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https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-21 15:46:06 +01:00
A↔C: Développement côté Arduino
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@ -1,12 +1,13 @@
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#include <FreeRTOS.h>
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#include <queue.h>
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#include "AC.h"
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#include "serial.h"
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#include "ACsignals.h"
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void registerRxHandler(unsigned char code, rxHandler handler)
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{
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rxHandlers[code] = handler;
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}
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ISR(USART0_UDRE_vect) {
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ISR(USART0_UDRE_vect)
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{
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// When a transmit is ready to be done again
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TaskHandle_t holder = xSemaphoreGetMutexHolder(sSendAC);
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if (holder != NULL) {
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@ -14,14 +15,16 @@ ISR(USART0_UDRE_vect) {
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}
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}
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void sendByteAC(unsigned char data) {
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void sendByteAC(unsigned char data)
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{
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while (!bit_is_set(UCSR0A, UDRE0)) {
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vTaskSuspend(xSemaphoreGetMutexHolder(sSendAC));
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}
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UDR0 = data;
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}
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void sendAC(unsigned char code, void* data, size_t size) {
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void sendAC(unsigned char code, void* data, size_t size)
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{
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xSemaphoreTake(sSendAC, 0);
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sendByteAC(code);
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unsigned char* p = data;
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@ -31,31 +34,48 @@ void sendAC(unsigned char code, void* data, size_t size) {
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xSemaphoreGive(sSendAC);
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}
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ISR(USART0_RX_vect) {
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ISR(USART0_RX_vect)
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{
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// When a character is received
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vTaskResume(tReaderAC);
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}
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unsigned char readAC() {
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unsigned char readByteAC()
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{
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while (!bit_is_set(UCSR0A, RXC0)) {
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vTaskSuspend(tReaderAC);
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}
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return UDR0;
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}
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void TaskReaderAC(void *pvParameters) {
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(void) pvParameters;
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unsigned char code;
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for (;;) {
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code = readAC();
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char* sending = "Bonjour ! Comment va ?";
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sendAC('@', sending, 22);
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void readAC(void* data, size_t size)
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{
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unsigned char* p = data;
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for (int i = 0; i < size; i++) {
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*p = readByteAC();
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p++;
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}
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}
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void configureAC() {
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void TaskReaderAC(void* pvParameters)
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{
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(void)pvParameters;
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unsigned char code;
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for (;;) {
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code = readByteAC();
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rxHandler handler = rxHandlers[code];
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if (handler != NULL) {
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handler();
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} else {
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struct A2CI_ERRs err = { ERR_UNKNOWN_CODE };
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sendAC(A2CD_ERR, &err, sizeof(err));
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}
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}
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}
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void configureAC()
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{
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/* Set baud rate */
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UBRR0 = AC_PRESCALER;
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@ -68,7 +88,9 @@ void configureAC() {
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/* Set 8 bits character and 1 stop bit */
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UCSR0C = (1 << UCSZ01 | 1 << UCSZ00);
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for (int i = 0; i < 256; i++) {
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rxHandlers[i] = NULL;
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}
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sSendAC = xSemaphoreCreateMutex();
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xTaskCreate(TaskReaderAC, "TaskReaderAC", 128, NULL, 2, &tReaderAC);
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}
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30
arduino/AC.h
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30
arduino/AC.h
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@ -0,0 +1,30 @@
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#ifndef __SERIAL_H_
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#define __SERIAL_H_
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#include <FreeRTOS.h>
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#include <queue.h>
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#include <semphr.h>
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#include <stdlib.h>
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#include <task.h>
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#include "ACsignals.h"
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#define CPU_FREQ 16000000UL
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#define AC_PRESCALER CPU_FREQ / (AC_BAUDRATE << 4) - 1
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TaskHandle_t tReaderAC;
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SemaphoreHandle_t sSendAC;
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typedef void (*rxHandler)(void);
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rxHandler rxHandlers[256];
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void registerRxHandler(unsigned char code, rxHandler handler);
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void sendByteAC(unsigned char data);
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void sendAC(unsigned char code, void* data, size_t size);
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unsigned char readByteAC(); // À utiliser uniquement depuis un rxHandler
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void readAC(void* data, size_t size); // À utiliser uniquement depuis un rxHandler
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void TaskReaderAC(void* pvParameters);
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void configureAC();
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#endif
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@ -1,5 +1,6 @@
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// Définition des signaux échagés entre l'Arduino et le chef
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//
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/*
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* Définition des signaux échagés entre l'Arduino et le chef
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*/
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#ifndef __ACSIGNALS_H_
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#define __ACSIGNALS_H_
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// Chef → Arduino
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// Pour le debug
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#define C2AD_PING 0
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#define C2AD_PING 'P'
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struct C2AD_PINGs {
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};
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// Arrête tous les actionneurs
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#define C2AD_STOP 1
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#define C2AD_STOP 'S'
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struct C2ADD_STOPs {
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};
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// Donne une destination
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#define C2AD_GOTO 2
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// Donne une rotation
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#define C2AD_ROTATE 3
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#define C2AD_GOTO 'G'
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struct C2AD_GOTOs {
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float x;
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float y;
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float o; // Peut-être NaN ou autre valeur spécifique si indifférent
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};
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// Arduino → Chef
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// Envoie la position actuelle
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#define A2CI_POS
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// Erreur quelconque
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#define A2CD_ERR 'E'
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struct A2CI_ERRs {
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unsigned char code;
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};
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#define ERR_UNKNOWN_CODE 'C'
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// Envoie les infos de debug
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#define A2CI_DBG 'D'
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struct A2CI_DBGs {
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float x;
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float y;
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float o;
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// ...
