demaria valentin / Mbed 2 deprecated scooter_

squelette de demarrage projet ERS3 IUT NICE GEII

Dependencies:   EthernetInterface bloc_io html mbed-rtos mbed

Fork of scooter_mbed_etudiant by ERS3 2015-2016

main.cpp@1:a9ee3c2f4fc8, 2017-11-15 (annotated)

Committer:
lebg
Date:
Wed Nov 15 13:51:19 2017 +0000
Revision:
1:a9ee3c2f4fc8
Parent:
0:e30c9ba95bd4 
kk

Who changed what in which revision?

UserRevisionLine numberNew 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
lebg 1:a9ee3c2f4fc8 13 #define AUTO 0 //definition des valeurs pour les differents modes
lebg 1:a9ee3c2f4fc8 14 #define MANUEL 1
lebg 1:a9ee3c2f4fc8 15 #define DT 0.2
lebg 1:a9ee3c2f4fc8 16 #define pi 3.14159
lebg 1:a9ee3c2f4fc8 17 #define POLE 8
lebg 1:a9ee3c2f4fc8 18 #define RAYON 0.19
lebg 1:a9ee3c2f4fc8 19 #define TICKER_PROGRESSIF 0.05
lebg 1:a9ee3c2f4fc8 20 #define TICKER_TENSION_BATTERIE 0.2
lebg 1:a9ee3c2f4fc8 21 #define TICKER_TENSION_TEMPERATURE 0.2
lebg 1:a9ee3c2f4fc8 22 #define TEMP_MAX 373
lebg 1:a9ee3c2f4fc8 23 #define TENSION_BAT_MAX 30
lebg 1:a9ee3c2f4fc8 24 #define TENSION_BAT_MIN 20
lebg 1:a9ee3c2f4fc8 25 #define TENSION_TEMP_MAX 3.73
lebg 1:a9ee3c2f4fc8 26 #define BAT_MAX 0.386
lebg 1:a9ee3c2f4fc8 27 #define TICKER_TENSION_COURANT 0.2
lebg 1:a9ee3c2f4fc8 28 #define RESISTANCE_EQUIVALENTE 0.5409836
lebg 1:a9ee3c2f4fc8 29 #define PENTE_CAPTEUR_COURANT 0.185
lebg 1:a9ee3c2f4fc8 30 #define TENSION_CPT_COURANT_MIN 2.505
superphil06 0:e30c9ba95bd4 31
superphil06 0:e30c9ba95bd4 32 Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD
lebg 1:a9ee3c2f4fc8 33 // analog input connected to mbed
superphil06 0:e30c9ba95bd4 34 Serial pc(USBTX, USBRX); // tx, rx
lebg 1:a9ee3c2f4fc8 35 // Top_Hall Pin
lebg 1:a9ee3c2f4fc8 36
lebg 1:a9ee3c2f4fc8 37
lebg 1:a9ee3c2f4fc8 38
lebg 1:a9ee3c2f4fc8 39
superphil06 0:e30c9ba95bd4 40 /************ persistent file parameters section *****************/
superphil06 0:e30c9ba95bd4 41 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
lebg 1:a9ee3c2f4fc8 42
lebg 1:a9ee3c2f4fc8 43
lebg 1:a9ee3c2f4fc8 44
superphil06 0:e30c9ba95bd4 45
lebg 1:a9ee3c2f4fc8 46
lebg 1:a9ee3c2f4fc8 47
lebg 1:a9ee3c2f4fc8 48
superphil06 0:e30c9ba95bd4 49 /********************* web server section **********************************/
superphil06 0:e30c9ba95bd4 50
superphil06 0:e30c9ba95bd4 51 var_field_t tab_balise[10]; //une balise est présente dans le squelette
lebg 1:a9ee3c2f4fc8 52 int iCounter=0;// acces counting
superphil06 0:e30c9ba95bd4 53
superphil06 0:e30c9ba95bd4 54
superphil06 0:e30c9ba95bd4 55 /*********************** can bus section ************/
lebg 1:a9ee3c2f4fc8 56 // determine message ID used to send Gaz ref over can bus
superphil06 0:e30c9ba95bd4 57 #define _CAN_DEBUG // used to debug can bus activity
superphil06 0:e30c9ba95bd4 58 //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus
superphil06 0:e30c9ba95bd4 59 CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield
