PAD.c modif fonctions Send_EP_IN_Report + Receive_EP_OUT_Report + ajout Reception_Serie et PAD_Task

Débugage (non terminé) Quelques fix supplémentaires

PAD.c modif fonctions Send_EP_IN_Report + Receive_EP_OUT_Report + ajout Reception_Serie et PAD_Task
Débugage (non terminé) Quelques fix supplémentaires
rguillom
1 parent ca6bb997
Showing 6 changed files with 197 additions and 132 deletions Show diff stats
Pgm PC/init_USB.c
lufa-master/PolytechLille/PAD/Descriptors.c
lufa-master/PolytechLille/PAD/Descriptors.h
lufa-master/PolytechLille/PAD/PAD.c
lufa-master/PolytechLille/PAD/PAD.h
main.c
@@ -55,7 +55,7 @@ void enum_periph(){
         uint8_t address=libusb_get_device_address(device);
         printf("Device Found @ (Bus:Address) %d:%d\n",bus,address);
         printf("Vendor ID 0x0%x\n",desc.idVendor);
-        printf("Product ID 0x0%x\n",desc.idProduct);
+        printf("Product ID 0x0%x\n\n",desc.idProduct);
         /* Recherche de notre périphérique et sauvegarde dans 'found' */
         if(desc.idVendor == VENDOR_ID && desc.idProduct == PRODUCT_ID){
@@ -74,7 +74,7 @@ void config_periph(char tab_PA[TAB_PA_SIZE]){
 	/* Récupération de la 1ère configuration du périphérique (indice 0) */
     struct libusb_config_descriptor *config_desc=NULL;
     int status = libusb_get_config_descriptor(found,0,&config_desc); //config d'indice 0
-    printf("ID de la configuration d'indice 0 : %d\n",config_desc->bConfigurationValue);
+    printf("La valeur de la configuration d'indice 0 est %d\n",config_desc->bConfigurationValue);
     int interface;
@@ -95,7 +95,7 @@ void config_periph(char tab_PA[TAB_PA_SIZE]){
     /* Utilisation de la configuration */
     int configuration=config_desc->bConfigurationValue;
-    printf("valeur config %d\n", configuration); // Affichage valeur de la configuration
+    //printf("valeur config %d\n", configuration); // Affichage valeur de la configuration
     status=libusb_set_configuration(handle,configuration);
     if(status!=0){ perror("libusb_set_configuration"); exit(-1); }
@@ -107,7 +107,7 @@ void config_periph(char tab_PA[TAB_PA_SIZE]){
     	status=libusb_claim_interface(handle,indice_intf);   
     	if(status!=0){ perror("libusb_claim_interface"); exit(-1); }
-    	printf("Interface d'indice %d et de numéro %d réclamée\n",indice_intf,num_intf);
+    	printf("\tInterface d'indice %d et de numéro %d réclamée\n",indice_intf,num_intf);
@@ -116,7 +116,7 @@ void config_periph(char tab_PA[TAB_PA_SIZE]){
 			int type_PA = config_desc->interface[indice_intf].altsetting[0].endpoint[num_PA].bmAttributes;
 			uint8_t adresse_PA = config_desc->interface[indice_intf].altsetting[0].endpoint[num_PA].bEndpointAddress;
-            printf("Point d'accès trouvé. Adresse :%d\n",adresse_PA);
+            printf("\t\tPoint d'accès trouvé. Adresse : %d\n",adresse_PA);
         	/* Regarde si le point d'accès est de type interruption.
