From e758218dca609f629363f70fbadfdd792fa111de Mon Sep 17 00:00:00 2001 From: Geoffrey Frogeye Date: Sun, 6 May 2018 01:14:09 +0200 Subject: [PATCH] Fix codeuses --- chef/Makefile | 4 +- chef/src/debug.c | 2 +- chef/src/diagnostics.c | 1 + chef/src/dimensions.h | 42 +++++++++---- chef/src/local.c | 39 ++++++------ chef/src/parcours.c | 14 ++--- chef/src/testCodeuse.c | 43 +++++++++++++ chef/src/testSlow.c | 48 ++++++++++++++ fpga/hedm.vhd | 63 ++++++++++--------- fpga/hedm_tb.gtkw | 15 +++-- fpga/hedm_tb.vhd | 2 +- .../board/robotech/cdfprincipal/post-build.sh | 5 +- .../cdfprincipal/rootfs_overlay/root/.profile | 7 ++- raspberrypi/configs/cdfprincipal_defconfig | 1 + 14 files changed, 200 insertions(+), 86 deletions(-) create mode 100644 chef/src/testCodeuse.c create mode 100644 chef/src/testSlow.c diff --git a/chef/Makefile b/chef/Makefile index 1747ef6..62fe483 100644 --- a/chef/Makefile +++ b/chef/Makefile @@ -40,8 +40,8 @@ bin/premier: obj/premier.o $(OBJS_O) bin/test%: obj/test%.o $(OBJS_O) # Programme de test sur PC, n'embarquant pas wiringPi -bin/local: obj/local.o - $(CC) $(CFLAGS) $(CFLAGS_CUSTOM) -lpthread $^ -o $@ +bin/local: obj/local.o obj/CF.o obj/debug.o obj/position.o + $(CC) $(CFLAGS) $(CFLAGS_CUSTOM) -lpthread -lm $^ -o $@ # Génération des fichiers objets obj/%.o: src/%.c src/%.h diff --git a/chef/src/debug.c b/chef/src/debug.c index d8b58a7..3fe2d3a 100644 --- a/chef/src/debug.c +++ b/chef/src/debug.c @@ -111,7 +111,7 @@ void configureDebug() debugFd = fopen(path, "w"); if (debugFd == NULL) { perror("fopen debug file"); - return; + exit(EXIT_FAILURE); } fprintf(debugFd, "time"); diff --git a/chef/src/diagnostics.c b/chef/src/diagnostics.c index 445f2ad..64d65e8 100644 --- a/chef/src/diagnostics.c +++ b/chef/src/diagnostics.c @@ -30,6 +30,7 @@ bool diagFPGA(void* arg) } usleep(DIAGNOSTIC_POLL_INTERVAL * 1000); } + registerRxHandler(C2FD_PING, NULL); return recu; } diff --git a/chef/src/dimensions.h b/chef/src/dimensions.h index f5d4139..d820d50 100644 --- a/chef/src/dimensions.h +++ b/chef/src/dimensions.h @@ -3,19 +3,35 @@ #include -// TODO None of that is verified +// Dimensions pistes +#define M_PISTE_WIDTH 3000 +#define M_PISTE_HEIGHT 2000 +#define M_PISTE_ORIG_X 0 +#define M_PISTE_ORIG_Y 0 -// [mm] -#define WHEEL_DIAMETER 80.0 -// [mm] -#define WHEEL_PERIMETER WHEEL_DIAMETER * M_PI -// [cycles/revolution] -#define CODER_RESOLUTION 100 -// [increments/revolution] -#define CODER_DATA_RESOLUTION CODER_RESOLUTION * 4 -// [mm] -#define CODER_DELTA_DISTANCE WHEEL_PERIMETER / CODER_DATA_RESOLUTION -// [mm] -#define DISTANCE_BETWEEN_WHEELS 250.0 +// Dimensions robot +#define WIDTH 250 // mm (from meca) +#define HEIGHT 100 // mm (from random); +#define DISTANCE_BETWEEN_WHEELS WIDTH // mm (from meca) +#define WHEEL_DIAMETER 80 // mm (from meca) +#define WHEEL_PERIMETER WHEEL_DIAMETER * M_PI // mm +#define MOTOR_SPEED_GAIN_RPMP_V 233 // rpm/V (from datasheet) +#define MOTOR_SPEED_GAIN MOTOR_SPEED_GAIN_RPMP_V / 60 // rev/s/V +#define MOTOR_NOMINAL_TENSION 24 // V (from datasheet) +#define CODER_RESOLUTION 100 // cycles/rev +#define CODER_DATA_FACTOR 4 // increments/cycles +#define CODER_DATA_RESOLUTION CODER_RESOLUTION * CODER_DATA_FACTOR // cycles/rev +#define CRAN_REDUC_OUT 48 // nb crans (from meca) +#define CRAN_REDUC_IN 12 // nb crans (from meca) +#define REDUC_RATIO CRAN_REDUC_IN / CRAN_REDUC_OUT // reduction ratio + +// Constantes asservissement +#define