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Dependencies: mbed bloc_io mbed-rtos html EthernetInterface
Revision 3:5945b9edc15a, committed 2019-12-13
- Comitter:
- viale
- Date:
- Fri Dec 13 13:50:12 2019 +0000
- Parent:
- 2:172619ae2eb7
- Commit message:
- aaaaaaa
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Nov 22 13:23:17 2019 +0000 +++ b/main.cpp Fri Dec 13 13:50:12 2019 +0000 @@ -9,19 +9,41 @@ #define RADIUS 0.2F // wheel size #define NBPOLES 8 // magnetic pole number #define DELTA_T 0.1F // speed measurement counting period -#define PI 3.14F // PIIIIIII +#define PI 3.14F // PI +#define SensibiliteTemp 0.01F // doc +#define CoeffTensionbat 77.5F // determiner manuellemnt +#define SensibiliteCourant 0.185F // doc ACS712 +#define batt 2 // 2 A pendant 1 minute Jauge d'energie capacité +#define itest 0.0333 // A*minutes +#define PDTI 1.85F // 33/(28+33)*3.3 = 1.85 +#define cstCAN 0.001 + + DigitalOut PWM_VALID (p21); -InterruptIn TopHall (p22); // valid pmw mbed pin -AnalogIn POIGNEE (p17); // analog input connected to mbed +InterruptIn TopHall (p22);// valid pmw mbed pin +AnalogIn POIGNEE (p17); // broche poignee +AnalogIn Temp(p19); // broche temperature +AnalogIn Vbat(p18);// analog input connected to mbed +AnalogIn Ibat(p20); // broche courant batterie Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD -Serial pc(USBTX, USBRX); // tx, rx +Serial pc(USBTX, USBRX);// tx, rx + void PWM (); void Mesure(); void CalculV (); -void saveFile(); // sauvegarde fichier +void saveFile();//sauvegarde fichier +void MesureTemp(void); +void MesureVbat(void); +void MesureIbat(void); +void Mesurepoingnee(void); // pourcentage POIGNEE +void MesuresWeb(void); +void Receive (); + +int iCounter1Sec; +Ticker T_Mesures; Ticker AUTO; Ticker CalculVitesse; -float GazMax,GazMin; +float GazMax, GazMin, caparestante; int pwmmanuel,x,Overcurrent,Brake,FLTA,Direction,HALLC,HALLB,HALLA; char cChoix; int pwm_final=0; @@ -34,6 +56,21 @@ float vitessemesure; float vitessebride = 25.0; int tophallpartiel; +float temp,vbat, ibat, pourcentage; +float batterieAc = 0.0; +int a; // bus CAN +float valpoignee; //bus CAN + + +// UTILISATION DU BUS CAN ENVOIE +Ticker ticker; +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); // blink when can message is sent +DigitalOut led4(LED4); // blink when can message is received + +char counter = 0; + // Top_Hall Pin /************ persistent file parameters section *****************/ @@ -46,18 +83,20 @@ 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 +#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 +//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 + @@ -68,11 +107,12 @@ void saveFile() { FILE *fp = fopen("/local/gr1.txt", "w"); - if(fp != NULL) fprintf(fp,"valeur max : %f, valeur min: %f, tophalltotal: %d, vitesse de la bride: %f, tophallpartiel:%d",GazMin,GazMax,tophalltotal,vitessebride,tophallpartiel); + if(fp != NULL) fprintf(fp,"valeur max : %f, valeur min: %f, tophalltotal: %d, vitesse de la bride: %f, tophallpartiel:%d, capacite restante: %f",GazMin,GazMax,tophalltotal,vitessebride,tophallpartiel,caparestante); else printf("ERREUR FICHIER NON VALIDE"); fclose(fp); } + //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ****************** @@ -86,16 +126,41 @@ /********* 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 + sprintf (ma_chaine4,"%f",vitessemesure); + printf("chaine4=%s\n",ma_chaine4); + Html_Patch (tab_balise,0,ma_chaine4); + + sprintf (ma_chaine4,"%f",vitessemesure); + printf("chaine4=%s\n",ma_chaine4); + Html_Patch (tab_balise,1,ma_chaine4); + + sprintf (ma_chaine4,"%d",(int)((valpwm*100 )/ 255)); + printf("chaine4=%s\n",ma_chaine4); + Html_Patch (tab_balise,2,ma_chaine4); + + sprintf (ma_chaine4,"%f",(temp-273.15)); + printf("chaine4=%s\n",ma_chaine4); + Html_Patch (tab_balise,3,ma_chaine4); + + sprintf (ma_chaine4,"%f",vbat); + printf("chaine4=%s\n",ma_chaine4); + Html_Patch (tab_balise,4,ma_chaine4); + + sprintf (ma_chaine4,"%f",ibat); + printf("chaine4=%s\n",ma_chaine4); + Html_Patch (tab_balise,5,ma_chaine4); + } /*********************** CAN BUS SECTION **********************/ - void CAN_REC_THREAD(void const *args) { int iCount,iError; @@ -105,44 +170,58 @@ // code todo } +} +void Receive() +{ + CANMessage msg; + if(can_port.read(msg)) { + + valpoignee=*reinterpret_cast<int*>(msg.data)*cstCAN; + } } //*************************** main function ***************************************** int main() { + + caparestante = (batterieAc*100)/(batt); MyPLD.write(0); PWM_VALID.write(1); char carac; FILE *fp = fopen("/local/gr1.txt", "r"); if(fp != NULL) { - fscanf(fp,"valeur max : %f, valeur min: %f, tophalltotal: %d, vitesse de la bride: %f, tophallpartiel:%d",&GazMin,&GazMax,&tophalltotal,&vitessebride,&tophallpartiel); - printf("Valeur min:%f , Valeur max:%f ,tophalltotal:%d,vitesse de la bride:%f,tophallpartiel:%d\n\r",GazMin,GazMax,tophalltotal,vitessebride,tophallpartiel); + fscanf(fp,"valeur max : %f, valeur min: %f, tophalltotal: %d, vitesse de la bride: %f, tophallpartiel:%d, capacite restante: %f",&GazMin,&GazMax,&tophalltotal,&vitessebride,&tophallpartiel,&caparestante); + printf("Valeur min:%f , Valeur max:%f ,tophalltotal:%d,vitesse de la bride:%f,tophallpartiel:%d, capacite restante: %f\n\r",GazMin,GazMax,tophalltotal,vitessebride,tophallpartiel,caparestante); } else printf("ERREUR FICHIER NON VALIDE\n\r"); fclose(fp); - // int write,read; - // f_poignee = fopen("nom-de-fichier","r"); - // read=fgetc(f_poignee); - // fclose(f_poignee); - // printf("&d",read); +//***************************************** web section ********************************************/ + + -//***************************************** 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 + 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/tintin.htm",tab_balise,5); /********* main cgi function used to patch data to the web server thread **********************************/ //******************************************* 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 ***************************************************** + can_port.attach(&Receive,CAN::RxIrq); TopHall.mode(PullUp); AUTO.attach(&PWM,0.02); TopHall.rise(&Mesure); CalculVitesse.attach(&CalculV,0.1); + T_Mesures.attach(&MesuresWeb,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"); @@ -155,7 +234,11 @@ pc.printf("h: Lecture vitesse\n\r"); pc.printf("i: Compteur kilometrique\n\r"); pc.printf("j: RAZ compteur partiel\n\r"); + pc.printf("k: Valeur de la temperature\n\r"); + pc.printf("l: rechargement batterie\n\r"); + pc.printf("z: BUS CAN \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 @@ -178,7 +261,7 @@ 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(); + GazMax=valpoignee; printf("\n\r"); printf("Valeur