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};
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#endif
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@ -29,7 +29,7 @@ FORMAT = ihex
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# Target file name (without extension).
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TARGET = principal
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OBJS = serial
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OBJS = AC position movement
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# Custom
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NAME = $(TARGET).c
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51
arduino/movement.c
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51
arduino/movement.c
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#include "movement.h"
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#include "AC.h"
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void TaskMovement(void *pvParameters) {
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(void) pvParameters;
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TickType_t xLastWakeTime;
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TickType_t xFrequency = 100 / portTICK_PERIOD_MS;
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vTaskSuspend(tMovement); // Mettre en veille jusqu'à l'arrivée de la prochaine instruction
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xLastWakeTime = xTaskGetTickCount();
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for (;;) {
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// TODO Ici ira le code qui changera les valeurs des moteurs
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vTaskDelayUntil(&xLastWakeTime, 1000 / portTICK_PERIOD_MS);
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if (true) { // Arrivé à destination
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sendAC(movement, NULL, 0); // On rapporte au chef qu'on a terminé l'action en cours
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// Mettre en brake
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// Envoi du message de bonne réception
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vTaskSuspend(tMovement); // Mettre en veille jusqu'à l'arrivée de la prochaine instruction
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xLastWakeTime = xTaskGetTickCount();
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} else {
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vTaskDelayUntil(&xLastWakeTime, xFrequency);
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}
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}
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}
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void onC2AD_STOP() {
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movement = C2AD_STOP;
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vTaskResume(tMovement);
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}
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void onC2AD_GOTO() {
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movement = C2AD_GOTO;
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readAC(&destination, sizeof(struct C2AD_GOTOs));
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vTaskResume(tMovement);
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}
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void configureMovement() {
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// TODO Configuration des pins
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movement = C2AD_STOP;
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registerRxHandler(C2AD_STOP, onC2AD_STOP);
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registerRxHandler(C2AD_GOTO, onC2AD_GOTO);
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xTaskCreate(TaskMovement, "Movement", 128, NULL, 2, &tMovement);;
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}
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arduino/movement.h
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23
arduino/movement.h
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/*
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* Outils assurant le déplacement du robot
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*/
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#ifndef __MOVEMENT_H_
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#define __MOVEMENT_H_
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#include <FreeRTOS.h>
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#include <task.h>
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#include "stdbool.h"
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#include "ACsignals.h"
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// TODO Définition des pins
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TaskHandle_t tMovement;
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unsigned char movement;
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struct C2AD_GOTOs destination;
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void TaskMovement();
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void configureMovement();
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#endif
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arduino/position.c
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arduino/position.c
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#include "position.h"
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#include "AC.h"
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void TaskPosition(void *pvParameters) {
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(void) pvParameters;
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TickType_t xLastWakeTime;
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TickType_t xFrequency = 100 / portTICK_PERIOD_MS;
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vTaskSuspend(tPosition); // TODO Dummy
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xLastWakeTime = xTaskGetTickCount();
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for (;;) {
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vTaskDelayUntil(&xLastWakeTime, xFrequency);
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}
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}
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void configurePosition() {
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xTaskCreate(TaskPosition, "Position", 128, NULL, 2, &tPosition);;
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}
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22
arduino/position.h
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arduino/position.h
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/*
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* Outils assurant la connaissance de la postion du robot
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*/
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#ifndef __POSITION_H_
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#define __POSITION_H_
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#include <FreeRTOS.h>
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#include <task.h>
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struct position {
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float x;
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float y;
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float o;
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};
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TaskHandle_t tPosition;
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void TaskPosition();
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void configurePosition();
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#endif
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@ -3,7 +3,9 @@
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#include <FreeRTOS.h>
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#include <task.h>
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#include "serial.h"
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#include "AC.h"
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#include "position.h"
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#include "movement.h"
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unsigned char speed = 200;
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int main(void) {
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configureAC();
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sei();
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configureMovement();
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configurePosition();
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xTaskCreate(TaskBlink, "Blink", 128, NULL, 2, NULL);
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sei();
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vTaskStartScheduler();
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return 0;
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}
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@ -1,20 +0,0 @@
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#ifndef __SERIAL_H_
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#define __SERIAL_H_
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#include <semphr.h>
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#include <stdlib.h>
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#include <task.h>
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#define CPU_FREQ 16000000UL
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#define AC_PRESCALER CPU_FREQ / (AC_BAUDRATE << 4) - 1
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TaskHandle_t tReaderAC;
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SemaphoreHandle_t sSendAC;
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void sendByteAC(unsigned char data);
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void sendAC(unsigned char code, void* data, size_t size);
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unsigned char readAC();
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void TaskReaderAC(void *pvParameters);
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void configureAC();
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#endif
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