superphil06 0:e30c9ba95bd4 60 bool bCan_Active=false;
superphil06 0:e30c9ba95bd4 61
superphil06 0:e30c9ba95bd4 62
superphil06 0:e30c9ba95bd4 63
superphil06 0:e30c9ba95bd4 64 DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/
superphil06 0:e30c9ba95bd4 65 DigitalOut led2(LED2);
superphil06 0:e30c9ba95bd4 66 DigitalOut led3(LED3); // blink when can message is sent
lebg 1:a9ee3c2f4fc8 67 DigitalOut led4(LED4); // blink when can message is received
lebg 1:a9ee3c2f4fc8 68 DigitalOut valid_pwm(p21);
lebg 1:a9ee3c2f4fc8 69 AnalogIn Vgaz(p17);
lebg 1:a9ee3c2f4fc8 70 Ticker COMMANDE;
lebg 1:a9ee3c2f4fc8 71 Ticker VITESSE;
lebg 1:a9ee3c2f4fc8 72 Ticker GAZ;
lebg 1:a9ee3c2f4fc8 73 Ticker TENSION_BATTERIE;
lebg 1:a9ee3c2f4fc8 74 Ticker TENSION_TEMPERATURE;
lebg 1:a9ee3c2f4fc8 75 Ticker TENSION_COURANT;
lebg 1:a9ee3c2f4fc8 76 InterruptIn valid(p22);
lebg 1:a9ee3c2f4fc8 77 AnalogIn Vbat(p18);
lebg 1:a9ee3c2f4fc8 78 AnalogIn Vtemp(p19);
lebg 1:a9ee3c2f4fc8 79 AnalogIn Vcourant(p20);
superphil06 0:e30c9ba95bd4 80
superphil06 0:e30c9ba95bd4 81
superphil06 0:e30c9ba95bd4 82 //************ local function prototypes *******************
lebg 1:a9ee3c2f4fc8 83 void commande_gaz(); //fonction de commande des gaz par la poignée
lebg 1:a9ee3c2f4fc8 84 void cpt_vit();
lebg 1:a9ee3c2f4fc8 85 void calc_vit();
lebg 1:a9ee3c2f4fc8 86 void acceleration_progressive();
lebg 1:a9ee3c2f4fc8 87 void tension_batterie();
lebg 1:a9ee3c2f4fc8 88 void tension_temperature();
lebg 1:a9ee3c2f4fc8 89 void tension_courant();
superphil06 0:e30c9ba95bd4 90
superphil06 0:e30c9ba95bd4 91
superphil06 0:e30c9ba95bd4 92
lebg 1:a9ee3c2f4fc8 93 //*************************Variable globale********************************************************/
lebg 1:a9ee3c2f4fc8 94 float Nmin,Nmax,Ngaz,fVbat,fTension,Puissance_Gaz,fTemperature,fVtemp,fCourant,fVcourant;
lebg 1:a9ee3c2f4fc8 95 int iREF_PWM_MANUEL_BRUT;
lebg 1:a9ee3c2f4fc8 96 int iREF_PWM_AUTO_BRUT,iREF_PWM_AUTO_FINALE;
lebg 1:a9ee3c2f4fc8 97 int imode;
lebg 1:a9ee3c2f4fc8 98 int ireg;
lebg 1:a9ee3c2f4fc8 99 int iHALL,iBRAKE,iFALT,iOC,iDIR;
lebg 1:a9ee3c2f4fc8 100 int iLim_vit;
lebg 1:a9ee3c2f4fc8 101 float fv,fcpt,fnbr_poles;
superphil06 0:e30c9ba95bd4 102
superphil06 0:e30c9ba95bd4 103 /**************** Read persistent data from text file located on local file system ****************/
superphil06 0:e30c9ba95bd4 104
superphil06 0:e30c9ba95bd4 105
superphil06 0:e30c9ba95bd4 106
superphil06 0:e30c9ba95bd4 107 /**************** write persitant data to text file located on local file system ****************/
superphil06 0:e30c9ba95bd4 108
superphil06 0:e30c9ba95bd4 109
superphil06 0:e30c9ba95bd4 110
superphil06 0:e30c9ba95bd4 111
superphil06 0:e30c9ba95bd4 112
superphil06 0:e30c9ba95bd4 113
superphil06 0:e30c9ba95bd4 114 //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ******************
superphil06 0:e30c9ba95bd4 115
superphil06 0:e30c9ba95bd4 116
