1
0
Fork 0
mirror of https://github.com/RobotechLille/cdf2018-principal synced 2024-11-04 23:56:04 +01:00

Communication A↔C : Base coté Arduino

This commit is contained in:
Geoffrey Frogeye 2018-02-12 13:51:51 +01:00
parent e0cb79d1cc
commit 078b4ad2d9
6 changed files with 152 additions and 8 deletions

37
arduino/ACsignals.h Normal file
View file

@ -0,0 +1,37 @@
// Définition des signaux échagés entre l'Arduino et le chef
//
#ifndef __ACSIGNALS_H_
#define __ACSIGNALS_H_
#define AC_BAUDRATE 9600UL
// D: Direct
// Sens naturel : Envoi de donnée
// Sens inverse : Accusé de réception
// I: Indirect
// Sens inverse : Demande de donnée
// Sens naturel : Envoi de donnée
// T: Trigger
// Sens inverse : Paramètrage du trigger
// Sens naturel : Envoi de trigger
// Chef → Arduino
// Pour le debug
#define C2AD_PING 0
// Arrête tous les actionneurs
#define C2AD_STOP 1
// Donne une destination
#define C2AD_GOTO 2
// Donne une rotation
#define C2AD_ROTATE 3
// Arduino → Chef
// Envoie la position actuelle
#define A2CI_POS
#endif

View file

@ -80,6 +80,11 @@
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
// GF: added
#define configUSE_MUTEXES 1
#define INCLUDE_xQueueGetMutexHolder 1
// -- done
// JF: added
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY 3

View file

@ -29,9 +29,11 @@ FORMAT = ihex
# Target file name (without extension).
TARGET = principal
OBJS = serial
# Custom
NAME = $(TARGET).c
OBJSC = $(addsuffix .c,$(OBJS))
# List C source files here. (C dependencies are automatically generated.)
INSTALL_DIR=./FreeRTOSv9.0.0/FreeRTOS
@ -41,6 +43,7 @@ PORT_DIR = .
SRC = \
$(NAME) \
$(OBJSC) \
$(SOURCE_DIR)/tasks.c \
$(SOURCE_DIR)/queue.c \
$(SOURCE_DIR)/list.c \

View file

@ -1,25 +1,30 @@
#include <avr/io.h>
#include <avr/interrupt.h>
#include <FreeRTOS.h>
#include <task.h>
#include <avr/io.h>
void TaskBlink(void *pvParameters)
{
#include "serial.h"
unsigned char speed = 200;
void TaskBlink(void *pvParameters) {
(void) pvParameters;
TickType_t xLastWakeTime;
const TickType_t xFrequency = 200 / portTICK_PERIOD_MS;
TickType_t xFrequency = speed / portTICK_PERIOD_MS;
DDRB = 0xFF;
xLastWakeTime = xTaskGetTickCount();
for (;;)
{
for (;;) {
PORTB = PINB ^ 0xFF;
vTaskDelayUntil(&xLastWakeTime, xFrequency);
}
}
int main(void)
{
int main(void) {
configureAC();
sei();
xTaskCreate(TaskBlink, "Blink", 128, NULL, 2, NULL);
vTaskStartScheduler();
return 0;

74
arduino/serial.c Normal file
View file

@ -0,0 +1,74 @@
#include <avr/interrupt.h>
#include <avr/io.h>
#include <FreeRTOS.h>
#include <queue.h>
#include "serial.h"
#include "ACsignals.h"
ISR(USART0_UDRE_vect) {
// When a transmit is ready to be done again
TaskHandle_t holder = xSemaphoreGetMutexHolder(sSendAC);
if (holder != NULL) {
vTaskResume(holder);
}
}
void sendByteAC(unsigned char data) {
while (!bit_is_set(UCSR0A, UDRE0)) {
vTaskSuspend(xSemaphoreGetMutexHolder(sSendAC));
}
UDR0 = data;
}
void sendAC(unsigned char code, void* data, size_t size) {
xSemaphoreTake(sSendAC, 0);
sendByteAC(code);
unsigned char* p = data;
for (int i = 0; i < size; i++) {
sendByteAC(*p++);
}
xSemaphoreGive(sSendAC);
}
ISR(USART0_RX_vect) {
// When a character is received
vTaskResume(tReaderAC);
}
unsigned char readAC() {
while (!bit_is_set(UCSR0A, RXC0)) {
vTaskSuspend(tReaderAC);
}
return UDR0;
}
void TaskReaderAC(void *pvParameters) {
(void) pvParameters;
unsigned char code;
for (;;) {
code = readAC();
char* sending = "Bonjour ! Comment va ?";
sendAC('@', sending, 22);
}
}
void configureAC() {
/* Set baud rate */
UBRR0 = AC_PRESCALER;
/* Set off UART baud doubler */
UCSR0A &= ~(1 << U2X0);
/* Enable transmitter & receiver with interrupts */
UCSR0B = (1 << RXCIE0 | 1 << UDRIE0 | 1 << TXEN0 | 1 << RXEN0);
/* Set 8 bits character and 1 stop bit */
UCSR0C = (1 << UCSZ01 | 1 << UCSZ00);
sSendAC = xSemaphoreCreateMutex();
xTaskCreate(TaskReaderAC, "TaskReaderAC", 128, NULL, 2, &tReaderAC);
}

20
arduino/serial.h Normal file
View file

@ -0,0 +1,20 @@
#ifndef __SERIAL_H_
#define __SERIAL_H_
#include <semphr.h>
#include <stdlib.h>
#include <task.h>
#define CPU_FREQ 16000000UL
#define AC_PRESCALER CPU_FREQ / (AC_BAUDRATE << 4) - 1
TaskHandle_t tReaderAC;
SemaphoreHandle_t sSendAC;
void sendByteAC(unsigned char data);
void sendAC(unsigned char code, void* data, size_t size);
unsigned char readAC();
void TaskReaderAC(void *pvParameters);
void configureAC();
#endif