Added I2C (SRF05 & LCD)

chef/Makefile

@@ -34,7 +34,7 @@ endif
 # RÈGLES DE COMPILATION
 
 # Règle éxecutée par défaut (quand on fait juste `make`)
-default: bin/testpin bin/premier bin/local bin/testI2c bin/testLCD
+default: bin/testpin bin/premier bin/local bin/testI2c
 
 # Binaires (dont il faut spécifier les objets explicitement)
 bin/premier: obj/CF.o obj/movement.o obj/debug.o obj/position.o

chef/src/i2c.c

@@ -0,0 +1,55 @@
+#include <pthread.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <wiringPiI2C.h>
+
+#include "i2c.h"
+
+pthread_mutex_t sI2C;
+
+void initI2C()
+{
+    pthread_mutex_init(&sI2C, NULL);
+}
+
+int openI2C(int8_t address)
+{
+    lockI2C();
+    int fd = wiringPiI2CSetup(address);
+    unlockI2C();
+    if (fd < 0) {
+        perror("wiringPiI2CSetup");
+        exit(EXIT_FAILURE);
+    }
+    return fd;
+}
+
+int8_t readI2C(int fd, int8_t reg)
+{
+    lockI2C();
+    int8_t res = wiringPiI2CReadReg8(fd, reg);
+    unlockI2C();
+    return res;
+}
+
+void writeI2C(int fd, int8_t reg, int8_t data)
+{
+
+    lockI2C();
+    int res = wiringPiI2CWriteReg8(fd, reg, data);
+    unlockI2C();
+    if (res < 0) {
+        perror("wiringPiI2CWriteReg8");
+        exit(EXIT_FAILURE);
+    }
+}
+
+void lockI2C()
+{
+    pthread_mutex_lock(&sI2C);
+}
+
+void unlockI2C()
+{
+    pthread_mutex_unlock(&sI2C);
+}

chef/src/i2c.h

@@ -0,0 +1,17 @@
+#ifndef __I2C_H__
+#define __I2C_H__
+
+#include <stdint.h>
+
+void initI2C();
+int openI2C(int8_t address);
+int8_t readI2C(int fd, int8_t reg);
+void writeI2C(int fd, int8_t reg, int8_t data);
+
+// Get full control over the I2C communication
+// Note: Don't use methods from this library
+// while in this mode
+void lockI2C();
+void unlockI2C();
+
+#endif

chef/src/lcd.c

@@ -0,0 +1,68 @@
+#include "lcd.h"
+#include "i2c.h"
+#include <wiringPi.h>
+#include <wiringPiI2C.h>
+
+int lcdFd;
+
+void initLCD()
+{
+    lcdFd = openI2C(LCD_ADDR);
+
+    // TODO More details
+    sendLCD(0x33, LCD_MODE_CMD); // Initialise
+    sendLCD(0x32, LCD_MODE_CMD); // Initialise
+    sendLCD(0x06, LCD_MODE_CMD); // Cursor move direction
+    sendLCD(0x0C, LCD_MODE_CMD); // Blink Off
+    sendLCD(0x28, LCD_MODE_CMD); // Data length, number of lines, font size
+    sendLCD(0x01, LCD_MODE_CMD); // Clear display
+    delayMicroseconds(500);
+}
+
+void clearLCD()
+{
+    sendLCD(0x01, LCD_MODE_CMD);
+    sendLCD(0x02, LCD_MODE_CMD);
+}
+
+void gotoLCD(uint8_t line)
+{
+    sendLCD(line, LCD_MODE_CMD);
+}
+
+void charLCD(char c)
+{
+    sendLCD(c, LCD_MODE_CHR);
+}
+
+void printLCD(char* s)
+{
+    while (*s != '\0') {
+        charLCD(*s);
+        s++;
+    }
+}
+
+
+void sendLCD(uint8_t bits, uint8_t mode)
+{
+    lockI2C();
+    // High bits
+    uint8_t part = mode | (bits & 0xF0) | LCD_BACKLIGHT;
+    wiringPiI2CReadReg8(lcdFd, part);
+    toggleEnableLCD(part);
+
+    // Low bits
+    part = mode | ((bits << 4) & 0xF0) | LCD_BACKLIGHT;
+    wiringPiI2CReadReg8(lcdFd, part);
+    toggleEnableLCD(part);
+    unlockI2C();
+}
+
+void toggleEnableLCD(uint8_t bits)
+{
+    wiringPiI2CReadReg8(lcdFd, (bits | LCD_MASK_ENABLE));
+    delayMicroseconds(1);
+    wiringPiI2CReadReg8(lcdFd, (bits & ~LCD_MASK_ENABLE));
+    delayMicroseconds(50);
+}