         	Si oui, on le sauvegarde. */
@@ -125,7 +125,7 @@ void config_periph(char tab_PA[TAB_PA_SIZE]){
 				//struct EP ep1;
             	dernier_PA++;
             	tab_PA[dernier_PA] = adresse_PA;
-            	printf("Point d'accès numéro %d sauvegardé. Adresse : %d\n", dernier_PA, adresse_PA);
+            	printf("\t\tPoint d'accès numéro %d sauvegardé. Adresse : %d\n", dernier_PA, adresse_PA);
 				/*
 				ep1.ep=config_desc->interface[indice_intf].altsetting[0].endpoint->bEndpointAddress;
@@ -166,7 +166,7 @@ void liberer_interfaces(){
         status=libusb_release_interface(handle,num_intf);
         if(status!=0){ perror("libusb_release_interface"); exit(-1); }  
-        printf("L'interface numéro %d , d'indice %d a été libérée.\n", num_intf,indice_intf);          
+        printf("\tL'interface numéro %d, d'indice %d a été libérée.\n", num_intf,indice_intf);          
 	}
 }
@@ -175,9 +175,9 @@ void liberer_interfaces(){
 void send_data(unsigned char tab_PA[TAB_PA_SIZE], unsigned char data){
 	unsigned char PA = tab_PA[0]; //LEDs sur le premier point d'accès
-	int *transferred = 1; 	//nombre d'octets transférés
+	int transferred = 1; 	//nombre d'octets transférés
 	unsigned int timeout = 1000;	//temps avant un timeout
-	int status = libusb_interrupt_transfer(struct libusb_device_handle *handle, PA, &data, sizeof(data), &transferred, timeout)
+	int status = libusb_interrupt_transfer(handle, PA, &data, sizeof(data), &transferred, timeout);
 	if(status!=0){perror("libusb_interrupt_transfer");exit(-1);}
 }
@@ -187,25 +187,27 @@ void receive_data(unsigned char tab_PA[TAB_PA_SIZE], unsigned char *boutons, uns
 	/* Lecture du point d'accès des boutons */
 	unsigned char PA = tab_PA[1]; //LEDs sur le premier point d'accès
-	int *transferred = 1; 	//nombre d'octets transférés
+	int transferred = 1; 	//nombre d'octets transférés
 	unsigned int timeout = 1000;	//temps avant un timeout
-	int status = libusb_interrupt_transfer(struct libusb_device_handle *handle, PA, &boutons, sizeof(boutons), &transferred, timeout)
+	int status = libusb_interrupt_transfer(handle, PA, boutons, sizeof(boutons), &transferred, timeout);
 	if(status!=0){perror("libusb_interrupt_transfer");exit(-1);}
 	/* Lecture du point d'accès du joystick */
-	unsigned char *joystick_xy; //stocke la donnée du point d'accès (1 octet pour chaque axe)
+	unsigned char *joystick_xy=NULL; //stocke la donnée du point d'accès (1 octet pour chaque axe)
 	PA = tab_PA[2]; //LEDs sur le premier point d'accès
-	*transferred = 2; 	//nombre d'octets transférés
+	transferred = 2; 	//nombre d'octets transférés
 	timeout = 1000;	//temps avant un timeout
-	int status = libusb_interrupt_transfer(struct libusb_device_handle *handle, PA, &joystick_xy, sizeof(joystick_xy), &transferred, timeout)
+	status = libusb_interrupt_transfer(handle, PA, joystick_xy, sizeof(joystick_xy), &transferred, timeout);
 	if(status!=0){perror("libusb_interrupt_transfer");exit(-1);}
 	//TODO Pas sûr !!!
-	*joystick_x = joystick_xy[0];	//On sépare la data de chaque axe
-	*joystick_y = joystick_xy[1];
+	if (joystick_xy !=NULL){
+		*joystick_x = joystick_xy[0];	//On sépare la data de chaque axe
+		*joystick_y = joystick_xy[1];
+	}
 }
@@ -230,13 +232,30 @@ int main(){
     char tab_PA[TAB_PA_SIZE];
     config_periph(tab_PA);
-    unsigned char *boutons;
-    unsigned char *joystick_x;
-    unsigned char *joystick_x;
+    unsigned char *boutons, *boutons_anc = NULL;
+    unsigned char *joystick_x, *joystick_x_anc = NULL;
+    unsigned char *joystick_y, *joystick_y_anc = NULL;
+    unsigned char caractere;
+    /*
     //boucle while(pas d'arrêt), envoi et rcpt
