jeremy viale
html
Dependencies: mbed bloc_io mbed-rtos html EthernetInterface
Diff: main.cpp
- Revision:
- 1:687bcd4b1c6c
- Parent:
- 0:e30c9ba95bd4
- Child:
- 2:172619ae2eb7
diff -r e30c9ba95bd4 -r 687bcd4b1c6c main.cpp
--- a/main.cpp Sat Aug 22 15:51:59 2015 +0000
+++ b/main.cpp Mon Oct 28 10:09:20 2019 +0000
@@ -2,6 +2,7 @@
//#include "EthernetInterface.h"
#include <stdlib.h>
+#include <stdio.h>
#include <string.h>
#include "mbed.h"
#include "rtos.h" // need for main thread sleep
@@ -11,25 +12,32 @@
#define NBPOLES 8 // magnetic pole number
#define DELTA_T 0.1F // speed measurement counting period
-
+DigitalOut PWM_VALID (p21); // valid pmw mbed pin
+AnalogIn POIGNEE (p17); // analog input connected to mbed
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
-Serial pc(USBTX, USBRX); // tx, rx
- // Top_Hall Pin
-
-
-
-
+Serial pc(USBTX, USBRX); // tx, rx
+void PWM ();
+Ticker AUTO;
+float GazMax,GazMin;
+int val,x,Overcurrent,Brake,FLTA,Direction,HALLC,HALLB,HALLA;
+char cChoix=0;
+
+
+float valpwm;
+// Top_Hall Pin
+
+
+
+
/************ persistent file parameters section *****************/
-LocalFileSystem local("local"); // Create the local filesystem under the name "local"
-
+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
@@ -37,7 +45,7 @@
/*********************** 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
@@ -48,12 +56,12 @@
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
-
+
-
+
//************ local function prototypes *******************
@@ -61,7 +69,7 @@
-
+
/**************** Read persistent data from text file located on local file system ****************/
@@ -81,9 +89,9 @@
//********************** timer interrupt for speed measurement each 100ms *************************
-
-
-
+
+
+
//********************* Timer Interrupt for gaz ref management each 10ms ********************
@@ -92,32 +100,48 @@
/********* 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
}
-
-
- /*********************** 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;
+int main()
+{
+ MyPLD.write(0);
+ char carac;
+ FILE *fp = fopen("/local/gr1.txt", "r");
+ if(fp != NULL) {
+ fscanf(fp,"valeur max : %g, valeur min: %g",&GazMin,&GazMax);
+ printf("Valeur min:%g , Valeur max:%g\n\r",GazMin,GazMax);
+ } else
+ printf("ERREUR FICHIER NON VALIDE");
+ fclose(fp);
+ // int write,read;
+ // f_poignee = fopen("nom-de-fichier","r");
+ // read=fgetc(f_poignee);
+ // fclose(f_poignee);
+ // printf("&d",read);
@@ -125,45 +149,175 @@
//***************************************** 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 **********************************/
-
-//******************************************* end web section ************************************* /
-
+ /********* main cgi function used to patch data to the web server thread **********************************/
-
-
-pc.printf(" programme scooter mbed \n");
-
+//******************************************* 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
//********************* end can bus section *****************************************************
+ AUTO.attach(&PWM,0.1);
+ pc.printf("programme scooter mbed \n\r");
+ while(cChoix!='q' and cChoix!='Q') {
+ pc.printf("Veuillez saisir un choix parmi la liste proposee:\n\r");
+ pc.printf("a:saisie consigne pwm\n\r");
+ pc.printf("b:Calibration poignee\n\r");
+ pc.printf("d:Mode automatique\n\r");
+ pc.printf("e:Lecture du registre interne\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 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':
+ printf("veuillez entrer une valeur de PWM entre 0 et 255\n\r");
