mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-21 15:46:06 +01:00
Motor controller via FPGA
This commit is contained in:
parent
760b950e83
commit
4af0f8c865
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@ -11,7 +11,7 @@ CFLAGS_CUSTOM += -g
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## Générateurs de drapeaux pour les bibliothèques
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PKG_CONFIG=pkg-config
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## Nom des objets communs
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OBJS=CF debug i2c ihm lcd movement parcours points position
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OBJS=buttons CF debug i2c ihm lcd movement parcours points position
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OBJS_O=$(addprefix obj/,$(addsuffix .o,$(OBJS)))
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# VARIABLES AUTOMATIQUES
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@ -58,5 +58,21 @@ struct __attribute__ ((packed)) F2CT_CAPTs {
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uint16_t back;
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};
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// Met à jour la PWM (pour ctrl moteur (EN, IN × 2) × 2)
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#define C2FD_PWM 'W'
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struct __attribute__ ((packed)) C2FD_PWMs {
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uint8_t ena;
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uint8_t enb;
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uint8_t in;
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};
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// Met à jour la PWM (pour ctrl moteur (EN × 2) × 2)
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#define C2FD_PWM2 'w'
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struct __attribute__ ((packed)) C2FD_PWM2s {
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uint8_t ena;
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uint8_t enc;
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uint8_t enb;
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uint8_t end;
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};
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#endif
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99
chef/src/buttons.c
Normal file
99
chef/src/buttons.c
Normal file
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@ -0,0 +1,99 @@
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#include <pthread.h>
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#include <stdio.h>
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#include "buttons.h"
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// Globales
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pthread_t tStdinButton;
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enum boutons stdinbutton = none;
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// Fonctions
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void configureButtons()
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{
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pinMode(BUT_PIN_ROUGE, INPUT);
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pullUpDnControl(BUT_PIN_ROUGE, PUD_UP);
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pinMode(BUT_PIN_JAUNE, INPUT);
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pullUpDnControl(BUT_PIN_JAUNE, PUD_UP);
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pinMode(BUT_PIN_TIRETTE, INPUT);
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pullUpDnControl(BUT_PIN_TIRETTE, PUD_UP);
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pthread_create(&tStdinButton, NULL, TaskStdinButton, NULL);
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}
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bool debunkButton(int pin)
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{
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int t;
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// Press (cancel if wrong)
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for (t = BUT_DEBUNK_TIME / 2; t > 0; t--) {
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if (digitalRead(pin) != LOW) {
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return false;
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}
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delay(1);
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}
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// Release (re-wait if wrong)
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for (t = BUT_DEBUNK_TIME / 2; t > 0; t--) {
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if (digitalRead(pin) != HIGH) {
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t = BUT_DEBUNK_TIME / 2;
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}
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delay(1);
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}
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return true;
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}
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void* TaskStdinButton(void* pdata)
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{
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(void)pdata;
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for (;;) {
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char c = getchar();
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if (c == '1') {
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stdinbutton = jaune;
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} else if (c == '2') {
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stdinbutton = rouge;
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}
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}
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return NULL;
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}
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enum boutons pressedButton(int timeout)
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{
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bool block = timeout < 0;
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while (timeout > 0 || block) {
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if (stdinbutton != none) {
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enum boutons bout = stdinbutton;
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stdinbutton = none;
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return bout;
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}
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if (debunkButton(BUT_PIN_JAUNE)) {
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return jaune;
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}
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if (debunkButton(BUT_PIN_ROUGE)) {
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return rouge;
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}
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delay(BUT_POLLING_INTERVAL);
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timeout -= BUT_POLLING_INTERVAL;
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}
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return none;
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}
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bool tirettePresente()
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{
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int etat, newEtat;
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int t;
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for (t = 0; t < BUT_DEBUNK_TIME; t++) {
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newEtat = digitalRead(BUT_PIN_TIRETTE);
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if (etat != newEtat) {
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t = 0;
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etat = newEtat;
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}
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delay(1);
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}
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return etat == LOW;
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}
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30
chef/src/buttons.h
Normal file
30
chef/src/buttons.h
Normal file
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@ -0,0 +1,30 @@
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#ifndef __BUTTONS_H_
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#define __BUTTONS_H_
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#include <stdbool.h>
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#include <wiringPi.h>
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// Constants
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#define BUT_PIN_ROUGE 0
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#define BUT_PIN_JAUNE 2
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#define BUT_PIN_TIRETTE 3
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// ms
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#define BUT_BLOCK -1
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#define BUT_POLLING_INTERVAL 50
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#define BUT_DEBUNK_TIME 50
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#define BUT_REFRESH_INTERVAL 1000
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// Structures
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enum boutons {none, jaune, rouge};
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// Public
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void configureButtons();
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enum boutons pressedButton(int timeout); // timeout: ms or -1