superphil06 0:e30c9ba95bd4 117 // ************top hall counting interrupt needed for speed measurement
superphil06 0:e30c9ba95bd4 118
superphil06 0:e30c9ba95bd4 119
superphil06 0:e30c9ba95bd4 120 //********************** timer interrupt for speed measurement each 100ms *************************
superphil06 0:e30c9ba95bd4 121
lebg 1:a9ee3c2f4fc8 122
lebg 1:a9ee3c2f4fc8 123
lebg 1:a9ee3c2f4fc8 124
superphil06 0:e30c9ba95bd4 125
superphil06 0:e30c9ba95bd4 126
superphil06 0:e30c9ba95bd4 127 //********************* Timer Interrupt for gaz ref management each 10ms ********************
superphil06 0:e30c9ba95bd4 128
superphil06 0:e30c9ba95bd4 129
superphil06 0:e30c9ba95bd4 130
superphil06 0:e30c9ba95bd4 131 /********* main cgi function used to patch data to the web server thread **********************************/
superphil06 0:e30c9ba95bd4 132 void CGI_Function(void) // cgi function that patch web data to empty web page
superphil06 0:e30c9ba95bd4 133
lebg 1:a9ee3c2f4fc8 134 { char ma_chaine4[20]={};// needed to form html response
lebg 1:a9ee3c2f4fc8 135 sprintf (ma_chaine4,"%d",iCounter);// convert speed as ascii string
lebg 1:a9ee3c2f4fc8 136 Html_Patch (tab_balise,0,ma_chaine4);// patch first label with dyn.string
lebg 1:a9ee3c2f4fc8 137 iCounter++;
superphil06 0:e30c9ba95bd4 138 }
lebg 1:a9ee3c2f4fc8 139
lebg 1:a9ee3c2f4fc8 140
lebg 1:a9ee3c2f4fc8 141 /*********************** CAN BUS SECTION **********************/
lebg 1:a9ee3c2f4fc8 142
superphil06 0:e30c9ba95bd4 143
superphil06 0:e30c9ba95bd4 144
superphil06 0:e30c9ba95bd4 145 void CAN_REC_THREAD(void const *args)
lebg 1:a9ee3c2f4fc8 146 {
lebg 1:a9ee3c2f4fc8 147 int iCount,iError;
superphil06 0:e30c9ba95bd4 148
lebg 1:a9ee3c2f4fc8 149 while (bCan_Active) {
lebg 1:a9ee3c2f4fc8 150 Thread::wait(100);// wait 100ms
lebg 1:a9ee3c2f4fc8 151 // code todo
lebg 1:a9ee3c2f4fc8 152
superphil06 0:e30c9ba95bd4 153 }
lebg 1:a9ee3c2f4fc8 154
superphil06 0:e30c9ba95bd4 155 }
superphil06 0:e30c9ba95bd4 156
superphil06 0:e30c9ba95bd4 157
superphil06 0:e30c9ba95bd4 158
lebg 1:a9ee3c2f4fc8 159 //*************************** main function *****************************************
lebg 1:a9ee3c2f4fc8 160 int main()
lebg 1:a9ee3c2f4fc8 161 {
lebg 1:a9ee3c2f4fc8 162
lebg 1:a9ee3c2f4fc8 163
lebg 1:a9ee3c2f4fc8 164 char cChoix=0;
lebg 1:a9ee3c2f4fc8 165 char cCalibre=0;
lebg 1:a9ee3c2f4fc8 166 char cRegistre=0;
lebg 1:a9ee3c2f4fc8 167 char cVitesse=0;
lebg 1:a9ee3c2f4fc8 168 char cAlim=0;
lebg 1:a9ee3c2f4fc8 169 valid_pwm.write(0);
lebg 1:a9ee3c2f4fc8 170 iREF_PWM_MANUEL_BRUT=0;
lebg 1:a9ee3c2f4fc8 171 iREF_PWM_AUTO_BRUT=0;
lebg 1:a9ee3c2f4fc8 172 iREF_PWM_AUTO_FINALE=0;
lebg 1:a9ee3c2f4fc8 173 // limite de vitesse en m/h par défaut
superphil06 0:e30c9ba95bd4 174
superphil06 0:e30c9ba95bd4 175
lebg 1:a9ee3c2f4fc8 176 valid.mode(PullUp);
lebg 1:a9ee3c2f4fc8 177 MyPLD.write(0);
lebg 1:a9ee3c2f4fc8 178 valid_pwm.write(1);
lebg 1:a9ee3c2f4fc8 179 imode=AUTO; //mode d'initialisation = AUTO
