting interrupt needed for speed measurement |
superphil06 | 0:e30c9ba95bd4 | 100 | |
superphil06 | 0:e30c9ba95bd4 | 101 | |
superphil06 | 0:e30c9ba95bd4 | 102 | //********************** timer interrupt for speed measurement each 100ms ************************* |
superphil06 | 0:e30c9ba95bd4 | 103 | |
superphil06 | 0:e30c9ba95bd4 | 104 | |
superphil06 | 0:e30c9ba95bd4 | 105 | |
superphil06 | 0:e30c9ba95bd4 | 106 | |
superphil06 | 0:e30c9ba95bd4 | 107 | |
superphil06 | 0:e30c9ba95bd4 | 108 | |
superphil06 | 0:e30c9ba95bd4 | 109 | //********************* Timer Interrupt for gaz ref management each 10ms ******************** |
superphil06 | 0:e30c9ba95bd4 | 110 | |
superphil06 | 0:e30c9ba95bd4 | 111 | |
superphil06 | 0:e30c9ba95bd4 | 112 | |
superphil06 | 0:e30c9ba95bd4 | 113 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 114 | void CGI_Function(void) // cgi function that patch web data to empty web page |
johan04 | 1:da3240668253 | 115 | { |
johan04 | 1:da3240668253 | 116 | char ma_chaine4[20]={};// needed to form html response |
johan04 | 1:da3240668253 | 117 | /*sprintf (ma_chaine4,"%d",iCounter);// convert speed as ascii string Html_Patch |
johan04 | 1:da3240668253 | 118 | (tab_balise,0,ma_chaine4);// patch first label with dyn.string |
johan04 | 1:da3240668253 | 119 | iCounter++;*/ |
superphil06 | 0:e30c9ba95bd4 | 120 | |
superphil06 | 0:e30c9ba95bd4 | 121 | } |
superphil06 | 0:e30c9ba95bd4 | 122 | |
superphil06 | 0:e30c9ba95bd4 | 123 | |
superphil06 | 0:e30c9ba95bd4 | 124 | /*********************** CAN BUS SECTION **********************/ |
superphil06 | 0:e30c9ba95bd4 | 125 | |
superphil06 | 0:e30c9ba95bd4 | 126 | |
superphil06 | 0:e30c9ba95bd4 | 127 | |
superphil06 | 0:e30c9ba95bd4 | 128 | void CAN_REC_THREAD(void const *args) |
superphil06 | 0:e30c9ba95bd4 | 129 | { int iCount,iError; |
superphil06 | 0:e30c9ba95bd4 | 130 | |
superphil06 | 0:e30c9ba95bd4 | 131 | while (bCan_Active) |
superphil06 | 0:e30c9ba95bd4 | 132 | {Thread::wait(100);// wait 100ms |
superphil06 | 0:e30c9ba95bd4 | 133 | // code todo |
superphil06 | 0:e30c9ba95bd4 | 134 | |
superphil06 | 0:e30c9ba95bd4 | 135 | } |
superphil06 | 0:e30c9ba95bd4 | 136 | |
superphil06 | 0:e30c9ba95bd4 | 137 | } |
superphil06 | 0:e30c9ba95bd4 | 138 | |
johan04 | 1:da3240668253 | 139 | void Init() |
johan04 | 1:da3240668253 | 140 | { |
johan04 | 1:da3240668253 | 141 | VALID_PWM.write(0); |
johan04 | 1:da3240668253 | 142 | //recupD(); |
johan04 | 1:da3240668253 | 143 | pc.printf("\n\r"); |
johan04 | 1:da3240668253 | 144 | pc.printf("NgazMin = %f\n\r",NgazMin); |
johan04 | 1:da3240668253 | 145 | pc.printf("NgazMax = %f\n\r",NgazMax); |
johan04 | 1:da3240668253 | 146 | MyPLD.write(0); |
johan04 | 1:da3240668253 | 147 | VALID_PWM.write(1); |
johan04 | 1:da3240668253 | 148 | mode = 0;//mode auto |
johan04 | 1:da3240668253 | 149 | Timode.attach(&choix,0.05); |