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bool tirettePresente();
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// Private
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bool debunkButton(int pin);
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void* TaskStdinButton(void *pdata);
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#endif
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116
chef/src/ihm.c
116
chef/src/ihm.c
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@ -1,17 +1,16 @@
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#include <pthread.h>
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#include <signal.h>
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#include <stdio.h>
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#include <time.h>
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#include <wiringPi.h>
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#include "ihm.h"
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#include "movement.h"
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#include "parcours.h"
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#include "points.h"
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#include "lcd.h"
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#include "buttons.h"
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// Globales
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pthread_t tIHM;
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pthread_t tStdinIHM;
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// Fonctions
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void configureIHM()
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@ -22,15 +21,8 @@ void configureIHM()
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void startIHM()
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{
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pinMode(IHM_PIN_ROUGE, INPUT);
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pullUpDnControl(IHM_PIN_ROUGE, PUD_UP);
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pinMode(IHM_PIN_JAUNE, INPUT);
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pullUpDnControl(IHM_PIN_JAUNE, PUD_UP);
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pinMode(IHM_PIN_TIRETTE, INPUT);
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pullUpDnControl(IHM_PIN_TIRETTE, PUD_UP);
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configureButtons();
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pthread_create(&tIHM, NULL, TaskIHM, NULL);
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pthread_create(&tStdinIHM, NULL, TaskStdinIHM, NULL);
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pthread_join(tIHM, NULL);
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}
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@ -46,84 +38,6 @@ void diffTimespec(const struct timespec* t1, const struct timespec* t2, struct t
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}
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}
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bool debunkButtonIHM(int pin)
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{
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int t;
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// Press (cancel if wrong)
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for (t = IHM_DEBUNK_TIME / 2; t > 0; t--) {
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if (digitalRead(pin) != LOW) {
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return false;
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}
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delay(1);
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}
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// Release (re-wait if wrong)
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for (t = IHM_DEBUNK_TIME / 2; t > 0; t--) {
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if (digitalRead(pin) != HIGH) {
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t = IHM_DEBUNK_TIME / 2;
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}
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delay(1);
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}
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return true;
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}
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enum boutons stdinbutton = none;
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void* TaskStdinIHM(void* pdata)
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{
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(void)pdata;
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for (;;) {
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char c = getchar();
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if (c == '1') {
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stdinbutton = jaune;
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} else if (c == '2') {
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stdinbutton = rouge;
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}
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}
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return NULL;
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}
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enum boutons pressedIHM(int timeout)
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{
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bool block = timeout < 0;
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while (timeout > 0 || block) {
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if (stdinbutton != none) {
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enum boutons bout = stdinbutton;
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stdinbutton = none;
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return bout;
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}
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if (debunkButtonIHM(IHM_PIN_JAUNE)) {
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return jaune;
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}
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if (debunkButtonIHM(IHM_PIN_ROUGE)) {
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return rouge;
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}
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delay(IHM_POLLING_INTERVAL);
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timeout -= IHM_POLLING_INTERVAL;
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}
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return none;
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}
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bool tirettePresente()
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{
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int etat, newEtat;
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int t;
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for (t = 0; t < IHM_DEBUNK_TIME; t++) {
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newEtat = digitalRead(IHM_PIN_TIRETTE);
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if (etat != newEtat) {
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t = 0;
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etat = newEtat;
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}
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delay(1);
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}
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return etat == LOW;
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}
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bool isDebug = false;
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bool isOrange = true;
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bool annuler = false;
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@ -152,7 +66,7 @@ void* TaskIHM(void* pdata)
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if (isDebug) {
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printToLCD(LCD_LINE_2, "192.168.0.0 TODO");
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}
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bout = pressedIHM(IHM_REFRESH_INTERVAL);
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bout = pressedButton(BUT_REFRESH_INTERVAL);
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if (bout == rouge) {
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isDebug = !isDebug;
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@ -165,7 +79,7 @@ void* TaskIHM(void* pdata)
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for (;;) {
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clearLCD();
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printfToLCD(LCD_LINE_1, "Couleur : %s", getCouleur());
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bout = pressedIHM(IHM_BLOCK);
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bout = pressedButton(BUT_BLOCK);
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if (bout == rouge) {
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isOrange = !isOrange;
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@ -184,7 +98,7 @@ void* TaskIHM(void* pdata)
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printToLCD(LCD_LINE_1, "Calibrer");
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printfToLCD(LCD_LINE_2, "(%s)", getCouleur());
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}
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bout = pressedIHM(IHM_REFRESH_INTERVAL);
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bout = pressedButton(BUT_REFRESH_INTERVAL);
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if (bout == rouge) {
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clearLCD();
