Revision 1:8d356d22e69c, committed 2018-01-22

Comitter:

syasya

Date:

Mon Jan 22 19:02:58 2018 +0000

Parent:

0:e30c9ba95bd4

Commit message:

IUT GEII NICE SEMESTRE 3 SCOOTER PROJECT

Changed in this revision

diff -r e30c9ba95bd4 -r 8d356d22e69c main.cpp
--- a/main.cpp	Sat Aug 22 15:51:59 2015 +0000
+++ b/main.cpp	Mon Jan 22 19:02:58 2018 +0000
@@ -1,169 +1,437 @@
-
-
-//#include "EthernetInterface.h"
+#include "EthernetInterface.h"
 #include <stdlib.h>
 #include <string.h>
 #include "mbed.h"
 #include "rtos.h" // need for main thread sleep
 #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
-
+#define RADIUS  0.22F // wheel size
+#define NBPOLES 19 // magnetic pole number
+#define DELTA_T 0.2F // speed measurement counting period
+#define T_TICKER 0.05 // time for ticker to call function Gaz
+#define PI 3.1415 // pie value
+#define RESISTANCE // resistance value
+#define T_COEF 0.01 // constant for temperature calculation
+#define T_REST 0.2 // constant for current mesure 
+#define INIT_IREST 60000 // capacite initial en mAs
 
 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
+AnalogIn Val_Poignee(p17);// analog input for gaz connected to mbed
+AnalogIn Vbat(p18);// analog input for battery connected to mbed
+AnalogIn Vtemp(p19);// analog input for temperature connected to mbed
+AnalogIn VImes(p20);// analog input for current connected to mbed
+DigitalOut Valid_PWM(p21);// valid pmw mbed pin
+InterruptIn Valid_PWM_In(p22); // count value for pole number
 Serial pc(USBTX, USBRX); // tx, rx
-    // 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
-
-
-/*********************** can bus section  ************/
-         // 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
-bool bCan_Active=false;
-
-
-
-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 
-
-
- 
-
- 
-//************ local function prototypes *******************
+// Top_Hall Pin
 
 
 
 
-
+/************ persistent file parameters section *****************/
+LocalFileSystem local("local");               // Create the local filesystem under the name "local"
 
- 
-/**************** Read persistent data from text file located on local file system ****************/
-
-
-
-/**************** write persitant  data to text file located on local file system ****************/
 
 
 
 
 
 
-//************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file  ******************
-
-
-// ************top hall counting interrupt needed for speed measurement
-
-
-//********************** timer interrupt for speed measurement each 100ms  *************************
+/********************* web server section **********************************/
+var_field_t tab_balise[10];  //une balise est présente dans le squelette
+int giCounter=0,giCounter2=0;// acces counting
+int giMode=0,giFlag=0;//to validate between mode automatic or manual
+float gfNmax=0.0,gfNmin=0.0,gfVit=0.0;//initialising values minimum and maximum for equation
+int giBrake = 0;
+int giPwm=0; //value initial for PWM mode manuel
+float gfPwm=0.0; //value initial for PWM mode auto
+float gfPwm_final=0.0; //value initial for incrementation PWM mode auto
+float gfVit_bride; //speed value (bride) in mode auto
+float gfVbat,gfIbat,gfTemp,gfPourc,gfGIrest,gfImes;
+float gfIrest = 60000;
 
-    
-    
-    
+Ticker Tick;//Ticker to call function Gaz
+Ticker Tick2;//Ticker to call function Vitesse
+Ticker Tick3;//Ticker to call function Imesure
 
-
-//********************* Timer Interrupt for gaz ref management each 10ms   ********************
-
+/*********************** can bus section  ************/
+// 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
+bool bCan_Active=false;
+int iCounter=0;// a counter for speed counting
 
 
-/********* 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  
-
-}
-    
-    
-  /*********************** CAN BUS SECTION  **********************/
-    
-
-
-void CAN_REC_THREAD(void const *args)
-{ int iCount,iError;
-
- while (bCan_Active)
- {Thread::wait(100);// wait 100ms  
-    // code todo
-      
-    }
-    
-}
-       
-    
-  
-//*************************** main function *****************************************
-int main() {
-char cChoix=0;
+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
 
