A↔C: Développement côté Arduino

arduino/AC.c

@@ -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);
 }
-

arduino/AC.h

@@ -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

arduino/ACsignals.h

@@ -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

arduino/Makefile

@@ -29,7 +29,7 @@ FORMAT = ihex
 
 # Target file name (without extension).
 TARGET = principal
-OBJS = serial
+OBJS = AC position movement
 
 # Custom
 NAME = $(TARGET).c

arduino/movement.c

@@ -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);;
+}
+

arduino/movement.h

@@ -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

arduino/position.c

@@ -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);;
+}
+

arduino/position.h

@@ -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

arduino/principal.c

@@ -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;
 }

arduino/serial.h

@@ -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