     // "pas d'arrêt" = appui sur 's' par exemple
+    	
+    	if (appui sur une touche){
+    		//récupération caractère
+    		send_data(tab_PA, caractere);	//Envoi de la commande des leds
+    	}
+    	else {
+    		receive_data(tab_PA, boutons, joystick_x, joystick_y); //Réception des boutons et joystick
+    		if ((*boutons != *boutons_anc) || (joystick_x != joystick_x_anc) || (joystick_y != joystick_y_anc)) printf("Boutons : %c, Joystick_x : %c, Joystick_y :%c\n", *boutons, *joystick_x, *joystick_y);	//Affichage si changement
+    		
+    		*boutons_anc = *boutons;
+    		*joystick_x_anc = *joystick_x;
+    		*joystick_y_anc = *joystick_y;
+    	}
+    
+    */
     /* Libération des interfaces*/
     liberer_interfaces();
@@ -38,6 +38,9 @@
 #include "Descriptors.h"
+#define VENDOR_ID		0x2341
+#define PRODUCT_ID		0x0001
+
 /** Device descriptor structure. This descriptor, located in FLASH memory, describes the overall
  *  device characteristics, including the supported USB version, control endpoint size and the
  *  number of device configurations. The descriptor is read out by the USB host when the enumeration
@@ -54,8 +57,8 @@ const USB_Descriptor_Device_t PROGMEM RelayBoard_DeviceDescriptor =
 	.Endpoint0Size          = FIXED_CONTROL_ENDPOINT_SIZE,
-	.VendorID               = 0x04B4,		//A MODIFIER avec VendorID Carte
-	.ProductID              = 0xFD11,		//A MODIFIER
+	.VendorID               = VENDOR_ID,
+	.ProductID              = PRODUCT_ID,
 	.ReleaseNumber          = VERSION_BCD(2,0,0),
 	.ManufacturerStrIndex   = STRING_ID_Manufacturer,
@@ -88,12 +91,12 @@ const USB_Descriptor_Configuration_t PROGMEM RelayBoard_ConfigurationDescriptor 
 		},
 	/* Description Interface SORTIE (LED)*/
-	.InferfaceOUT =
+	.InterfaceOUT =
 		{
 			.Header                 = {.Size = sizeof(USB_Descriptor_Interface_t), .Type = DTYPE_Interface},
 			.InterfaceNumber        = INTERFACE_ID_InterfaceOUT,
-			.AlternateSetting       = 0,
+			.AlternateSetting       = 0x00,
 			.TotalEndpoints         = 1,
@@ -104,19 +107,6 @@ const USB_Descriptor_Configuration_t PROGMEM RelayBoard_ConfigurationDescriptor 
 			.InterfaceStrIndex      = NO_DESCRIPTOR
 		},
-	/*
-	.HID_KeyboardHID =
-		{
-			.Header                 = {.Size = sizeof(USB_HID_Descriptor_HID_t), .Type = HID_DTYPE_HID},
-
-			.HIDSpec                = VERSION_BCD(1,1,1),
-			.CountryCode            = 0x00,
-			.TotalReportDescriptors = 1,
-			.HIDReportType          = HID_DTYPE_Report,
-			.HIDReportLength        = sizeof(KeyboardReport)
-		},
-	*/
-	
 	.ReportOUTEndpoint =
 		{
 			.Header                 = {.Size = sizeof(USB_Descriptor_Endpoint_t), .Type = DTYPE_Endpoint},
@@ -133,7 +123,7 @@ const USB_Descriptor_Configuration_t PROGMEM RelayBoard_ConfigurationDescriptor 
 		{
 			.Header                 = {.Size = sizeof(USB_Descriptor_Interface_t), .Type = DTYPE_Interface},
-			.InterfaceNumber        = INTERFACE_ID_InterfaceIN
+			.InterfaceNumber        = INTERFACE_ID_InterfaceIN,
 			.AlternateSetting       = 0x00,
 			.TotalEndpoints         = 2,
@@ -163,7 +153,7 @@ const USB_Descriptor_Configuration_t PROGMEM RelayBoard_ConfigurationDescriptor 
 			.Attributes             = (EP_TYPE_INTERRUPT | ENDPOINT_ATTR_NO_SYNC | ENDPOINT_USAGE_DATA),
 			.EndpointSize           = JOYSTICK_EPSIZE,
 			.PollingIntervalMS      = 0x05
-		}
+		},
 };
 /** Language descriptor structure. This descriptor, located in FLASH memory, is returned when the host requests
@@ -52,7 +52,6 @@
 			// Relay Board Interface
 			USB_Descriptor_Interface_t            InterfaceOUT;
-			//USB_HID_Descriptor_HID_t              HID_KeyboardHID;				//UTILE ?