johan04 | 1:da3240668253 | 150 | TopHall.mode(PullUp); |
johan04 | 1:da3240668253 | 151 | TopHall.rise(&compteur); |
johan04 | 1:da3240668253 | 152 | T.attach(&mesures,0.01); |
johan04 | 1:da3240668253 | 153 | |
johan04 | 1:da3240668253 | 154 | } |
johan04 | 1:da3240668253 | 155 | void recupD() |
johan04 | 1:da3240668253 | 156 | { |
johan04 | 1:da3240668253 | 157 | File1 = fopen("/local/GR2a.txt","r"); |
johan04 | 1:da3240668253 | 158 | if(File1!=NULL) |
johan04 | 1:da3240668253 | 159 | { |
johan04 | 1:da3240668253 | 160 | fscanf(File1,"%f %f",&NgazMin,&NgazMax); |
johan04 | 1:da3240668253 | 161 | } |
johan04 | 1:da3240668253 | 162 | fclose(File1); |
johan04 | 1:da3240668253 | 163 | } |
superphil06 | 0:e30c9ba95bd4 | 164 | |
superphil06 | 0:e30c9ba95bd4 | 165 | //*************************** main function ***************************************** |
johan04 | 1:da3240668253 | 166 | int main() |
johan04 | 1:da3240668253 | 167 | { |
superphil06 | 0:e30c9ba95bd4 | 168 | |
johan04 | 1:da3240668253 | 169 | |
johan04 | 1:da3240668253 | 170 | Init(); |
johan04 | 1:da3240668253 | 171 | |
johan04 | 1:da3240668253 | 172 | //***************************************** web section ********************************************/ |
johan04 | 1:da3240668253 | 173 | //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function |
johan04 | 1:da3240668253 | 174 | //Thread WebThread(Web_Server_Thread);// create and launch web server thread |
johan04 | 1:da3240668253 | 175 | /********* main cgi function used to patch data to the web server thread **********************************/ |
johan04 | 1:da3240668253 | 176 | //Gen_HtmlCode_From_File("/local/pagecgi2.htm",tab_balise,1);// read and localise ^VARDEF[X] tag in empty html file |
johan04 | 1:da3240668253 | 177 | //var_field_t tab_balise[1]; //une seule balise est présente dans le squelette html |
johan04 | 1:da3240668253 | 178 | //ma_chaine3 = Gen_HtmlCode_From_File("a:\\pagecgi.htm",tab_balise,1); |
johan04 | 1:da3240668253 | 179 | //******************************************* end web section ************************************* / |
johan04 | 1:da3240668253 | 180 | |
johan04 | 1:da3240668253 | 181 | |
johan04 | 1:da3240668253 | 182 | pc.printf("\n\r"); |
johan04 | 1:da3240668253 | 183 | |
johan04 | 1:da3240668253 | 184 | pc.printf(" programme scooter mbed \n\r"); |
johan04 | 1:da3240668253 | 185 | |
johan04 | 1:da3240668253 | 186 | |
johan04 | 1:da3240668253 | 187 | |
johan04 | 1:da3240668253 | 188 | //********************* can bus section initialisation ******************************************* |
johan04 | 1:da3240668253 | 189 | //bCan_Active=true;// needed to lauchn CAN thread |
johan04 | 1:da3240668253 | 190 | //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread |
johan04 | 1:da3240668253 | 191 | //********************* end can bus section ***************************************************** |
