Diagnostics

chef/Makefile

@@ -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 i2c ihm lcd movement parcours points position
+OBJS=buttons CF debug diagnostics i2c ihm lcd movement parcours points position
 OBJS_O=$(addprefix obj/,$(addsuffix .o,$(OBJS)))
 
 # VARIABLES AUTOMATIQUES

chef/src/CF.c

@@ -26,27 +26,49 @@ void configureFpga()
     // Connection au port série
     printf("Connexion à %s... ", FPGA_PORTNAME);
     fflush(stdout);
-    fpga = open(FPGA_PORTNAME, O_RDWR | O_NOCTTY | O_NDELAY);
+    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);
     }
 
     // Configuration du port série
+    fcntl(fpga, F_SETFL, O_RDWR);
+
     struct termios cfg;
-    bzero(&cfg, sizeof(cfg));
+
-    cfg.c_cflag = CLOCAL | CREAD | CF_BAUDRATE | CS8;
+    tcgetattr(fpga, &cfg);
-    cfg.c_iflag = 0;
+
-    cfg.c_oflag = 0;
+    cfmakeraw(&cfg);
-    cfg.c_lflag = 0;     /* set input mode (non-canonical, no echo,...) */
+    cfsetispeed(&cfg, CF_BAUDRATE);
-    cfg.c_cc[VTIME] = 0; /* inter-character timer unused */
+    cfsetospeed(&cfg, CF_BAUDRATE);
-    cfg.c_cc[VMIN] = 1;  /* blocking read until 1 char received */
+
+    cfg.c_cflag |= (CLOCAL | CREAD);
+    cfg.c_cflag &= ~PARENB;
+    cfg.c_cflag &= ~CSTOPB;
+    cfg.c_cflag &= ~CSIZE;
+    cfg.c_cflag |= CS8;
+    cfg.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+    cfg.c_oflag &= ~OPOST;
+
+    cfg.c_cc[VMIN] = 0;
+    cfg.c_cc[VTIME] = 10;
+
     if (tcsetattr(fpga, TCSANOW, &cfg) < 0) {
         perror("serialConfig.tcsetattr");
         exit(1);
     }
 
-    sleep(1);
+    int status;
+    ioctl(fpga, TIOCMGET, &status);
+
+    status |= TIOCM_DTR;
+    status |= TIOCM_RTS;
+
+    ioctl(fpga, TIOCMSET, &status);
+
+    usleep(10 * 1000);
 
     // Flush
     unsigned char trash[1024];
@@ -101,7 +123,6 @@ void setPret()
 
 void doNothing()
 {
-
 }
 
 void configureCF()
@@ -116,16 +137,13 @@ void configureCF()
 
     printf("Attente de réponse du Fpga... ");
     fflush(stdout);
-    struct timespec tim;
-    tim.tv_sec = 0;
-    tim.tv_nsec = 100000000L;
     // Dans le cas où on aurait laissé l'Fpga en attente de donnée,
     // on envoie des pings en boucle jusqu'à ce qu'il nous réponde.
     pret = false;
     registerRxHandler(C2FD_PING, setPret);
     while (!pret) {
         sendCF(C2FD_PING, NULL, 0);
-        nanosleep(&tim, NULL);
+        usleep(100 * 1000);
     }
     registerRxHandler(C2FD_PING, doNothing); // TODO
     registerRxHandler(C2FD_PING, NULL);

chef/src/debug.c

@@ -6,7 +6,6 @@
 #include <string.h>
 #include <time.h>
 #include <unistd.h> // sleep
-#include <wiringPi.h>
 
 #include "debug.h"
 
@@ -91,7 +90,7 @@ void* TaskDebug(void* pdata)
         fprintf(debugFd, "\n");
         fflush(debugFd);
 
-        delay(DEBUG_INTERVAL);
+        usleep(DEBUG_INTERVAL * 1000);
     }
 
     return NULL;

chef/src/diagnostics.c

@@ -0,0 +1,56 @@
+#include <unistd.h>
+
+#include "diagnostics.h"
+#include "buttons.h"
+#include "lcd.h"
+
+#include "CF.h"
+
+bool recu;
+
+void setRecu()
+{
+    recu = true;
+}
+
+bool diagFPGA()
+{
+    recu = false;
+    registerRxHandler(C2FD_PING, setRecu);
+    sendCF(C2FD_PING, NULL, 0);
+
+    for (int i = 0; i <= DIAGNOSTIC_SERIAL_TIMEOUT; i += DIAGNOSTIC_POLL_INTERVAL) {
+        if (recu) {
+            break;
+        }
+        usleep(DIAGNOSTIC_POLL_INTERVAL * 1000);
+    }
+    return recu;
+}
+
+bool diagArduino()
+{
+    return false;
+}
+
+void execDiagnostic(char *name, bool (*diagnostic)(void))
+{
+    clearLCD();
+    printToLCD(LCD_LINE_1, name);
+    printToLCD(LCD_LINE_2, "...");
+    bool res = diagnostic();
+    if (res) {
+        printToLCD(LCD_LINE_2, "Ok!");
+        usleep(DIAGNOSTIC_INTERVAL * 1000);
+    } else {
+        printToLCD(LCD_LINE_2, "Echec!");
+        pressedButton(BUT_BLOCK);
+    }
+}
+
+void runDiagnostics()
+{
+    execDiagnostic("Lien FPGA", diagFPGA);
+    /* execDiagnostic("Lien Arduino", diagArduino); */
+}
+

chef/src/diagnostics.h

@@ -0,0 +1,17 @@
+#ifndef __DIAGNOSTICS_H_
+#define __DIAGNOSTICS_H_
+
+#include <stdbool.h>
+
+// Constantes
+#define DIAGNOSTIC_INTERVAL 500
+#define DIAGNOSTIC_POLL_INTERVAL 100
+#define DIAGNOSTIC_SERIAL_TIMEOUT 10000
+
+// Public
+void runDiagnostics();
+
+// Private
+void execDiagnostic(char *name, bool (*diagnostic)(void));
+
+#endif

chef/src/ihm.c

@@ -8,6 +8,7 @@
 #include "points.h"
 #include "lcd.h"
 #include "buttons.h"
+#include "diagnostics.h"
 
 // Globales
 pthread_t tIHM;
@@ -117,8 +118,7 @@ void* TaskIHM(void* pdata)
 
             if (bout == rouge) {
                 clearLCD();
-                printToLCD(LCD_LINE_1, "Diagnostics...");
+                runDiagnostics();
-                delay(3000); // TODO
             } else if (bout == jaune) {
                 break;
             }

fpga/principal.ucf

@@ -40,7 +40,6 @@ NET "BACKECHO" LOC = "P73" | IOSTANDARD = LVTTL ;
 # IO<20>
 NET "ENA" LOC = "P5" | IOSTANDARD = LVTTL ;
 
-
 # IO<21>
 NET "IN1ENC" LOC = "P4" | IOSTANDARD = LVTTL ;