1
0
Fork 0
mirror of https://github.com/RobotechLille/cdf2018-principal synced 2024-11-21 15:46:06 +01:00

Communication A↔C : Base côté Chef

This commit is contained in:
Geoffrey Frogeye 2018-02-12 19:23:24 +01:00
parent 078b4ad2d9
commit fc6b9e3317
5 changed files with 90 additions and 4 deletions

View file

@ -37,7 +37,7 @@ endif
default: bin/testpin bin/premier
# Binaires (dont il faut spécifier les objets explicitement)
bin/premier: obj/common.o
bin/premier: obj/common.o obj/serial.o
bin/testPin: obj/testPin.o
$(CC) $(LDFLAGS) $^ -lwiringPi -o $@

1
chef/src/ACsignals.h Symbolic link
View file

@ -0,0 +1 @@
../../arduino/ACsignals.h

View file

@ -1,7 +1,15 @@
#include "premier.h"
int main() {
printf("Hello world!\n");
// avancer(10);
#include "serial.h"
int main()
{
unsigned char g;
configureCA();
sendByteCA('c');
while ((g = readByteCA())) {
printf("%c\n", g);
}
deconfigureCA();
return 0;
}

58
chef/src/serial.c Normal file
View file

@ -0,0 +1,58 @@
#include "serial.h"
#include <stdio.h> // printf...
#include <stdlib.h> // stuff
#include <unistd.h> // read(), write()...
#include <fcntl.h> // O_*
#include <strings.h> // bzero
#include "common.h"
void configureCA()
{
// Connection au port série
printf("Connexion à %s... ", ARDUINO_PORTNAME);
arduino = open(ARDUINO_PORTNAME, O_RDWR | O_NOCTTY | O_NDELAY);
if (arduino < 0) {
printf("Échec !\n");
exit(1);
}
// Configuration du port série
struct termios cfg;
bzero(&cfg, sizeof(cfg));
cfg.c_cflag = CLOCAL | CREAD | CA_BAUDRATE | CS8;
cfg.c_iflag = 0;
cfg.c_oflag = 0;
cfg.c_lflag = 0; /* set input mode (non-canonical, no echo,...) */
cfg.c_cc[VTIME] = 0; /* inter-character timer unused */
cfg.c_cc[VMIN] = 1; /* blocking read until 1 char received */
if (tcsetattr(arduino, TCSANOW, &cfg) < 0) {
perror("serialConfig.tcsetattr");
exit(1);
}
sleep(1);
printf("OK!\n");
}
void deconfigureCA() {
close(arduino);
}
void sendByteCA(unsigned char data) {
write(arduino, &data, sizeof(data));
}
void sendCA(unsigned char code, void* data, size_t size)
{
sendByteCA(code);
write(arduino, data, size);
}
unsigned char readByteCA() {
unsigned char c;
while (read(arduino, &c, sizeof(c)) < 1) {
}
return c;
}

19
chef/src/serial.h Normal file
View file

@ -0,0 +1,19 @@
#ifndef __SERIAL_H_
#define __SERIAL_H_
#include <sys/ioctl.h>
#include <termios.h> // baudrates
#include "ACsignals.h"
#define ARDUINO_PORTNAME "/dev/ttyACM0"
#define CA_BAUDRATE B9600
int arduino;
void configureCA();
void deconfigureCA();
void sendByteCA(unsigned char data);
unsigned char readByteCA();
#endif