Revision 1:a9ee3c2f4fc8, committed 2017-11-15

Comitter:

lebg

Date:

Wed Nov 15 13:51:19 2017 +0000

Parent:

0:e30c9ba95bd4

Commit message:

kk

Changed in this revision

--- a/main.cpp	Sat Aug 22 15:51:59 2015 +0000
+++ b/main.cpp	Wed Nov 15 13:51:19 2017 +0000
@@ -10,34 +10,50 @@
 #define RADIUS  0.2F // wheel size
 #define NBPOLES 8 // magnetic pole number
 #define DELTA_T 0.1F // speed measurement counting period
-
+#define AUTO 0  //definition des valeurs pour les differents modes
+#define MANUEL 1
+#define DT 0.2
+#define pi 3.14159
+#define POLE 8
+#define RAYON 0.19
+#define TICKER_PROGRESSIF 0.05
+#define TICKER_TENSION_BATTERIE 0.2
+#define TICKER_TENSION_TEMPERATURE 0.2
+#define TEMP_MAX 373
+#define TENSION_BAT_MAX 30
+#define TENSION_BAT_MIN 20
+#define TENSION_TEMP_MAX 3.73
+#define BAT_MAX 0.386
+#define TICKER_TENSION_COURANT 0.2
+#define RESISTANCE_EQUIVALENTE 0.5409836
+#define PENTE_CAPTEUR_COURANT 0.185
+#define TENSION_CPT_COURANT_MIN 2.505
 
 Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD
-    // analog input connected to mbed 
-    // valid pmw mbed pin
+// analog input connected to mbed
 Serial pc(USBTX, USBRX); // tx, rx
-    // Top_Hall Pin
-    
-    
- 
-    
+// Top_Hall Pin
+
+
+
+
 /************ persistent file parameters section *****************/
 LocalFileSystem local("local");               // Create the local filesystem under the name "local"
- 
+
+
+
 
-  
-    
-    
-    
-    
+
+
+
 /********************* web server section **********************************/
 
 var_field_t tab_balise[10];  //une balise est présente dans le squelette
-int giCounter=0;// acces counting
+int iCounter=0;// acces counting
 
 
 /*********************** can bus section  ************/
-         // determine message ID used to send Gaz ref over can bus
+// 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
 CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield
@@ -48,20 +64,42 @@
 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 
+DigitalOut led4(LED4); // blink when can message is received
+DigitalOut valid_pwm(p21);
+AnalogIn Vgaz(p17);
+Ticker COMMANDE;
+Ticker VITESSE;
+Ticker GAZ;
+Ticker TENSION_BATTERIE;
+Ticker TENSION_TEMPERATURE;
+Ticker TENSION_COURANT;
+InterruptIn valid(p22);
+AnalogIn Vbat(p18);
+AnalogIn Vtemp(p19);
+AnalogIn Vcourant(p20);
 
 
- 
-
- 
 //************ local function prototypes *******************
+void commande_gaz();  //fonction de commande des gaz par la poignée
+void cpt_vit();
+void calc_vit();
+void acceleration_progressive();
+void tension_batterie();
+void tension_temperature();
+void tension_courant();
 
 
 
-
+//*************************Variable globale********************************************************/
+float Nmin,Nmax,Ngaz,fVbat,fTension,Puissance_Gaz,fTemperature,fVtemp,fCourant,fVcourant;
+int iREF_PWM_MANUEL_BRUT;
+int iREF_PWM_AUTO_BRUT,iREF_PWM_AUTO_FINALE;
+int imode;
+int ireg;
+int iHALL,iBRAKE,iFALT,iOC,iDIR;
+int iLim_vit;
+float fv,fcpt,fnbr_poles;
 
-
- 
 /**************** Read persistent data from text file located on local file system ****************/
 
 
@@ -81,9 +119,9 @@
 
 //********************** timer interrupt for speed measurement each 100ms  *************************
 
-    
-    
-    
+
+
+
 
 
 //********************* Timer Interrupt for gaz ref management each 10ms   ********************
@@ -92,47 +130,86 @@
 
 /********* 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  
 
+{ char ma_chaine4[20]={};// needed to form html response
+sprintf (ma_chaine4,"%d",iCounter);// convert speed as ascii string
+Html_Patch (tab_balise,0,ma_chaine4);// patch first label with dyn.string
+iCounter++;
 }
-    
-    
-  /*********************** CAN BUS SECTION  **********************/
-    
+
+
+/*********************** CAN BUS SECTION  **********************/
+
 
 
 void CAN_REC_THREAD(void const *args)
-{ int iCount,iError;
+{
+    int iCount,iError;
 
