Communication A↔C : Base coté Arduino

arduino/ACsignals.h

@@ -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

arduino/FreeRTOSConfig.h

@@ -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

arduino/Makefile

@@ -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 \

arduino/principal.c

@@ -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;

arduino/serial.c

@@ -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);
+}
+

arduino/serial.h

@@ -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