pfrison / projet-crep

Commit d2f14e3cf13a8f716641a372b4769ae883b30e26

Authored by pfrison
1 parent bd67e4f2

Debut programme arduino principal

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PercTeacher/Sources/Robot/servoAndStepperControl.c renamed to PercTeacher/Sources/Robot/robot.c
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Robot/deplacement.c 0 → 100644
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  1 +#include <avr/io.h>
  2 +#include <util/delay.h>
  3 +
  4 +#define STEP_GAUCHE 0x10 // pin 7
  5 +#define DIR_GAUCHE 0x08 // pin 6
  6 +#define STEP_DROIT 0x20 // pin 12
  7 +#define DIR_DROIT 0x10 // pin 11
  8 +
  9 +const uint8_t deltaL[] = {};
  10 +const uint8_t delaiL[] = {};
  11 +const uint8_t deltaR[] = {};
  12 +const uint8_t delaiR[] = {};
  13 +
  14 +#define GAUCHE 0
  15 +#define DROIT 1
  16 +
  17 +void init_deplacements(void){
  18 + DDRH |= STEP_GAUCHE | DIR_GAUCHE;
  19 + DDRB |= STEP_DROIT | DIR_DROIT;
  20 +}
  21 +
  22 +uint16_t* deplacement_commande_suivante(uint16_t num){
  23 + return {deltaL[num], delaiL[num], deltaR[num], delaiR[num]};
  24 +}
  25 +
  26 +void deplacement_moteur_gauche(uint16_t delta, uint16_t delai){ deplacement_moteur(GAUCHE, delta, delai); }
  27 +void deplacement_moteur_droit(uint16_t delta, uint16_t delai){ deplacement_moteur(DROIT, delta, delai); }
  28 +static void deplacement_moteur(uint8_t mot, uint16_t delta, uint16_t delai){
  29 + for(uint16_t i=0; i<delta; i++){
  30 + if (mot == GAUCHE)
  31 + PORTH |= STEP_GAUCHE;
  32 + else if (mot == DROIT)
  33 + PORTB |= STEP_DROIT;
  34 + _delay_ms(delai);
  35 + if (mot == GAUCHE)
  36 + PORTH &= ~STEP_GAUCHE;
  37 + else if (mot == DROIT)
  38 + PORTB &= ~STEP_DROIT;
  39 + _delay_ms(delai);
  40 + }
  41 +}
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Robot/deplacement.h 0 → 100644
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  1 +#ifndef DEPLACEMENT
  2 +#define DEPLACEMENT
  3 +
  4 +void init_deplacements(void){
  5 + DDRH |= STEP_GAUCHE | DIR_GAUCHE;
  6 + DDRB |= STEP_DROIT | DIR_DROIT;
  7 +}
  8 +
  9 +uint16_t* deplacement_commande_suivante(uint16_t num){
  10 + return {deltaL[num], delaiL[num], deltaR[num], delaiR[num]};
  11 +}
  12 +
  13 +void deplacement_moteur_gauche(uint16_t delta, uint16_t delai){ deplacement_moteur(GAUCHE, delta, delai); }
  14 +void deplacement_moteur_droit(uint16_t delta, uint16_t delai){ deplacement_moteur(DROIT, delta, delai); }
  15 +static void deplacement_moteur(uint8_t mot, uint16_t delta, uint16_t delai){
  16 + for(uint16_t i=0; i<delta; i++){
  17 + if (mot == GAUCHE)
  18 + PORTH |= STEP_GAUCHE;
  19 + else if (mot == DROIT)
  20 + PORTB |= STEP_DROIT;
  21 + _delay_ms(delai);
  22 + if (mot == GAUCHE)
  23 + PORTH &= ~STEP_GAUCHE;
  24 + else if (mot == DROIT)
  25 + PORTB &= ~STEP_DROIT;
  26 + _delay_ms(delai);
  27 + }
  28 +}
  29 +
  30 +#endif
0 31 \ No newline at end of file
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Robot/main.c 0 → 100644
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  1 +#include <avr/io.h>