- while (bCan_Active)
- {Thread::wait(100);// wait 100ms  
-    // code todo
-      
+    while (bCan_Active) {
+        Thread::wait(100);// wait 100ms
+        // code todo
+
     }
-    
+
 }
-       
-    
-  
-//*************************** main function *****************************************
-int main() {
-char cChoix=0;
 
 
 
+//*************************** main function *****************************************
+int main()
+{
+    
+    
+    char cChoix=0;
+    char cCalibre=0;
+    char cRegistre=0;
+    char cVitesse=0;
+    char cAlim=0;
+    valid_pwm.write(0);
+    iREF_PWM_MANUEL_BRUT=0;
+    iREF_PWM_AUTO_BRUT=0;
+    iREF_PWM_AUTO_FINALE=0;
+    // limite de vitesse en m/h par défaut
 
 
+    valid.mode(PullUp);
+    MyPLD.write(0);
+    valid_pwm.write(1);
+    imode=AUTO;  //mode d'initialisation = AUTO
+    FILE *fp = fopen("/local/scoot.txt", "r");
+    if(fp!= NULL) {
+        fscanf(fp,"%f %f %d",&Nmin,&Nmax,&iLim_vit);
+        fclose(fp);
+    } else {
+        pc.printf("fichier non ouvert\n\r");
+        fclose(fp);
+    }
+    /*Nmax=0.5;
+    Nmin=0.3;*/
+   
 //***************************************** 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
-/********* main cgi function used to patch data to the web server thread **********************************/
+    pc.printf("\n\r");
+    pc.printf("searching broadcast...\n\r");
+    pc.printf("wait...\n\r");
+    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
+    Gen_HtmlCode_From_File("/local/pagecgi2.htm",tab_balise,1);// read and localise ^VARDEF[X] tag in empty html file
+    /********* main cgi function used to patch data to the web server thread **********************************/
+    
 
-//******************************************* end web section  ************************************* / 
+//******************************************* end web section  ************************************* /
+    COMMANDE.attach(&commande_gaz,0.1);
+    valid.rise(&cpt_vit);
+    VITESSE.attach(&calc_vit,DT);
+    GAZ.attach(&acceleration_progressive,TICKER_PROGRESSIF);
+    TENSION_BATTERIE.attach(&tension_batterie,TICKER_TENSION_BATTERIE );
+    TENSION_TEMPERATURE.attach(&tension_temperature,TICKER_TENSION_TEMPERATURE);
+    TENSION_COURANT.attach(&tension_courant,TICKER_TENSION_COURANT);
 
 
 
-
-pc.printf(" programme scooter mbed \n");
+    pc.printf(" programme scooter mbed \n\r");
 
 
 
@@ -142,28 +219,278 @@
 //********************* end can bus section *****************************************************
 
