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https://github.com/RobotechLille/cdf2018-principal
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Communication A↔C : Base coté Arduino
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37
arduino/ACsignals.h
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37
arduino/ACsignals.h
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// Définition des signaux échagés entre l'Arduino et le chef
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//
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#ifndef __ACSIGNALS_H_
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#define __ACSIGNALS_H_
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#define AC_BAUDRATE 9600UL
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// D: Direct
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// Sens naturel : Envoi de donnée
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// Sens inverse : Accusé de réception
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// I: Indirect
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// Sens inverse : Demande de donnée
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// Sens naturel : Envoi de donnée
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// T: Trigger
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// Sens inverse : Paramètrage du trigger
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// Sens naturel : Envoi de trigger
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// Chef → Arduino
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// Pour le debug
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#define C2AD_PING 0
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// Arrête tous les actionneurs
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#define C2AD_STOP 1
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// Donne une destination
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#define C2AD_GOTO 2
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// Donne une rotation
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#define C2AD_ROTATE 3
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// Arduino → Chef
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// Envoie la position actuelle
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#define A2CI_POS
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#endif
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@ -80,6 +80,11 @@
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* See http://www.freertos.org/a00110.html.
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*----------------------------------------------------------*/
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// GF: added
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#define configUSE_MUTEXES 1
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#define INCLUDE_xQueueGetMutexHolder 1
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// -- done
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// JF: added
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#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY 3
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@ -29,9 +29,11 @@ FORMAT = ihex
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# Target file name (without extension).
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TARGET = principal
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OBJS = serial
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# Custom
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NAME = $(TARGET).c
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OBJSC = $(addsuffix .c,$(OBJS))
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# List C source files here. (C dependencies are automatically generated.)
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INSTALL_DIR=./FreeRTOSv9.0.0/FreeRTOS
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@ -41,6 +43,7 @@ PORT_DIR = .
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SRC = \
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$(NAME) \
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$(OBJSC) \
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$(SOURCE_DIR)/tasks.c \
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$(SOURCE_DIR)/queue.c \
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$(SOURCE_DIR)/list.c \
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@ -1,25 +1,30 @@
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <FreeRTOS.h>
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#include <task.h>
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#include <avr/io.h>
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void TaskBlink(void *pvParameters)
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{
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#include "serial.h"
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unsigned char speed = 200;
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void TaskBlink(void *pvParameters) {
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(void) pvParameters;
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TickType_t xLastWakeTime;
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const TickType_t xFrequency = 200 / portTICK_PERIOD_MS;
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TickType_t xFrequency = speed / portTICK_PERIOD_MS;
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DDRB = 0xFF;
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xLastWakeTime = xTaskGetTickCount();
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for (;;)
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{
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for (;;) {
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PORTB = PINB ^ 0xFF;
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vTaskDelayUntil(&xLastWakeTime, xFrequency);
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}
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}
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int main(void)
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{
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int main(void) {
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configureAC();
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sei();
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xTaskCreate(TaskBlink, "Blink", 128, NULL, 2, NULL);
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vTaskStartScheduler();
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return 0;
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74
arduino/serial.c
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74
arduino/serial.c
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#include <FreeRTOS.h>
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#include <queue.h>
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#include "serial.h"
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#include "ACsignals.h"
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ISR(USART0_UDRE_vect) {
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// When a transmit is ready to be done again
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TaskHandle_t holder = xSemaphoreGetMutexHolder(sSendAC);
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if (holder != NULL) {
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vTaskResume(holder);
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}
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}
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void sendByteAC(unsigned char data) {
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while (!bit_is_set(UCSR0A, UDRE0)) {
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vTaskSuspend(xSemaphoreGetMutexHolder(sSendAC));
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}
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UDR0 = data;
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}
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void sendAC(unsigned char code, void* data, size_t size) {
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xSemaphoreTake(sSendAC, 0);
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sendByteAC(code);
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unsigned char* p = data;
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for (int i = 0; i < size; i++) {
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sendByteAC(*p++);
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}
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xSemaphoreGive(sSendAC);
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}
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ISR(USART0_RX_vect) {
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// When a character is received
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vTaskResume(tReaderAC);
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}
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unsigned char readAC() {
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while (!bit_is_set(UCSR0A, RXC0)) {
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vTaskSuspend(tReaderAC);
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}
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return UDR0;
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}
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void TaskReaderAC(void *pvParameters) {
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(void) pvParameters;
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unsigned char code;
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for (;;) {
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code = readAC();
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char* sending = "Bonjour ! Comment va ?";
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sendAC('@', sending, 22);
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}
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}
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void configureAC() {
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/* Set baud rate */
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UBRR0 = AC_PRESCALER;
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/* Set off UART baud doubler */
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UCSR0A &= ~(1 << U2X0);
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/* Enable transmitter & receiver with interrupts */
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UCSR0B = (1 << RXCIE0 | 1 << UDRIE0 | 1 << TXEN0 | 1 << RXEN0);
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/* Set 8 bits character and 1 stop bit */
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UCSR0C = (1 << UCSZ01 | 1 << UCSZ00);
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sSendAC = xSemaphoreCreateMutex();
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xTaskCreate(TaskReaderAC, "TaskReaderAC", 128, NULL, 2, &tReaderAC);
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}
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20
arduino/serial.h
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20
arduino/serial.h
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#ifndef __SERIAL_H_
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#define __SERIAL_H_
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#include <semphr.h>
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#include <stdlib.h>
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#include <task.h>
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#define CPU_FREQ 16000000UL
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#define AC_PRESCALER CPU_FREQ / (AC_BAUDRATE << 4) - 1
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TaskHandle_t tReaderAC;
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SemaphoreHandle_t sSendAC;
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void sendByteAC(unsigned char data);
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void sendAC(unsigned char code, void* data, size_t size);
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unsigned char readAC();
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void TaskReaderAC(void *pvParameters);
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void configureAC();
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#endif
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