From 9a37146148e100f503ef0dd919f4233b64795e18 Mon Sep 17 00:00:00 2001
From: pfrison <pierre.frison@polytech-lille.net>
Date: Wed, 8 May 2019 23:18:30 +0200
Subject: [PATCH] Programme robot

---
 Robot/deplacement.c | 23 ++++++++++++++++-------
 Robot/deplacement.h | 28 ++++------------------------
 Robot/main.c        | 70 ++++++++++++++++++++++++++++++++++++++++++++++++++++------------------
 Robot/tlc5947.c     | 59 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 Robot/tlc5947.h     |  9 +++++++++
 5 files changed, 140 insertions(+), 49 deletions(-)
 create mode 100644 Robot/tlc5947.c
 create mode 100644 Robot/tlc5947.h

diff --git a/Robot/deplacement.c b/Robot/deplacement.c
index 3562e25..db1a129 100644
--- a/Robot/deplacement.c
+++ b/Robot/deplacement.c
@@ -6,27 +6,36 @@
 #define STEP_DROIT 0x20 // pin 12
 #define DIR_DROIT 0x10 // pin 11
 
+// valeurs a remplacer par ceux donne par PercTeacher
 const uint8_t deltaL[] = {};
 const uint8_t delaiL[] = {};
 const uint8_t deltaR[] = {};
 const uint8_t delaiR[] = {};
-
-#define GAUCHE 0
-#define DROIT 1
+#define N_DEPLACEMENT 0
 
 void init_deplacements(void){
     DDRH |= STEP_GAUCHE | DIR_GAUCHE;
     DDRB |= STEP_DROIT | DIR_DROIT;
 }
 
-uint16_t* deplacement_commande_suivante(uint16_t num){
+static uint16_t* deplacement_commande_suivante(uint16_t num){
     return {deltaL[num], delaiL[num], deltaR[num], delaiR[num]};
 }
 
-void deplacement_moteur_gauche(uint16_t delta, uint16_t delai){ deplacement_moteur(GAUCHE, delta, delai); }
-void deplacement_moteur_droit(uint16_t delta, uint16_t delai){ deplacement_moteur(DROIT, delta, delai); }
+void deplacement(uint8_t mot){
+	int i;
+	for(i=0; i<N_DEPLACEMENT; i++){
+		uint16_t *commande = deplacement_commande_suivante(i);
+		if(mot == GAUCHE)
+			deplacement_moteur(mot, commande[0], commande[1]);
+		else
+			deplacement_moteur(mot, commande[2], commande[3]);
+	}
+}
+
 static void deplacement_moteur(uint8_t mot, uint16_t delta, uint16_t delai){
-    for(uint16_t i=0; i<delta; i++){
+	uint16_t i;
+    for(i=0; i<delta; i++){
         if (mot == GAUCHE)
             PORTH |= STEP_GAUCHE;
         else if (mot == DROIT)
diff --git a/Robot/deplacement.h b/Robot/deplacement.h
index 8f8d5f3..fc12f2a 100644
--- a/Robot/deplacement.h
+++ b/Robot/deplacement.h
@@ -1,30 +1,10 @@
 #ifndef DEPLACEMENT
 #define DEPLACEMENT
 
-void init_deplacements(void){
-    DDRH |= STEP_GAUCHE | DIR_GAUCHE;
-    DDRB |= STEP_DROIT | DIR_DROIT;
-}
+#define GAUCHE 0
+#define DROIT 1
 
-uint16_t* deplacement_commande_suivante(uint16_t num){
-    return {deltaL[num], delaiL[num], deltaR[num], delaiR[num]};
-}
-
-void deplacement_moteur_gauche(uint16_t delta, uint16_t delai){ deplacement_moteur(GAUCHE, delta, delai); }
-void deplacement_moteur_droit(uint16_t delta, uint16_t delai){ deplacement_moteur(DROIT, delta, delai); }
-static void deplacement_moteur(uint8_t mot, uint16_t delta, uint16_t delai){
-    for(uint16_t i=0; i<delta; i++){
-        if (mot == GAUCHE)
-            PORTH |= STEP_GAUCHE;
-        else if (mot == DROIT)
-            PORTB |= STEP_DROIT;
-        _delay_ms(delai);
-        if (mot == GAUCHE)
-            PORTH &= ~STEP_GAUCHE;
-        else if (mot == DROIT)
-            PORTB &= ~STEP_DROIT;
-        _delay_ms(delai);
-    }
-}
+void init_deplacements(void);
+void deplacement(uint8_t mot);
 
 #endif
\ No newline at end of file
diff --git a/Robot/main.c b/Robot/main.c
index 8ccc185..1f71ef6 100644
--- a/Robot/main.c
+++ b/Robot/main.c
@@ -4,18 +4,23 @@
 
 #include "serial.h"
 #include "main.h"
+#include "deplacement.h"
+#include "tlc5947.h"
 
 #define NB_TICK 104 //1563
 
 /** ----- Taches ----- */
-void task_deplacement(void){
-    
+void task_deplacement_gauche(void){
+	deplacement(GAUCHE);
 }
-void task_print_b(void){
-	while(1){
-		send_serial('b');
-		_delay_ms(700);
-	}
+void task_deplacement_droit(void){
+	deplacement(DROIT);
+}
+void task_com_bluetooth(void){
+	// TODO
+}
+void task_leds(void){
+	// TODO
 }
 
 /** ----- Ordonnancement ----- */
@@ -24,8 +29,10 @@ struct task{
 };
 uint8_t cpt = 0;
 uint8_t premier_lancement = 0;
-struct task deplacement = {0x0300};
-struct task print_b = {0x0500};
+struct task deplacement_gauche = {0x0300};
+struct task deplacement_droit = {0x0500};
+struct task com_bluetooth = {0x0700};
+struct task leds = {0x0900};
 
