Merge branch 'master' of https://archives.plil.fr/pfrison/projet-crep

pfrison
2 parents 278cdee0 9ce6804b
Showing 31 changed files with 284 additions and 42 deletions Show diff stats
PercTeacher/Sources/Action.java -> PercTeacher/Sources/ApplicationJava/Action.java
PercTeacher/Sources/ActionList.java -> PercTeacher/Sources/ApplicationJava/ActionList.java
PercTeacher/Sources/ImportExport.java -> PercTeacher/Sources/ApplicationJava/ImportExport.java
PercTeacher/Sources/Interface.java -> PercTeacher/Sources/ApplicationJava/Interface.java
PercTeacher/Sources/InvalidActionListArrays.java -> PercTeacher/Sources/ApplicationJava/InvalidActionListArrays.java
PercTeacher/Sources/InvalidInputException.java -> PercTeacher/Sources/ApplicationJava/InvalidInputException.java
PercTeacher/Sources/Main.java -> PercTeacher/Sources/ApplicationJava/Main.java
PercTeacher/Sources/NoSerialPortException.java -> PercTeacher/Sources/ApplicationJava/NoSerialPortException.java
PercTeacher/Sources/SerialCom.java -> PercTeacher/Sources/ApplicationJava/SerialCom.java
PercTeacher/Sources/SerialComPortException.java -> PercTeacher/Sources/ApplicationJava/SerialComPortException.java
PercTeacher/Sources/SerialComWrongCallbackMethod.java -> PercTeacher/Sources/ApplicationJava/SerialComWrongCallbackMethod.java
PercTeacher/Sources/SerialCommands.java -> PercTeacher/Sources/ApplicationJava/SerialCommands.java
PercTeacher/Sources/SerialPortChooserDialog.java -> PercTeacher/Sources/ApplicationJava/SerialPortChooserDialog.java
PercTeacher/Sources/Util.java -> PercTeacher/Sources/ApplicationJava/Util.java
PercTeacher/Sources/icons/Thumbs.db -> PercTeacher/Sources/ApplicationJava/icons/Thumbs.db
PercTeacher/Sources/icons/move00.png -> PercTeacher/Sources/ApplicationJava/icons/move00.png
PercTeacher/Sources/icons/move01.png -> PercTeacher/Sources/ApplicationJava/icons/move01.png
PercTeacher/Sources/icons/move02.png -> PercTeacher/Sources/ApplicationJava/icons/move02.png
PercTeacher/Sources/icons/move10.png -> PercTeacher/Sources/ApplicationJava/icons/move10.png
PercTeacher/Sources/icons/move12.png -> PercTeacher/Sources/ApplicationJava/icons/move12.png
@@ -0,0 +1,36 @@
+export CC = avr-gcc
+
+export MCU = atmega2560
+export TARGET_ARCH = -mmcu=$(MCU)
+
+export CFLAGS =  -Wall -I. -DF_CPU=16000000 -Os #-g
+export LDFLAGS = -g $(TARGET_ARCH) -lm -Wl,--gc-sections #	-Os
+
+TARGET = servoAndStepperControl
+TERM = /dev/ttyACM0
+CPPFLAGS = -mmcu=$(MCU)
+PGMERISP = -c wiring -b 115200 -P $(TERM) -D
+export DUDE = /usr/bin/avrdude -F -v -p $(MCU)
+
+C_SRC = $(wildcard *.c)
+OBJS = $(C_SRC:.c=.o)
+
+all: $(TARGET).hex
+
+clean:
+	rm -f *.o *.hex *.elf
+
+%.o:%.c
+	$(CC) -c $(CPPFLAGS) $(CFLAGS) $< -o $@
+
+$(TARGET).elf: $(OBJS)
+	$(CC) $(LDFLAGS) -o $@ $(OBJS)
+
+$(TARGET).hex: $(TARGET).elf
+	avr-objcopy -j .text -j .data -O ihex $(TARGET).elf $(TARGET).hex
+	avr-objcopy -j .eeprom --set-section-flags=.eeprom="alloc,load" --change-section-lma .eeprom=0 -O ihex $(TARGET).elf eeprom.hex
+
+upload: $(TARGET).hex
+	stty -F $(TERM) hupcl # reset
+	$(DUDE) $(PGMERISP) -U flash:w:$(TARGET).hex
+	make clean
@@ -0,0 +1,79 @@
+#include <avr/io.h>
+#include <util/delay.h>
+
+#define SERIAL_BAUDE_RATE 9600
+#define DELAI_STEP 2
+#define PIN_MOTEUR_GAUCHE 0x40 // pin 12
+#define PIN_MOTEUR_DROIT 0x20 // pin 11
+
+#define CPU_FREQ 16000000L
+
+//gestion des moteurs
+void init_pins(void){
+    DDRB = PIN_MOTEUR_GAUCHE | PIN_MOTEUR_DROIT;
+}
+
+void pas_moteur(int g, int d){