 			USB_Descriptor_Endpoint_t             ReportOUTEndpoint;
 			USB_Descriptor_Interface_t            InterfaceIN;
@@ -84,15 +83,17 @@
 	/* Macros: */
-	
+		/** Endpoint address of the Keyboard HID reporting OUT endpoint. */
+		#define KEYBOARD_OUT_EPADDR (ENDPOINT_DIR_OUT | 1)
+		
+		
 		/** Endpoint address of the Keyboard HID reporting IN endpoint. */
-		#define KEYBOARD_IN_Bout_EPADDR        (ENDPOINT_DIR_IN  | 1)		//Adr. EP Boutons
-		#define KEYBOARD_IN_Joy_EPADDR        (ENDPOINT_DIR_IN  | 1)		//Adr. EP Joystick
+		#define KEYBOARD_IN_Bout_EPADDR (ENDPOINT_DIR_IN | 2)		//Adr. EP Boutons (direction | numéro du point d'accès)
+		#define KEYBOARD_IN_Joy_EPADDR (ENDPOINT_DIR_IN | 3)		//Adr. EP Joystick
-		/** Endpoint address of the Keyboard HID reporting OUT endpoint. */
-		#define KEYBOARD_OUT_EPADDR       (ENDPOINT_DIR_OUT | 2)
-		/** Size in bytes of the Keyboard HID reporting IN and OUT endpoints. */
+		
+		/** Size in bytes of the PAD HID reporting IN and OUT endpoints. */
 		#define LED_EPSIZE		1
 		#define BOUTONS_EPSIZE		1
 		#define JOYSTICK_EPSIZE		2
@@ -38,6 +38,13 @@
 #include "PAD.h"
+#define debut_rcpt 0xff //valeur arbitraire pour détecter un début de trame
+
+uint8_t boutons;
+uint8_t joystick_x;
+uint8_t joystick_y;
+
+
 /** Main program entry point. This routine contains the overall program flow, including initial
  *  setup of all components and the main program loop.
  */
@@ -58,23 +65,23 @@ int main(void)
 /** Configures the board hardware and chip peripherals for the project's functionality. */
 void SetupHardware(void)
 {
-#if (ARCH == ARCH_AVR8)
+	#if (ARCH == ARCH_AVR8)
 	/* Disable watchdog if enabled by bootloader/fuses */
 	MCUSR &= ~(1 << WDRF);
 	wdt_disable();
 	/* Disable clock division */
 	clock_prescale_set(clock_div_1);
-
+	#endif
-/**INITIALISATIONS*/
+	/**INITIALISATIONS*/
 	/* Hardware Initialization */
 	USB_Init();
-	Serial_init(9600,0); 	//9600 Bauds, configuration
+	Serial_Init(9600,0); 	//9600 Bauds, configuration
 	/* Initialize Relays */
-	DDRD  |=  ALL_RELAYS;		// Port pour la liaison série
-	PORTD &= ~ALL_RELAYS;		
+	//DDRD  |=  ALL_RELAYS;		// Port pour la liaison série
+	//PORTD &= ~ALL_RELAYS;		
 }
@@ -85,10 +92,11 @@ void EVENT_USB_Device_ConfigurationChanged(void)
 {
 	bool ConfigSuccess = true;
-	/* Setup HID Report Endpoints */		//MODIFS ICI
-	ConfigSuccess &= Endpoint_ConfigureEndpoint(KEYBOARD_IN_Bout_EPADDR, EP_TYPE_INTERRUPT, BOUTONS_EPSIZE, 1);
+	/* Setup HID Report Endpoints */
+	ConfigSuccess &= Endpoint_ConfigureEndpoint(KEYBOARD_OUT_EPADDR, EP_TYPE_INTERRUPT, LED_EPSIZE, 1);
+	ConfigSuccess &= Endpoint_ConfigureEndpoint(KEYBOARD_IN_Bout_EPADDR, EP_TYPE_INTERRUPT, BOUTONS_EPSIZE, 1);	
 	ConfigSuccess &= Endpoint_ConfigureEndpoint(KEYBOARD_IN_Joy_EPADDR, EP_TYPE_INTERRUPT, JOYSTICK_EPSIZE, 1);
-	ConfigSuccess &= Endpoint_ConfigureEndpoint(KEYBOARD_OUT_EPADDR, EP_TYPE_INTERRUPT, KEYBOARD_EPSIZE, 1);
+	
 	/* Turn on Start-of-Frame events for tracking HID report period expiry */
 	USB_Device_EnableSOFEvents();
@@ -98,70 +106,77 @@ void EVENT_USB_Device_ConfigurationChanged(void)
 }
-/** Sends the next HID report to the host, via the keyboard data endpoint. */
-void SendNextReport(void)		//Envoi liaison Série
+
+/** Sends the next PAD report to the host, via the buttons and joystick endpoint. */
+void Send_EP_IN_Report(void)
 {
-	static USB_KeyboardReport_Data_t PrevKeyboardReportData;
-	USB_KeyboardReport_Data_t        KeyboardReportData;
-	bool                             SendReport = false;
+	//static USB_KeyboardReport_Data_t PrevKeyboardReportData;
+	//USB_KeyboardReport_Data_t        KeyboardReportData;
+	//bool                             SendReport = false;