 // Démarre le timer pour l'ordonnancement
 void init_timer(){
@@ -41,26 +48,52 @@ ISR(TIMER1_COMPA_vect){
 	if(premier_lancement == 0){
 		premier_lancement++;
 		sei();
-		SP = deplacement.sp_vise;
-		task_deplacement();
+		SP = deplacement_gauche.sp_vise;
+		task_deplacement_gauche();
 	}else if(premier_lancement == 1){
 		SAVE_CONTEXT();
-		deplacement.sp_vise = SP;
+		deplacement_gauche.sp_vise = SP;
+		premier_lancement++;
+		sei();
+		SP = deplacement_droit.sp_vise;
+		task_deplacement_droit();
+	}else if(premier_lancement == 2){
+		SAVE_CONTEXT();
+		deplacement_droit.sp_vise = SP;
 		premier_lancement++;
 		sei();
-		SP = print_b.sp_vise;
-		task_print_b();
+		SP = com_bluetooth.sp_vise;
+		task_com_bluetooth();
+	}else if(premier_lancement == 3){
+		SAVE_CONTEXT();
+		com_bluetooth.sp_vise = SP;
+		premier_lancement++;
+		sei();
+		SP = leds.sp_vise;
+		task_leds();
 	}else{
 		if(cpt==0){
 			SAVE_CONTEXT();
-			print_b.sp_vise = SP;
-			SP = deplacement.sp_vise;
+			com_bluetooth.sp_vise = SP;
+			SP = deplacement_gauche.sp_vise;
 			RESTORE_CONTEXT();
 			cpt++;
 		}else if(cpt==1){
 			SAVE_CONTEXT();
-			deplacement.sp_vise = SP;
-			SP = print_b.sp_vise;
+			deplacement_gauche.sp_vise = SP;
+			SP = deplacement_droit.sp_vise;
+			RESTORE_CONTEXT();
+			cpt++;
+		}else if(cpt==2){
+			SAVE_CONTEXT();
+			deplacement_droit.sp_vise = SP;
+			SP = com_bluetooth.sp_vise;
+			RESTORE_CONTEXT();
+			cpt++;
+		}else if(cpt==3){
+			SAVE_CONTEXT();
+			com_bluetooth.sp_vise = SP;
+			SP = leds.sp_vise;
 			RESTORE_CONTEXT();
 			cpt = 0;
 		}
@@ -72,6 +105,7 @@ int main(void){
 	// Initialisation
 	init_timer();
 	init_serial(9600);
+	init_deplacement();
 	sei();
 
 	while(1){}
diff --git a/Robot/tlc5947.c b/Robot/tlc5947.c
new file mode 100644
index 0000000..6017137
--- /dev/null
+++ b/Robot/tlc5947.c
@@ -0,0 +1,59 @@
+#include <avr/io.h>
+
+#include "tlc5947.h"
+
+#define DDR_DLED_CLOCK	DDRE
+#define PORT_DLED_CLOCK	PORTE
+
+#define DDR_DLED_DATA	DDRG
+#define PORT_DLED_DATA	PORTG
+
+#define DDR_DLED_LATCH	DDRB
+#define PORT_DLED_LATCH	PORTB
+
+#define PIN_DLED_CLOCK	0x08
+#define PIN_DLED_DATA	0x20
+#define PIN_DLED_LATCH	0x10
+
+void init_LED_Drivers(int nb){
+    // LED drivers I/O as outputs
+    DDR_DLED_CLOCK |= PIN_DLED_CLOCK;
+    DDR_DLED_DATA |= PIN_DLED_DATA;
+    DDR_DLED_LATCH |= PIN_DLED_LATCH;
+    // Set LATCH output low
+    PORT_DLED_LATCH &= ~PIN_DLED_LATCH;
+}
+
+
+void set_LED_Drivers(unsigned int pwm[], int nb){
+    // Set LATCH output low
+    PORT_DLED_LATCH &= ~PIN_DLED_LATCH;
+    // 24 channels per TLC5947
+    int i;
+    for(i=DLED_CHANNELS*nb-1; i>=0; i--){
+        // 12 bits per channel, send MSB first
+        int v=pwm[i];
+        int j;
+        for(j=0; j<12; j++){
+            // Set CLOCK output low
+            PORT_DLED_CLOCK &= ~PIN_DLED_CLOCK;
+
+            // Set DATA as stated by bit #j of i
+            if(v & 0x0800)
+                PORT_DLED_DATA |= PIN_DLED_DATA;
+            else
+                PORT_DLED_DATA &= ~PIN_DLED_DATA;
+
+            // Set CLOCK output HIGH
+            PORT_DLED_CLOCK |= PIN_DLED_CLOCK;
+            v <<= 1;
+        }
+    }
+    // Set CLOCK output low
+    PORT_DLED_CLOCK &= ~PIN_DLED_CLOCK;
+
+    // Set LATCH output high
+    PORT_DLED_LATCH |= PIN_DLED_LATCH;
+    // Set LATCH output low
+    PORT_DLED_LATCH &= ~PIN_DLED_LATCH;
+}
diff --git a/Robot/tlc5947.h b/Robot/tlc5947.h
new file mode 100644
index 0000000..dffe997
--- /dev/null
+++ b/Robot/tlc5947.h
@@ -0,0 +1,9 @@
+#ifndef TLC5947
+#define TLC5947
+
+#define	DLED_CHANNELS	24
+
+void init_LED_Drivers(int nb);
+void set_LED_Drivers(unsigned int pwm[], int nb);
+
+#endif
--
libgit2 0.21.2