mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-13 03:46:12 +01:00
A↔C: Développement côté Arduino
This commit is contained in:
parent
fc6b9e3317
commit
d795e2d906
|
@ -1,12 +1,13 @@
|
|||
#include <avr/interrupt.h>
|
||||
#include <avr/io.h>
|
||||
#include <FreeRTOS.h>
|
||||
#include <queue.h>
|
||||
#include "AC.h"
|
||||
|
||||
#include "serial.h"
|
||||
#include "ACsignals.h"
|
||||
void registerRxHandler(unsigned char code, rxHandler handler)
|
||||
{
|
||||
rxHandlers[code] = handler;
|
||||
}
|
||||
|
||||
ISR(USART0_UDRE_vect) {
|
||||
|
||||
ISR(USART0_UDRE_vect)
|
||||
{
|
||||
// When a transmit is ready to be done again
|
||||
TaskHandle_t holder = xSemaphoreGetMutexHolder(sSendAC);
|
||||
if (holder != NULL) {
|
||||
|
@ -14,14 +15,16 @@ ISR(USART0_UDRE_vect) {
|
|||
}
|
||||
}
|
||||
|
||||
void sendByteAC(unsigned char data) {
|
||||
void sendByteAC(unsigned char data)
|
||||
{
|
||||
while (!bit_is_set(UCSR0A, UDRE0)) {
|
||||
vTaskSuspend(xSemaphoreGetMutexHolder(sSendAC));
|
||||
}
|
||||
UDR0 = data;
|
||||
}
|
||||
|
||||
void sendAC(unsigned char code, void* data, size_t size) {
|
||||
void sendAC(unsigned char code, void* data, size_t size)
|
||||
{
|
||||
xSemaphoreTake(sSendAC, 0);
|
||||
sendByteAC(code);
|
||||
unsigned char* p = data;
|
||||
|
@ -31,31 +34,48 @@ void sendAC(unsigned char code, void* data, size_t size) {
|
|||
xSemaphoreGive(sSendAC);
|
||||
}
|
||||
|
||||
ISR(USART0_RX_vect) {
|
||||
ISR(USART0_RX_vect)
|
||||
{
|
||||
// When a character is received
|
||||
vTaskResume(tReaderAC);
|
||||
}
|
||||
|
||||
|
||||
unsigned char readAC() {
|
||||
unsigned char readByteAC()
|
||||
{
|
||||
while (!bit_is_set(UCSR0A, RXC0)) {
|
||||
vTaskSuspend(tReaderAC);
|
||||
}
|
||||
return UDR0;
|
||||
}
|
||||
|
||||
void TaskReaderAC(void *pvParameters) {
|
||||
(void) pvParameters;
|
||||
unsigned char code;
|
||||
for (;;) {
|
||||
code = readAC();
|
||||
|
||||
char* sending = "Bonjour ! Comment va ?";
|
||||
sendAC('@', sending, 22);
|
||||
void readAC(void* data, size_t size)
|
||||
{
|
||||
unsigned char* p = data;
|
||||
for (int i = 0; i < size; i++) {
|
||||
*p = readByteAC();
|
||||
p++;
|
||||
}
|
||||
}
|
||||
|
||||
void configureAC() {
|
||||
void TaskReaderAC(void* pvParameters)
|
||||
{
|
||||
(void)pvParameters;
|
||||
unsigned char code;
|
||||
for (;;) {
|
||||
code = readByteAC();
|
||||
|
||||
rxHandler handler = rxHandlers[code];
|
||||
if (handler != NULL) {
|
||||
handler();
|
||||
} else {
|
||||
struct A2CI_ERRs err = { ERR_UNKNOWN_CODE };
|
||||
sendAC(A2CD_ERR, &err, sizeof(err));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void configureAC()
|
||||
{
|
||||
/* Set baud rate */
|
||||
UBRR0 = AC_PRESCALER;
|
||||
|
||||
|
@ -68,7 +88,9 @@ void configureAC() {
|
|||
/* Set 8 bits character and 1 stop bit */
|
||||
UCSR0C = (1 << UCSZ01 | 1 << UCSZ00);
|
||||
|
||||
for (int i = 0; i < 256; i++) {
|
||||
rxHandlers[i] = NULL;
|
||||
}
|
||||
sSendAC = xSemaphoreCreateMutex();
|
||||
xTaskCreate(TaskReaderAC, "TaskReaderAC", 128, NULL, 2, &tReaderAC);
|
||||
}
|
||||
|
30
arduino/AC.h
Normal file
30
arduino/AC.h
Normal file
|
@ -0,0 +1,30 @@
|
|||
#ifndef __SERIAL_H_
|
||||
#define __SERIAL_H_
|
||||
|
||||
#include <FreeRTOS.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/io.h>
|
||||
#include <queue.h>
|
||||
#include <semphr.h>
|
||||
#include <stdlib.h>
|
||||
#include <task.h>
|
||||
#include "ACsignals.h"