+    if (g)
+        PORTB |= PIN_MOTEUR_GAUCHE;
+    if (d)
+        PORTB |= PIN_MOTEUR_DROIT;
+    _delay_ms(DELAI_STEP);
+    if (g)
+        PORTB &= ~PIN_MOTEUR_GAUCHE;
+    if (d)
+        PORTB &= ~PIN_MOTEUR_DROIT;
+    _delay_ms(DELAI_STEP);
+}
+
+//gestion de la liaison serie
+void init_serial(int speed){
+    UBRR0 = CPU_FREQ / (((unsigned long int) speed) << 4) - 1; //Set baud rate
+    UCSR0B = (1 << TXEN0 | 1 << RXEN0); //Enable transmitter & receiver
+    UCSR0C = (1 << UCSZ01 | 1 << UCSZ00); //Set 8 bits character and 1 stop bit
+    UCSR0A &= ~(1 << U2X0); //Set off UART baud doubler
+}
+
+void send_serial(unsigned char c){
+    loop_until_bit_is_set(UCSR0A, UDRE0);
+    UDR0 = c;
+}
+
+unsigned char get_serial(void){
+    loop_until_bit_is_set(UCSR0A, RXC0);
+    return UDR0;
+}
+
+int main(void){
+    init_pins();
+    init_serial(SERIAL_BAUDE_RATE);
+
+    while(1){
+        unsigned char deltaL1 = get_serial();
+        unsigned char deltaL2 = get_serial();
+        unsigned char deltaR1 = get_serial();
+        unsigned char deltaR2 = get_serial();
+
+
+	send_serial('a');
+        
+        // conversion 2x8 bits => 16 bits
+        int deltaL = (deltaL1 << 8) + deltaL2;
+        int deltaR = (deltaR1 << 8) + deltaR2;
+        
+        int deltaMax = deltaL > deltaR ? deltaL : deltaR;
+        for(int i=0; i<deltaMax; i++){
+            if(deltaL > i && deltaR > i)
+                pas_moteur(1, 1);
+            else if(deltaL > i)
+                pas_moteur(1, 0);
+            else if(deltaR > i)
+                pas_moteur(0, 1);
+        }
+	
+	send_serial('b');
+	send_serial(0x01);
+    }
+    return 0;
+}
+
 #include <avr/io.h>
 #include <util/delay.h>
+#include <math.h>
+
+#define	NB_DRIVERS 3
+#define MAX_VALUE 85 //TODO tbd !
+#define DELAY 100
 int main(void){
-	// SCLK PIN 37
-	// SIN PIN 35
-	DDRC = 0x03;
-	uint8_t LEDs = {10, 20, 30, 40, 50, 60, 70, 80, 90,
-		100, 110, 120, 130, 140, 150, 160, 170, 180, 190
-		200, 210, 220, 230, 240};
-	uint8_t ANDs = {0x001, 0x002, 0x004, 0x008, 0x010, 0x020, 0x040, 0x080,
-		0x100, 0x200, 0x400, 0x800};
+	// Initialisation
+	unsigned int ledValues[NB_DRIVERS * DLED_CHANNELS];
+	init_LED_Drivers(NB_DRIVERS);
+	// Animation
+	unsigned int animTick = 0;
 	while(1){
-		for(int i=0; i<24; i++){
-			uint16_t n = LEDs[i] << 4;
-			int clkStatus = 0;
-			for(int j=0; j<12; j++){
-				if(j == 6)
-					clkStatus = 1;
-				PORTC = (n & ANDs[j]) << 1 | clkStatus;
-				_delay_ms(1);
-			}
+		// Build animation
+		for(int i=0; i<NB_DRIVERS * DLED_CHANNELS; i++){
+			double sinIn = (double) animTick / 8;
+			unsigned int val = (unsigned int) (0.5 + (sin(sinIn) * 0.5));
+			ledValues[i] = val * MAX_VALUE;
 		}
+		animTick++;
+		if(animTick >= 10000)
+			animTick = 0;
+
+		set_LED_Drivers(groupes, NB_DRIVERS);
+		_delay_ms(100);
 	}
 	return 0;
 }
@@ -0,0 +1,52 @@
+#include <avr/io.h>
+#include "tlc5947.h"
+
+#define	DLED_CHANNELS	24
+
+#define DDR_DLED	DDRD
+#define PORT_DLED	PORTD
+
+#define PIN_DLED_CLOCK	5
+#define PIN_DLED_DATA	4
+#define PIN_DLED_LATCH	6
+
+void init_LED_Drivers(int nb){
+    // LED drivers I/O as outputs
+    DDR_DLED |= (1<<PIN_DLED_CLOCK) | (1<<PIN_DLED_DATA) | (1<<PIN_DLED_LATCH);
+    // Set LATCH output low
+    PORT_DLED &= ~(1<<PIN_DLED_LATCH);
+}
+
+
+void set_LED_Drivers(unsigned int pwm[], int nb){
+    // Set LATCH output low
+    PORT_DLED &= ~(1<<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 &= ~(1<<PIN_DLED_CLOCK);
