apres v5
Dependencies: mbed bloc_io mbed-rtos html EthernetInterface
main.cpp@1:140b1686bf3f, 2021-09-28 (annotated)
- Committer:
- thomascerruti
- Date:
- Tue Sep 28 15:04:04 2021 +0000
- Revision:
- 1:140b1686bf3f
- Parent:
- 0:e30c9ba95bd4
apres validation v5;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
thomascerruti | 1:140b1686bf3f | 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 |
thomascerruti | 1:140b1686bf3f | 13 | DigitalOut valid_PWM(p21); |
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 |
superphil06 | 0:e30c9ba95bd4 | 18 | Serial pc(USBTX, USBRX); // tx, rx |
superphil06 | 0:e30c9ba95bd4 | 19 | // Top_Hall Pin |
superphil06 | 0:e30c9ba95bd4 | 20 | |
superphil06 | 0:e30c9ba95bd4 | 21 | |
superphil06 | 0:e30c9ba95bd4 | 22 | |
superphil06 | 0:e30c9ba95bd4 | 23 | |
superphil06 | 0:e30c9ba95bd4 | 24 | /************ persistent file parameters section *****************/ |
superphil06 | 0:e30c9ba95bd4 | 25 | LocalFileSystem local("local"); // Create the local filesystem under the name "local" |
superphil06 | 0:e30c9ba95bd4 | 26 | |
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 | /********************* web server section **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 34 | |
superphil06 | 0:e30c9ba95bd4 | 35 | var_field_t tab_balise[10]; //une balise est présente dans le squelette |
superphil06 | 0:e30c9ba95bd4 | 36 | int giCounter=0;// acces counting |
superphil06 | 0:e30c9ba95bd4 | 37 | |
superphil06 | 0:e30c9ba95bd4 | 38 | |
superphil06 | 0:e30c9ba95bd4 | 39 | /*********************** can bus section ************/ |
superphil06 | 0:e30c9ba95bd4 | 40 | // determine message ID used to send Gaz ref over can bus |
superphil06 | 0:e30c9ba95bd4 | 41 | #define _CAN_DEBUG // used to debug can bus activity |
superphil06 | 0:e30c9ba95bd4 | 42 | //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus |
superphil06 | 0:e30c9ba95bd4 | 43 | CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield |
superphil06 | 0:e30c9ba95bd4 | 44 | bool bCan_Active=false; |
superphil06 | 0:e30c9ba95bd4 | 45 | |
superphil06 | 0:e30c9ba95bd4 | 46 | |
superphil06 | 0:e30c9ba95bd4 | 47 | |
superphil06 | 0:e30c9ba95bd4 | 48 | DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/ |
superphil06 | 0:e30c9ba95bd4 | 49 | DigitalOut led2(LED2); |
superphil06 | 0:e30c9ba95bd4 | 50 | DigitalOut led3(LED3); // blink when can message is sent |
superphil06 | 0:e30c9ba95bd4 | 51 | DigitalOut led4(LED4); // blink when can message is received |
superphil06 | 0:e30c9ba95bd4 | 52 | |
superphil06 | 0:e30c9ba95bd4 | 53 | |
superphil06 | 0:e30c9ba95bd4 | 54 | |
superphil06 | 0:e30c9ba95bd4 | 55 | |
superphil06 | 0:e30c9ba95bd4 | 56 | |
superphil06 | 0:e30c9ba95bd4 | 57 | //************ local function prototypes ******************* |
superphil06 | 0:e30c9ba95bd4 | 58 | |
thomascerruti | 1:140b1686bf3f | 59 | void init(void); |
thomascerruti | 1:140b1686bf3f | 60 | void deinit(void); |
superphil06 | 0:e30c9ba95bd4 | 61 | |
superphil06 | 0:e30c9ba95bd4 | 62 | |
superphil06 | 0:e30c9ba95bd4 | 63 | |