D_DIR_ECART_MIN 1 // mm +#define D_DIR_ECART_MAX 5 // mm +#define O_DIR_ECART_MIN 1 / 360 * 2 * M_PI // rad +#define O_DIR_ECART_MAX 3 / 360 * 2 * M_PI // rad +#define P 2 +#define I 0 +#define D 0 #endif diff --git a/chef/src/local.c b/chef/src/local.c index df9a56c..10d120b 100644 --- a/chef/src/local.c +++ b/chef/src/local.c @@ -1,36 +1,35 @@ #include +#include #include #include -#include +#include // random seed #include // sleep -#define TEMPS_PARCOURS 10 +#include "CF.h" +#include "debug.h" +#include "movement.h" -// t1 - t2 -void diffTimespec(const struct timespec* t1, const struct timespec* t2, struct timespec* td) +pthread_mutex_t sRunning; + +void endRunning(int signal) { - if ((t1->tv_nsec - t2->tv_nsec) < 0) { - td->tv_sec = t1->tv_sec - t2->tv_sec - 1; - td->tv_nsec = t1->tv_nsec - t2->tv_nsec + 1000000000UL; - } else { - td->tv_sec = t1->tv_sec - t2->tv_sec; - td->tv_nsec = t1->tv_nsec - t2->tv_nsec; - } + (void)signal; + pthread_mutex_unlock(&sRunning); } int main() { - struct timespec start, now, diff; - clock_gettime(CLOCK_REALTIME, &start); + configureDebug(); + configureCF(); + configurePosition(); + + /* long lCod, rCod; */ for (;;) { - clock_gettime(CLOCK_REALTIME, &now); - diffTimespec(&now, &start, &diff); - if (diff.tv_sec > TEMPS_PARCOURS) { - break; - } - printf("32 %ld %ld\n", diff.tv_sec, diff.tv_nsec); + sleep(1); + /* getCoders(&lCod, &rCod); */ + /* printf("%ld %ld\n", lCod, rCod); */ + /* usleep(100*1000); */ } - return EXIT_SUCCESS; } diff --git a/chef/src/parcours.c b/chef/src/parcours.c index b73b537..fb3c81b 100644 --- a/chef/src/parcours.c +++ b/chef/src/parcours.c @@ -1,20 +1,19 @@ #include #include #include -#include +#include "debug.h" #include "lcd.h" #include "movement.h" #include "parcours.h" #include "points.h" #include "position.h" -#include "debug.h" pthread_t tParcours; bool isOrange; struct timespec tempsStart; struct timespec tempsNow; -struct timespec tempsEcoule = {0, 0}; +struct timespec tempsEcoule = { 0, 0 }; void configureParcours() { @@ -93,24 +92,23 @@ void* TaskParcours(void* pdata) for (int i = 0; i < UP_TIME; i++) { float p = (float)i / (float)UP_TIME; changerMoteurs(p * MOT_MAX_V, p * MOT_MAX_V); - delay(1); + usleep(1000 * 1); } addPoints(1); changerMoteurs(MOT_MAX_V, MOT_MAX_V); - delay(HIGH_TIME); + usleep(1000 * HIGH_TIME); addPoints(1); for (int i = 0; i < DOWN_TIME; i++) { float p = (float)i / (float)DOWN_TIME; p = 1 - p; changerMoteurs(p * MOT_MAX_V, p * MOT_MAX_V); - delay(1); + usleep(1000 * 1); } addPoints(1); changerMoteurs(0, 0); - delay(LOW_TIME); + usleep(1000 * LOW_TIME); } return NULL; } - diff --git a/chef/src/testCodeuse.c b/chef/src/testCodeuse.c new file mode 100644 index 0000000..c63c897 --- /dev/null +++ b/chef/src/testCodeuse.c @@ -0,0 +1,43 @@ +#include +#include +#include +#include +#include // random seed +#include // sleep +#include + +#include "CF.h" +#include "debug.h" +#include "i2c.h" +#include "ihm.h" +#include "imu.h" +#include "movement.h" +#include "position.h" + +pthread_mutex_t sRunning; + +#define VIT 1 + +void endRunning(int signal) +{ + (void)signal; + pthread_mutex_unlock(&sRunning); +} + +int main() +{ + + configureDebug(); + configureCF(); + configurePosition(); + + changerMoteurs(VIT, VIT); + + long lCod, rCod; + for (;;) { + getCoders(&lCod, &rCod); + printf("%10ld %10ld\n", lCod, rCod); + usleep(100*1000); + } + +} diff --git a/chef/src/testSlow.c b/chef/src/testSlow.c