  2 +#include <avr/interrupt.h>
  3 +#include <util/delay.h>
  4 +
  5 +#include "serial.h"
  6 +#include "main.h"
  7 +
  8 +#define NB_TICK 104 //1563
  9 +
  10 +/** ----- Taches ----- */
  11 +void task_deplacement(void){
  12 +
  13 +}
  14 +void task_print_b(void){
  15 + while(1){
  16 + send_serial('b');
  17 + _delay_ms(700);
  18 + }
  19 +}
  20 +
  21 +/** ----- Ordonnancement ----- */
  22 +struct task{
  23 + uint16_t sp_vise;
  24 +};
  25 +uint8_t cpt = 0;
  26 +uint8_t premier_lancement = 0;
  27 +struct task deplacement = {0x0300};
  28 +struct task print_b = {0x0500};
  29 +
  30 +// Démarre le timer pour l'ordonnancement
  31 +void init_timer(){
  32 + TCCR1B |= _BV(WGM12); // CTC mode with value in OCR1A
  33 + TCCR1B |= _BV(CS12); // CS12 = 1; CS11 = 1; CS10 =1 => CLK/1024 prescaler
  34 + TCCR1B |= _BV(CS10);
  35 + OCR1A = NB_TICK;
  36 + TIMSK1 |= _BV(OCIE1A);
  37 +}
  38 +
  39 +// Changement de contexte
  40 +ISR(TIMER1_COMPA_vect){
  41 + if(premier_lancement == 0){
  42 + premier_lancement++;
  43 + sei();
  44 + SP = deplacement.sp_vise;
  45 + task_deplacement();
  46 + }else if(premier_lancement == 1){
  47 + SAVE_CONTEXT();
  48 + deplacement.sp_vise = SP;
  49 + premier_lancement++;
  50 + sei();
  51 + SP = print_b.sp_vise;
  52 + task_print_b();
  53 + }else{
  54 + if(cpt==0){
  55 + SAVE_CONTEXT();
  56 + print_b.sp_vise = SP;
  57 + SP = deplacement.sp_vise;
  58 + RESTORE_CONTEXT();
  59 + cpt++;
  60 + }else if(cpt==1){
  61 + SAVE_CONTEXT();
  62 + deplacement.sp_vise = SP;
  63 + SP = print_b.sp_vise;
  64 + RESTORE_CONTEXT();
  65 + cpt = 0;
  66 + }
  67 + }
  68 + sei();
  69 +}
  70 +
  71 +int main(void){
  72 + // Initialisation
  73 + init_timer();
  74 + init_serial(9600);
  75 + sei();
  76 +
  77 + while(1){}
  78 + return 0;
  79 +}
  80 +
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Robot/main.h 0 → 100644
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  1 +#ifndef MAIN
  2 +#define MAIN
  3 +
  4 +#define SAVE_CONTEXT() \
  5 +asm volatile ( \
  6 +"push r0 \n\t" \
  7 +"in r0, __SREG__ \n\t" \
  8 +"cli \n\t" \
  9 +"push r0 \n\t" \
  10 +"push r1 \n\t" \
  11 +"clr r1 \n\t" \
  12 +"push r2 \n\t" \
  13 +"push r3 \n\t" \
  14 +"push r4 \n\t" \
  15 +"push r5 \n\t" \
  16 +"push r6 \n\t" \
  17 +"push r7 \n\t" \
  18 +"push r8 \n\t" \
  19 +"push r9 \n\t" \
  20 +"push r10 \n\t" \
  21 +"push r11 \n\t" \
  22 +"push r12 \n\t" \
  23 +"push r13 \n\t" \
  24 +"push r14 \n\t" \
  25 +"push r15 \n\t" \
  26 +"push r16 \n\t" \
  27 +"push r17 \n\t" \
  28 +"push r18 \n\t" \
  29 +"push r19 \n\t" \
  30 +"push r20 \n\t" \
  31 +"push r21 \n\t" \
  32 +"push r22 \n\t" \
  33 +"push r23 \n\t" \
  34 +"push r24 \n\t" \
  35 +"push r25 \n\t" \
  36 +"push r26 \n\t" \
  37 +"push r27 \n\t" \
  38 +"push r28 \n\t" \
  39 +"push r29 \n\t" \
  40 +"push r30 \n\t" \
  41 +"push r31 \n\t" \
  42 +);
  43 +
  44 +#define RESTORE_CONTEXT() \
  45 +asm volatile ( \
  46 +"pop r31 \n\t" \
  47 +"pop r30 \n\t" \
  48 +"pop r29 \n\t" \
  49 +"pop r28 \n\t" \