 
-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(" q:quitter \n");
- 
- /************* 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': 
-     break;
-     case 'q': 
-     break;
-     }
-} // end while
- 
-  //************** thread deinit *********************
-     //DeInit_Web_Server();
-     //bCan_Active=false;
-     //CanThread=false;// close can received thread
-    pc.printf(" fin programme scooter mbed \n");
+    while(cChoix!='q' and cChoix!='Q')
+
+    {
+        pc.printf(" veuillez saisir un choix parmi la liste proposee: \n\r");
+        pc.printf(" 1:lecture poignée gaz\n\r");
+        pc.printf(" 2:lecture courant\n\r");
+        pc.printf(" 3:parametre batterie\n\r");
+        pc.printf(" 4:lecture temperature\n\r");
+        pc.printf(" 5:parametres vitesse\n\r");
+        pc.printf(" 6:lecture pe\n\r");
+        pc.printf(" 7:parametres Nmin,Nmax\n\r");
+        pc.printf(" 8:saisir PWM (0 a 255)\n\r");
+        pc.printf(" 9:lecture du registre\n\r");
+        pc.printf(" q:quitter \n");
+        pc.printf(" mode=%d\n\r",imode);
+        cRegistre=0;
+        cCalibre=0;
+        cVitesse=0;
+        cAlim=0;
+        valid_pwm.write(1);
+        /************* 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 '1':
+                pc.printf("poignee = %f\n\r",Ngaz);
+                break;
+            case '2':
+                break;
+            case '3':
+                while(cAlim!='q') {
+                    pc.printf("1:lecture tension batterie\n\r");
+                    pc.printf("2:lecture courant batterie\n\r");
+                    pc.printf("3:lecture temperature batterie\n\r");
+                    pc.printf("q:menu principal\n\r");
+                    pc.scanf(" %c",&cAlim);
+                    switch(cAlim) {
+                        case '1':
+                            pc.printf("tension batterie : %f V\n\r",fTension);
+                            break;
+                        case '2':
+                            pc.printf("courant mesure : %f A\n\r",fCourant);
+                            break;
+                        case '3':
+                            pc.printf("temperature batterie :%f °C\n\r",fTemperature);
+                            break;
+                    }
+                }
+
+                break;
+            case '4':
+                break;
+            case '5':
+                while(cVitesse!='q') {
+                    pc.printf("1:lecture vitesse en m/s\n\r");
+                    pc.printf("2:lecture vitesse en m/h\n\r");
+                    pc.printf("3:lecture vitesse en km/h\n\r");
+                    pc.printf("4:limite de vitesse = %d , redefinir ?\n\r",iLim_vit);
+                    pc.printf("q:menu principal\n\r");
+                    pc.scanf("%c",&cVitesse);
+                    switch(cVitesse) {
+                        case '1':
+                            pc.printf("%f m/s\n\r",fv);
+                            break;
+                        case '2':
+                            pc.printf("%f m/h\n\r",fv*3600);
+                            break;
+                        case '3':
+                            pc.printf("%f km/h\n\r",fv*3.6);
+                            break;
+                        case'4':
+                            pc.printf("choisir limite : ");
+                            pc.scanf("%d",&iLim_vit);
+
+                    }
+                }
+                break;
+            case '6':
+                break;
+            case '7':
+                valid_pwm.write(0);
+                while(cCalibre!='q') {
+                    pc.printf("1:definir Nmin ? mettre poignee au min puis saisir 1\n\r");
+                    pc.printf("2:definir Nmax ? mettre poignee au max puis saisir 2\n\r");
+                    pc.printf("3:lecture Nmin,Nmax\n\r");
+                    pc.printf("q:menu principal\n\r");
+                    pc.scanf("%c",&cCalibre);
+
+                    switch(cCalibre) {
+                        case '1':
+                            Nmin=Ngaz;
+                            pc.printf("Nmin = %f\n\r",Nmin);
+                            break;
+                        case '2':
+                            Nmax=Ngaz;
+                            pc.printf("Nmax = %f\n\r",Nmax);
+                            break;
+                        case '3':
+                            pc.printf("Nmin=%f\n\r",Nmin);
+                            pc.printf("Nmax=%f\n\r",Nmax);
+                            pc.printf("puissance=%f %%\n\r",Puissance_Gaz);
+                            break;
+                    }
+                }
+
+
+                break;
+            case '8':
+                pc.printf("choisir pwm :");
+                pc.scanf("%d",&iREF_PWM_MANUEL_BRUT);
+                if(iREF_PWM_MANUEL_BRUT>255) {