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@ -200,7 +114,7 @@ void* TaskIHM(void* pdata)
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for (;;) {
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clearLCD();
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printToLCD(LCD_LINE_1, "Diagnostiquer");
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bout = pressedIHM(IHM_BLOCK);
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bout = pressedButton(BUT_BLOCK);
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if (bout == rouge) {
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clearLCD();
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@ -216,7 +130,7 @@ void* TaskIHM(void* pdata)
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clearLCD();
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printToLCD(LCD_LINE_1, "Lancer parcours");
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printfToLCD(LCD_LINE_2, "(%s)", getCouleur());
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bout = pressedIHM(IHM_BLOCK);
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bout = pressedButton(BUT_BLOCK);
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if (bout == rouge) {
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// No tirette
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annuler = false;
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@ -224,7 +138,7 @@ void* TaskIHM(void* pdata)
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clearLCD();
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printToLCD(LCD_LINE_1, "Inserez tirette");
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printToLCD(LCD_LINE_2, "(ROUGE: ignorer)");
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bout = pressedIHM(IHM_REFRESH_INTERVAL);
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bout = pressedButton(BUT_REFRESH_INTERVAL);
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if (bout == rouge) {
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break;
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} else if (bout == jaune) {
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@ -241,7 +155,7 @@ void* TaskIHM(void* pdata)
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prepareParcours(isOrange);
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while (tirettePresente()) {
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bout = pressedIHM(IHM_POLLING_INTERVAL);
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bout = pressedButton(BUT_POLLING_INTERVAL);
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if (bout == jaune) {
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annuler = true;
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break;
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@ -256,15 +170,15 @@ void* TaskIHM(void* pdata)
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int toWait;
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while ((toWait = updateParcours()) >= 0) {
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if (pressedIHM(toWait) != none) {
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if (pressedButton(toWait) != none) {
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break;
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}
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}
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stopParcours();
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pressedIHM(IHM_BLOCK); // Nécessite 3 appuis pour éviter d'enlever le score par inadvertance
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pressedIHM(IHM_BLOCK);
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pressedIHM(IHM_BLOCK);
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pressedButton(BUT_BLOCK); // Nécessite 3 appuis pour éviter d'enlever le score par inadvertance
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pressedButton(BUT_BLOCK);
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pressedButton(BUT_BLOCK);
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} else if (bout == jaune) {
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break;
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}
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@ -274,7 +188,7 @@ void* TaskIHM(void* pdata)
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for (;;) {
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clearLCD();
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printToLCD(LCD_LINE_1, "Remettre a zero");
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bout = pressedIHM(IHM_BLOCK);
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bout = pressedButton(BUT_BLOCK);
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if (bout == rouge) {
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clearLCD();
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@ -3,20 +3,6 @@
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#include <stdbool.h>
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#include "lcd.h"
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#define IHM_PIN_ROUGE 0
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#define IHM_PIN_JAUNE 2
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#define IHM_PIN_TIRETTE 3
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// ms
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#define IHM_BLOCK -1
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#define IHM_POLLING_INTERVAL 50
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#define IHM_DEBUNK_TIME 50
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#define IHM_REFRESH_INTERVAL 1000
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enum boutons {none, jaune, rouge};
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// Public
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void configureIHM();
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void startIHM();
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@ -24,8 +10,5 @@ void deconfigureIHM();
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// Private
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void* TaskIHM(void *pdata);
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void* TaskStdinIHM(void *pdata);
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enum boutons pressedIHM(int timeout); // timeout: ms or -1
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bool debunkButtonIHM(int pin);
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#endif
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@ -1,85 +1,74 @@
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#include "movement.h"
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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#include "movement.h"
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#include "CF.h"
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void configureMovement()
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{
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pinMode(ENA, PWM_OUTPUT);
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pinMode(ENB, PWM_OUTPUT);
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stop();
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}
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void aller(struct position* pos);
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int dbg = 0;
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int changerMoteurs(float lVit, float rVit)
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uint8_t tensionToPWM(float V)
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{
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if (V >= PWM_MAX_V) {
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return PWM_MAX;
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} else if (V <= 0) {
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return 0;
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} else {
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return V * (float) PWM_MAX / (float) PWM_MAX_V;
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}
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}
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// Tension de PWM
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// TODO Changer en tension de moteur
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int setMoteurTension(float lVolt, float rVolt)
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{
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static struct C2FD_PWMs msg;
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msg.in = 0x00;
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// Gauche
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bool lFor = lVit < 0;
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float lVolt = fabs(lVit); // TODO Utiliser les vitesses
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bool lFor = lVolt < 0;
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lVolt = fabs(lVolt);
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if (lVolt > MOT_MAX_V) {
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lVolt = MOT_MAX_V;
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}
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if (lVolt < MOT_MIN_V) {
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digitalWrite(IN1, LOW);
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digitalWrite(IN2, LOW);
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printf("x");
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} else if (lFor) {
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digitalWrite(IN1, HIGH);
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digitalWrite(IN2, LOW);
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printf("↑");
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} else {
