rguillom / Tutorat_Systeme_IMA4

Commit db0bdba2403451e2f7ba770fac857cb1e21629b4

Authored by rguillom
1 parent 48fa7247

boutons+joy OK

Showing 1 changed file with 55 additions and 44 deletions   Show diff stats
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1 1 #include <avr/io.h> // for the input/output register
  2 +#include <util/delay.h>
2 3  
3 4 // For the serial port
4 5  
5 6 #define CPU_FREQ 16000000L // Assume a CPU frequency of 16Mhz
  7 +#define tempo 25
  8 +#define debit 9600 //débit liaison série en bauds
6 9  
7 10 void init_serial(int speed)
8 11 {
... ... @@ -49,23 +52,26 @@ return ADCH;
49 52  
50 53 // For the I/O
51 54 void output_init(void){
52   -DDRB |= 0b00111111; // PIN 8-13 as output
  55 +DDRB |= 0b00111111; // PIN 8-13 as output (LED)
53 56 }
54 57  
  58 +/*
55 59 void output_set(unsigned char value){
56 60 if(value==0) PORTB &= 0xfe; else PORTB |= 0x01;
57 61 }
  62 +*/
58 63  
59 64 void input_init(void){
60   -DDRD |= 0b01111100; // PIN 2-6 as input (Bouton Joystick + boutons)
61   -DDRC |= 0x03; // PIN 0-1 analogiques comme input (x et y joystick analogique)
  65 + DDRD &= 0b10000011; // PIN 2-6 as input (Bouton Joystick + boutons)
  66 + PORTD |= 0x7C; // Pull up de 0 à 1
  67 + //DDRC &= 0b11111100; // PIN 0-1 analogiques comme input (x et y joystick)
62 68 }
63 69  
64   -/*
  70 +
65 71 unsigned char input_get(void){
66 72 return ((PIND&0x04)!=0)?1:0;
67 73 }
68   -*/
  74 +
69 75  
70 76 /* Commande des LED */
71 77 void commande_leds(){
... ... @@ -92,84 +98,89 @@ void commande_leds(){
92 98 }
93 99  
94 100 /* Récupération de la valeur des boutons et mise en forme */
95   -int get_buttons(void){
96   - unsigned boutons = ((PIND & 0x7C)>>2) | 0b00100000;
97   - return(boutons);
  101 +unsigned char get_buttons(void){
  102 + //unsigned char boutons = (((PIND & 0x7C)>>2) &0x3f) | 0b00100000;
  103 + unsigned char boutons = PIND;
  104 + boutons = boutons >>2;
  105 + boutons = boutons & 0b00111111;
  106 + boutons = boutons | 0b00100000;
  107 +
  108 + return boutons;
98 109 }
99 110  
100 111 /* Met en forme l'octet de l'axe pos du joystick */
101   -int shape_joy(unsigned char pos){
102   - pos = (pos >> 3) | 0b00100000;
103   - return(pos);
  112 +unsigned char shape_joy(unsigned char pos){
  113 + //pos = ((pos >> 3) | &0b00111111) 0b00100000;
  114 + pos = pos >>3;
  115 + pos = pos & 0b00111111;
  116 + pos = pos | 0b00100000;
  117 + return pos;
104 118 }
105 119  
106 120 /* Récupération de la valeur de l'axe du joystick sur la chaîne channel du CAN */
107   -int get_joystick(int channel){
  121 +unsigned char get_joystick(int channel){
108 122 unsigned char axis;
109 123 ad_init(channel);
110 124 axis = ad_sample();
111   - shape_joy(axis);
112   - return(axis);
  125 + axis = shape_joy(axis);
  126 + return axis;
113 127 }
114 128  
115 129 /* Dummy main */
116 130 int main(void){
117   - init_serial(9600);
  131 +
  132 + //INITIALISATIONS
  133 + unsigned char boutons, boutons_anc;
  134 + unsigned char joystick_x=0x10, joystick_x_anc=0x10;
  135 + unsigned char joystick_y=0x10, joystick_y_anc=0x10;
  136 +
  137 + init_serial(debit);
118 138 output_init();
119 139 input_init();
120   -
121   - unsigned char boutons, boutons_anc;
122   - unsigned char joystick_x, joystick_x_anc;
123   - unsigned char joystick_y, joystick_y_anc;
124 140  
125 141 //Récupération des valeurs des boutons et joystick, et mise en forme
126 142 boutons = get_buttons();
127   - joystick_x = get_joystick(1);
128   - joystick_y = get_joystick(0);
129   -
130   - //send_serial(boutons);
  143 + joystick_x = get_joystick(0);
  144 + joystick_y = get_joystick(1);
131 145  
132 146 while(1){
133   -
134 147 boutons_anc = boutons;
135 148 joystick_x_anc = joystick_x;
136 149 joystick_y_anc = joystick_y;
137 150  
138 151 //Récupération des valeurs des boutons et joystick, et mise en forme
139 152 boutons = get_buttons();
140   - joystick_x = get_joystick(1);
141   - joystick_y = get_joystick(0);
142   -
143   -
144   - send_serial(boutons+2);
145   - //retour chariot
146   - send_serial(0x0a);
147   - send_serial(0x0d);
  153 + joystick_x = get_joystick(0);
  154 + _delay_ms(tempo);
  155 + joystick_y = get_joystick(1);
  156 +
148 157  
149   - //Cas où aucun caractère n'est reçu
  158 + //Port série libre
150 159 if ((UCSR0A & (1<<RXC0)) == 0){
151 160  
152 161 //if (boutons_anc != boutons){
  162 + //if (joystick_x_anc != joystick_x){
153 163 //if (joystick_y_anc != joystick_y){
154   - //if ((boutons_anc != boutons) || (joystick_x_anc != joystick_x) || (joystick_y_anc != joystick_y)){
155   - //send_serial(boutons);
156   - //send_serial(joystick_y);
157   - //send_serial(joystick_y);
  164 + if ((boutons_anc != boutons) || (joystick_x_anc != joystick_x) || (joystick_y_anc != joystick_y)){
  165 + send_serial(boutons);
  166 + //if ((joystick_x > 126) || (joystick_x <33)) send_serial('e');
  167 + send_serial(joystick_x);
  168 + send_serial(joystick_y);
158 169  
159 170 //send_serial('r');
160 171  
161 172 //retour chariot
162   - //send_serial(0x0a);
163   - //send_serial(0x0d);
164   - //}
165   - }
  173 + send_serial(0x0a);
  174 + send_serial(0x0d);
  175 + }
166 176  
  177 + }
  178 +
  179 + //Port série occupé
167 180 else{
168   - //Cas où un caractère attent d'être reçu
169 181 commande_leds();
170 182 }
171   - }
172   -
  183 + }
173 184 return 0;
174 185 }
175 186  
... ...