Fix codeuses

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

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");

chef/src/diagnostics.c

@@ -30,6 +30,7 @@ bool diagFPGA(void* arg)
         }
         usleep(DIAGNOSTIC_POLL_INTERVAL * 1000);
     }
+    registerRxHandler(C2FD_PING, NULL);
     return recu;
 }
 

chef/src/dimensions.h

@@ -3,19 +3,35 @@
 
 #include <math.h>
 
-// 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

chef/src/local.c

@@ -1,36 +1,35 @@
 #include <pthread.h>
+#include <signal.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <time.h>
+#include <time.h>   // random seed
 #include <unistd.h> // 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;
 }

chef/src/parcours.c

@@ -1,20 +1,19 @@
 #include <pthread.h>
 #include <stdio.h>
 #include <unistd.h>
-#include <wiringPi.h>
 
+#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;
 }
-

chef/src/testCodeuse.c

@@ -0,0 +1,43 @@
+#include <pthread.h>
+#include <signal.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>   // random seed
+#include <unistd.h> // sleep
+#include <wiringPi.h>
+
+#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);
+    }
+
+}

chef/src/testSlow.c

@@ -0,0 +1,48 @@
+/* Teste si une broche est connecté à une autre */
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <wiringPi.h>
+#include <wiringPiI2C.h>
+
+#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);
+    }
+
+}