chef/src/lcd.h

@@ -0,0 +1,31 @@
+#ifndef __LCD_H_
+#define __LCD_H_
+
+#include "stdint.h"
+
+#define LCD_ADDR 0x27
+
+#define LCD_MODE_CHR 1
+#define LCD_MODE_CMD 0
+
+#define LCD_LINE_1 0x80 // 1st line
+#define LCD_LINE_2 0xC0 // 2nd line
+
+#define LCD_BACKLIGHT_ON 0x08
+#define LCD_BACKLIGHT_OFF 0x08
+#define LCD_BACKLIGHT LCD_BACKLIGHT_ON
+
+#define LCD_MASK_ENABLE 0x04 // Enable bit
+
+// Public
+void initLCD();
+void clearLCD();
+void gotoLCD(uint8_t line);
+void charLCD(char c);
+void printLCD(char* s);
+
+// Private
+void sendLCD(uint8_t bits, uint8_t mode);
+void toggleEnableLCD(uint8_t bits);
+
+#endif

chef/src/srf08.c

@@ -0,0 +1,44 @@
+#include <unistd.h>
+
+#include "i2c.h"
+#include "srf08.h"
+
+int openSRF08(int address)
+{
+    int fd = openI2C(address);
+    writeI2C(fd, SRF08_REGISTER_WRITE_MAX_GAIN, SRF08_DEFAULT_MAX_GAIN);
+    writeI2C(fd, SRF08_REGISTER_WRITE_RANGE, SRF08_DEFAULT_RANGE);
+    return fd;
+}
+
+uint8_t revSRF08(int fd)
+{
+    return readI2C(fd, SRF08_REGISTER_READ_REVISION);
+}
+
+void startSRF08(int fd)
+{
+    writeI2C(fd, SRF08_REGISTER_WRITE_COMMAND, SRF08_COMMAND_RANGING_US);
+}
+
+void waitSRF08(int fd)
+{
+    while (revSRF08(fd) == 0xFF) {
+        sleep(0);
+    }
+}
+
+float getSRF08(int fd)
+{
+    int8_t high = readI2C(fd, SRF08_REGISTER_READ_ECHO_1_HIGH) - SRF08_VALUES_OFFSET;
+    int8_t low = readI2C(fd, SRF08_REGISTER_READ_ECHO_1_LOW) - SRF08_VALUES_OFFSET;
+    int total = high * SRF08_VALUES_OFFSET + low;
+    return total * SOUNDSPEED_MM_P_US;
+}
+
+float readSRF08(int fd)
+{
+    startSRF08(fd);
+    waitSRF08(fd);
+    return getSRF08(fd);
+}

chef/src/srf08.h

@@ -0,0 +1,33 @@
+#ifndef __SRF08_H__
+#define __SRF08_H__
+
+#include <stdint.h>
+
+int openSRF08(int address);
+uint8_t revSRF08(int fd);
+void startSRF08(int fd);
+void waitSRF08(int fd);
+// In mm
+float getSRF08(int fd);
+float readSRF08(int fd);
+
+#define SRF08_REGISTER_READ_REVISION 0x00
+#define SRF08_REGISTER_READ_ECHO_1_HIGH 0x02
+#define SRF08_REGISTER_READ_ECHO_1_LOW 0x03
+
+#define SRF08_REGISTER_WRITE_COMMAND 0x00
+#define SRF08_REGISTER_WRITE_MAX_GAIN 0x01
+#define SRF08_REGISTER_WRITE_RANGE 0x02
+
+#define SRF08_COMMAND_RANGING_IN 0x50
+#define SRF08_COMMAND_RANGING_CM 0x51
+#define SRF08_COMMAND_RANGING_US 0x52
+
+#define SRF08_DEFAULT_MAX_GAIN 0x1F
+#define SRF08_DEFAULT_RANGE 0xFF
+
+#define SRF08_VALUES_OFFSET 0x80
+
+#define SOUNDSPEED_MM_P_US 0.3312
+
+#endif