 
 
 
 
-//***************************************** 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
+//************ local function prototypes *******************
+
+void Imessure ()  //function for mesuring battery current capacity to be called every 200ms
+{
+
+    int ic; // local counter
+
+    ic++;
+    if(ic>5) { // to wait for calculation after 1s
+        gfIrest = gfIrest - 1000; // because every 1s, the battery consume 1000
+        gfGIrest = (gfIrest/INIT_IREST)*100;
+
+        if(gfGIrest>100)
+            gfGIrest = 100;
+        if(gfGIrest<0)
+            gfGIrest=0;
+
+        ic=1;
+        gfImes = 0;
+    }
+    //gfImes = (gfImes + gfVbat)/ic ;
+}
+
+
+void Affiche(void) //function only for display
+{
+    gfVbat=(25*Vbat.read())/0.33; // battery tension value
+    gfIbat=(33000*VImes.read())-13510; // current value
+    gfTemp=((Vtemp.read()*3.3)/T_COEF)-273; // surrounding temperature
+    gfPourc=((gfPwm*100)/255); // pedal turning percentage
+
+    pc.printf(" Vitesse = %g m/h\n\r",gfVit); //speed diplay
+    pc.printf(" Vbat=%.3g \n\r",gfVbat); // battery tension display
+    pc.printf(" Ibat=%.2f mA\n\r",gfIbat); //current value display
+    pc.printf(" Temperature = %g C\n\r",gfTemp); // surrounding temperature display
+    pc.printf(" Pourcentage = %.0f %% \n\r",gfPourc); //pedal turning percentage display
+    pc.printf(" Capacite = %.0f %% \n\r",gfGIrest); // battery capacity display
+
+}
+
+void Registre_PLD(void) // function for internal checkups display 
+{
+
+    /**** association with block io****/
+    int iSect = MyPLD.read() & 7;
+    int iDir = MyPLD.read() & 8;
+    int iFLTA = MyPLD.read() & 16;
+    int iOver_Current = MyPLD.read() & 64;
+
+    pc.printf("\n\r\n\r");
+
+    pc.printf(" Secteur : %d\n\r" , iSect);
+    
+    //direction
+    if ( iDir == 0)
+        pc.printf(" Direction = ARRIERE \n\r");
+    else {
+        pc.printf(" Direction = AVANCE \n\r");
+    }
+    //braking system
+    if ( giBrake == 0)
+        pc.printf(" Brake = ON \n\r");
+    if ( giBrake != 0)
+        pc.printf(" Brake = OFF \n\r");
+    //internal error
+    if ( iFLTA == 1)
+        pc.printf(" Il y a un erreur \n\r");
+    if ( iFLTA != 1)
+        pc.printf(" Pas d'erreur \n\r");
+    //overcurrent
+    if ( iOver_Current == 0)
+        pc.printf(" Over Current \n\r");
+    if ( iOver_Current != 0)
+        pc.printf(" Normal Current  \n\r");
+
+    pc.printf("\n\r");
+
+}
+
+
+
+/**************** Read persistent data from text file located on local file system ****************/
+void Read_file(void)
+{
+    FILE* Calibrage = fopen("/local/TEST.txt","r");
+
+    if(Calibrage != NULL) {
+        pc.printf(" OK\n\r");
+        fscanf (Calibrage, "%g %g %g %g", &gfNmin,&gfNmax,&gfVit_bride);
+        pc.printf(" Nmin = %.3g \n\r",gfNmin);
+        pc.printf(" Nmax = %.3g \n\r",gfNmax);
+        pc.printf(" Vbride = %.2f\n\r",gfVit_bride);
+
+    } else {
+
+        pc.printf(" KO\n\r");
+    }
+
+    fclose(Calibrage);
+}
+
+//************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file  ******************