 	/* Create the next keyboard report for transmission to the host */
-	CreateKeyboardReport(&KeyboardReportData);
+	//CreateKeyboardReport(&KeyboardReportData);
 	/* Check if the idle period is set and has elapsed */
-	if (IdleCount && (!(IdleMSRemaining)))
-	{
+	//if (IdleCount && (!(IdleMSRemaining)))
+	//{
 		/* Reset the idle time remaining counter */
-		IdleMSRemaining = IdleCount;
+	//	IdleMSRemaining = IdleCount;
 		/* Idle period is set and has elapsed, must send a report to the host */
-		SendReport = true;
-	}
-	else
-	{
+		//SendReport = true;
+	//}
+	//else
+	//{
 		/* Check to see if the report data has changed - if so a report MUST be sent */
-		SendReport = (memcmp(&PrevKeyboardReportData, &KeyboardReportData, sizeof(USB_KeyboardReport_Data_t)) != 0);
-	}
+		//SendReport = (memcmp(&PrevKeyboardReportData, &KeyboardReportData, sizeof(USB_KeyboardReport_Data_t)) != 0);
+	//}
 	/** Envoi sur INTERFACE BOUTONS**/
-	/* Select the Keyboard Report Endpoint */
+	/* Select the  Buttons Report Endpoint */
 	Endpoint_SelectEndpoint(KEYBOARD_IN_Bout_EPADDR);
 	/* Check if Keyboard Endpoint Ready for Read/Write and if we should send a new report */
-	if (Endpoint_IsReadWriteAllowed() && SendReport)
+	if (Endpoint_IsReadWriteAllowed() && Endpoint_IsINReady)
 	{
 		/* Save the current report data for later comparison to check for changes */
-		PrevKeyboardReportData = KeyboardReportData;
+		//PrevKeyboardReportData = KeyboardReportData;
 		/* Write Keyboard Report Data */
-		Endpoint_Write_Stream_LE(&KeyboardReportData, sizeof(KeyboardReportData), NULL);
+		//Endpoint_Write_Stream_LE(&KeyboardReportData, sizeof(KeyboardReportData), NULL);
+		Endpoint_Write_8(boutons);
 		/* Finalize the stream transfer to send the last packet */
 		Endpoint_ClearIN();
 	}
+	else printf("Buttons endpoint not ready to send\n");
 		/** Envoi sur INTERFACE Joystick**/
 	/* Select the Keyboard Report Endpoint */
 	Endpoint_SelectEndpoint(KEYBOARD_IN_Joy_EPADDR);
 	/* Check if Keyboard Endpoint Ready for Read/Write and if we should send a new report */
-	if (Endpoint_IsReadWriteAllowed() && SendReport)
+	if (Endpoint_IsReadWriteAllowed() && Endpoint_IsINReady)
 	{
 		/* Save the current report data for later comparison to check for changes */
-		PrevKeyboardReportData = KeyboardReportData;
+		//PrevKeyboardReportData = KeyboardReportData;
 		/* Write Keyboard Report Data */
-		Endpoint_Write_Stream_LE(&KeyboardReportData, sizeof(KeyboardReportData), NULL);
+		//Endpoint_Write_Stream_LE(&KeyboardReportData, sizeof(KeyboardReportData), NULL);
+		Endpoint_Write_8(joystick_x);
+		Endpoint_Write_8(joystick_y);
 		/* Finalize the stream transfer to send the last packet */
 		Endpoint_ClearIN();
 	}
+	else printf("Joystick endpoint not ready to send\n");
 }
+
 /** Reads the next LED status report from the host from the LED data endpoint, if one has been sent. */
-void ReceiveNextReport(void)	//Réception Liaison Série
+void Receive_EP_OUT_Report(void)	//Réception Liaison Série
 {
 	/* Select the Keyboard LED Report Endpoint */
 	Endpoint_SelectEndpoint(KEYBOARD_OUT_EPADDR);
@@ -175,11 +190,47 @@ void ReceiveNextReport(void)	//Réception Liaison Série
 			/* Read in the LED report from the host */
 			uint8_t LEDReport = Endpoint_Read_8();
-			/* Process the read LED report from the host */
-			ProcessLEDReport(LEDReport);
+			/* On envoie l'octet de commande de led sur la liaison série */
+			Serial_SendByte(LEDReport);
 		}
+		else printf("LED endpoint not ready to receive\n");
 		/* Handshake the OUT Endpoint - clear endpoint and ready for next report */
 		Endpoint_ClearOUT();
 	}
 }
+
+
+
+void Reception_Serie(void){
+	if(Serial_IsCharReceived()){ // A la réception d'un caractère...