lebg 1:a9ee3c2f4fc8 180 FILE *fp = fopen("/local/scoot.txt", "r");
lebg 1:a9ee3c2f4fc8 181 if(fp!= NULL) {
lebg 1:a9ee3c2f4fc8 182 fscanf(fp,"%f %f %d",&Nmin,&Nmax,&iLim_vit);
lebg 1:a9ee3c2f4fc8 183 fclose(fp);
lebg 1:a9ee3c2f4fc8 184 } else {
lebg 1:a9ee3c2f4fc8 185 pc.printf("fichier non ouvert\n\r");
lebg 1:a9ee3c2f4fc8 186 fclose(fp);
lebg 1:a9ee3c2f4fc8 187 }
lebg 1:a9ee3c2f4fc8 188 /*Nmax=0.5;
lebg 1:a9ee3c2f4fc8 189 Nmin=0.3;*/
lebg 1:a9ee3c2f4fc8 190
superphil06 0:e30c9ba95bd4 191 //***************************************** web section ********************************************/
lebg 1:a9ee3c2f4fc8 192 pc.printf("\n\r");
lebg 1:a9ee3c2f4fc8 193 pc.printf("searching broadcast...\n\r");
lebg 1:a9ee3c2f4fc8 194 pc.printf("wait...\n\r");
lebg 1:a9ee3c2f4fc8 195 Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function
lebg 1:a9ee3c2f4fc8 196 Thread WebThread(Web_Server_Thread);// create and launch web server thread
lebg 1:a9ee3c2f4fc8 197 Gen_HtmlCode_From_File("/local/pagecgi2.htm",tab_balise,1);// read and localise ^VARDEF[X] tag in empty html file
lebg 1:a9ee3c2f4fc8 198 /********* main cgi function used to patch data to the web server thread **********************************/
lebg 1:a9ee3c2f4fc8 199
superphil06 0:e30c9ba95bd4 200
lebg 1:a9ee3c2f4fc8 201 //******************************************* end web section ************************************* /
lebg 1:a9ee3c2f4fc8 202 COMMANDE.attach(&commande_gaz,0.1);
lebg 1:a9ee3c2f4fc8 203 valid.rise(&cpt_vit);
lebg 1:a9ee3c2f4fc8 204 VITESSE.attach(&calc_vit,DT);
lebg 1:a9ee3c2f4fc8 205 GAZ.attach(&acceleration_progressive,TICKER_PROGRESSIF);
lebg 1:a9ee3c2f4fc8 206 TENSION_BATTERIE.attach(&tension_batterie,TICKER_TENSION_BATTERIE );
lebg 1:a9ee3c2f4fc8 207 TENSION_TEMPERATURE.attach(&tension_temperature,TICKER_TENSION_TEMPERATURE);
lebg 1:a9ee3c2f4fc8 208 TENSION_COURANT.attach(&tension_courant,TICKER_TENSION_COURANT);
superphil06 0:e30c9ba95bd4 209
superphil06 0:e30c9ba95bd4 210
superphil06 0:e30c9ba95bd4 211
lebg 1:a9ee3c2f4fc8 212 pc.printf(" programme scooter mbed \n\r");
superphil06 0:e30c9ba95bd4 213
superphil06 0:e30c9ba95bd4 214
superphil06 0:e30c9ba95bd4 215
superphil06 0:e30c9ba95bd4 216 //********************* can bus section initialisation *******************************************
superphil06 0:e30c9ba95bd4 217 //bCan_Active=true;// needed to lauchn CAN thread
superphil06 0:e30c9ba95bd4 218 //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread
superphil06 0:e30c9ba95bd4 219 //********************* end can bus section *****************************************************
superphil06 0:e30c9ba95bd4 220
superphil06 0:e30c9ba95bd4 221
lebg 1:a9ee3c2f4fc8 222 while(cChoix!='q' and cChoix!='Q')
lebg 1:a9ee3c2f4fc8 223
lebg 1:a9ee3c2f4fc8 224 {
lebg 1:a9ee3c2f4fc8 225 pc.printf(" veuillez saisir un choix parmi la liste proposee: \n\r");
lebg 1:a9ee3c2f4fc8 226 pc.printf(" 1:lecture poignée gaz\n\r");
