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mirror of https://github.com/RobotechLille/cdf2018-principal synced 2024-11-14 04:16:05 +01:00
This commit is contained in:
Geoffrey Frogeye 2018-05-05 15:56:39 +02:00
parent 98c2f27358
commit 678b7e939b
13 changed files with 167 additions and 49 deletions

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@ -11,7 +11,7 @@ CFLAGS_CUSTOM += -g
## Générateurs de drapeaux pour les bibliothèques
PKG_CONFIG=pkg-config
## Nom des objets communs
OBJS=buttons CF debug diagnostics i2c ihm lcd movement parcours points position
OBJS=buttons CF debug diagnostics i2c imu ihm lcd movement parcours points position
OBJS_O=$(addprefix obj/,$(addsuffix .o,$(OBJS)))
# VARIABLES AUTOMATIQUES

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@ -27,7 +27,6 @@ void configureFpga()
printf("Connexion à %s... ", FPGA_PORTNAME);
fflush(stdout);
fpga = open(FPGA_PORTNAME, O_RDWR | O_NOCTTY | O_NDELAY | O_NONBLOCK);
fpga = serialOpen(FPGA_PORTNAME, 9600);
if (fpga < 0) {
printf("Échec !\n");
exit(1);

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@ -51,9 +51,6 @@ void* TaskDebug(void* pdata)
{
(void)pdata;
if (DEBUG_INTERVAL <= 0) {
return NULL;
}
clock_gettime(CLOCK_REALTIME, &debugStart);
fprintf(debugFd, "\n");

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@ -1,4 +1,5 @@
#include <unistd.h>
#include <stdio.h>
#include "diagnostics.h"
#include "buttons.h"
@ -6,6 +7,7 @@
#include "CF.h"
#include "movement.h"
#include "imu.h"
bool recu;
@ -71,6 +73,12 @@ bool diagCodeuse(void* arg)
}
}
bool diagIMU(void* arg)
{
(void) arg;
return connectedIMU();
}
void execDiagnostic(char *name, bool (*diagnostic)(void* arg), void* arg)
{
clearLCD();
@ -90,6 +98,7 @@ void runDiagnostics()
{
execDiagnostic("Lien FPGA", diagFPGA, NULL);
/* execDiagnostic("Lien Arduino", diagArduino); */
execDiagnostic("Lien IMU", diagIMU, NULL);
int i;
i = 0; execDiagnostic("Mot+Cod L AV", diagCodeuse, &i);
i = 1; execDiagnostic("Mot+Cod L AR", diagCodeuse, &i);

34
chef/src/imu.c Normal file
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@ -0,0 +1,34 @@
#include "imu.h"
#include "i2c.h"
int gyroFd;
int accelFd;
void configureIMU()
{
gyroFd = openI2C(GYRO_ADDR);
accelFd = openI2C(ACCEL_ADDR);
writeI2C(gyroFd, GYRO_LOW_ODR, 0x00); // Low_ODR = 0 (low speed ODR disabled)
writeI2C(gyroFd, GYRO_CTRL_REG4, 0x00); // FS = 00 (+/- 250 dps full scale)
writeI2C(gyroFd, GYRO_CTRL_REG1, 0x6F); // DR = 01 (200 Hz ODR); BW = 10 (50 Hz bandwidth); PD = 1 (normal mode); Zen = Yen = Xen = 1 (all axes enabled)
}
bool connectedIMU()
{
return (uint8_t) readI2C(gyroFd, GYRO_WHO_AM_I) == GYRO_IDENTITY;
}
struct gyroRaw readGyroRaw()
{
struct gyroRaw res;
res.x = (readI2C(gyroFd, GYRO_OUT_X_H) << 8 | readI2C(gyroFd, GYRO_OUT_X_L));
res.y = (readI2C(gyroFd, GYRO_OUT_Y_H) << 8 | readI2C(gyroFd, GYRO_OUT_Y_L));
res.z = (readI2C(gyroFd, GYRO_OUT_Z_H) << 8 | readI2C(gyroFd, GYRO_OUT_Z_L));
return res;
}
void deconfigureIMU()
{
}