chef/src/testI2c.c

@@ -0,0 +1,50 @@
+/* Teste si une broche est connecté à une autre */
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <wiringPiI2C.h>
+
+#include "srf08.h"
+#include "i2c.h"
+#include "lcd.h"
+
+int main(int argc, char* argv[])
+{
+
+    (void)argc;
+    (void)argv;
+
+    initI2C();
+
+    // Adresse du SRF05
+    uint8_t address = atoi(argv[1]);
+
+    printf("Connecting to %d (0x%x)\n", address, address);
+
+    initLCD();
+    clearLCD();
+    gotoLCD(LCD_LINE_1);
+    printLCD("Distance");
+
+    int front = openSRF08(address);
+
+    char line[16];
+    float l = 0;
+    for (;;) {
+        startSRF08(front);
+
+        gotoLCD(LCD_LINE_2);
+        printf("l = %3f\n", l);
+        sprintf(line, "%f mm", l);
+        printLCD(line);
+        printLCD("        ");
+
+        waitSRF08(front);
+        l = getSRF08(front);
+
+    }
+
+
+}

raspberrypi/board/robotech/cdfprincipal/busybox-extra.conf

@@ -0,0 +1 @@
+CONFIG_RX=y

raspberrypi/board/robotech/cdfprincipal/post-image.sh

@@ -0,0 +1,10 @@
+#!/bin/sh
+
+>> "${BINARIES_DIR}/rpi-firmware/config.txt"
+		cat << __EOF__ >> "${BINARIES_DIR}/rpi-firmware/config.txt"
+
+# activates I2C connectivity
+dtparam=i2c_arm=on,i2c_arm_baudrate=1000000
+__EOF__
+
+

raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S30hardware

@@ -6,11 +6,15 @@
 start() {
 	printf "Starting hardware handling: "
 	modprobe pl2303 # USB↔Serial cable
+	modprobe i2c-bcm2708 # I2C
+	modprobe i2c-dev # I2C
 	echo "OK"
 }
 
 stop() {
 	printf "Stopping hardware handling: "
+	rmmod i2c-dev # I2C
+	rmmod i2c-bcm2708 # I2C
 	rmmod pl2303 # USB↔Serial cable
 	echo "OK"
 }

raspberrypi/configs/cdfprincipal_defconfig

@@ -49,16 +49,16 @@ BR2_CCACHE=y
 BR2_TARGET_GENERIC_HOSTNAME="principal"
 BR2_TARGET_GENERIC_ISSUE="Robotech - CdF 2018 - Robot principal"
 
-# Configuration noyau supplémentaire
-BR2_LINUX_KERNEL_CONFIG_FRAGMENT_FILES="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/linux-extra.conf"
-# TODO Not working
-
 # Paquets nécessaires
 BR2_PACKAGE_CHEF=y
 
 # Fichiers supplémentaires
 BR2_ROOTFS_OVERLAY="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/rootfs_overlay/"
-BR2_ROOTFS_POST_BUILD_SCRIPT="board/raspberrypi3/post-build.sh ${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/post-build.sh"
+BR2_ROOTFS_POST_BUILD_SCRIPT="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/post-build.sh board/raspberrypi3/post-build.sh"
+BR2_ROOTFS_POST_IMAGE_SCRIPT="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/post-image.sh board/raspberrypi3/post-image.sh"
+BR2_PACKAGE_BUSYBOX_CONFIG_FRAGMENT_FILES="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/busybox-extra.conf"
+BR2_LINUX_KERNEL_CONFIG_FRAGMENT_FILES="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/linux-extra.conf"
+# TODO Doesn't work
 
 # Ne pas activer la connexion ethernet par défaut
 BR2_SYSTEM_DHCP=""
@@ -72,6 +72,7 @@ BR2_PACKAGE_WPA_SUPPLICANT=y
 # Pour upgrader à chaud
 BR2_PACKAGE_DROPBEAR=y
 BR2_PACKAGE_RSYNC=y
+BR2_PACKAGE_PPPD=y
 
 # Pour faire plaisir à Geoffrey
 BR2_PACKAGE_HTOP=y
@@ -85,3 +86,7 @@ BR2_PACKAGE_AVRDUDE=y
 # Pour uploader sur le FPGA
 BR2_PACKAGE_MERCPCL=y
 
+# Communication I2C
+BR2_PACKAGE_BUSYBOX_SHOW_OTHERS=y
+BR2_PACKAGE_I2C_TOOLS=y
+