lebg 1:a9ee3c2f4fc8 227 pc.printf(" 2:lecture courant\n\r");
lebg 1:a9ee3c2f4fc8 228 pc.printf(" 3:parametre batterie\n\r");
lebg 1:a9ee3c2f4fc8 229 pc.printf(" 4:lecture temperature\n\r");
lebg 1:a9ee3c2f4fc8 230 pc.printf(" 5:parametres vitesse\n\r");
lebg 1:a9ee3c2f4fc8 231 pc.printf(" 6:lecture pe\n\r");
lebg 1:a9ee3c2f4fc8 232 pc.printf(" 7:parametres Nmin,Nmax\n\r");
lebg 1:a9ee3c2f4fc8 233 pc.printf(" 8:saisir PWM (0 a 255)\n\r");
lebg 1:a9ee3c2f4fc8 234 pc.printf(" 9:lecture du registre\n\r");
lebg 1:a9ee3c2f4fc8 235 pc.printf(" q:quitter \n");
lebg 1:a9ee3c2f4fc8 236 pc.printf(" mode=%d\n\r",imode);
lebg 1:a9ee3c2f4fc8 237 cRegistre=0;
lebg 1:a9ee3c2f4fc8 238 cCalibre=0;
lebg 1:a9ee3c2f4fc8 239 cVitesse=0;
lebg 1:a9ee3c2f4fc8 240 cAlim=0;
lebg 1:a9ee3c2f4fc8 241 valid_pwm.write(1);
lebg 1:a9ee3c2f4fc8 242 /************* multithreading : main thread need to sleep in order to allow web response */
lebg 1:a9ee3c2f4fc8 243 while (pc.readable()==0) { // determine if char availabler
lebg 1:a9ee3c2f4fc8 244 Thread::wait(10); // wait 10 until char available on serial input
lebg 1:a9ee3c2f4fc8 245 }
lebg 1:a9ee3c2f4fc8 246 /************* end of main thread sleep ****************/
lebg 1:a9ee3c2f4fc8 247
lebg 1:a9ee3c2f4fc8 248 pc.scanf(" %c",&cChoix);
lebg 1:a9ee3c2f4fc8 249 switch (cChoix) {
lebg 1:a9ee3c2f4fc8 250 case '1':
lebg 1:a9ee3c2f4fc8 251 pc.printf("poignee = %f\n\r",Ngaz);
lebg 1:a9ee3c2f4fc8 252 break;
lebg 1:a9ee3c2f4fc8 253 case '2':
lebg 1:a9ee3c2f4fc8 254 break;
lebg 1:a9ee3c2f4fc8 255 case '3':
lebg 1:a9ee3c2f4fc8 256 while(cAlim!='q') {
lebg 1:a9ee3c2f4fc8 257 pc.printf("1:lecture tension batterie\n\r");
lebg 1:a9ee3c2f4fc8 258 pc.printf("2:lecture courant batterie\n\r");
lebg 1:a9ee3c2f4fc8 259 pc.printf("3:lecture temperature batterie\n\r");
lebg 1:a9ee3c2f4fc8 260 pc.printf("q:menu principal\n\r");
lebg 1:a9ee3c2f4fc8 261 pc.scanf(" %c",&cAlim);
lebg 1:a9ee3c2f4fc8 262 switch(cAlim) {
lebg 1:a9ee3c2f4fc8 263 case '1':
lebg 1:a9ee3c2f4fc8 264 pc.printf("tension batterie : %f V\n\r",fTension);
lebg 1:a9ee3c2f4fc8 265 break;
lebg 1:a9ee3c2f4fc8 266 case '2':
lebg 1:a9ee3c2f4fc8 267 pc.printf("courant mesure : %f A\n\r",fCourant);
lebg 1:a9ee3c2f4fc8 268 break;
lebg 1:a9ee3c2f4fc8 269 case '3':
lebg 1:a9ee3c2f4fc8 270 pc.printf("temperature batterie :%f °C\n\r",fTemperature);
lebg 1:a9ee3c2f4fc8 271 break;
lebg 1:a9ee3c2f4fc8 272 }
lebg 1:a9ee3c2f4fc8 273 }
lebg 1:a9ee3c2f4fc8 274
lebg 1:a9ee3c2f4fc8 275 break;
lebg 1:a9ee3c2f4fc8 276 case '4':
lebg 1:a9ee3c2f4fc8 277 break;
lebg 1:a9ee3c2f4fc8 278 case '5':
lebg 1:a9ee3c2f4fc8 279 while(cVitesse!='q') {
lebg 1:a9ee3c2f4fc8 280 pc.printf("1:lecture vitesse en m/s\n\r");
lebg 1:a9ee3c2f4fc8 281 pc.printf("2:lecture vitesse en m/h\n\r");
lebg 1:a9ee3c2f4fc8 282 pc.printf("3:lecture vitesse en km/h\n\r");
lebg 1:a9ee3c2f4fc8 283 pc.printf("4:limite de vitesse = %d , redefinir ?\n\r",iLim_vit);
lebg 1:a9ee3c2f4fc8 284 pc.printf("q:menu principal\n\r");