johan04 | 1:da3240668253 | 192 | |
johan04 | 1:da3240668253 | 193 | |
johan04 | 1:da3240668253 | 194 | while(cChoix!='q' and cChoix!='Q') |
johan04 | 1:da3240668253 | 195 | { |
johan04 | 1:da3240668253 | 196 | pc.printf(" veuillez saisir un choix parmi la liste proposee: \n\r"); |
johan04 | 1:da3240668253 | 197 | pc.printf(" m : manuel\n\r"); |
johan04 | 1:da3240668253 | 198 | pc.printf(" l : Lecture registre \n\r"); |
johan04 | 1:da3240668253 | 199 | pc.printf(" c : calibrage\n\r"); |
johan04 | 1:da3240668253 | 200 | pc.printf(" a : automatique\n\r"); |
johan04 | 1:da3240668253 | 201 | pc.printf(" q : quitter \n\r"); |
johan04 | 1:da3240668253 | 202 | |
johan04 | 1:da3240668253 | 203 | /************* multithreading : main thread need to sleep in order to allow web response */ |
johan04 | 1:da3240668253 | 204 | while (pc.readable()==0) // determine if char availabler |
johan04 | 1:da3240668253 | 205 | { |
johan04 | 1:da3240668253 | 206 | Thread::wait(10); |
johan04 | 1:da3240668253 | 207 | } // wait 10 until char available on serial input |
johan04 | 1:da3240668253 | 208 | /************* end of main thread sleep ****************/ |
johan04 | 1:da3240668253 | 209 | |
johan04 | 1:da3240668253 | 210 | pc.scanf(" %c",&cChoix); |
johan04 | 1:da3240668253 | 211 | switch(cChoix) |
johan04 | 1:da3240668253 | 212 | { |
johan04 | 1:da3240668253 | 213 | case 'm': |
johan04 | 1:da3240668253 | 214 | mode = 1; |
johan04 | 1:da3240668253 | 215 | pc.printf("Saisir une vitesse\n\r"); |
johan04 | 1:da3240668253 | 216 | pc.scanf("%d",&PWM); |
johan04 | 1:da3240668253 | 217 | break; |
johan04 | 1:da3240668253 | 218 | |
johan04 | 1:da3240668253 | 219 | case 'l': |
johan04 | 1:da3240668253 | 220 | lecture(); |
johan04 | 1:da3240668253 | 221 | |
johan04 | 1:da3240668253 | 222 | break; |
johan04 | 1:da3240668253 | 223 | |
johan04 | 1:da3240668253 | 224 | case 'c': |
johan04 | 1:da3240668253 | 225 | |
johan04 | 1:da3240668253 | 226 | pc.printf("Effectuez le calibrage\n\r"); |
johan04 | 1:da3240668253 | 227 | pc.printf("Valeur mini de la poignee\n\r"); |
johan04 | 1:da3240668253 | 228 | pc.scanf("%f",&toto); |
johan04 | 1:da3240668253 | 229 | NgazMin=Poig.read(); |
johan04 | 1:da3240668253 | 230 | pc.printf("NgazMin = %f\n\r",NgazMin); |
johan04 | 1:da3240668253 | 231 | pc.printf("Valeur max de la poignee\n\r"); |
johan04 | 1:da3240668253 | 232 | pc.scanf("%f",&toto); |
johan04 | 1:da3240668253 | 233 | NgazMax=Poig.read(); |
johan04 | 1:da3240668253 | 234 | pc.printf("NgazMax = %f\n\r",NgazMax); |
johan04 | 1:da3240668253 | 235 | |
johan04 | 1:da3240668253 | 236 | File1 = fopen("/local/GR2a.txt","w"); |
johan04 | 1:da3240668253 | 237 | if(File1!=NULL) |
johan04 | 1:da3240668253 | 238 | { |
johan04 | 1:da3240668253 | 239 | fprintf(File1,"%f %f",NgazMin,NgazMax); |
johan04 | 1:da3240668253 | 240 | } |
johan04 | 1:da3240668253 | 241 | fclose(File1); |