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digitalWrite(IN1, LOW);
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digitalWrite(IN2, HIGH);
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printf("↓");
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}
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int lAbs = lVolt * PWM_MAX / PWM_MAX_V;
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pwmWrite(ENA, lAbs);
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printf("%6d", lAbs);
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msg.in |= 1 << (lFor ? IN1 : IN2);
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msg.ena = tensionToPWM(lVolt);
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// Droite
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bool rFor = rVit < 0;
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float rVolt = fabs(rVit); // TODO Utiriser res vitesses
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if (rVolt > MOT_MAX_V) {
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rVolt = MOT_MAX_V;
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}
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if (rVolt < MOT_MIN_V) {
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digitalWrite(IN3, LOW);
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digitalWrite(IN4, LOW);
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printf("x");
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||||
bool rFor = rVolt < 0;
|
||||
rVolt = fabs(rVolt);
|
||||
msg.in |= 1 << (rFor ? IN3 : IN4);
|
||||
msg.enb = tensionToPWM(rVolt);
|
||||
|
||||
} else if (rFor) {
|
||||
digitalWrite(IN3, HIGH);
|
||||
digitalWrite(IN4, LOW);
|
||||
printf("↑");
|
||||
} else {
|
||||
digitalWrite(IN3, LOW);
|
||||
digitalWrite(IN4, HIGH);
|
||||
printf("↓");
|
||||
}
|
||||
int rAbs = rVolt * PWM_MAX / PWM_MAX_V;
|
||||
pwmWrite(ENB, rAbs);
|
||||
printf("%6d", rAbs);
|
||||
printf("\n");
|
||||
sendCF(C2FD_PWM, &msg, sizeof(struct C2FD_PWMs));
|
||||
}
|
||||
|
||||
int changerMoteurs(float lVit, float rVit)
|
||||
{
|
||||
// TODO Conversion en vitesse
|
||||
setMoteurTension(lVit, rVit);
|
||||
}
|
||||
|
||||
static struct C2FD_PWMs msgBrake = {0, 0, 0x00};
|
||||
static struct C2FD_PWMs msgFree = {0, 0, (1 << IN1) | (1 << IN2) | (1 << IN3) | (1 << IN4)};
|
||||
|
||||
int brake()
|
||||
{
|
||||
digitalWrite(IN1, LOW);
|
||||
digitalWrite(IN2, LOW);
|
||||
digitalWrite(IN3, LOW);
|
||||
digitalWrite(IN4, LOW);
|
||||
sendCF(C2FD_PWM, &msgBrake, sizeof(struct C2FD_PWMs));
|
||||
}
|
||||
|
||||
int freewheel()
|
||||
{
|
||||
digitalWrite(IN1, HIGH);
|
||||
digitalWrite(IN2, HIGH);
|
||||
digitalWrite(IN3, HIGH);
|
||||
digitalWrite(IN4, HIGH);
|
||||
sendCF(C2FD_PWM, &msgFree, sizeof(struct C2FD_PWMs));
|
||||
}
|
||||
|
||||
void deconfigureMovement()
|
||||
|
|
@ -90,5 +79,5 @@ void deconfigureMovement()
|
|||
int stop()
|
||||
{
|
||||
brake();
|
||||
// TODO
|
||||
// TODO Actionneurs
|
||||
}
|
||||
|
|
|
|||
|
|
@ -7,8 +7,7 @@
|
|||
|
||||
#include "position.h"
|
||||
|
||||
#include <wiringPi.h>
|
||||
#define PWM_MAX 1023
|
||||
#define PWM_MAX 255
|
||||
#define PWM_MAX_V 3.3
|
||||
|
||||
#define TESTINATOR
|
||||
|
|
@ -24,17 +23,10 @@
|
|||
#define MOT_MAX_V 2.5
|
||||
#endif
|
||||
|
||||
// Pins definition
|
||||
// Left
|
||||
#define ENA 26
|
||||
#define IN1 21
|
||||
#define IN2 22
|
||||
|
||||
// Right
|
||||
#define ENB 23
|
||||
#define IN3 24
|
||||
#define IN4 25
|
||||
|
||||
#define IN1 0
|
||||
#define IN2 1
|
||||
#define IN3 2
|
||||
#define IN4 3
|
||||
|
||||
void configureMovement();
|
||||
void aller(struct position* pos);
|
||||
|
|
|
|||
|
|
@ -1,6 +1,7 @@
|
|||
#include <pthread.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <wiringPi.h>
|
||||
|
||||
#include "lcd.h"
|
||||
#include "movement.h"
|
||||
|
|
@ -69,7 +70,7 @@ void stopParcours()
|
|||
}
|
||||
|
||||
#define UP_TIME 1000
|
||||
#define HIGH_TIME 30000
|
||||
#define HIGH_TIME 3000
|
||||
#define DOWN_TIME 1000
|
||||
#define LOW_TIME 2000
|
||||
#define MAX_VIT MOT_MAX_V
|
||||
|
|
|
|||
|
|
@ -24,16 +24,16 @@ int main()
|
|||
|
||||
srand(time(NULL));
|
||||
configureDebug();
|
||||
/* configureCF(); */
|
||||
/* configureMovement(); */
|
||||
/* configurePosition(); */
|
||||
configureCF();
|
||||
configureMovement();
|
||||
configurePosition();
|
||||
startDebug();
|
||||
|
||||
startIHM();
|
||||
|
||||
/* deconfigureMovement(); */
|
||||
/* deconfigurePosition(); */
|
||||
/* deconfigureCF(); */
|
||||
deconfigureMovement();
|
||||
deconfigurePosition();
|
||||
deconfigureCF();
|
||||
deconfigureIHM();
|
||||
deconfigureDebug();
|
||||
return EXIT_SUCCESS;
|
||||
|
|
|
|||
|
|
@ -4,10 +4,13 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <wiringPi.h>
|
||||
#include <wiringPiI2C.h>
|
||||
|
||||
#include "lcd.h"
|
||||
#include "CF.h"
|
||||
#include "movement.h"
|
||||
#include "buttons.h"
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
|
|
@ -15,17 +18,44 @@ int main(int argc, char* argv[])
|
|||
(void)argc;
|
||||
(void)argv;
|
||||
|
||||
wiringPiSetup();
|
||||
|
||||
initI2C();
|
||||
|
||||
initLCD();
|
||||
clearLCD();
|
||||
printToLCD(LCD_LINE_1, "Forward");
|
||||
|
||||
configureCF();
|
||||
configureButtons();
|
||||
configureMovement();
|
||||
|
||||
for (;;) {
|
||||
changerMoteurs(1.5, 2);
|
||||
sleep(1);
|
||||
clearLCD();
|
||||
printToLCD(LCD_LINE_1, "Forward");
|
||||
changerMoteurs(3.3, 3.3);
|
||||
pressedButton(BUT_BLOCK);
|
||||
|
||||
clearLCD();
|
||||
printToLCD(LCD_LINE_1, "Right");
|
||||
changerMoteurs(-3.3, 3.3);
|
||||
pressedButton(BUT_BLOCK);
|
||||
|
||||
clearLCD();
|
||||
printToLCD(LCD_LINE_1, "Left");
|
||||
changerMoteurs(-3.3, -3.3);
|
||||
pressedButton(BUT_BLOCK);
|
||||
|
||||
clearLCD();
|
||||
printToLCD(LCD_LINE_1, "Backward");
|
||||
changerMoteurs(3.3, -3.3);
|
||||
pressedButton(BUT_BLOCK);
|
||||
|
||||
clearLCD();
|
||||
printToLCD(LCD_LINE_1, "Brake");
|
||||
brake();
|
||||
pressedButton(BUT_BLOCK);
|
||||
|
||||
clearLCD();
|
||||
printToLCD(LCD_LINE_1, "Free");
|
||||
freewheel();
|
||||
pressedButton(BUT_BLOCK);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -163,7 +163,7 @@ isimgui: build/isim_$(TB)$(EXE)
|
|||
# Testing (using ghdl and gtkwave)
|
||||
###########################################################################
|
||||
|
||||
GHDL_FLAGS=--mb-comments
|
||||
GHDL_FLAGS=--mb-comments --ieee=synopsys
|
||||
|
||||
%_syntax: %.vhd
|
||||
ghdl -s $(GHDL_FLAGS) "$<"
|
||||
|
|
|
|||
|
|
@ -20,7 +20,13 @@ entity Principal is
|
|||
FRONTTRIGGER: out std_logic;
|
||||
FRONTECHO: in std_logic;
|
||||
BACKTRIGGER: out std_logic;
|
||||
BACKECHO: in std_logic
|
||||
BACKECHO: in std_logic;
|
||||
ENA: out std_logic;
|
||||
IN1ENC: out std_logic;
|
||||
IN2: out std_logic;
|
||||
ENB: out std_logic;
|
||||
IN3END: out std_logic;
|
||||
IN4: out std_logic
|
||||
);
|
||||
end Principal;
|
||||
|
||||
|
|
@ -76,7 +82,22 @@ architecture Behavioral of Principal is
|
|||
);
|
||||
end component;
|
||||
|
||||
-- AF
|
||||
-- Motor controller
|
||||
signal enAd : std_logic_vector(7 downto 0);
|
||||
signal in1enCd : std_logic_vector(7 downto 0);
|
||||
signal in2d : std_logic;
|
||||
signal enBd : std_logic_vector(7 downto 0);
|
||||
signal in3enDd : std_logic_vector(7 downto 0);
|
||||
signal in4d : std_logic;
|
||||
component PWM is
|
||||
port (
|
||||
clk : in std_logic;
|
||||
data : in std_logic_vector (7 downto 0);
|
||||
pulse : out std_logic
|
||||
);
|
||||
end component;
|
||||
|
||||
-- CF
|
||||
component uart is
|
||||
generic (
|
||||
baud : positive := fBaud;
|
||||
|
|
@ -116,7 +137,13 @@ architecture Behavioral of Principal is
|
|||
txStb : out std_logic;
|
||||
txAck : in std_logic;
|
||||
rxData : in std_logic_vector(7 downto 0);
|
||||
rxStb : in std_logic
|
||||
rxStb : in std_logic;
|
||||
enA : out std_logic_vector(7 downto 0);
|
||||
in1enC : out std_logic_vector(7 downto 0);
|
||||
in2 : out std_logic;
|
||||
enB : out std_logic_vector(7 downto 0);
|
||||
in3enD : out std_logic_vector(7 downto 0);
|
||||
in4 : out std_logic
|
||||
);
|
||||
end component;
|
||||
|
||||
|
|
@ -175,9 +202,33 @@ begin
|
|||
signalIn => backRaw,
|
||||
signalOut => back,
|
||||
start => backFinished
|
||||
-- done => done
|
||||
-- done => done
|
||||
);
|
||||
enAp : PWM port map (
|
||||
clk => CLK,
|
||||
data => enAd,
|
||||
pulse => ENA
|
||||
);
|
||||
|
||||
in1enCp : PWM port map (
|
||||
clk => CLK,
|
||||
data => in1enCd,
|
||||
pulse => IN1ENC
|
||||
);
|
||||
IN2 <= in2d;
|
||||
|
||||
enBp : PWM port map (
|
||||
clk => CLK,
|
||||
data => enBd,
|
||||
pulse => ENB
|
||||
);
|
||||
|
||||
in3enDp : PWM port map (
|
||||
clk => CLK,
|
||||
data => in3enDd,
|
||||
pulse => IN3END
|
||||
);
|
||||
IN4 <= in4d;
|
||||
|
||||
|
||||
FA: uart port map(
|
||||
|
|
@ -204,7 +255,13 @@ begin
|
|||
txStb => txStb,
|
||||
txAck => txAck,
|
||||
rxData => rxData,
|
||||
rxStb => rxStb
|
||||
rxStb => rxStb,
|
||||
enA => enAd,
|
||||
in1enC => in1enCd,
|
||||
in2 => in2d,
|
||||
enB => enBd,
|
||||
in3enD => in3enDd,
|
||||
in4 => in4d
|
||||
);
|
||||
end Behavioral;
|
||||
|
||||
|
|
|
|||
|
|
@ -1,20 +1,22 @@
|
|||
[*]
|
||||
[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
|
||||
[*] Tue Feb 27 18:30:48 2018
|
||||
[*] GTKWave Analyzer v3.3.89 (w)1999-2018 BSI
|
||||
[*] Tue May 1 05:22:50 2018
|
||||
[*]
|
||||
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/Principal_tb.ghw"
|
||||
[dumpfile_mtime] "Tue Feb 27 18:29:45 2018"
|
||||
[dumpfile_size] 4891772
|
||||
[dumpfile_mtime] "Tue May 1 05:18:35 2018"
|
||||
[dumpfile_size] 6534540
|
||||
[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/Principal_tb.gtkw"
|
||||
[timestart] 0
|
||||
[size] 1600 862
|
||||
[pos] -1 -1
|
||||
*-43.418156 1760000000000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
|
||||
*-43.492355 11010000000000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
|
||||
[treeopen] top.