lebg 1:a9ee3c2f4fc8 285 pc.scanf("%c",&cVitesse);
lebg 1:a9ee3c2f4fc8 286 switch(cVitesse) {
lebg 1:a9ee3c2f4fc8 287 case '1':
lebg 1:a9ee3c2f4fc8 288 pc.printf("%f m/s\n\r",fv);
lebg 1:a9ee3c2f4fc8 289 break;
lebg 1:a9ee3c2f4fc8 290 case '2':
lebg 1:a9ee3c2f4fc8 291 pc.printf("%f m/h\n\r",fv*3600);
lebg 1:a9ee3c2f4fc8 292 break;
lebg 1:a9ee3c2f4fc8 293 case '3':
lebg 1:a9ee3c2f4fc8 294 pc.printf("%f km/h\n\r",fv*3.6);
lebg 1:a9ee3c2f4fc8 295 break;
lebg 1:a9ee3c2f4fc8 296 case'4':
lebg 1:a9ee3c2f4fc8 297 pc.printf("choisir limite : ");
lebg 1:a9ee3c2f4fc8 298 pc.scanf("%d",&iLim_vit);
lebg 1:a9ee3c2f4fc8 299
lebg 1:a9ee3c2f4fc8 300 }
lebg 1:a9ee3c2f4fc8 301 }
lebg 1:a9ee3c2f4fc8 302 break;
lebg 1:a9ee3c2f4fc8 303 case '6':
lebg 1:a9ee3c2f4fc8 304 break;
lebg 1:a9ee3c2f4fc8 305 case '7':
lebg 1:a9ee3c2f4fc8 306 valid_pwm.write(0);
lebg 1:a9ee3c2f4fc8 307 while(cCalibre!='q') {
lebg 1:a9ee3c2f4fc8 308 pc.printf("1:definir Nmin ? mettre poignee au min puis saisir 1\n\r");
lebg 1:a9ee3c2f4fc8 309 pc.printf("2:definir Nmax ? mettre poignee au max puis saisir 2\n\r");
lebg 1:a9ee3c2f4fc8 310 pc.printf("3:lecture Nmin,Nmax\n\r");
lebg 1:a9ee3c2f4fc8 311 pc.printf("q:menu principal\n\r");
lebg 1:a9ee3c2f4fc8 312 pc.scanf("%c",&cCalibre);
lebg 1:a9ee3c2f4fc8 313
lebg 1:a9ee3c2f4fc8 314 switch(cCalibre) {
lebg 1:a9ee3c2f4fc8 315 case '1':
lebg 1:a9ee3c2f4fc8 316 Nmin=Ngaz;
lebg 1:a9ee3c2f4fc8 317 pc.printf("Nmin = %f\n\r",Nmin);
lebg 1:a9ee3c2f4fc8 318 break;
lebg 1:a9ee3c2f4fc8 319 case '2':
lebg 1:a9ee3c2f4fc8 320 Nmax=Ngaz;
lebg 1:a9ee3c2f4fc8 321 pc.printf("Nmax = %f\n\r",Nmax);
lebg 1:a9ee3c2f4fc8 322 break;
lebg 1:a9ee3c2f4fc8 323 case '3':
lebg 1:a9ee3c2f4fc8 324 pc.printf("Nmin=%f\n\r",Nmin);
lebg 1:a9ee3c2f4fc8 325 pc.printf("Nmax=%f\n\r",Nmax);
lebg 1:a9ee3c2f4fc8 326 pc.printf("puissance=%f %%\n\r",Puissance_Gaz);
lebg 1:a9ee3c2f4fc8 327 break;
lebg 1:a9ee3c2f4fc8 328 }
lebg 1:a9ee3c2f4fc8 329 }
lebg 1:a9ee3c2f4fc8 330
lebg 1:a9ee3c2f4fc8 331
lebg 1:a9ee3c2f4fc8 332 break;
lebg 1:a9ee3c2f4fc8 333 case '8':
lebg 1:a9ee3c2f4fc8 334 pc.printf("choisir pwm :");
lebg 1:a9ee3c2f4fc8 335 pc.scanf("%d",&iREF_PWM_MANUEL_BRUT);
lebg 1:a9ee3c2f4fc8 336 if(iREF_PWM_MANUEL_BRUT>255) {
lebg 1:a9ee3c2f4fc8 337 iREF_PWM_MANUEL_BRUT=0;
lebg 1:a9ee3c2f4fc8 338 }
lebg 1:a9ee3c2f4fc8 339 pc.printf("%d\n\r",iREF_PWM_MANUEL_BRUT);
lebg 1:a9ee3c2f4fc8 340
lebg 1:a9ee3c2f4fc8 341 break;
lebg 1:a9ee3c2f4fc8 342 case '9':
lebg 1:a9ee3c2f4fc8 343 while(cRegistre!='q') {
lebg 1:a9ee3c2f4fc8 344 pc.printf("1:lecture registre\n\r");
lebg 1:a9ee3c2f4fc8 345 pc.printf("q:quitter\n\r");
lebg 1:a9ee3c2f4fc8 346 pc.scanf(" %c",&cRegistre);
lebg 1:a9ee3c2f4fc8 347
lebg 1:a9ee3c2f4fc8 348 switch(cRegistre) {
lebg 1:a9ee3c2f4fc8 349 case'1':
lebg 1:a9ee3c2f4fc8 350 ireg=MyPLD.read();
lebg 1:a9ee3c2f4fc8 351 iHALL=ireg & 0x07;
lebg 1:a9ee3c2f4fc8 352 iBRAKE=ireg & 0x20;
lebg 1:a9ee3c2f4fc8 353 iDIR=ireg & 0x08;