johan04 | 1:da3240668253 | 242 | |
johan04 | 1:da3240668253 | 243 | break; |
johan04 | 1:da3240668253 | 244 | |
johan04 | 1:da3240668253 | 245 | case'a': |
johan04 | 1:da3240668253 | 246 | mode =0; |
johan04 | 1:da3240668253 | 247 | break; |
johan04 | 1:da3240668253 | 248 | |
johan04 | 1:da3240668253 | 249 | case 'q': |
johan04 | 1:da3240668253 | 250 | |
johan04 | 1:da3240668253 | 251 | VALID_PWM.write(0); |
johan04 | 1:da3240668253 | 252 | MyPLD.write(VALID_PWM); |
johan04 | 1:da3240668253 | 253 | |
johan04 | 1:da3240668253 | 254 | break; |
johan04 | 1:da3240668253 | 255 | } |
johan04 | 1:da3240668253 | 256 | |
johan04 | 1:da3240668253 | 257 | } // end while |
johan04 | 1:da3240668253 | 258 | |
johan04 | 1:da3240668253 | 259 | //************** thread deinit ********************* |
superphil06 | 0:e30c9ba95bd4 | 260 | //DeInit_Web_Server(); |
superphil06 | 0:e30c9ba95bd4 | 261 | //bCan_Active=false; |
superphil06 | 0:e30c9ba95bd4 | 262 | //CanThread=false;// close can received thread |
johan04 | 1:da3240668253 | 263 | pc.printf(" fin programme scooter mbed \n\r"); |
superphil06 | 0:e30c9ba95bd4 | 264 | } // end main |
johan04 | 1:da3240668253 | 265 | |
johan04 | 1:da3240668253 | 266 | void lecture()// lecture des valeures de retour du PLD |
johan04 | 1:da3240668253 | 267 | { |
johan04 | 1:da3240668253 | 268 | |
johan04 | 1:da3240668253 | 269 | int mypld=MyPLD.read(); |
johan04 | 1:da3240668253 | 270 | Hall = mypld &0x07; |
johan04 | 1:da3240668253 | 271 | Brake = mypld &0x20; |
johan04 | 1:da3240668253 | 272 | Overcurrent = mypld &0x40 ; |
johan04 | 1:da3240668253 | 273 | Fault = mypld &0x10 ; |
johan04 | 1:da3240668253 | 274 | Direction = mypld &0x08 ; |
johan04 | 1:da3240668253 | 275 | |
johan04 | 1:da3240668253 | 276 | tophall=TopHall.read(); |
johan04 | 1:da3240668253 | 277 | if(tophall == 1) |
johan04 | 1:da3240668253 | 278 | { |
johan04 | 1:da3240668253 | 279 | compteur(); |
johan04 | 1:da3240668253 | 280 | } |
johan04 | 1:da3240668253 | 281 | |
johan04 | 1:da3240668253 | 282 | |
johan04 | 1:da3240668253 | 283 | |
johan04 | 1:da3240668253 | 284 | pc.printf("\n\r"); |
johan04 | 1:da3240668253 | 285 | pc.printf("Valeure du secteur Hall=%d\n\r",Hall); |
johan04 | 1:da3240668253 | 286 | |
johan04 | 1:da3240668253 | 287 | if(Direction == 0) |
johan04 | 1:da3240668253 | 288 | pc.printf("Marche arriere\n\r"); |
johan04 | 1:da3240668253 | 289 | else |
johan04 | 1:da3240668253 | 290 | pc.printf("Marche avant\n\r"); |
johan04 | 1:da3240668253 | 291 | |
johan04 | 1:da3240668253 | 292 | if (Brake == 0) |
johan04 | 1:da3240668253 | 293 | pc.printf("Frein actif\n\r"); |
johan04 | 1:da3240668253 | 294 | else |
johan04 | 1:da3240668253 | 295 | pc.printf("Frein non actif\n\r"); |
johan04 | 1:da3240668253 | 296 | |
johan04 | 1:da3240668253 | 297 | if (Overcurrent == 0) |
johan04 | 1:da3240668253 | 298 | pc.printf(" surchage\n\r"); |