superphil06 | 0:e30c9ba95bd4 | 64 | |
superphil06 | 0:e30c9ba95bd4 | 65 | |
superphil06 | 0:e30c9ba95bd4 | 66 | /**************** Read persistent data from text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 67 | |
superphil06 | 0:e30c9ba95bd4 | 68 | |
superphil06 | 0:e30c9ba95bd4 | 69 | |
superphil06 | 0:e30c9ba95bd4 | 70 | /**************** write persitant data to text file located on local file system ****************/ |
superphil06 | 0:e30c9ba95bd4 | 71 | |
superphil06 | 0:e30c9ba95bd4 | 72 | |
superphil06 | 0:e30c9ba95bd4 | 73 | |
superphil06 | 0:e30c9ba95bd4 | 74 | |
superphil06 | 0:e30c9ba95bd4 | 75 | |
superphil06 | 0:e30c9ba95bd4 | 76 | |
superphil06 | 0:e30c9ba95bd4 | 77 | //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** |
superphil06 | 0:e30c9ba95bd4 | 78 | |
superphil06 | 0:e30c9ba95bd4 | 79 | |
superphil06 | 0:e30c9ba95bd4 | 80 | // ************top hall counting interrupt needed for speed measurement |
superphil06 | 0:e30c9ba95bd4 | 81 | |
superphil06 | 0:e30c9ba95bd4 | 82 | |
superphil06 | 0:e30c9ba95bd4 | 83 | //********************** timer interrupt for speed measurement each 100ms ************************* |
superphil06 | 0:e30c9ba95bd4 | 84 | |
superphil06 | 0:e30c9ba95bd4 | 85 | |
superphil06 | 0:e30c9ba95bd4 | 86 | |
superphil06 | 0:e30c9ba95bd4 | 87 | |
superphil06 | 0:e30c9ba95bd4 | 88 | |
superphil06 | 0:e30c9ba95bd4 | 89 | |
superphil06 | 0:e30c9ba95bd4 | 90 | //********************* Timer Interrupt for gaz ref management each 10ms ******************** |
superphil06 | 0:e30c9ba95bd4 | 91 | |
superphil06 | 0:e30c9ba95bd4 | 92 | |
superphil06 | 0:e30c9ba95bd4 | 93 | |
superphil06 | 0:e30c9ba95bd4 | 94 | /********* main cgi function used to patch data to the web server thread **********************************/ |
superphil06 | 0:e30c9ba95bd4 | 95 | void CGI_Function(void) // cgi function that patch web data to empty web page |
superphil06 | 0:e30c9ba95bd4 | 96 | { char ma_chaine4[20]={};// needed to form html response |
superphil06 | 0:e30c9ba95bd4 | 97 | |
superphil06 | 0:e30c9ba95bd4 | 98 | } |
superphil06 | 0:e30c9ba95bd4 | 99 | |
superphil06 | 0:e30c9ba95bd4 | 100 | |
superphil06 | 0:e30c9ba95bd4 | 101 | /*********************** CAN BUS SECTION **********************/ |
superphil06 | 0:e30c9ba95bd4 | 102 | |
superphil06 | 0:e30c9ba95bd4 | 103 | |
superphil06 | 0:e30c9ba95bd4 | 104 | |
superphil06 | 0:e30c9ba95bd4 | 105 | void CAN_REC_THREAD(void const *args) |
superphil06 | 0:e30c9ba95bd4 | 106 | { int iCount,iError; |
superphil06 | 0:e30c9ba95bd4 | 107 | |
superphil06 | 0:e30c9ba95bd4 | 108 | while (bCan_Active) |
superphil06 | 0:e30c9ba95bd4 | 109 | {Thread::wait(100);// wait 100ms |
superphil06 | 0:e30c9ba95bd4 | 110 | // code todo |
superphil06 | 0:e30c9ba95bd4 | 111 | |
superphil06 | 0:e30c9ba95bd4 | 112 | } |
superphil06 | 0:e30c9ba95bd4 | 113 | |
superphil06 | 0:e30c9ba95bd4 | 114 | } |
superphil06 | 0:e30c9ba95bd4 | 115 | |
superphil06 | 0:e30c9ba95bd4 | 116 | |
superphil06 | 0:e30c9ba95bd4 | 117 | |
superphil06 | 0:e30c9ba95bd4 | 118 | //*************************** main function ***************************************** |