lebg 1:a9ee3c2f4fc8 354 iFALT=ireg & 0x10;
lebg 1:a9ee3c2f4fc8 355 iOC=ireg & 0x40;
lebg 1:a9ee3c2f4fc8 356 pc.printf("secteur = %d\n\r",iHALL);
lebg 1:a9ee3c2f4fc8 357 if(iBRAKE==0) {
lebg 1:a9ee3c2f4fc8 358 pc.printf(" frein actif\n\r");
lebg 1:a9ee3c2f4fc8 359 }
lebg 1:a9ee3c2f4fc8 360 if(iBRAKE==32) {
lebg 1:a9ee3c2f4fc8 361 pc.printf(" frein inactif\n\r");
lebg 1:a9ee3c2f4fc8 362 }
lebg 1:a9ee3c2f4fc8 363 if(iDIR==8) {
lebg 1:a9ee3c2f4fc8 364 pc.printf(" marche avant\n\r");
lebg 1:a9ee3c2f4fc8 365 }
lebg 1:a9ee3c2f4fc8 366 if(iDIR==0) {
lebg 1:a9ee3c2f4fc8 367 pc.printf(" marche arriere\n\r");
lebg 1:a9ee3c2f4fc8 368 }
lebg 1:a9ee3c2f4fc8 369 if(iFALT==16) {
lebg 1:a9ee3c2f4fc8 370 pc.printf(" erreur\n\r");
lebg 1:a9ee3c2f4fc8 371 }
lebg 1:a9ee3c2f4fc8 372 if(iFALT==0) {
lebg 1:a9ee3c2f4fc8 373 pc.printf(" pas d'erreur\n\r");
lebg 1:a9ee3c2f4fc8 374 }
lebg 1:a9ee3c2f4fc8 375 if(iOC==0) {
lebg 1:a9ee3c2f4fc8 376 pc.printf(" surtension\n\r");
lebg 1:a9ee3c2f4fc8 377 }
lebg 1:a9ee3c2f4fc8 378 if(iOC==64) {
lebg 1:a9ee3c2f4fc8 379 pc.printf(" tension normale\n\r");
lebg 1:a9ee3c2f4fc8 380 }
lebg 1:a9ee3c2f4fc8 381
lebg 1:a9ee3c2f4fc8 382
lebg 1:a9ee3c2f4fc8 383
lebg 1:a9ee3c2f4fc8 384 break;
lebg 1:a9ee3c2f4fc8 385
lebg 1:a9ee3c2f4fc8 386 }
lebg 1:a9ee3c2f4fc8 387 }
lebg 1:a9ee3c2f4fc8 388
lebg 1:a9ee3c2f4fc8 389 break;
lebg 1:a9ee3c2f4fc8 390 case 'a':
lebg 1:a9ee3c2f4fc8 391 imode=AUTO; //mis en mode AUTO
lebg 1:a9ee3c2f4fc8 392 break;
lebg 1:a9ee3c2f4fc8 393 case 'm':
lebg 1:a9ee3c2f4fc8 394 imode=MANUEL; //mis en mode AUTO
lebg 1:a9ee3c2f4fc8 395 break;
lebg 1:a9ee3c2f4fc8 396
lebg 1:a9ee3c2f4fc8 397 case 'q':
lebg 1:a9ee3c2f4fc8 398 MyPLD.write(0);
lebg 1:a9ee3c2f4fc8 399 valid_pwm=0;
lebg 1:a9ee3c2f4fc8 400 COMMANDE.detach();
lebg 1:a9ee3c2f4fc8 401 VITESSE.detach();
lebg 1:a9ee3c2f4fc8 402 GAZ.detach();
lebg 1:a9ee3c2f4fc8 403 FILE *fp=fopen("/local/scoot.txt", "w");
lebg 1:a9ee3c2f4fc8 404 if(fp!= NULL) {
lebg 1:a9ee3c2f4fc8 405 fprintf(fp,"%f %f %d",Nmin,Nmax,iLim_vit);
lebg 1:a9ee3c2f4fc8 406 fclose(fp);
lebg 1:a9ee3c2f4fc8 407 } else {
lebg 1:a9ee3c2f4fc8 408 pc.printf("fichier non ouvert\n\r");
lebg 1:a9ee3c2f4fc8 409 fclose(fp);
lebg 1:a9ee3c2f4fc8 410 } //'arret du scooter'
lebg 1:a9ee3c2f4fc8 411 break;
lebg 1:a9ee3c2f4fc8 412 }
lebg 1:a9ee3c2f4fc8 413 } // end while
lebg 1:a9ee3c2f4fc8 414
lebg 1:a9ee3c2f4fc8 415 //************** thread deinit *********************
lebg 1:a9ee3c2f4fc8 416 //bCan_Active=false;
lebg 1:a9ee3c2f4fc8 417 //CanThread=false;// close can received thread
lebg 1:a9ee3c2f4fc8 418 pc.printf(" fin programme scooter mbed \n\r");
lebg 1:a9ee3c2f4fc8 419 DeInit_Web_Server() ;// disable web server thread
superphil06 0:e30c9ba95bd4 420 } // end main
lebg 1:a9ee3c2f4fc8 421 void commande_gaz()
lebg 1:a9ee3c2f4fc8 422 {
lebg 1:a9ee3c2f4fc8 423 Ngaz=Vgaz.read();
lebg 1:a9ee3c2f4fc8 424 iREF_PWM_AUTO_BRUT=255*(Ngaz-Nmin)/(Nmax-Nmin);