  50 +"pop r27 \n\t" \
  51 +"pop r26 \n\t" \
  52 +"pop r25 \n\t" \
  53 +"pop r24 \n\t" \
  54 +"pop r23 \n\t" \
  55 +"pop r22 \n\t" \
  56 +"pop r21 \n\t" \
  57 +"pop r20 \n\t" \
  58 +"pop r19 \n\t" \
  59 +"pop r18 \n\t" \
  60 +"pop r17 \n\t" \
  61 +"pop r16 \n\t" \
  62 +"pop r15 \n\t" \
  63 +"pop r14 \n\t" \
  64 +"pop r13 \n\t" \
  65 +"pop r12 \n\t" \
  66 +"pop r11 \n\t" \
  67 +"pop r10 \n\t" \
  68 +"pop r9 \n\t" \
  69 +"pop r8 \n\t" \
  70 +"pop r7 \n\t" \
  71 +"pop r6 \n\t" \
  72 +"pop r5 \n\t" \
  73 +"pop r4 \n\t" \
  74 +"pop r3 \n\t" \
  75 +"pop r2 \n\t" \
  76 +"pop r1 \n\t" \
  77 +"pop r0 \n\t" \
  78 +"out __SREG__, r0 \n\t" \
  79 +"pop r0 \n\t" \
  80 +);
  81 +
  82 +#endif
0 83 \ No newline at end of file
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Robot/makefile 0 → 100644
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  1 +export CC = avr-gcc
  2 +
  3 +export MCU = atmega2560
  4 +export TARGET_ARCH = -mmcu=$(MCU)
  5 +
  6 +export CFLAGS = -Wall -I. -DF_CPU=16000000 -Os #-g
  7 +export LDFLAGS = -g $(TARGET_ARCH) -lm -Wl,--gc-sections # -Os
  8 +
  9 +TARGET = servoControl
  10 +TERM = /dev/ttyACM0
  11 +CPPFLAGS = -mmcu=$(MCU)
  12 +PGMERISP = -c wiring -b 115200 -P $(TERM) -D
  13 +export DUDE = /usr/bin/avrdude -F -v -p $(MCU)
  14 +
  15 +C_SRC = $(wildcard *.c)
  16 +OBJS = $(C_SRC:.c=.o)
  17 +
  18 +all: $(TARGET).hex
  19 +
  20 +clean:
  21 + rm -f *.o *.hex *.elf
  22 +
  23 +%.o:%.c
  24 + $(CC) -c $(CPPFLAGS) $(CFLAGS) $< -o $@
  25 +
  26 +$(TARGET).elf: $(OBJS)
  27 + $(CC) $(LDFLAGS) -o $@ $(OBJS)
  28 +
  29 +$(TARGET).hex: $(TARGET).elf
  30 + avr-objcopy -j .text -j .data -O ihex $(TARGET).elf $(TARGET).hex
  31 + avr-objcopy -j .eeprom --set-section-flags=.eeprom="alloc,load" --change-section-lma .eeprom=0 -O ihex $(TARGET).elf eeprom.hex
  32 +
  33 +upload: $(TARGET).hex
  34 + stty -F $(TERM) hupcl # reset
  35 + $(DUDE) $(PGMERISP) -U flash:w:$(TARGET).hex
  36 + make clean
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Robot/serial.c 0 → 100644
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  1 +#include <avr/io.h>
  2 +
  3 +#define CPU_FREQ 16000000L
  4 +
  5 +void init_serial(int speed){
  6 + UBRR0 = CPU_FREQ/(((unsigned long int)speed)<<4)-1; //Set baud rate
  7 + UCSR0B = (1<<TXEN0 | 1<<RXEN0); //Enable transmitter & receiver
  8 + UCSR0C = (1<<UCSZ01 | 1<<UCSZ00); //Set 8 bits character and 1 stop bit
  9 + UCSR0A &= ~(1 << U2X0); //Set off UART baud doubler
  10 +}
  11 +void send_serial(unsigned char c){
  12 + loop_until_bit_is_set(UCSR0A, UDRE0);
  13 + UDR0 = c;
  14 +}
  15 +unsigned char get_serial(void){
  16 + loop_until_bit_is_set(UCSR0A, RXC0);
  17 + return UDR0;
  18 +}
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Robot/serial.h 0 → 100644
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  1 +#ifndef SERIAL
  2 +#define SERIAL
  3 +
  4 +void init_serial(int speed);
  5 +void send_serial(unsigned char c);
  6 +unsigned char get_serial(void);
  7 +
  8 +#endif
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