Communication A↔C : Base côté Chef

chef/Makefile

@@ -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 $@
 

chef/src/ACsignals.h

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

chef/src/premier.c

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

chef/src/serial.c

@@ -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;
+}

chef/src/serial.h

@@ -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