76
chef/src/imu.h Normal file
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@ -0,0 +1,76 @@
#ifndef __IMU_H_
#define __IMU_H_
#include <stdbool.h>
#include <stdint.h>
#define GYRO_ADDR 0x6b
#define ACCEL_ADDR 0x1d
// Gyro
#define GYRO_WHO_AM_I 0x0F
#define GYRO_IDENTITY 0xD7
#define GYRO_CTRL1 0x20 // D20H
#define GYRO_CTRL_REG1 0x20 // D20, 4200D
#define GYRO_CTRL2 0x21 // D20H
#define GYRO_CTRL_REG2 0x21 // D20, 4200D
#define GYRO_CTRL3 0x22 // D20H
#define GYRO_CTRL_REG3 0x22 // D20, 4200D
#define GYRO_CTRL4 0x23 // D20H
#define GYRO_CTRL_REG4 0x23 // D20, 4200D
#define GYRO_CTRL5 0x24 // D20H
#define GYRO_CTRL_REG5 0x24 // D20, 4200D
#define GYRO_REFERENCE 0x25
#define GYRO_OUT_TEMP 0x26
#define GYRO_STATUS 0x27 // D20H
#define GYRO_STATUS_REG 0x27 // D20, 4200D
#define GYRO_OUT_X_L 0x28
#define GYRO_OUT_X_H 0x29
#define GYRO_OUT_Y_L 0x2A
#define GYRO_OUT_Y_H 0x2B
#define GYRO_OUT_Z_L 0x2C
#define GYRO_OUT_Z_H 0x2D
#define GYRO_FIFO_CTRL 0x2E // D20H
#define GYRO_FIFO_CTRL_REG 0x2E // D20, 4200D
#define GYRO_FIFO_SRC 0x2F // D20H
#define GYRO_FIFO_SRC_REG 0x2F // D20, 4200D
#define GYRO_IG_CFG 0x30 // D20H
#define GYRO_INT1_CFG 0x30 // D20, 4200D
#define GYRO_IG_SRC 0x31 // D20H
#define GYRO_INT1_SRC 0x31 // D20, 4200D
#define GYRO_IG_THS_XH 0x32 // D20H
#define GYRO_INT1_THS_XH 0x32 // D20, 4200D
#define GYRO_IG_THS_XL 0x33 // D20H
#define GYRO_INT1_THS_XL 0x33 // D20, 4200D
#define GYRO_IG_THS_YH 0x34 // D20H
#define GYRO_INT1_THS_YH 0x34 // D20, 4200D
#define GYRO_IG_THS_YL 0x35 // D20H
#define GYRO_INT1_THS_YL 0x35 // D20, 4200D
#define GYRO_IG_THS_ZH 0x36 // D20H
#define GYRO_INT1_THS_ZH 0x36 // D20, 4200D
#define GYRO_IG_THS_ZL 0x37 // D20H
#define GYRO_INT1_THS_ZL 0x37 // D20, 4200D
#define GYRO_IG_DURATION 0x38 // D20H
#define GYRO_INT1_DURATION 0x38 // D20, 4200D
#define GYRO_LOW_ODR 0x39 // D20H
// Structures
struct gyroRaw {
int16_t x;
int16_t y;
int16_t z;
};
void configureIMU();
bool connectedIMU();
void deconfigureIMU();
struct gyroRaw readGyroRaw();
#endif

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@ -10,6 +10,7 @@
#include "debug.h"
#include "i2c.h"
#include "ihm.h"
#include "imu.h"
#include "movement.h"
#include "position.h"
@ -18,7 +19,6 @@ pthread_mutex_t sRunning;
void endRunning(int signal)
{
(void)signal;
printf("21\n");
pthread_mutex_unlock(&sRunning);
}
@ -32,9 +32,10 @@ int main()
initI2C();
srand(time(NULL));
configureIHM();
configureDebug();
configureIHM();
configureCF();
configureIMU();
configureMovement();
configurePosition();
startDebug();
@ -48,11 +49,11 @@ int main()
pthread_mutex_lock(&sRunning);
pthread_mutex_lock(&sRunning);
deconfigureMovement();
deconfigureMovement();
deconfigurePosition();
deconfigureMovement();
deconfigureIMU();
deconfigureCF();
deconfigureDebug();
deconfigureIHM();
deconfigureDebug();
return EXIT_SUCCESS;
}

37
chef/src/testIMU.c Normal file
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@ -0,0 +1,37 @@
/* Teste l'IMU */
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <wiringPiI2C.h>
#include "i2c.h"
#include "imu.h"
int main(int argc, char* argv[])
{
(void)argc;
(void)argv;
initI2C();
configureIMU();
if (!connectedIMU()) {
printf("IMU not connected\n");
exit(1);
}
struct gyroRaw a;
struct gyroRaw t;
for (;;) {
a = readGyroRaw();
t.x += a.x;
t.y += a.y;
t.z += a.z;
usleep(100*1000);
printf("X:%5d Y:%5d Z:%5d\n", t.x, t.y, t.z);
}
exit(0);
}

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@ -1,32 +0,0 @@
/* Teste si une broche est connecté à une autre */
#include <stdlib.h>
#include <stdio.h>
#include <wiringPi.h>
char testPin(char input, char output) {
pinMode(output, OUTPUT);
pinMode(input, INPUT);
digitalWrite(output, 1);
delay(0);
return digitalRead(input);
}
int main(int argc, char *argv[]) {
if (argc != 3) {
printf("Usage: %s INPUT_PIN OUTPUT_PIN\n", argv[0]);
return 2;
}
if (wiringPiSetup() == -1) {
return 3;
}
char input = atoi(argv[1]);
char output = atoi(argv[2]);
char rep = testPin(input, output);
return rep;
}

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@ -112,7 +112,6 @@ chef:
make -C buildroot chef-rebuild
upgrade-chef: chef
make -C buildroot chef-reinstall
ssh -F sshconf principal true
rsync --rsh 'ssh -F sshconf' --archive --chown root:root buildroot/output/target/opt/chef principal:/opt/

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@ -6,17 +6,16 @@
start() {
printf "Starting hardware handling: "
modprobe pl2303 # USB↔Serial cable
modprobe i2c-bcm2708 # I2C
modprobe i2c-dev # I2C
# I2C
modprobe i2c-bcm2708 # RPi2
modprobe i2c-bcm2835 # RPi3
modprobe i2c-dev # Both
/opt/chef/lcdOff.sh
echo "OK"
}
stop() {
printf "Stopping hardware handling: "
rmmod i2c-dev # I2C
rmmod i2c-bcm2708 # I2C
rmmod pl2303 # USB↔Serial cable
echo "OK"
}

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@ -70,7 +70,6 @@ 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