mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-24 00:56:04 +01:00
Added I2C (SRF05 & LCD)
This commit is contained in:
parent
832306706d
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0eb11d9fc6
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@ -34,7 +34,7 @@ endif
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# RÈGLES DE COMPILATION
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# Règle éxecutée par défaut (quand on fait juste `make`)
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default: bin/testpin bin/premier bin/local bin/testI2c bin/testLCD
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default: bin/testpin bin/premier bin/local bin/testI2c
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# Binaires (dont il faut spécifier les objets explicitement)
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bin/premier: obj/CF.o obj/movement.o obj/debug.o obj/position.o
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55
chef/src/i2c.c
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55
chef/src/i2c.c
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@ -0,0 +1,55 @@
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#include <pthread.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <wiringPiI2C.h>
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#include "i2c.h"
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pthread_mutex_t sI2C;
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void initI2C()
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{
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pthread_mutex_init(&sI2C, NULL);
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}
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int openI2C(int8_t address)
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{
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lockI2C();
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int fd = wiringPiI2CSetup(address);
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unlockI2C();
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if (fd < 0) {
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perror("wiringPiI2CSetup");
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exit(EXIT_FAILURE);
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}
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return fd;
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}
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int8_t readI2C(int fd, int8_t reg)
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{
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lockI2C();
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int8_t res = wiringPiI2CReadReg8(fd, reg);
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unlockI2C();
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return res;
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}
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void writeI2C(int fd, int8_t reg, int8_t data)
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{
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lockI2C();
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int res = wiringPiI2CWriteReg8(fd, reg, data);
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unlockI2C();
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if (res < 0) {
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perror("wiringPiI2CWriteReg8");
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exit(EXIT_FAILURE);
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}
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}
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void lockI2C()
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{
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pthread_mutex_lock(&sI2C);
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}
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void unlockI2C()
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{
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pthread_mutex_unlock(&sI2C);
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}
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17
chef/src/i2c.h
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17
chef/src/i2c.h
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#ifndef __I2C_H__
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#define __I2C_H__
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#include <stdint.h>
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void initI2C();
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int openI2C(int8_t address);
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int8_t readI2C(int fd, int8_t reg);
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void writeI2C(int fd, int8_t reg, int8_t data);
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// Get full control over the I2C communication
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// Note: Don't use methods from this library
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// while in this mode
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void lockI2C();
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void unlockI2C();
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#endif
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68
chef/src/lcd.c
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68
chef/src/lcd.c
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#include "lcd.h"
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#include "i2c.h"
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#include <wiringPi.h>
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#include <wiringPiI2C.h>
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int lcdFd;
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void initLCD()
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{
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lcdFd = openI2C(LCD_ADDR);
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// TODO More details
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sendLCD(0x33, LCD_MODE_CMD); // Initialise
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sendLCD(0x32, LCD_MODE_CMD); // Initialise
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sendLCD(0x06, LCD_MODE_CMD); // Cursor move direction
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sendLCD(0x0C, LCD_MODE_CMD); // Blink Off
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sendLCD(0x28, LCD_MODE_CMD); // Data length, number of lines, font size
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sendLCD(0x01, LCD_MODE_CMD); // Clear display
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delayMicroseconds(500);
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}
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void clearLCD()
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{
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sendLCD(0x01, LCD_MODE_CMD);
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sendLCD(0x02, LCD_MODE_CMD);
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}
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void gotoLCD(uint8_t line)
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{
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sendLCD(line, LCD_MODE_CMD);
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}
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void charLCD(char c)
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{
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sendLCD(c, LCD_MODE_CHR);
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}
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void printLCD(char* s)
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{
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while (*s != '\0') {
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charLCD(*s);
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s++;