|
||||
|
||||
#define CPU_FREQ 16000000UL
|
||||
#define AC_PRESCALER CPU_FREQ / (AC_BAUDRATE << 4) - 1
|
||||
|
||||
TaskHandle_t tReaderAC;
|
||||
SemaphoreHandle_t sSendAC;
|
||||
|
||||
typedef void (*rxHandler)(void);
|
||||
rxHandler rxHandlers[256];
|
||||
|
||||
void registerRxHandler(unsigned char code, rxHandler handler);
|
||||
void sendByteAC(unsigned char data);
|
||||
void sendAC(unsigned char code, void* data, size_t size);
|
||||
unsigned char readByteAC(); // À utiliser uniquement depuis un rxHandler
|
||||
void readAC(void* data, size_t size); // À utiliser uniquement depuis un rxHandler
|
||||
void TaskReaderAC(void* pvParameters);
|
||||
void configureAC();
|
||||
|
||||
#endif
|
|
@ -1,5 +1,6 @@
|
|||
// Définition des signaux échagés entre l'Arduino et le chef
|
||||
//
|
||||
/*
|
||||
* Définition des signaux échagés entre l'Arduino et le chef
|
||||
*/
|
||||
|
||||
#ifndef __ACSIGNALS_H_
|
||||
#define __ACSIGNALS_H_
|
||||
|
@ -21,17 +22,41 @@
|
|||
// Chef → Arduino
|
||||
|
||||
// Pour le debug
|
||||
#define C2AD_PING 0
|
||||
#define C2AD_PING 'P'
|
||||
struct C2AD_PINGs {
|
||||
};
|
||||
|
||||
// Arrête tous les actionneurs
|
||||
#define C2AD_STOP 1
|
||||
#define C2AD_STOP 'S'
|
||||
struct C2ADD_STOPs {
|
||||
};
|
||||
|
||||
// Donne une destination
|
||||
#define C2AD_GOTO 2
|
||||
// Donne une rotation
|
||||
#define C2AD_ROTATE 3
|
||||
#define C2AD_GOTO 'G'
|
||||
struct C2AD_GOTOs {
|
||||
float x;
|
||||
float y;
|
||||
float o; // Peut-être NaN ou autre valeur spécifique si indifférent
|
||||
};
|
||||
|
||||
// Arduino → Chef
|
||||
|
||||
// Envoie la position actuelle
|
||||
#define A2CI_POS
|
||||
// Erreur quelconque
|
||||
#define A2CD_ERR 'E'
|
||||
struct A2CI_ERRs {
|
||||
unsigned char code;
|
||||
};
|
||||
|
||||
#define ERR_UNKNOWN_CODE 'C'
|
||||
|
||||
// Envoie les infos de debug
|
||||
#define A2CI_DBG 'D'
|
||||
struct A2CI_DBGs {
|
||||
float x;
|
||||
float y;
|
||||
float o;
|
||||
// ...
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
@ -29,7 +29,7 @@ FORMAT = ihex
|
|||
|
||||
# Target file name (without extension).
|
||||
TARGET = principal
|
||||
OBJS = serial
|
||||
OBJS = AC position movement
|
||||
|
||||
# Custom
|
||||
NAME = $(TARGET).c
|
||||
|
|
51
arduino/movement.c
Normal file
51
arduino/movement.c
Normal file
|
@ -0,0 +1,51 @@
|
|||
#include "movement.h"
|
||||
#include "AC.h"
|
||||
|
||||
void TaskMovement(void *pvParameters) {
|
||||
(void) pvParameters;
|
||||
TickType_t xLastWakeTime;
|
||||
TickType_t xFrequency = 100 / portTICK_PERIOD_MS;
|
||||
|
||||
vTaskSuspend(tMovement); // Mettre en veille jusqu'à l'arrivée de la prochaine instruction
|
||||
xLastWakeTime = xTaskGetTickCount();
|
||||
for (;;) {
|
||||
|
||||
// TODO Ici ira le code qui changera les valeurs des moteurs
|
||||
vTaskDelayUntil(&xLastWakeTime, 1000 / portTICK_PERIOD_MS);
|
||||
|
||||
if (true) { // Arrivé à destination
|
||||
sendAC(movement, NULL, 0); // On rapporte au chef qu'on a terminé l'action en cours
|
||||
// Mettre en brake
|
||||
|
||||
// Envoi du message de bonne réception
|
||||
vTaskSuspend(tMovement); // Mettre en veille jusqu'à l'arrivée de la prochaine instruction
|
||||
xLastWakeTime = xTaskGetTickCount();
|
||||
} else {
|
||||
vTaskDelayUntil(&xLastWakeTime, xFrequency);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void onC2AD_STOP() {
|
||||
movement = C2AD_STOP;
|
||||