+	/* on vérifie qu'on a bien un début de trame*/
+    	unsigned char caractere = Serial_ReceiveByte();
+    	
+    	/* si oui, on récupère les trois octets suivants*/
+        if (caractere==debut_rcpt){
+                boutons = Serial_ReceiveByte();
+                joystick_x = Serial_ReceiveByte();
+                joystick_y = Serial_ReceiveByte();
+        }
+	}
+}
+
+
+/** Function to manage PAD report generation and transmission to the host, when in report mode. */
+void PAD_Task(void)
+{
+	/* Device must be connected and configured for the task to run */
+	if (USB_DeviceState != DEVICE_STATE_Configured)
+	  return;
+	
+    Reception_Serie();	//Réception des données de la liaison série
+    
+	/* Send the next button/joystick report to the host */
+	Send_EP_IN_Report();
+
+	/* Process the LED report sent from the host */
+	Receive_EP_OUT_Report(); 
+}
+
+
@@ -46,9 +46,9 @@
 		#include "Descriptors.h"
 		//#include <LUFA/Drivers/Board/LEDs.h>
-		//#include <LUFA/Drivers/PeripheralSerial.h> //inventé?
 		#include <LUFA/Drivers/USB/USB.h>
 		#include <LUFA/Platform/Platform.h>
+		#include "LUFA/Drivers/Peripheral/Serial.h"
 	/* Macros: */
@@ -56,9 +56,10 @@
 	/* Function Prototypes: */
 		void SetupHardware(void);
 		void EVENT_USB_Device_ConfigurationChanged(void);
-		void SendNextReport(void);
-		void ReceiveNextReport(void);
-		//void EVENT_USB_Device_ControlRequest(void);
+		void Send_EP_IN_Report(void);
+		void Receive_EP_OUT_Report(void);
+		void Reception_Serie(void);
+		void PAD_Task(void);
 #endif
@@ -3,9 +3,10 @@
 // For the serial port
-#define CPU_FREQ        16000000L       // Assume a CPU frequency of 16Mhz
-#define tempo						25
-#define debit						9600						//débit liaison série en bauds 
+#define CPU_FREQ        16000000L   // Assume a CPU frequency of 16Mhz
+#define tempo			25
+#define debit			9600		//débit liaison série en bauds
+#define debut_serial_tx	0xff		//pour détecter la transmission d'une trame pour le 16u2
 void init_serial(int speed)
 {
@@ -24,40 +25,40 @@ UCSR0A &amp;= ~(1 &lt;&lt; U2X0);
 void send_serial(unsigned char c)
 {
-loop_until_bit_is_set(UCSR0A, UDRE0);
-UDR0 = c;
+	loop_until_bit_is_set(UCSR0A, UDRE0);
+	UDR0 = c;
 }
 unsigned char get_serial(void) {
-loop_until_bit_is_set(UCSR0A, RXC0);
-return UDR0;
+	loop_until_bit_is_set(UCSR0A, RXC0);
+	return UDR0;
 }
 // For the AD converter
 void ad_init(unsigned char channel)   
 {   
-ADCSRA|=(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);   
-ADMUX|=(1<<REFS0)|(1<<ADLAR);
-ADMUX=(ADMUX&0xf0)|channel;   
-ADCSRA|=(1<<ADEN);
+	ADCSRA|=(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);   
+	ADMUX|=(1<<REFS0)|(1<<ADLAR);
+	ADMUX=(ADMUX&0xf0)|channel;   
+	ADCSRA|=(1<<ADEN);
 }   
 //récupère la valeur de l'ADCH
 unsigned int ad_sample(void){
-ADCSRA|=(1<<ADSC);
-while(bit_is_set(ADCSRA, ADSC));
-return ADCH;
+	ADCSRA|=(1<<ADSC);
+	while(bit_is_set(ADCSRA, ADSC));
+	return ADCH;
 }
 // For the I/O 
 void output_init(void){
-DDRB |= 0b00111111; // PIN 8-13 as output (LED)