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}
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}
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void sendLCD(uint8_t bits, uint8_t mode)
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{
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lockI2C();
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// High bits
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uint8_t part = mode | (bits & 0xF0) | LCD_BACKLIGHT;
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wiringPiI2CReadReg8(lcdFd, part);
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toggleEnableLCD(part);
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// Low bits
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part = mode | ((bits << 4) & 0xF0) | LCD_BACKLIGHT;
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wiringPiI2CReadReg8(lcdFd, part);
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toggleEnableLCD(part);
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unlockI2C();
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}
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void toggleEnableLCD(uint8_t bits)
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{
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wiringPiI2CReadReg8(lcdFd, (bits | LCD_MASK_ENABLE));
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delayMicroseconds(1);
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wiringPiI2CReadReg8(lcdFd, (bits & ~LCD_MASK_ENABLE));
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delayMicroseconds(50);
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}
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31
chef/src/lcd.h
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31
chef/src/lcd.h
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#ifndef __LCD_H_
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#define __LCD_H_
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#include "stdint.h"
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#define LCD_ADDR 0x27
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#define LCD_MODE_CHR 1
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#define LCD_MODE_CMD 0
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#define LCD_LINE_1 0x80 // 1st line
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#define LCD_LINE_2 0xC0 // 2nd line
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#define LCD_BACKLIGHT_ON 0x08
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#define LCD_BACKLIGHT_OFF 0x08
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#define LCD_BACKLIGHT LCD_BACKLIGHT_ON
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#define LCD_MASK_ENABLE 0x04 // Enable bit
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// Public
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void initLCD();
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void clearLCD();
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void gotoLCD(uint8_t line);
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void charLCD(char c);
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void printLCD(char* s);
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// Private
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void sendLCD(uint8_t bits, uint8_t mode);
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void toggleEnableLCD(uint8_t bits);
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#endif
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44
chef/src/srf08.c
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44
chef/src/srf08.c
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#include <unistd.h>
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#include "i2c.h"
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#include "srf08.h"
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int openSRF08(int address)
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{
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int fd = openI2C(address);
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writeI2C(fd, SRF08_REGISTER_WRITE_MAX_GAIN, SRF08_DEFAULT_MAX_GAIN);
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writeI2C(fd, SRF08_REGISTER_WRITE_RANGE, SRF08_DEFAULT_RANGE);
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return fd;
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}
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uint8_t revSRF08(int fd)
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{
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return readI2C(fd, SRF08_REGISTER_READ_REVISION);
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}
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void startSRF08(int fd)
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{
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writeI2C(fd, SRF08_REGISTER_WRITE_COMMAND, SRF08_COMMAND_RANGING_US);
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}
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void waitSRF08(int fd)
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{
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while (revSRF08(fd) == 0xFF) {
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sleep(0);
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}
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}
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float getSRF08(int fd)
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{
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int8_t high = readI2C(fd, SRF08_REGISTER_READ_ECHO_1_HIGH) - SRF08_VALUES_OFFSET;
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int8_t low = readI2C(fd, SRF08_REGISTER_READ_ECHO_1_LOW) - SRF08_VALUES_OFFSET;
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int total = high * SRF08_VALUES_OFFSET + low;
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return total * SOUNDSPEED_MM_P_US;
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}
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float readSRF08(int fd)
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{
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startSRF08(fd);
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waitSRF08(fd);
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return getSRF08(fd);
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}
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chef/src/srf08.h
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33
chef/src/srf08.h
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#ifndef __SRF08_H__
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#define __SRF08_H__
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#include <stdint.h>
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int openSRF08(int address);
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uint8_t revSRF08(int fd);
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void startSRF08(int fd);
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void waitSRF08(int fd);
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// In mm
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float getSRF08(int fd);
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float readSRF08(int fd);
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#define SRF08_REGISTER_READ_REVISION 0x00
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#define SRF08_REGISTER_READ_ECHO_1_HIGH 0x02
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#define SRF08_REGISTER_READ_ECHO_1_LOW 0x03
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#define SRF08_REGISTER_WRITE_COMMAND 0x00
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#define SRF08_REGISTER_WRITE_MAX_GAIN 0x01
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#define SRF08_REGISTER_WRITE_RANGE 0x02
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#define SRF08_COMMAND_RANGING_IN 0x50