+                    iREF_PWM_MANUEL_BRUT=0;
+                }
+                pc.printf("%d\n\r",iREF_PWM_MANUEL_BRUT);
+
+                break;
+            case '9':
+                while(cRegistre!='q') {
+                    pc.printf("1:lecture registre\n\r");
+                    pc.printf("q:quitter\n\r");
+                    pc.scanf(" %c",&cRegistre);
+
+                    switch(cRegistre) {
+                        case'1':
+                            ireg=MyPLD.read();
+                            iHALL=ireg & 0x07;
+                            iBRAKE=ireg & 0x20;
+                            iDIR=ireg & 0x08;
+                            iFALT=ireg & 0x10;
+                            iOC=ireg & 0x40;
+                            pc.printf("secteur = %d\n\r",iHALL);
+                            if(iBRAKE==0) {
+                                pc.printf(" frein actif\n\r");
+                            }
+                            if(iBRAKE==32) {
+                                pc.printf(" frein inactif\n\r");
+                            }
+                            if(iDIR==8) {
+                                pc.printf(" marche avant\n\r");
+                            }
+                            if(iDIR==0) {
+                                pc.printf(" marche arriere\n\r");
+                            }
+                            if(iFALT==16) {
+                                pc.printf(" erreur\n\r");
+                            }
+                            if(iFALT==0) {
+                                pc.printf(" pas d'erreur\n\r");
+                            }
+                            if(iOC==0) {
+                                pc.printf(" surtension\n\r");
+                            }
+                            if(iOC==64) {
+                                pc.printf(" tension normale\n\r");
+                            }
+
+
+
+                            break;
+
+                    }
+                }
+
+                break;
+            case 'a':
+                imode=AUTO;    //mis en mode AUTO
+                break;
+            case 'm':
+                imode=MANUEL;    //mis en mode AUTO
+                break;
+
+            case 'q':
+                MyPLD.write(0);
+                valid_pwm=0;
+                COMMANDE.detach();
+                VITESSE.detach();
+                GAZ.detach();
+                FILE *fp=fopen("/local/scoot.txt", "w");
+                if(fp!= NULL) {
+                    fprintf(fp,"%f %f %d",Nmin,Nmax,iLim_vit);
+                    fclose(fp);
+                } else {
+                    pc.printf("fichier non ouvert\n\r");
+                    fclose(fp);
+                } //'arret du scooter'
+                break;
+        }
+    } // end while
+
+    //************** thread deinit *********************
+    //bCan_Active=false;
+    //CanThread=false;// close can received thread
+    pc.printf(" fin programme scooter mbed \n\r");
+    DeInit_Web_Server() ;// disable web server thread
 } // end main
+void commande_gaz()
+{
+    Ngaz=Vgaz.read();
+    iREF_PWM_AUTO_BRUT=255*(Ngaz-Nmin)/(Nmax-Nmin);
+    if(iREF_PWM_AUTO_BRUT<0) {
+        iREF_PWM_AUTO_BRUT=0;
+    }
+    if(iREF_PWM_AUTO_BRUT>255) {
+        iREF_PWM_AUTO_BRUT=255;
+    }
+    if ( imode==MANUEL) {
+        MyPLD.write(iREF_PWM_MANUEL_BRUT);
+    } else {
+        MyPLD.write(iREF_PWM_AUTO_FINALE);
+    }
+    if(Puissance_Gaz>=0 && Puissance_Gaz<=100) {
+        Puissance_Gaz=(Ngaz-Nmin)/(Nmax-Nmin)*100;
+    }
+    if(Puissance_Gaz>100) {
+        Puissance_Gaz=100;
+    }
+    if(Puissance_Gaz<0) {
+        Puissance_Gaz=0;
+    }
+
+}
+void cpt_vit()
+{
+    fcpt++;
+}
+void calc_vit()
+{
+    fnbr_poles=fcpt;
+    fv=(fnbr_poles*2*pi*RAYON)/(6*POLE*DT);
+    fcpt=0;
+
+}
+void acceleration_progressive()
+{
+    ireg=MyPLD.read();
+    iBRAKE=ireg & 0x20; //lecture du frein
+    if(iBRAKE==0) {
+        iREF_PWM_AUTO_FINALE = 0;
+    } else {
+        if(fv*3600>iLim_vit) {
+            if(iREF_PWM_AUTO_FINALE>0) {
+                iREF_PWM_AUTO_FINALE--;
+            } else {
+                iREF_PWM_AUTO_FINALE=0;
+            }
+        } else {
+
+            if(iREF_PWM_AUTO_FINALE<iREF_PWM_AUTO_BRUT) {
+
+                iREF_PWM_AUTO_FINALE++;
+            } else {
+                iREF_PWM_AUTO_FINALE=iREF_PWM_AUTO_BRUT;
+            }
+        }
+    }
+}
+void tension_batterie()
+{
+    fVbat=Vbat.read();
+    fTension=fVbat/BAT_MAX*TENSION_BAT_MAX;
+}
+void tension_temperature()
+{
+    fVtemp=Vtemp.read();
+    fTemperature=fVtemp*3.3/TENSION_TEMP_MAX*TEMP_MAX-273;
+}
+void tension_courant()
+{
+    fVcourant=Vcourant.read()*3.3/RESISTANCE_EQUIVALENTE;
+    fCourant=(fVcourant-TENSION_CPT_COURANT_MIN)/PENTE_CAPTEUR_COURANT;
+}
\ No newline at end of file