+	DDRB |= 0b00111111; // PIN 8-13 as output (LED)
 }
 /*
 void output_set(unsigned char value){
-if(value==0) PORTB &= 0xfe; else PORTB |= 0x01;
+	if(value==0) PORTB &= 0xfe; else PORTB |= 0x01;
 }
 */
@@ -68,7 +69,7 @@ void input_init(void){
 /*
 unsigned char input_get(void){
-return ((PIND&0x04)!=0)?1:0;
+	return ((PIND&0x04)!=0)?1:0;
 }
 */
@@ -116,59 +117,61 @@ unsigned char shape_joy(unsigned char pos){
 /* Récupération de la valeur de l'axe du joystick sur la chaîne channel du CAN */
 unsigned char get_joystick(int channel){
-	  unsigned char axis;
-	  ad_init(channel);
-    axis = ad_sample();
-    axis = shape_joy(axis);
-    return axis;
+	unsigned char axis;
+	ad_init(channel);
+	axis = ad_sample();
+	axis = shape_joy(axis);
+	return axis;
 }
 /* Dummy main */
 int main(void){
 	//INITIALISATIONS  
-  unsigned char boutons, boutons_anc;
-  unsigned char joystick_x=0x10, joystick_x_anc=0x10;
-  unsigned char joystick_y=0x10, joystick_y_anc=0x10;
+	unsigned char boutons, boutons_anc;
+	unsigned char joystick_x=0x10, joystick_x_anc=0x10;
+	unsigned char joystick_y=0x10, joystick_y_anc=0x10;
-  init_serial(debit);
-  output_init();
-  input_init();
+	init_serial(debit);
+	output_init();
+	input_init();
 	//Récupération des valeurs des boutons et joystick, et mise en forme
-  boutons = get_buttons();
-  joystick_x = get_joystick(0);
-  joystick_y = get_joystick(1);
+	boutons = get_buttons();
+	joystick_x = get_joystick(0);
+	joystick_y = get_joystick(1);
-  while(1){
+	while(1){
 		boutons_anc = boutons;
 		joystick_x_anc = joystick_x;
 		joystick_y_anc = joystick_y;
-   	//Récupération des valeurs des boutons et joystick, et mise en forme
-  	boutons = get_buttons();
-  	joystick_x = get_joystick(0);
-  	_delay_ms(tempo);
-  	joystick_y = get_joystick(1);
+		//Récupération des valeurs des boutons et joystick, et mise en forme
+		boutons = get_buttons();
+		joystick_x = get_joystick(0);
+		_delay_ms(tempo);
+		joystick_y = get_joystick(1);
-    //Port série libre
-    if ((UCSR0A & (1<<RXC0)) == 0){
-    	// Si une des grandeurs a changé
-    	if ((boutons_anc != boutons) || (joystick_x_anc != joystick_x) || (joystick_y_anc != joystick_y)){
-    		send_serial(boutons);	//on envoie l'état global des grandeurs
-      	send_serial(joystick_x);
-      	send_serial(joystick_y);    	  	
-      	//retour chariot
-      	send_serial(0x0a);
-      	send_serial(0x0d);
+		//Port série libre
+		if ((UCSR0A & (1<<RXC0)) == 0){
+			// Si une des grandeurs a changé
+			if ((boutons_anc != boutons) || (joystick_x_anc != joystick_x) || (joystick_y_anc != joystick_y)){
+				/* On envoie la trame des grandeurs */
+				send_serial(debut_serial_tx);	//début de trame
+				send_serial(boutons);			//état global des grandeurs
+				send_serial(joystick_x);
+				send_serial(joystick_y);    	  	
+				//retour chariot
+				send_serial(0x0a);
+				send_serial(0x0d);
 			}
 		}
 		//Port série occupé	
 		else{
-		commande_leds();	//On gère la commande des leds
+			commande_leds();	//On gère la commande des leds
 		}
-  }  
+	}  
 	return 0;
 }