+void Calibration(void)
+{
+    char cNext=0; //a variable just to exit command scanf
+
+    FILE* Calibrage =fopen("/local/TEST.txt","w"); //opening file
+    if(Calibrage != NULL) { //validation for file existence
+        pc.printf(" OK\n\r");
+        switch (giFlag) {
+            case 0 ://calibration of pedal
+
+                pc.printf(" lachez la poignee, appuyez 'k' et 'entree' \n\r");
+                pc.scanf(" %c",&cNext);
+                gfNmin = Val_Poignee.read();
+                pc.printf(" Nmin = %.3g \n\r",gfNmin);
+
+                pc.printf(" enfoncez la poignee, appuyez 'k' et 'entree'\n\r");
+                pc.scanf(" %c",&cNext);
+                gfNmax = Val_Poignee.read();
+                pc.printf(" Nmax = %.3g \n\r",gfNmax);
+                break;
+
+            case 1 ://calibration of maximum speed
+                pc.printf(" veuillez saisir la vitesse de la bride : \n\r");
+                pc.scanf(" %f",&gfVit_bride);
+                break;
+
+
+        }
+    } else {
+        pc.printf(" KO\n\r");
+    }
+    fprintf(Calibrage,"%f %f %f %f",gfNmin,gfNmax,gfVit_bride,gfIrest);//saving infos in text file
+    fclose(Calibrage);
+}
+
+
+
+// ************top hall counting interrupt needed for speed measurement
+void toggle(void)
+{
+    giCounter=giCounter+1;
+
+}
+
+//********************** timer interrupt for speed measurement each 100ms  *************************
+void Vitesse(void)
+{
+    giCounter2=giCounter;
+    giCounter=0;
+
+    gfVit=((float)giCounter2*2*PI*RADIUS*3600)/(6*NBPOLES*DELTA_T);// speed calculation
+}
+
+/*********************** INITIALISATION **********************/
+void Initial(void)
+{
+    Valid_PWM.write(0);
+    MyPLD.write(0);
+    Valid_PWM.write(1);
+    Read_file();
+    Valid_PWM_In.mode(PullUp);
+
+}
+
+
+//********************* Timer Interrupt for gaz ref management each 10ms   ********************
+void Gaz(void)
+{
+    giBrake = MyPLD.read() & 32;
+
+
+    switch (giMode) {
+        case 0 ://mode manuel
+
+            if (giPwm<0)
+                giPwm=0;
+            if (giPwm>255)
+                giPwm=255;
+
+            MyPLD.write(giPwm);
+            break;
+        case 1 :// mode auto
+
+            gfPwm = 255*(Val_Poignee.read()-gfNmin)/(gfNmax-gfNmin);
+            if (gfPwm<0)
+                gfPwm=0;
+            if (gfPwm>255)
+                gfPwm=255;
+
+            //safety
+            if ( giBrake == 0) {
+                gfPwm_final = 0;
+            } else  if (gfVit >= gfVit_bride) {
+                if (gfPwm_final >= 1.0)
+                    gfPwm_final = gfPwm_final-1.0;
+            } else if (gfPwm_final < gfPwm) {
+                gfPwm_final = gfPwm_final+1.0;
+            }  else if (gfPwm_final >= gfPwm) {
+                gfPwm_final = gfPwm_final-1.0;
+            }
+
+
+            MyPLD.write(gfPwm_final);
+            break;
+    }
+}
+
+
 /********* main cgi function used to patch data to the web server thread **********************************/
 