superphil06 | 0:e30c9ba95bd4 | 119 | int main() { |
thomascerruti | 1:140b1686bf3f | 120 | init(); |
thomascerruti | 1:140b1686bf3f | 121 | char cChoix=0; |
thomascerruti | 1:140b1686bf3f | 122 | while(cChoix!='q' and cChoix!='Q') |
thomascerruti | 1:140b1686bf3f | 123 | { |
thomascerruti | 1:140b1686bf3f | 124 | pc.printf(" veuillez saisir un choix parmi la liste proposee: \n"); |
thomascerruti | 1:140b1686bf3f | 125 | pc.printf(" a:saisie consigne pwm \n"); |
thomascerruti | 1:140b1686bf3f | 126 | pc.printf(" q:quitter \n"); |
superphil06 | 0:e30c9ba95bd4 | 127 | |
thomascerruti | 1:140b1686bf3f | 128 | pc.scanf(" %c",&cChoix); |
thomascerruti | 1:140b1686bf3f | 129 | int PWM; |
superphil06 | 0:e30c9ba95bd4 | 130 | |
superphil06 | 0:e30c9ba95bd4 | 131 | |
superphil06 | 0:e30c9ba95bd4 | 132 | switch (cChoix){ |
superphil06 | 0:e30c9ba95bd4 | 133 | case 'a': |
thomascerruti | 1:140b1686bf3f | 134 | |
thomascerruti | 1:140b1686bf3f | 135 | printf("donnez une valeur de pwm : \n\r"); |
thomascerruti | 1:140b1686bf3f | 136 | pc.scanf("%d", &PWM); |
thomascerruti | 1:140b1686bf3f | 137 | if (PWM < 0) |
thomascerruti | 1:140b1686bf3f | 138 | { |
thomascerruti | 1:140b1686bf3f | 139 | PWM = 0; |
thomascerruti | 1:140b1686bf3f | 140 | } |
thomascerruti | 1:140b1686bf3f | 141 | if (PWM > 255) |
thomascerruti | 1:140b1686bf3f | 142 | { |
thomascerruti | 1:140b1686bf3f | 143 | PWM = 255; |
thomascerruti | 1:140b1686bf3f | 144 | } |
thomascerruti | 1:140b1686bf3f | 145 | printf(" valeur de pwm = %d \n\r", PWM); |
thomascerruti | 1:140b1686bf3f | 146 | MyPLD.write(PWM); |
thomascerruti | 1:140b1686bf3f | 147 | |
thomascerruti | 1:140b1686bf3f | 148 | |
superphil06 | 0:e30c9ba95bd4 | 149 | break; |
superphil06 | 0:e30c9ba95bd4 | 150 | case 'q': |
thomascerruti | 1:140b1686bf3f | 151 | deinit(); |
superphil06 | 0:e30c9ba95bd4 | 152 | break; |
superphil06 | 0:e30c9ba95bd4 | 153 | } |
superphil06 | 0:e30c9ba95bd4 | 154 | } // end while |
superphil06 | 0:e30c9ba95bd4 | 155 | |
superphil06 | 0:e30c9ba95bd4 | 156 | //************** thread deinit ********************* |
superphil06 | 0:e30c9ba95bd4 | 157 | //DeInit_Web_Server(); |
superphil06 | 0:e30c9ba95bd4 | 158 | //bCan_Active=false; |
superphil06 | 0:e30c9ba95bd4 | 159 | //CanThread=false;// close can received thread |
thomascerruti | 1:140b1686bf3f | 160 | |
thomascerruti | 1:140b1686bf3f | 161 | }// end main |
thomascerruti | 1:140b1686bf3f | 162 | |
thomascerruti | 1:140b1686bf3f | 163 | void init() |
thomascerruti | 1:140b1686bf3f | 164 | { |
thomascerruti | 1:140b1686bf3f | 165 | valid_PWM.write(0); |
thomascerruti | 1:140b1686bf3f | 166 | MyPLD.write(0); |
thomascerruti | 1:140b1686bf3f | 167 | valid_PWM.write(1); |
thomascerruti | 1:140b1686bf3f | 168 | } |
thomascerruti | 1:140b1686bf3f | 169 | void deinit() |
thomascerruti | 1:140b1686bf3f | 170 | { |
thomascerruti | 1:140b1686bf3f | 171 | MyPLD.write(0); |
thomascerruti | 1:140b1686bf3f | 172 | valid_PWM.write(0); |
thomascerruti | 1:140b1686bf3f | 173 | } |