vTaskResume(tMovement);
|
||||
}
|
||||
|
||||
void onC2AD_GOTO() {
|
||||
movement = C2AD_GOTO;
|
||||
readAC(&destination, sizeof(struct C2AD_GOTOs));
|
||||
vTaskResume(tMovement);
|
||||
}
|
||||
|
||||
|
||||
void configureMovement() {
|
||||
// TODO Configuration des pins
|
||||
|
||||
movement = C2AD_STOP;
|
||||
|
||||
registerRxHandler(C2AD_STOP, onC2AD_STOP);
|
||||
registerRxHandler(C2AD_GOTO, onC2AD_GOTO);
|
||||
|
||||
xTaskCreate(TaskMovement, "Movement", 128, NULL, 2, &tMovement);;
|
||||
}
|
||||
|
23
arduino/movement.h
Normal file
23
arduino/movement.h
Normal file
|
@ -0,0 +1,23 @@
|
|||
/*
|
||||
* Outils assurant le déplacement du robot
|
||||
*/
|
||||
|
||||
#ifndef __MOVEMENT_H_
|
||||
#define __MOVEMENT_H_
|
||||
|
||||
#include <FreeRTOS.h>
|
||||
#include <task.h>
|
||||
#include "stdbool.h"
|
||||
#include "ACsignals.h"
|
||||
|
||||
// TODO Définition des pins
|
||||
|
||||
TaskHandle_t tMovement;
|
||||
|
||||
unsigned char movement;
|
||||
struct C2AD_GOTOs destination;
|
||||
|
||||
void TaskMovement();
|
||||
void configureMovement();
|
||||
|
||||
#endif
|
21
arduino/position.c
Normal file
21
arduino/position.c
Normal file
|
@ -0,0 +1,21 @@
|
|||
#include "position.h"
|
||||
#include "AC.h"
|
||||
|
||||
void TaskPosition(void *pvParameters) {
|
||||
(void) pvParameters;
|
||||
TickType_t xLastWakeTime;
|
||||
TickType_t xFrequency = 100 / portTICK_PERIOD_MS;
|
||||
|
||||
vTaskSuspend(tPosition); // TODO Dummy
|
||||
xLastWakeTime = xTaskGetTickCount();
|
||||
for (;;) {
|
||||
vTaskDelayUntil(&xLastWakeTime, xFrequency);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void configurePosition() {
|
||||
xTaskCreate(TaskPosition, "Position", 128, NULL, 2, &tPosition);;
|
||||
}
|
||||
|
22
arduino/position.h
Normal file
22
arduino/position.h
Normal file
|
@ -0,0 +1,22 @@
|
|||
/*
|
||||
* Outils assurant la connaissance de la postion du robot
|
||||
*/
|
||||
|
||||
#ifndef __POSITION_H_
|
||||
#define __POSITION_H_
|
||||
|
||||
#include <FreeRTOS.h>
|
||||
#include <task.h>
|
||||
|
||||
struct position {
|
||||
float x;
|
||||
float y;
|
||||
float o;
|
||||
};
|
||||
|
||||
TaskHandle_t tPosition;
|
||||
|
||||
void TaskPosition();
|
||||
void configurePosition();
|
||||
|
||||
#endif
|
|
@ -3,7 +3,9 @@
|
|||
#include <FreeRTOS.h>
|
||||
#include <task.h>
|
||||
|
||||
#include "serial.h"
|
||||
#include "AC.h"
|
||||
#include "position.h"
|
||||
#include "movement.h"
|
||||
|
||||
unsigned char speed = 200;
|
||||
|
||||
|
@ -23,9 +25,12 @@ void TaskBlink(void *pvParameters) {
|
|||
|
||||
int main(void) {
|
||||
configureAC();
|
||||
sei();
|
||||
configureMovement();
|
||||
configurePosition();
|
||||
|
||||
xTaskCreate(TaskBlink, "Blink", 128, NULL, 2, NULL);
|
||||
sei();
|
||||
|
||||
vTaskStartScheduler();
|
||||
return 0;
|
||||
}
|
||||
|
|
|
@ -1,20 +0,0 @@
|
|||
#ifndef __SERIAL_H_
|
||||
#define __SERIAL_H_
|
||||
|
||||
#include <semphr.h>
|
||||
#include <stdlib.h>
|
||||
#include <task.h>
|
||||
|
||||
#define CPU_FREQ 16000000UL
|
||||
#define AC_PRESCALER CPU_FREQ / (AC_BAUDRATE << 4) - 1
|
||||
|
||||
TaskHandle_t tReaderAC;
|
||||
SemaphoreHandle_t sSendAC;
|
||||
|
||||
void sendByteAC(unsigned char data);
|
||||
void sendAC(unsigned char code, void* data, size_t size);
|
||||
unsigned char readAC();
|
||||
void TaskReaderAC(void *pvParameters);
|
||||
void configureAC();
|
||||
|
||||
#endif
|
Loading…
Reference in a new issue