|
||||
[treeopen] top.principal_tb.
|
||||
[treeopen] top.principal_tb.dut.
|
||||
[treeopen] top.principal_tb.dut.in1encp.
|
||||
[treeopen] top.principal_tb.dut.in3endp.
|
||||
[sst_width] 213
|
||||
[signals_width] 198
|
||||
[signals_width] 255
|
||||
[sst_expanded] 1
|
||||
[sst_vpaned_height] 296
|
||||
@28
|
||||
|
|
@ -95,11 +97,43 @@ top.principal_tb.dut.backcapt.start
|
|||
top.principal_tb.dut.backcapt.trigger
|
||||
[color] 3
|
||||
top.principal_tb.dut.backcapt.echo
|
||||
@8421
|
||||
@8420
|
||||
[color] 3
|
||||
top.principal_tb.dut.backcapt.distancecounter
|
||||
@420
|
||||
[color] 3
|
||||
top.principal_tb.dut.back
|
||||
@22
|
||||
[color] 5
|
||||
#{top.principal_tb.dut.enad[7:0]} top.principal_tb.dut.enad[7] top.principal_tb.dut.enad[6] top.principal_tb.dut.enad[5] top.principal_tb.dut.enad[4] top.principal_tb.dut.enad[3] top.principal_tb.dut.enad[2] top.principal_tb.dut.enad[1] top.principal_tb.dut.enad[0]
|
||||
@28
|
||||
[color] 5
|
||||
top.principal_tb.dut.ena
|
||||
@22
|
||||
[color] 5
|
||||
#{top.principal_tb.dut.in1encd[7:0]} top.principal_tb.dut.in1encd[7] top.principal_tb.dut.in1encd[6] top.principal_tb.dut.in1encd[5] top.principal_tb.dut.in1encd[4] top.principal_tb.dut.in1encd[3] top.principal_tb.dut.in1encd[2] top.principal_tb.dut.in1encd[1] top.principal_tb.dut.in1encd[0]
|
||||
@28
|
||||
[color] 5
|
||||
top.principal_tb.dut.in1enc
|
||||
[color] 5
|
||||
top.principal_tb.dut.in2d
|
||||
[color] 5
|
||||
top.principal_tb.dut.in2
|
||||
@22
|
||||
[color] 5
|
||||
#{top.principal_tb.dut.enbd[7:0]} top.principal_tb.dut.enbd[7] top.principal_tb.dut.enbd[6] top.principal_tb.dut.enbd[5] top.principal_tb.dut.enbd[4] top.principal_tb.dut.enbd[3] top.principal_tb.dut.enbd[2] top.principal_tb.dut.enbd[1] top.principal_tb.dut.enbd[0]
|
||||
@28
|
||||
[color] 5
|
||||
top.principal_tb.dut.enb
|
||||
@22
|
||||
[color] 5
|
||||
#{top.principal_tb.dut.in3endd[7:0]} top.principal_tb.dut.in3endd[7] top.principal_tb.dut.in3endd[6] top.principal_tb.dut.in3endd[5] top.principal_tb.dut.in3endd[4] top.principal_tb.dut.in3endd[3] top.principal_tb.dut.in3endd[2] top.principal_tb.dut.in3endd[1] top.principal_tb.dut.in3endd[0]
|
||||
@28
|
||||
[color] 5
|
||||
top.principal_tb.dut.in3end
|
||||
[color] 5
|
||||
top.principal_tb.dut.in4d
|
||||
[color] 5
|
||||
top.principal_tb.dut.in4
|
||||
[pattern_trace] 1
|
||||
[pattern_trace] 0
|
||||
|
|
|
|||
|
|
@ -30,7 +30,13 @@ architecture tb of Principal_tb is
|
|||
FRONTTRIGGER: out std_logic;
|
||||
FRONTECHO: in std_logic;
|
||||
BACKTRIGGER: out std_logic;
|
||||
BACKECHO: in std_logic
|
||||
BACKECHO: in std_logic;
|
||||
ENA: out std_logic;
|
||||
IN1ENC: out std_logic;
|
||||
IN2: out std_logic;
|
||||
ENB: out std_logic;
|
||||
IN3END: out std_logic;
|
||||
IN4: out std_logic
|
||||
);
|
||||
end component;
|
||||
|
||||
|
|
@ -46,6 +52,12 @@ architecture tb of Principal_tb is
|
|||
signal FRONTECHO : std_logic;
|
||||
signal BACKTRIGGER : std_logic;
|
||||
signal BACKECHO : std_logic;
|
||||
signal ENA : std_logic;
|
||||
signal IN1ENC : std_logic;
|
||||
signal IN2 : std_logic;
|
||||
signal ENB : std_logic;
|
||||
signal IN3END : std_logic;
|
||||
signal IN4 : std_logic;
|
||||
|
||||
constant TbPeriod : time := 500 ns;
|
||||
signal TbClock : std_logic := '0';
|
||||
|
|
@ -71,7 +83,14 @@ begin
|
|||
FRONTTRIGGER => FRONTTRIGGER,
|
||||
FRONTECHO => FRONTECHO,
|
||||
BACKTRIGGER => BACKTRIGGER,
|
||||
BACKECHO => BACKECHO);
|
||||
BACKECHO => BACKECHO,
|
||||
ENA => ENA,
|
||||
IN1ENC => IN1ENC,
|
||||
IN2 => IN2,
|
||||
ENB => ENB,
|
||||
IN3END => IN3END,
|
||||
IN4 => IN4
|
||||
);
|
||||
|
||||
-- Clock generation
|
||||
TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0';
|
||||
|
|
|
|||
|
|
@ -16,31 +16,39 @@ entity communication is
|
|||
txStb : out std_logic := '0';
|
||||
txAck : in std_logic;
|
||||
rxData : in std_logic_vector(7 downto 0);
|
||||
rxStb : in std_logic
|
||||
rxStb : in std_logic;
|
||||
enA : out std_logic_vector(7 downto 0) := x"00";
|
||||
in1enC : out std_logic_vector(7 downto 0) := x"00";
|
||||
in2 : out std_logic := '0';
|
||||
enB : out std_logic_vector(7 downto 0) := x"00";
|
||||
in3enD : out std_logic_vector(7 downto 0) := x"00";
|
||||
in4 : out std_logic := '0'
|
||||
);
|
||||
end communication;
|
||||
|
||||
architecture Behavioral of communication is
|
||||
|
||||
constant A2FD_PING : std_logic_vector(7 downto 0) := x"50"; -- 'P'
|
||||
constant A2FD_RESETCODER : std_logic_vector(7 downto 0) := x"52"; -- 'R'
|
||||
constant F2AD_ERR : std_logic_vector(7 downto 0) := x"45"; -- 'E'
|
||||
constant C2FD_PING : std_logic_vector(7 downto 0) := x"50"; -- 'P'
|
||||
constant C2FD_RESETCODER : std_logic_vector(7 downto 0) := x"52"; -- 'R'
|
||||