new file mode 100644 index 0000000..66365bd --- /dev/null +++ b/chef/src/testSlow.c @@ -0,0 +1,48 @@ +/* Teste si une broche est connecté à une autre */ + +#include +#include +#include +#include +#include +#include + +#include "lcd.h" +#include "CF.h" +#include "movement.h" +#include "buttons.h" + +#define VIT 0.40 + + +void changerMoteursWrapper(float l, float r) { + /* clearLCD(); */ + printfToLCD(LCD_LINE_1, "L: %f", l); + printfToLCD(LCD_LINE_2, "R: %f", r); + changerMoteurs(l, r); +} + +int main(int argc, char* argv[]) +{ + + (void)argc; + (void)argv; + + wiringPiSetup(); + + initI2C(); + initLCD(); + configureCF(); + configureButtons(); + configureMovement(); + + changerMoteursWrapper(VIT, VIT); + + for (;;) { + changerMoteursWrapper(VIT, VIT); + pressedButton(BUT_BLOCK); + brake(); + pressedButton(BUT_BLOCK); + } + +} diff --git a/fpga/hedm.vhd b/fpga/hedm.vhd index 556ce4f..c71b007 100644 --- a/fpga/hedm.vhd +++ b/fpga/hedm.vhd @@ -1,9 +1,6 @@ -- Process signals from HEDM-550X encoder -- and output the value read --- TODO Quelques modifications apportées depuis test avec les vraies codeuses --- un nouveau test sera nécessaire (vérifier notamment le sens de parcours) - library IEEE; use IEEE.STD_LOGIC_1164.ALL; use ieee.numeric_std.all; @@ -20,59 +17,63 @@ entity hedm is end hedm; architecture Behavioral of hedm is + signal counter : integer := 0; + signal oldCounter : integer := 0; + signal An, Bn : STD_LOGIC := '0'; -- Nouvelles valeurs de A et B stockées pour que les entrées soient lues une seule fois en début de cycle signal Ap, Bp : STD_LOGIC := '0'; -- Précédentes valeurs de A et B pour détecter les front montant begin processInput : process(clk, reset) - variable counter : integer := 0; begin if reset = '1' then - counter := 0; - counts <= 0; + counter <= 0; + An <= '0'; + Bn <= '0'; Ap <= '0'; Bp <= '0'; elsif rising_edge(clk) then - if zero = '1' then - counter := 0; - end if; + Ap <= An; + Bp <= Bn; + + An <= chA; + Bn <= chB; -- On pourrait optimiser la logique avec un tableau de Karnaugh ou autres méthodes -- de simplification d'algèbre de Boole, mais le synthétiseur pour FPGA fera un -- tout aussi bon travail, on garde donc le code suivant pour la lisibilité - if (Ap = '0' and chA = '1') then -- Front montant A - if (chB = '0') then - counter := counter + 1; + if (Ap = '0' and An = '1') then -- Front montant A + if (Bn = '0') then + counter <= oldCounter + 1; else - counter := counter - 1; + counter <= oldCounter - 1; end if; - elsif (Ap = '1' and chA = '0') then -- Front descendant A - if (chB = '1') then - counter := counter + 1; + elsif (Ap = '1' and An = '0') then -- Front descendant A + if (Bn = '1') then + counter <= oldCounter + 1; else - counter := counter - 1; + counter <= oldCounter - 1; end if; - elsif (Bp = '0' and chB = '1') then -- Front montant B - if (chA = '1') then - counter := counter + 1; + elsif (Bp = '0' and Bn = '1') then -- Front montant B + if (An = '1') then + counter <= oldCounter + 1; else - counter := counter - 1; + counter <= oldCounter - 1; end if; - elsif (Bp = '1' and chB = '0') then -- Front descendant B - if (chA = '0') then - counter := counter + 1; + elsif (Bp = '1' and Bn = '0') then -- Front descendant B + if (An = '0') then + counter <= oldCounter + 1; else - counter := counter - 1; + counter <= oldCounter - 1; end if; + else + counter <= oldCounter; end if; - - Ap <= chA; - Bp <= chB; - - counts <= counter; - end