de la poignee min:%g\n\r",GazMin); printf("Valeur de la poignee max:%g\n\r",GazMax); @@ -234,17 +317,15 @@ case 'f': // VITESSE DE LA ROUE DU SCOOT printf("vitesse de la roue: %f\n\r",vitesse); break; - case 'g': // SAISIE DE LA BRIDE printf("Veuillez saisir la valeur de la bride entre 0 et 30 km/h \n\r"); scanf("%f",&vitessebride); saveFile(); - printf("Valeur de la bride\n\r", vitessebride); + printf("Valeur de la bride \n\r",vitessebride); break; case 'h': // VITESSE DE LA ROUE DU SCOOT printf("Vitesse:%1.3f km/h \n\r",vitessemesure*3.6); break; - case 'i': // DISTANCE DE LA ROUE TOTAL ET PARTIEL printf("Distance parcourue totale: %f metres\n\r",(tophalltotal*2*PI*RADIUS)/(6*NBPOLES)); printf("Distance parcourue partielle: %f metres\n\r",(tophallpartiel*2*PI*RADIUS)/(6*NBPOLES)); @@ -255,6 +336,18 @@ tophallpartiel=0; saveFile(); break; + case 'k': //VALEUR DE LA TEMPERATURE , TENSION BATTERIE, COURANT , POURCENTAGE POINGNEE ,JAUGE D'ENERGIE + + MesureTemp(); + MesureVbat(); + MesureIbat(); + Mesurepoingnee(); + printf("l'intensite de la batterie est de %1.3fA et jauge d'energie = %f pourcentage\n\r", ibat,(batterieAc*100)/(batt) ); + break; + case 'l': + batterieAc = batt; + printf("batterie rechargee\n\r"); + break; case 'q': // QUITTER LE PROGRAMME AUTO.detach(); CalculVitesse.detach(); @@ -262,21 +355,44 @@ if (PWM_VALID.read()==0) MyPLD.write(0); printf("BYE"); break; + + case 'z': //VALEUR CAN + printf("valeur recu CAN : %f\n\r", valpoignee); + break; } saveFile(); pc.printf("fin programme scooter mbed\n\r"); } // end while } //************** thread deinit ********************* + //DeInit_Web_Server(); //bCan_Active=false; //CanThread=false;// close can received thread -// end main + + + +// END MAIN void PWM() { + Receive(); x=MyPLD.read(); Brake= (x & 32)/32; + + + iCounter1Sec++; + + if (iCounter1Sec == 50) { // compteur 1 seconde + iCounter1Sec= 0; + MesureIbat(); + batterieAc = batterieAc-0.0333; // utiliser le courant + + if (batterieAc < 0) { + batterieAc = 0 ; + } + } + if (mode==1) { // MODE MANUEL MyPLD.write(0); if (pwmmanuel > 0 && pwmmanuel <=255) { @@ -291,7 +407,7 @@ pwm_final=0; } else if ( Brake == 1 ) { // frein désactif - valpwm =(255/(GazMax-GazMin))*POIGNEE.read()-(255/(GazMax-GazMin))*GazMin; // calcul de la PWM brute + valpwm =(255/(GazMax-GazMin))*valpoignee-(255/(GazMax-GazMin))*GazMin; // calcul de la PWM brute } if ((vitessemesure *3.6) > vitessebride) { // VITESSE MESURE @@ -325,4 +441,40 @@ tophalltotal += tophall; tophallpartiel += tophall; tophall=0; +} +void MesureTemp () +{ + temp = (Temp.read()*3.3 )/ SensibiliteTemp; + printf("la temperature est de %1.3f KELVIN equivaut a %1.3f DEGRES\n\r",temp, temp-273.15); +} + +void MesureVbat () +{ + vbat = Vbat.read()*CoeffTensionbat; + printf("la tension de la batterie est de %1.3f volts\n\r", vbat ); +} +void MesureIbat () +{ + ibat = ((Ibat.read()*3.3*PDTI)-2.5)/SensibiliteCourant; + if (ibat < 0) { + ibat = 0; + } + + +} +void Mesurepoingnee() +{ + pourcentage = (valpwm*100 )/ 255; + printf("valeur pourcentage poignee %g \n\r", pourcentage); + +} + +void MesuresWeb(void) +{ + temp = (Temp.read()*3.3 )/ SensibiliteTemp; + vbat = Vbat.read()*CoeffTensionbat; + ibat = ((Ibat.read()*3.3*PDTI)-2.5)/SensibiliteCourant; + if (ibat < 0) { + ibat = 0; + } } \ No newline at end of file