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#define SRF08_COMMAND_RANGING_CM 0x51
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#define SRF08_COMMAND_RANGING_US 0x52
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#define SRF08_DEFAULT_MAX_GAIN 0x1F
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#define SRF08_DEFAULT_RANGE 0xFF
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#define SRF08_VALUES_OFFSET 0x80
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#define SOUNDSPEED_MM_P_US 0.3312
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#endif
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50
chef/src/testI2c.c
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50
chef/src/testI2c.c
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/* Teste si une broche est connecté à une autre */
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <wiringPiI2C.h>
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#include "srf08.h"
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#include "i2c.h"
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#include "lcd.h"
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int main(int argc, char* argv[])
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{
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(void)argc;
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(void)argv;
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initI2C();
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// Adresse du SRF05
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uint8_t address = atoi(argv[1]);
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printf("Connecting to %d (0x%x)\n", address, address);
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initLCD();
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clearLCD();
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gotoLCD(LCD_LINE_1);
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printLCD("Distance");
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int front = openSRF08(address);
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char line[16];
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float l = 0;
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for (;;) {
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startSRF08(front);
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gotoLCD(LCD_LINE_2);
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printf("l = %3f\n", l);
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sprintf(line, "%f mm", l);
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printLCD(line);
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printLCD(" ");
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waitSRF08(front);
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l = getSRF08(front);
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}
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}
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@ -0,0 +1 @@
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CONFIG_RX=y
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10
raspberrypi/board/robotech/cdfprincipal/post-image.sh
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10
raspberrypi/board/robotech/cdfprincipal/post-image.sh
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#!/bin/sh
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>> "${BINARIES_DIR}/rpi-firmware/config.txt"
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cat << __EOF__ >> "${BINARIES_DIR}/rpi-firmware/config.txt"
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# activates I2C connectivity
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dtparam=i2c_arm=on,i2c_arm_baudrate=1000000
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__EOF__
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@ -5,13 +5,17 @@
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start() {
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printf "Starting hardware handling: "
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modprobe pl2303 # USB↔Serial cable
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modprobe pl2303 # USB↔Serial cable
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modprobe i2c-bcm2708 # I2C
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modprobe i2c-dev # I2C
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echo "OK"
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}
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stop() {
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printf "Stopping hardware handling: "
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rmmod pl2303 # USB↔Serial cable
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rmmod i2c-dev # I2C
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rmmod i2c-bcm2708 # I2C
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rmmod pl2303 # USB↔Serial cable
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echo "OK"
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}
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BR2_TARGET_GENERIC_HOSTNAME="principal"
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BR2_TARGET_GENERIC_ISSUE="Robotech - CdF 2018 - Robot principal"
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# Configuration noyau supplémentaire
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BR2_LINUX_KERNEL_CONFIG_FRAGMENT_FILES="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/linux-extra.conf"
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# TODO Not working
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# Paquets nécessaires
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BR2_PACKAGE_CHEF=y
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# Fichiers supplémentaires
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BR2_ROOTFS_OVERLAY="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/rootfs_overlay/"
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BR2_ROOTFS_POST_BUILD_SCRIPT="board/raspberrypi3/post-build.sh ${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/post-build.sh"
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BR2_ROOTFS_POST_BUILD_SCRIPT="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/post-build.sh board/raspberrypi3/post-build.sh"
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BR2_ROOTFS_POST_IMAGE_SCRIPT="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/post-image.sh board/raspberrypi3/post-image.sh"
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BR2_PACKAGE_BUSYBOX_CONFIG_FRAGMENT_FILES="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/busybox-extra.conf"
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BR2_LINUX_KERNEL_CONFIG_FRAGMENT_FILES="${BR2_EXTERNAL_CDF_PATH}/board/robotech/cdfprincipal/linux-extra.conf"
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# TODO Doesn't work
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# Ne pas activer la connexion ethernet par défaut
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BR2_SYSTEM_DHCP=""
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# Pour upgrader à chaud
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BR2_PACKAGE_DROPBEAR=y
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BR2_PACKAGE_RSYNC=y
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BR2_PACKAGE_PPPD=y
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# Pour faire plaisir à Geoffrey
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BR2_PACKAGE_HTOP=y
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# Pour uploader sur le FPGA
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BR2_PACKAGE_MERCPCL=y
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# Communication I2C
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BR2_PACKAGE_BUSYBOX_SHOW_OTHERS=y
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BR2_PACKAGE_I2C_TOOLS=y
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