lebg 1:a9ee3c2f4fc8 425 if(iREF_PWM_AUTO_BRUT<0) {
lebg 1:a9ee3c2f4fc8 426 iREF_PWM_AUTO_BRUT=0;
lebg 1:a9ee3c2f4fc8 427 }
lebg 1:a9ee3c2f4fc8 428 if(iREF_PWM_AUTO_BRUT>255) {
lebg 1:a9ee3c2f4fc8 429 iREF_PWM_AUTO_BRUT=255;
lebg 1:a9ee3c2f4fc8 430 }
lebg 1:a9ee3c2f4fc8 431 if ( imode==MANUEL) {
lebg 1:a9ee3c2f4fc8 432 MyPLD.write(iREF_PWM_MANUEL_BRUT);
lebg 1:a9ee3c2f4fc8 433 } else {
lebg 1:a9ee3c2f4fc8 434 MyPLD.write(iREF_PWM_AUTO_FINALE);
lebg 1:a9ee3c2f4fc8 435 }
lebg 1:a9ee3c2f4fc8 436 if(Puissance_Gaz>=0 && Puissance_Gaz<=100) {
lebg 1:a9ee3c2f4fc8 437 Puissance_Gaz=(Ngaz-Nmin)/(Nmax-Nmin)*100;
lebg 1:a9ee3c2f4fc8 438 }
lebg 1:a9ee3c2f4fc8 439 if(Puissance_Gaz>100) {
lebg 1:a9ee3c2f4fc8 440 Puissance_Gaz=100;
lebg 1:a9ee3c2f4fc8 441 }
lebg 1:a9ee3c2f4fc8 442 if(Puissance_Gaz<0) {
lebg 1:a9ee3c2f4fc8 443 Puissance_Gaz=0;
lebg 1:a9ee3c2f4fc8 444 }
lebg 1:a9ee3c2f4fc8 445
lebg 1:a9ee3c2f4fc8 446 }
lebg 1:a9ee3c2f4fc8 447 void cpt_vit()
lebg 1:a9ee3c2f4fc8 448 {
lebg 1:a9ee3c2f4fc8 449 fcpt++;
lebg 1:a9ee3c2f4fc8 450 }
lebg 1:a9ee3c2f4fc8 451 void calc_vit()
lebg 1:a9ee3c2f4fc8 452 {
lebg 1:a9ee3c2f4fc8 453 fnbr_poles=fcpt;
lebg 1:a9ee3c2f4fc8 454 fv=(fnbr_poles*2*pi*RAYON)/(6*POLE*DT);
lebg 1:a9ee3c2f4fc8 455 fcpt=0;
lebg 1:a9ee3c2f4fc8 456
lebg 1:a9ee3c2f4fc8 457 }
lebg 1:a9ee3c2f4fc8 458 void acceleration_progressive()
lebg 1:a9ee3c2f4fc8 459 {
lebg 1:a9ee3c2f4fc8 460 ireg=MyPLD.read();
lebg 1:a9ee3c2f4fc8 461 iBRAKE=ireg & 0x20; //lecture du frein
lebg 1:a9ee3c2f4fc8 462 if(iBRAKE==0) {
lebg 1:a9ee3c2f4fc8 463 iREF_PWM_AUTO_FINALE = 0;
lebg 1:a9ee3c2f4fc8 464 } else {
lebg 1:a9ee3c2f4fc8 465 if(fv*3600>iLim_vit) {
lebg 1:a9ee3c2f4fc8 466 if(iREF_PWM_AUTO_FINALE>0) {
lebg 1:a9ee3c2f4fc8 467 iREF_PWM_AUTO_FINALE--;
lebg 1:a9ee3c2f4fc8 468 } else {
lebg 1:a9ee3c2f4fc8 469 iREF_PWM_AUTO_FINALE=0;
lebg 1:a9ee3c2f4fc8 470 }
lebg 1:a9ee3c2f4fc8 471 } else {
lebg 1:a9ee3c2f4fc8 472
lebg 1:a9ee3c2f4fc8 473 if(iREF_PWM_AUTO_FINALE<iREF_PWM_AUTO_BRUT) {
lebg 1:a9ee3c2f4fc8 474
lebg 1:a9ee3c2f4fc8 475 iREF_PWM_AUTO_FINALE++;
lebg 1:a9ee3c2f4fc8 476 } else {
lebg 1:a9ee3c2f4fc8 477 iREF_PWM_AUTO_FINALE=iREF_PWM_AUTO_BRUT;
lebg 1:a9ee3c2f4fc8 478 }
lebg 1:a9ee3c2f4fc8 479 }
lebg 1:a9ee3c2f4fc8 480 }
lebg 1:a9ee3c2f4fc8 481 }
lebg 1:a9ee3c2f4fc8 482 void tension_batterie()
lebg 1:a9ee3c2f4fc8 483 {
lebg 1:a9ee3c2f4fc8 484 fVbat=Vbat.read();
lebg 1:a9ee3c2f4fc8 485 fTension=fVbat/BAT_MAX*TENSION_BAT_MAX;
lebg 1:a9ee3c2f4fc8 486 }
lebg 1:a9ee3c2f4fc8 487 void tension_temperature()
lebg 1:a9ee3c2f4fc8 488 {
lebg 1:a9ee3c2f4fc8 489 fVtemp=Vtemp.read();
lebg 1:a9ee3c2f4fc8 490 fTemperature=fVtemp*3.3/TENSION_TEMP_MAX*TEMP_MAX-273;
lebg 1:a9ee3c2f4fc8 491 }
lebg 1:a9ee3c2f4fc8 492 void tension_courant()
lebg 1:a9ee3c2f4fc8 493 {
lebg 1:a9ee3c2f4fc8 494 fVcourant=Vcourant.read()*3.3/RESISTANCE_EQUIVALENTE;
lebg 1:a9ee3c2f4fc8 495 fCourant=(fVcourant-TENSION_CPT_COURANT_MIN)/PENTE_CAPTEUR_COURANT;
lebg 1:a9ee3c2f4fc8 496 }