+ scanf("%d",&val);
+ /* if (val < 0 && val > 255) {
+ PWM_VALID.write(0);
+ MyPLD.write(0);
+ printf("Erreur\n\r ");
+ printf("veuillez entrer une valeur de PWM entre 0 et 255 \n\r");
+ scanf("%d",&val);
+ }*/
+
+ /* PWM_VALID.write(1);
+ MyPLD.write(val);*/
+ break;
+ case 'q':
+ AUTO.detach();
+ PWM_VALID.write(0);
+ if (PWM_VALID.read()==0) MyPLD.write(0);
+ printf("BYE");
+ break;
+ case 'b':
+ AUTO.detach();
+ PWM_VALID.write(0);
+ if (PWM_VALID.read()==0) MyPLD.write(0);
+ printf("Veuillez entrer n'importe quel caractere si vous etes OK pour la valeur min\n\r");
+ scanf("%c ",&carac);
+ GazMin=POIGNEE.read();
+ printf("\n\r");
+ printf("Veuillez entrer n'importe quel caractere si vous etes OK pour la valeur max\n\r");
+ scanf("%c ",&carac);
+ GazMax=POIGNEE.read();
+ printf("\n\r");
+ printf("Valeur de la poignee min:%g\n\r",GazMin);
+ printf("Valeur de la poignee max:%g\n\r",GazMax);
+ FILE *fp = fopen("/local/gr1.txt", "w");
+ if(fp != NULL) fprintf(fp,"valeur max : %f, valeur min: %f",GazMin,GazMax);
+ else printf("ERREUR FICHIER NON VALIDE");
+ fclose(fp);
+ break;
+ case 'd':
+ PWM_VALID.write(1);
+ AUTO.attach(&PWM,0.1);
+ printf("Veuillez entrer n'importe quel caractere si vous voulez sortir du mode automatique\n\r");
+ scanf("%c ",&carac);
+ AUTO.detach();
+ MyPLD.write(0);
+ break;
+
+ case 'e':
+ x=MyPLD.read();
+ Overcurrent= (x & 64)/64 ; //Technique pour avoir la valeur en binaire
+ Brake= (x & 32)/32;
+ FLTA=(x & 16)/16;
+ Direction=(x & 8)/8;
+ HALLC=(x & 4)/4;
+ HALLB=(x & 2)/2;
+ HALLA= x & 1;
+ int hall=0;
+ if (HALLA == 1){
+ hall++;
+ }
+ if (HALLB == 1){
+ hall+=2;
+ }
+ if (HALLC == 1){
+ hall+=4;
+ }
+ pc.printf("hall=%d\r\n", hall);
+ if (Overcurrent == 1) {
+ printf("Surintensité ");
+ } else {
+ printf( " desactive");
+ }
+
+ if (Brake == 1) {
+ printf(" desactive");
+ } else {
+ printf( " active");
+ }
+
+ if (FLTA == 1) {
+ printf("Overcurrent active");
+ } else {
+ printf( " desactive");
+ }
+
+ if (Direction == 1) {
+ printf("marche avant active");
+ } else {
+ printf( "mzrche avant desactive");
+ }
+ // printf("%d\n\r",x);
+ //printf("Overcurrent:%d, Brake:%d,FLTA:%d,Direction:%d,HALLC:%d,HALLB:%d,HALLA:%d\n\r",Overcurrent,Brake,FLTA,Direction,HALLC,HALLB,HALLA);
+ // break;
-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;
- }
+
+ //f_poignee = fopen("nom-de-fichier","w");
+ // while(read=fgetc(f_poignee)!= E0F) {
+ // write= GazMin;
+ // fputc('Valeur min:',f_poignee);
+ // fputc(write,f_poignee);
+ //write= GazMax;
+ // fputc('Valeur max':,f_poignee);
+ //fputc(write,f_poignee);
+ // fclose(f_poignee);
+ }
+ }
+ pc.printf("fin programme scooter mbed\n\r");
} // end while
-
- //************** thread deinit *********************
- //DeInit_Web_Server();
- //bCan_Active=false;
- //CanThread=false;// close can received thread
- pc.printf(" fin programme scooter mbed \n");
-} // end main
+
+//************** thread deinit *********************
+//DeInit_Web_Server();
+//bCan_Active=false;
+//CanThread=false;// close can received thread
+
+// end main
+void PWM()
+{
+ x=MyPLD.read();
+ Overcurrent= (x & 64)/64;
+ Brake= (x & 32)/32;
+ FLTA=(x & 16)/16;
+ Direction=(x & 8)/8;
+ HALLC=(x & 4)/4;
+ HALLB=(x & 2)/2;
+ HALLA= x & 1;
+ if (cChoix =='a') {
+ MyPLD.write(0);
+ if (val > 0 && val <=255) {
+
+ PWM_VALID.write(1);
+ MyPLD.write(val);
+ }
+ } else {
+ if ( Brake == 0 ) {
+ PWM_VALID.write(0);
+ MyPLD.write(0);
+ } else if ( Brake == 1 ) {
+ PWM_VALID.write(1);
+ valpwm =(int)(255/(GazMax-GazMin))*POIGNEE.read()-(255/(GazMax-GazMin))*GazMin;
+ MyPLD.write(valpwm);
+ }
+ }
+
+}