-//******************************************* end web section  ************************************* / 
-
 
 
 
-pc.printf(" programme scooter mbed \n");
+
+void CGI_Function(void)   // cgi function that patch web data to empty web page
+{
+
+    gfVbat=(25*Vbat.read())/0.33;
+    gfIbat=(33000*VImes.read())-13510;
+    gfTemp=((Vtemp.read()*3.3)/T_COEF)-273;
+    gfPourc=((gfPwm*100)/255);
+
+    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);
+    iCounter++;
+
+    sprintf (ma_chaine4,"%f",gfVbat);
+    Html_Patch (tab_balise,1,ma_chaine4);// patch first label with dyn.string
+
+    sprintf (ma_chaine4,"%.4f",gfIbat);
+    Html_Patch (tab_balise,2,ma_chaine4);
+
+    sprintf (ma_chaine4,"%.4f",gfTemp);
+    Html_Patch (tab_balise,3,ma_chaine4);
+
+    sprintf (ma_chaine4,"%.4f",gfPourc);
+    Html_Patch (tab_balise,4,ma_chaine4);
+
+    sprintf (ma_chaine4,"%.4f",gfVit);
+    Html_Patch (tab_balise,5,ma_chaine4);
+    
+    sprintf (ma_chaine4,"%.4f",gfGIrest);
+    Html_Patch (tab_balise,6,ma_chaine4);
+
+
+}
+
+
+/*********************** CAN BUS SECTION  **********************/
+
+
+
+void CAN_REC_THREAD(void const *args)
+{
+    int iCount,iError;
+
+    while (bCan_Active) {
+        Thread::wait(100);// wait 100ms
+
+    }
+
+}
+
+
+
+//*************************** main function *****************************************
+int main()
+{
+    //pc.printf("\n demarrage\n\r");
+    Initial();
+
+    Valid_PWM_In.rise(&toggle);
+    Tick.attach(&Gaz,T_TICKER);
+    Tick2.attach(&Vitesse,DELTA_T);
+    Tick3.attach(&Imessure,T_REST);
+
+    char cChoix=0;
+
+//***************************************** 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 **********************************/
+    Gen_HtmlCode_From_File("/local/pagecgi4.htm",tab_balise,7);// read and localise ^VARDEF[X] tag in empty html file
+//******************************************* end web section  ************************************* /
+
 
 
 
 //********************* can bus section initialisation *******************************************
-//bCan_Active=true;// needed to lauchn CAN thread
-//Thread CanThread(CAN_REC_THREAD);// create and launch can receiver  thread
+    bCan_Active=true;// needed to lauchn CAN thread
+    Thread CanThread(CAN_REC_THREAD);// create and launch can receiver  thread
 //********************* 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(" a:Mode Manuel\n\r");
+        pc.printf(" b:Mode Auto \n\r");
+        pc.printf(" c:Calibration \n\r");
+        pc.printf(" d:Registre PLD \n\r");
+        pc.printf(" e:Affiche vitesse \n\r");
+        pc.printf(" f:Reset capacite \n\r");
+        pc.printf(" q:Quitter \n\r");
+
+        /************* multithreading : main thread need to sleep in order to allow web response */
+        while (pc.readable()==0) { // determine if char available
+            Thread::wait(10);   // wait 10 until char available on serial input
+        }
+        /************* end of main thread sleep  ****************/
+
+
+
+        pc.scanf(" %c",&cChoix);
+        switch (cChoix) {
+            case 'a':
+                giMode=0;//activation mode manual 
+                pc.printf(" veuillez saisir la valeur Pwm (0 jusqu'au 255) : \n\r");
+                pc.scanf("%d",&giPwm);
+                break;
+
+            case 'b':
+                giMode=1;//activation mode auto
+                giFlag=1;//activation calibration for speed limit
+                Calibration();
+                break;
+
+            case 'c':
+                giMode=0;//activation mode manual to stop speed ticker function
+                giFlag=0;//activation calibration for pedal 
+                Calibration();
+                break;
+
+            case 'd':
+                giMode=1;//activation mode auto to start speed ticker function
+                Registre_PLD();
+                break;
+
+            case 'e':
+                giMode=1;//activation mode auto
+                Affiche();
+                break;
+                
+            case 'f':
+                giMode=1;//activation mode auto
+                gfIrest=60000; // initialisation 
+                break;
+
+            case 'q':
+                giMode=0;//activation mode manual
+                Valid_PWM.write(0);
+                break;
+        }
+    } // end while
+
+    //************** thread deinit *********************
+    // DeInit_Web_Server();
+    //bCan_Active=false;
+    //CanThread=false;// close can received thread
+    pc.printf(" fin programme scooter mbed \n\r");
 } // end main