johan04 | 1:da3240668253 | 299 | else |
johan04 | 1:da3240668253 | 300 | pc.printf("Pas de surchage\n\r"); |
johan04 | 1:da3240668253 | 301 | |
johan04 | 1:da3240668253 | 302 | if(Fault == 0) |
johan04 | 1:da3240668253 | 303 | pc.printf("pas d'erreur de convertisseur\n\r"); |
johan04 | 1:da3240668253 | 304 | else |
johan04 | 1:da3240668253 | 305 | pc.printf("erreur de convertisseur\n\r"); |
johan04 | 1:da3240668253 | 306 | |
johan04 | 1:da3240668253 | 307 | pc.printf("cptTopHall = %d\n\r",cptTopHall); |
johan04 | 1:da3240668253 | 308 | pc.printf("Vitesse = %f\n\r",vitesse); |
johan04 | 1:da3240668253 | 309 | |
johan04 | 1:da3240668253 | 310 | |
johan04 | 1:da3240668253 | 311 | |
johan04 | 1:da3240668253 | 312 | } |
johan04 | 1:da3240668253 | 313 | |
johan04 | 1:da3240668253 | 314 | void choix()//fonction ticker |
johan04 | 1:da3240668253 | 315 | { |
johan04 | 1:da3240668253 | 316 | |
johan04 | 1:da3240668253 | 317 | int mypld=MyPLD.read(); |
johan04 | 1:da3240668253 | 318 | Brake = mypld &0x20; |
johan04 | 1:da3240668253 | 319 | if(mode == 0) |
johan04 | 1:da3240668253 | 320 | { |
johan04 | 1:da3240668253 | 321 | |
johan04 | 1:da3240668253 | 322 | val_poig = Poig.read(); |
johan04 | 1:da3240668253 | 323 | |
johan04 | 1:da3240668253 | 324 | val = ((val_poig-NgazMin)/(NgazMax-NgazMin)*255); |
johan04 | 1:da3240668253 | 325 | if(Brake == 0) |
johan04 | 1:da3240668253 | 326 | { |
johan04 | 1:da3240668253 | 327 | val = 0; |
johan04 | 1:da3240668253 | 328 | } |
johan04 | 1:da3240668253 | 329 | if(val > giRefPwm_av) |
johan04 | 1:da3240668253 | 330 | { |
johan04 | 1:da3240668253 | 331 | giRefPwm_av = giRefPwm_av + 1; |
johan04 | 1:da3240668253 | 332 | } |
johan04 | 1:da3240668253 | 333 | if(val < giRefPwm_av) |
johan04 | 1:da3240668253 | 334 | { |
johan04 | 1:da3240668253 | 335 | giRefPwm_av = val; |
johan04 | 1:da3240668253 | 336 | } |
johan04 | 1:da3240668253 | 337 | if(giRefPwm_av > 255) |
johan04 | 1:da3240668253 | 338 | giRefPwm_av = 255; |
johan04 | 1:da3240668253 | 339 | if(giRefPwm_av < 0) |
johan04 | 1:da3240668253 | 340 | giRefPwm_av = 0; |
johan04 | 1:da3240668253 | 341 | |
johan04 | 1:da3240668253 | 342 | } |
johan04 | 1:da3240668253 | 343 | |
johan04 | 1:da3240668253 | 344 | else |
johan04 | 1:da3240668253 | 345 | {giRefPwm_av=PWM;} |
johan04 | 1:da3240668253 | 346 | |
johan04 | 1:da3240668253 | 347 | MyPLD.write(giRefPwm_av); |
johan04 | 1:da3240668253 | 348 | } |
johan04 | 1:da3240668253 | 349 | void mesures() |
johan04 | 1:da3240668253 | 350 | { |
johan04 | 1:da3240668253 | 351 | int cpthall; |
johan04 | 1:da3240668253 | 352 | cpthall=0; |
johan04 | 1:da3240668253 | 353 | vitesse = cpthall*10*((2*3.14*0.21)*3.6)/120; |
johan04 | 1:da3240668253 | 354 | } |
johan04 | 1:da3240668253 | 355 | void compteur() |
johan04 | 1:da3240668253 | 356 | { |
johan04 | 1:da3240668253 | 357 | cptTopHall++; |
johan04 | 1:da3240668253 | 358 | } |