constant F2CD_ERR : std_logic_vector(7 downto 0) := x"45"; -- 'E'
|
||||
constant ERR_UNKNOWN_CODE : std_logic_vector(7 downto 0) := x"43"; -- 'C'
|
||||
constant F2AI_CODER : std_logic_vector(7 downto 0) := x"44"; -- 'D'
|
||||
constant F2AI_CAPT : std_logic_vector(7 downto 0) := x"43"; -- 'C'
|
||||
constant F2AT_CAPT : std_logic_vector(7 downto 0) := x"63"; -- 'c'
|
||||
constant F2CI_CODER : std_logic_vector(7 downto 0) := x"44"; -- 'D'
|
||||
constant F2CI_CAPT : std_logic_vector(7 downto 0) := x"43"; -- 'C'
|
||||
constant F2CT_CAPT : std_logic_vector(7 downto 0) := x"63"; -- 'c'
|
||||
constant C2FD_PWM : std_logic_vector(7 downto 0) := x"57"; -- 'W'
|
||||
constant C2FD_PWM2 : std_logic_vector(7 downto 0) := x"77"; -- 'w'
|
||||
|
||||
signal frontTrigger : integer := 0;
|
||||
signal backTrigger : integer := 0;
|
||||
signal triggerSet : std_logic := '0';
|
||||
|
||||
type readMessages is (F2AT_CAPTs);
|
||||
type readMessages is (F2CT_CAPTs, C2FD_PWMs, C2FD_PWM2s);
|
||||
signal readMessage : readMessages;
|
||||
signal readSize : integer := 0;
|
||||
signal readOffset : integer := 0;
|
||||
signal readData : std_logic_vector(63 downto 0) := (others => '0'); -- Max message size (will be trimmed down by the synthetizer)
|
||||
|
||||
type sendMessages is (A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs);
|
||||
type sendMessages is (C2FD_PINGs, F2CI_CODERs, F2CI_CAPTs, F2CD_ERR_UNKNOWN_CODEs);
|
||||
constant SENDQUEUE_SIZE : integer := 16;
|
||||
type sendQueueMemorya is array (0 to SENDQUEUE_SIZE - 1) of sendMessages;
|
||||
signal sendQueueMemory : sendQueueMemorya;
|
||||
|
|
@ -98,17 +106,23 @@ begin
|
|||
if readSize = 0 then -- Beginning of message
|
||||
readSize <= 0;
|
||||
case rxData is
|
||||
when A2FD_PING =>
|
||||
pushSend(A2FD_PINGs);
|
||||
when F2AI_CODER =>
|
||||
pushSend(F2AI_CODERs);
|
||||
when F2AI_CAPT =>
|
||||
pushSend(F2AI_CAPTs);
|
||||
when F2AT_CAPT =>
|
||||
readMessage <= F2AT_CAPTs;
|
||||
when C2FD_PING =>
|
||||
pushSend(C2FD_PINGs);
|
||||
when F2CI_CODER =>
|
||||
pushSend(F2CI_CODERs);
|
||||
when F2CI_CAPT =>
|
||||
pushSend(F2CI_CAPTs);
|
||||
when F2CT_CAPT =>
|
||||
readMessage <= F2CT_CAPTs;
|
||||
readSize <= 4;
|
||||
when C2FD_PWM =>
|
||||
readMessage <= C2FD_PWMs;
|
||||
readSize <= 3;
|
||||
when C2FD_PWM2 =>
|
||||
readMessage <= C2FD_PWM2s;
|
||||
readSize <= 4;
|
||||
when others =>
|
||||
pushSend(F2AD_ERR_UNKNOWN_CODEs);
|
||||
pushSend(F2CD_ERR_UNKNOWN_CODEs);
|
||||
end case;
|
||||
else -- Rest of message
|
||||
if readOffset < readSize then
|
||||
|
|
@ -118,17 +132,39 @@ begin
|
|||
end if;
|
||||
elsif readSize > 0 and readOffset = readSize then -- Rest of message ended
|
||||
case readMessage is
|
||||
when F2AT_CAPTs =>
|
||||
when F2CT_CAPTs =>
|
||||
frontTrigger <= to_integer(unsigned(readData(15 downto 0)));
|
||||
backTrigger <= to_integer(unsigned(readData(31 downto 16)));
|
||||
triggerSet <= '1';
|
||||
when C2FD_PWMs =>
|
||||
enA <= readData(7 downto 0);
|
||||
enB <= readData(15 downto 8);
|
||||
if readData(16) = '1' then
|
||||
in1enC <= x"FF";
|
||||
else
|
||||
in1enC <= x"00";
|
||||
end if;
|
||||
in2 <= readData(17);
|
||||
if readData(18) = '1' then
|
||||
in3enD <= x"FF";
|
||||
else
|
||||
in3enD <= x"00";
|
||||
end if;
|
||||
in4 <= readData(19);
|
||||
when C2FD_PWM2s =>
|
||||
enA <= readData(7 downto 0);
|
||||
in1enC <= readData(15 downto 8);
|
||||
enB <= readData(23 downto 16);
|
||||
in3enD <= readData(31 downto 24);
|
||||
in2 <= '0';
|
||||
in4 <= '0';
|
||||
when others =>
|
||||
pushSend(F2AD_ERR_UNKNOWN_CODEs);
|
||||
pushSend(F2CD_ERR_UNKNOWN_CODEs);
|
||||
end case;
|
||||
readOffset <= 0;
|
||||
readSize <= 0;
|
||||
elsif (triggerSet = '1' and ((front > frontTrigger) or (back > backTrigger))) then
|
||||
pushSend(F2AI_CAPTs);
|
||||
pushSend(F2CI_CAPTs);
|
||||
triggerSet <= '0';
|
||||
end if;
|
||||
|
||||
|
|
@ -146,22 +182,22 @@ begin
|
|||
sendAvailable <= '1';
|
||||
|
||||
case sendQueueMemory(sendTail) is
|
||||
when A2FD_PINGs =>
|
||||
sendData(7 downto 0) <= A2FD_PING;
|
||||
when C2FD_PINGs =>
|
||||
sendData(7 downto 0) <= C2FD_PING;
|
||||
sendSize <= 1;
|
||||
when F2AI_CAPTs =>
|
||||
sendData(7 downto 0) <= F2AI_CAPT;
|
||||
when F2CI_CAPTs =>
|
||||
sendData(7 downto 0) <= F2CI_CAPT;
|
||||
sendData(23 downto 8) <= std_logic_vector(to_signed(front, 16));
|
||||
sendData(39 downto 24) <= std_logic_vector(to_unsigned(back, 16));
|
||||
sendSize <= 5;
|
||||
when F2AI_CODERs =>
|
||||
when F2CI_CODERs =>
|
||||
zerocoder <= '1';
|
||||
sendData(7 downto 0) <= F2AI_CODER;
|
||||
sendData(7 downto 0) <= F2CI_CODER;
|
||||
sendData(23 downto 8) <= std_logic_vector(to_signed(left, 16));
|
||||
sendData(39 downto 24) <= std_logic_vector(to_signed(right, 16));
|
||||
sendSize <= 5;
|
||||