if; end process; + oldCounter <= 0 when zero = '1' else counter; + counts <= counter; + end Behavioral; diff --git a/fpga/hedm_tb.gtkw b/fpga/hedm_tb.gtkw index 62f93c6..9e58619 100644 --- a/fpga/hedm_tb.gtkw +++ b/fpga/hedm_tb.gtkw @@ -1,10 +1,10 @@ [*] -[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI -[*] Tue Feb 27 08:32:01 2018 +[*] GTKWave Analyzer v3.3.89 (w)1999-2018 BSI +[*] Sat May 5 22:58:30 2018 [*] [dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/hedm_tb.ghw" -[dumpfile_mtime] "Tue Feb 27 08:31:12 2018" -[dumpfile_size] 4287 +[dumpfile_mtime] "Sat May 5 22:57:01 2018" +[dumpfile_size] 5011 [savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/hedm_tb.gtkw" [timestart] 0 [size] 1600 862 @@ -13,7 +13,7 @@ [treeopen] top. [treeopen] top.hedm_tb. [sst_width] 213 -[signals_width] 78 +[signals_width] 110 [sst_expanded] 1 [sst_vpaned_height] 244 @28 @@ -33,10 +33,13 @@ top.hedm_tb.dut.bp top.hedm_tb.dut.an [color] 2 top.hedm_tb.dut.bn +@421 +[color] 7 +top.hedm_tb.dut.oldcounter @420 [color] 1 top.hedm_tb.dut.counts -@8421 +@8420 [color] 1 top.hedm_tb.dut.counts [pattern_trace] 1 diff --git a/fpga/hedm_tb.vhd b/fpga/hedm_tb.vhd index cb917b4..25714c7 100644 --- a/fpga/hedm_tb.vhd +++ b/fpga/hedm_tb.vhd @@ -112,7 +112,7 @@ begin wait for TbPeriod; wait for 5 * TbPeriod; - assert counts = 2 report "Zero en éxecution faux, reçu " & integer'image(counts) severity error; + assert counts = 3 report "Zero en éxecution faux, reçu " & integer'image(counts) severity error; zero <= '1'; wait for TbPeriod; diff --git a/raspberrypi/board/robotech/cdfprincipal/post-build.sh b/raspberrypi/board/robotech/cdfprincipal/post-build.sh index 08ad1d2..dbdbf0a 100755 --- a/raspberrypi/board/robotech/cdfprincipal/post-build.sh +++ b/raspberrypi/board/robotech/cdfprincipal/post-build.sh @@ -10,7 +10,8 @@ then # Le ifup de Busybox ne supporte pas les options wpa-*, donc on utilisera les wpa_supplicant en direct # Network configuration - echo -e " + echo -e "# Interface configuration generated by raspberrypi/board/robotech/cdfprincipal/post-build.sh + auto lo iface lo inet loopback @@ -25,7 +26,7 @@ auto wlan0 iface wlan0 inet dhcp pre-up wpa_supplicant -D wext -B -iwlan0 -c /etc/wpa_supplicant/wpa_supplicant.conf -P /var/run/wpa_supplicant.pid pre-down start-stop-daemon -K -q -p /var/run/wpa_supplicant.pid -" >> ${TARGET_DIR}/etc/network/interfaces +" > ${TARGET_DIR}/etc/network/interfaces # SSH configuration rm ${TARGET_DIR}/etc/dropbear &> /dev/null diff --git a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile index 32442d3..e626399 100644 --- a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile +++ b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile @@ -1,4 +1,4 @@ -#/bin/bash +#!/bin/sh alias la='ls -al' alias ll='ls -l' @@ -15,4 +15,7 @@ export PS4="- " alias r="/etc/init.d/S50chef restart" alias s="/etc/init.d/S50chef stop" alias c="cd /opt/chef/" -alias l="tail -f $(find /opt/chef/log | sort | tail -1)" +l() +{ + tail -f $(find /opt/chef/log | sort | tail -1) +} diff --git a/raspberrypi/configs/cdfprincipal_defconfig b/raspberrypi/configs/cdfprincipal_defconfig index 215c387..1a34ff8 100644 --- a/raspberrypi/configs/cdfprincipal_defconfig +++ b/raspberrypi/configs/cdfprincipal_defconfig @@ -76,6 +76,7 @@ BR2_PACKAGE_HTOP=y # Pour debugguer BR2_PACKAGE_GDB=y +BR2_PACKAGE_MINICOM=y # Pour uploader sur le Arduino BR2_TOOLCHAIN_BUILDROOT_WCHAR=y