+
+            // Set DATA as stated by bit #j of i
+            if(v & 0x0800)
+                PORT_DLED |= (1<<PIN_DLED_DATA);
+            else
+                PORT_DLED &= ~(1<<PIN_DLED_DATA);
+
+            // Set CLOCK output HIGH
+            PORT_DLED |= (1<<PIN_DLED_CLOCK);
+            v <<= 1;
+        }
+    }
+    // Set CLOCK output low
+    PORT_DLED &= ~(1<<PIN_DLED_CLOCK);
+
+    // Set LATCH output high
+    PORT_DLED |= (1<<PIN_DLED_LATCH);
+    // Set LATCH output low
+    PORT_DLED &= ~(1<<PIN_DLED_LATCH);
+}
@@ -0,0 +1,7 @@
+#ifndef TLC5947
+#define TLC5947
+
+void init_LED_Drivers(int nb);
+void set_LED_Drivers(unsigned int pwm[], int nb);
+
+#endif
@@ -84,10 +84,49 @@ asm volatile ( \
 "pop	r0				\n\t" \
 );
+/** Configure les ports */
+void init_ports(){
+	//TODO DDRXs
+}
+
+/** ----- Liaison serie ----- */
+void init_serial(int speed){
+	UBRR0 = CPU_FREQ/(((unsigned long int)speed)<<4)-1; //Set baud rate
+	UCSR0B = (1<<TXEN0 | 1<<RXEN0); //Enable transmitter & receiver
+	UCSR0C = (1<<UCSZ01 | 1<<UCSZ00); //Set 8 bits character and 1 stop bit
+	UCSR0A &= ~(1 << U2X0); //Set off UART baud doubler
+}
+void send_serial(unsigned char c){
+	loop_until_bit_is_set(UCSR0A, UDRE0);
+	UDR0 = c;
+}
+unsigned char get_serial(void){
+	loop_until_bit_is_set(UCSR0A, RXC0);
+	return UDR0;
+}
+
+/** ----- Taches ----- */
+void task_print_a(void){
+	while(1){
+		send_serial('a');
+		_delay_ms(1000);
+	}
+}
+void task_print_b(void){
+	while(1){
+		send_serial('b');
+		_delay_ms(700);
+	}
+}
+
+/** ----- Ordonnancement ----- */
 struct task{
 	uint16_t sp_vise;
-	uint8_t state;
 };
+uint8_t cpt = 0;
+uint8_t premier_lancement = 0;
+struct task print_a = {0x0300};
+struct task print_b = {0x0500};
 /** Démarre le timer pour l'ordonnancement */
 void init_timer(){
@@ -97,32 +136,43 @@ void init_timer(){
 	OCR1A = NB_TICK;
 	TIMSK1 |= _BV(OCIE1A);
 }
-
-/** Configure les ports */
-void init_ports(){
-	//TODO DDRXs
-}
-
-/** Alumme la LED 13 pour témoigné du bon fonctionnement de la carte */
-void temoin_allumage(){
-	DDRA = 0x01;
-	PORTA = 0x01;
-	_delay_ms(500);
-	PORTA = 0x00;
-}
-
-/** Reception de l'interruption généré par le timer (changement de contexte) */
+/** Changement de contexte */
 ISR(TIMER1_COMPA_vect){
-	// TODO
+	if(premier_lancement == 0){
+		premier_lancement++;
+		sei();
+		SP = print_a.sp_vise;
+		task_print_a();
+	}else if(premier_lancement == 1){
+		SAVE_CONTEXT();
+		print_a.sp_vise = SP;
+		premier_lancement++;
+		sei();
+		SP = print_b.sp_vise;
+		task_print_b();
+	}else{
+		if(cpt==0){
+			SAVE_CONTEXT();
+			print_b.sp_vise = SP;
+			SP = print_a.sp_vise;
+			RESTORE_CONTEXT();
+			cpt++;
+		}else if(cpt==1){
+			SAVE_CONTEXT();
+			print_a.sp_vise = SP;
+			SP = print_b.sp_vise;
+			RESTORE_CONTEXT();
+			cpt = 0;
+		}
+	}
 	sei();
 }
 int main(void){
-	temoin_allumage();
-
 	// Initialisation
 	init_timer();
-	init_port();
+	init_ports();
+	init_serial(9600);
 	sei();
 	while(1){}
@@ -3,13 +3,27 @@
 int main(void){
 	// pin 13
-	DDRB = 0x80;
+	DDRB = 0xC0;
+	PORTB |= 0x40; // forward
+	int i = 0;
+	int sens = 0;
 	while(1){
-		PORTB = 0x80;
-		_delay_us(1000);
-		PORTB = 0x00;
-		_delay_us(1000);
+		// step
+		PORTB |= 0x80;
+		_delay_ms(5);
+		PORTB &= 0x7F;
+		_delay_ms(5);
+		// dir
+		i++;
+		if(i > 200){
+			i = 0;
+			sens = 1 - sens;
+			if(sens == 0)
+				PORTB |= 0x40; // forward
+			else
+				PORTB &= 0xBF; // backward
+		}
 	}
 	return 0;
 }