when others => -- Including F2AD_ERR_UNKNOWN_CODEs
|
||||
sendData(7 downto 0) <= F2AD_ERR;
|
||||
when others => -- Including F2CD_ERR_UNKNOWN_CODEs
|
||||
sendData(7 downto 0) <= F2CD_ERR;
|
||||
sendData(15 downto 8) <= ERR_UNKNOWN_CODE;
|
||||
sendSize <= 2;
|
||||
end case;
|
||||
|
|
|
|||
|
|
@ -1,15 +1,15 @@
|
|||
[*]
|
||||
[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
|
||||
[*] Wed Feb 28 14:53:10 2018
|
||||
[*] GTKWave Analyzer v3.3.89 (w)1999-2018 BSI
|
||||
[*] Tue May 1 04:06:11 2018
|
||||
[*]
|
||||
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/communication_tb.ghw"
|
||||
[dumpfile_mtime] "Wed Feb 28 14:51:41 2018"
|
||||
[dumpfile_size] 7845
|
||||
[dumpfile_mtime] "Tue May 1 04:02:41 2018"
|
||||
[dumpfile_size] 8903
|
||||
[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/communication_tb.gtkw"
|
||||
[timestart] 0
|
||||
[size] 1600 862
|
||||
[pos] -1 -1
|
||||
*-30.009827 1783000000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
|
||||
*-30.189280 1783000000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
|
||||
[treeopen] top.
|
||||
[treeopen] top.communication_tb.
|
||||
[treeopen] top.communication_tb.dut.
|
||||
|
|
@ -66,5 +66,22 @@ top.communication_tb.dut.backtrigger
|
|||
top.communication_tb.dut.front
|
||||
[color] 2
|
||||
top.communication_tb.dut.back
|
||||
@22
|
||||
[color] 6
|
||||
#{top.communication_tb.ena[7:0]} top.communication_tb.ena[7] top.communication_tb.ena[6] top.communication_tb.ena[5] top.communication_tb.ena[4] top.communication_tb.ena[3] top.communication_tb.ena[2] top.communication_tb.ena[1] top.communication_tb.ena[0]
|
||||
[color] 6
|
||||
#{top.communication_tb.in1enc[7:0]} top.communication_tb.in1enc[7] top.communication_tb.in1enc[6] top.communication_tb.in1enc[5] top.communication_tb.in1enc[4] top.communication_tb.in1enc[3] top.communication_tb.in1enc[2] top.communication_tb.in1enc[1] top.communication_tb.in1enc[0]
|
||||
@28
|
||||
[color] 6
|
||||
top.communication_tb.dut.in2
|
||||
@22
|
||||
[color] 6
|
||||
#{top.communication_tb.enb[7:0]} top.communication_tb.enb[7] top.communication_tb.enb[6] top.communication_tb.enb[5] top.communication_tb.enb[4] top.communication_tb.enb[3] top.communication_tb.enb[2] top.communication_tb.enb[1] top.communication_tb.enb[0]
|
||||
@80023
|
||||
[color] 6
|
||||
#{top.communication_tb.in3end[7:0]} top.communication_tb.in3end[7] top.communication_tb.in3end[6] top.communication_tb.in3end[5] top.communication_tb.in3end[4] top.communication_tb.in3end[3] top.communication_tb.in3end[2] top.communication_tb.in3end[1] top.communication_tb.in3end[0]
|
||||
@28
|
||||
[color] 6
|
||||
top.communication_tb.dut.in4
|
||||
[pattern_trace] 1
|
||||
[pattern_trace] 0
|
||||
|
|
|
|||
|
|
@ -23,7 +23,14 @@ architecture tb of communication_tb is
|
|||
txStb : out std_logic;
|
||||
txAck : in std_logic;
|
||||
rxData : in std_logic_vector (7 downto 0);
|
||||
rxStb : in std_logic);
|
||||
rxStb : in std_logic;
|
||||
enA : out std_logic_vector(7 downto 0);
|
||||
in1enC : out std_logic_vector(7 downto 0);
|
||||
in2 : out std_logic;
|
||||
enB : out std_logic_vector(7 downto 0);
|
||||
in3enD : out std_logic_vector(7 downto 0);
|
||||
in4 : out std_logic
|
||||
);
|
||||
end component;
|
||||
|
||||
signal clock : std_logic;
|
||||
|
|
@ -38,6 +45,12 @@ architecture tb of communication_tb is
|
|||
signal txAck : std_logic;
|
||||
signal rxData : std_logic_vector (7 downto 0);
|
||||
signal rxStb : std_logic;
|
||||
signal enA : std_logic_vector(7 downto 0);
|
||||
signal in1enC : std_logic_vector(7 downto 0);
|
||||
signal in2 : std_logic;
|
||||
signal enB : std_logic_vector(7 downto 0);
|
||||
signal in3enD : std_logic_vector(7 downto 0);
|
||||
signal in4 : std_logic;
|
||||
|
||||
constant TbPeriod : time := 20 ns;
|
||||
signal TbClock : std_logic := '0';
|
||||
|
|
@ -59,7 +72,14 @@ begin
|
|||
zerocoder => zerocoder,
|
||||
txAck => txAck,
|
||||
rxData => rxData,
|
||||
rxStb => rxStb);
|
||||
rxStb => rxStb,
|
||||
enA => enA,
|
||||
in1enC => in1enC,
|
||||
in2 => in2,
|
||||
enB => enB,
|
||||
in3enD => in3enD,
|
||||
in4 => in4
|
||||
);
|
||||
|
||||
-- Clock generation
|
||||
TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0';
|
||||
|
|
@ -245,6 +265,46 @@ begin
|
|||
|
||||
wait for 100 ns;
|
||||
|
||||
-- Test PWM1
|
||||
report "TEST Receiving 'W'" severity note;
|
||||
|
||||
tampon(0 to 3) := (x"57", x"CC", x"77", x"03");
|
||||
for I in 0 to 3 loop
|
||||
rxData <= tampon(I);
|
||||
rxStb <= '1';
|
||||
wait for TbPeriod;
|
||||
rxStb <= '0';
|
||||
wait for TbPeriod;
|
||||
end loop;
|
||||
|
||||
assert enA = x"CC" report "ENA not at correct value" severity error;
|
||||
assert enB = x"77" report "ENB not at correct value" severity error;
|
||||
assert in1enC = x"FF" report "IN1 not at correct value" severity error;
|
||||
assert in2 = '1' report "IN1 not at correct value" severity error;
|
||||
assert in3enD = x"00" report "IN3 not at correct value" severity error;
|
||||
assert in4 = '0' report "IN4 not at correct value" severity error;
|
||||
|
||||
wait for 100 ns;
|
||||
|
||||
-- Test PWM2
|
||||
report "TEST Receiving 'w'" severity note;
|
||||
|
||||
tampon(0 to 4) := (x"77", x"11", x"22", x"33", x"44");
|
||||
for I in 0 to 4 loop
|
||||
rxData <= tampon(I);
|
||||
rxStb <= '1';
|
||||
wait for TbPeriod;
|
||||
rxStb <= '0';
|
||||
wait for TbPeriod;
|
||||
end loop;
|
||||
|
||||
assert enA = x"11" report "ENA not at correct value" severity error;
|
||||
assert in1enC = x"22" report "ENC not at correct value" severity error;
|
||||
assert enB = x"33" report "ENB not at correct value" severity error;
|
||||
assert in3enD = x"44" report "END not at correct value" severity error;
|
||||
|
||||
wait for 100 ns;
|
||||
|
||||
|
||||
TbSimEnded <= '1';
|
||||
wait;
|
||||
|
|
|
|||
|
|
@ -7,32 +7,56 @@ TIMESPEC "TS_CLK" = PERIOD "CLK" 20 ns HIGH 50 %;
|
|||
# BTN
|
||||
NET "BTN" LOC = "P41" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<0>
|
||||
NET "RX" LOC = "P59" | IOSTANDARD = LVTTL ;
|
||||
# IO<10>
|
||||
NET "RX" LOC = "P85" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<1>
|
||||
NET "TX" LOC = "P60" | IOSTANDARD = LVTTL ;
|
||||
# IO<11>
|
||||
NET "TX" LOC = "P84" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<2>
|
||||
NET "LEFTCHA" LOC = "P61" | IOSTANDARD = LVTTL ;
|
||||
# IO<12>
|
||||
NET "LEFTCHA" LOC = "P83" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<3>
|
||||
NET "LEFTCHB" LOC = "P62" | IOSTANDARD = LVTTL ;
|
||||
# IO<13>
|
||||
NET "LEFTCHB" LOC = "P78" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<4>
|
||||
NET "RIGHTCHA" LOC = "P64" | IOSTANDARD = LVTTL ;
|
||||
# IO<14>
|
||||
NET "RIGHTCHA" LOC = "P77" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<5>
|
||||
NET "RIGHTCHB" LOC = "P57" | IOSTANDARD = LVTTL ;
|
||||
# IO<15>
|
||||
NET "RIGHTCHB" LOC = "P65" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<6>
|
||||
NET "FRONTTRIGGER" LOC = "P56" | IOSTANDARD = LVTTL ;
|
||||
# IO<16>
|
||||
NET "FRONTTRIGGER" LOC = "P70" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<7>
|
||||
NET "FRONTECHO" LOC = "P52" | IOSTANDARD = LVTTL ;
|
||||
# IO<17>
|
||||
NET "FRONTECHO" LOC = "P71" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<8>
|
||||
NET "BACKTRIGGER" LOC = "P50" | IOSTANDARD = LVTTL ;
|
||||
# IO<18>
|
||||
NET "BACKTRIGGER" LOC = "P72" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<9>
|
||||
NET "BACKECHO" LOC = "P49" | IOSTANDARD = LVTTL ;
|
||||
# IO<19>
|
||||
NET "BACKECHO" LOC = "P73" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<20>
|
||||
NET "ENA" LOC = "P5" | IOSTANDARD = LVTTL ;
|
||||
|
||||
|
||||
# IO<21>
|
||||
NET "IN1ENC" LOC = "P4" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<22>
|
||||
NET "IN2" LOC = "P6" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<23>
|
||||
NET "ENB" LOC = "P98" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<24>
|
||||
NET "IN3END" LOC = "P94" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# IO<25>
|
||||
NET "IN4" LOC = "P93" | IOSTANDARD = LVTTL ;
|
||||
|
||||
# NET "IO<26>" LOC = "P90" | IOSTANDARD = LVTTL ;
|
||||
# NET "IO<27>" LOC = "P89" | IOSTANDARD = LVTTL ;
|
||||
# NET "IO<28>" LOC = "P88" | IOSTANDARD = LVTTL ;
|
||||
# NET "IO<29>" LOC = "P86" | IOSTANDARD = LVTTL ;
|
||||
|
|
|
|||
|
|
@ -5,5 +5,5 @@ PROGRAMMER = mercpcl
|
|||
|
||||
TOPLEVEL = Principal
|
||||
# Prod
|
||||
VHDSOURCE = $(TOPLEVEL).vhd communication.vhd uart.vhd hedm.vhd hcsr04.vhd fir.vhd
|
||||
VHDSOURCE = $(TOPLEVEL).vhd communication.vhd uart.vhd hedm.vhd hcsr04.vhd fir.vhd pwm.vhd
|
||||
CONSTRAINTS = principal.ucf
|
||||
|
|
|
|||
30
fpga/pwm.vhd
Normal file
30
fpga/pwm.vhd
Normal file
|
|
@ -0,0 +1,30 @@
|
|||
-- Inspiré de http://www.fpga4fun.com/PWM_DAC_2.html
|
||||
|
||||
library IEEE;
|
||||
use IEEE.STD_LOGIC_1164.all;
|
||||
use IEEE.NUMERIC_STD.ALL;
|
||||
|
||||
entity PWM is
|
||||
port (
|
||||
clk : in std_logic;
|
||||
data : in std_logic_vector (7 downto 0) := "00000000";
|
||||
pulse : out std_logic
|
||||
);
|
||||
end PWM;
|
||||
|
||||
architecture Behavioral of PWM is
|
||||
signal accuI : integer;
|
||||
signal dataI : integer;
|
||||
begin
|
||||
|
||||
dataI <= to_integer(unsigned(data));
|
||||
|
||||
process(clk, data)
|
||||
begin
|
||||
if rising_edge(clk) then
|
||||
accuI <= accuI mod 256 + dataI + 1;
|
||||
end if;
|
||||
end process;
|
||||
|
||||
pulse <= '1' when accuI >= 256 else '0';
|
||||
end Behavioral;
|
||||
Loading…
Reference in a new issue