1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
|
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
#include <stdbool.h>
#include <util/delay.h>
#define F_CPU 3686400UL
#define FOSC 7372000 // Clock Speed
#define BAUD 9600UL
#define UBRR_VAL ((FOSC+BAUD*8)/(BAUD*16)-1) // clever runden
/////////////////////////////////////////////////////////////////////
#define usart_buffer_max_size 64u
#define lines 10
#define cols 11
#define MAX 6
#define LINE 4
/////////////////////////////////////////////////////////////////////
char table2D[lines][cols + 1]; // table in dimension two
char usart0_tx_buffer[usart_buffer_max_size];
char usart1_tx_buffer[usart_buffer_max_size];
char responsemotor[cols] = {0};
volatile char response[cols] = {0};
char firststring2D[LINE][MAX] = {"#1D0\r", "#2D0\r", "#1p2\r", "#2p2\r"};
//////////////////////////////////////////////////////////////////////
volatile uint8_t usart0_tx_buffer_size = 0;
volatile uint8_t usart0_tx_buffer_start = 0;
volatile uint8_t usart1_tx_buffer_size = 0;
volatile uint8_t usart1_tx_buffer_start = 0;
volatile uint8_t command_execution = 0;
volatile uint8_t command_ready = 0;
volatile uint8_t flag = 0;
volatile uint8_t counter = 0;
/////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////
unsigned int i = 0; // Number of line
unsigned int j ; // Number of byte in a line
unsigned int N = sizeof(table2D) / sizeof(table2D[0]); // Number of rows
unsigned int M = sizeof(table2D) / sizeof(table2D[i][0]); // Number of elements in a row
/////////////////////////////////////////////////////////////////////
// Configuration USART0, USART1 and setting Baudrate
void USART_Init(unsigned int ubrr)
{
UBRR0H = (unsigned char)(ubrr>>8);
UBRR0L = (unsigned char) ubrr;
UBRR1H = (unsigned char)(ubrr>>8);
UBRR1L = (unsigned char) ubrr;
UCSR0B = (1<<RXEN0) | (1<<TXEN0) | (1<<RXCIE0) | (0<<TXCIE0) | (0<<UDRIE0);
UCSR0C = (0<<USBS0) | (1<<UCSZ01) | (1<<UCSZ00); // 1 Stopbit, data = 8 Bits
UCSR1B = (1<<RXEN1) | (1<<TXEN1) | (1<<RXCIE1) | (0<<TXCIE1) | (0<<UDRIE1);
UCSR1C = (0<<USBS1) | (1<<UCSZ11) | (1<<UCSZ10); // 1 Stopbit, data = 8 Bits
DDRD = (1<<PD4) | (1<<PD5);
PORTD = (1<<PD4); // RS485-Sender einschalten
}
////////////////////////////////////////////////////////////////////////////////
// Entry of circular buffer for USART0
void USART0_QueueIn(char c)
{
int i;
if (usart0_tx_buffer_size < usart_buffer_max_size)
{
i = (usart0_tx_buffer_size + usart0_tx_buffer_start) % usart_buffer_max_size;
usart0_tx_buffer[i] = c;
++usart0_tx_buffer_size;
}
}
// Exit of circular buffer for USART0
char USART0_QueueOut(void)
{
char c;
if (usart0_tx_buffer_size == 0)
return 0;
c = usart0_tx_buffer[usart0_tx_buffer_start];
--usart0_tx_buffer_size;
usart0_tx_buffer_start = (usart0_tx_buffer_start + 1) % usart_buffer_max_size;
return c;
}
// Entry of circular buffer for USART1
void USART1_QueueIn(char c)
{
int i;
if (usart1_tx_buffer_size < usart_buffer_max_size) // Circular buffer is not full
{
i = (usart1_tx_buffer_size + usart1_tx_buffer_start) % usart_buffer_max_size;
usart1_tx_buffer[i] = c;
++usart1_tx_buffer_size;
}
}
// Exit of circular buffer for USART1
char USART1_QueueOut(void)
{
char c;
if (usart1_tx_buffer_size == 0)
return 0;
c = usart1_tx_buffer[usart1_tx_buffer_start];
--usart1_tx_buffer_size;
usart1_tx_buffer_start = (usart1_tx_buffer_start + 1) % usart_buffer_max_size;
return c;
}
// Sending response via circular buffer to the USART0
static void USART0_Send(const char *s)
{
int i;
for (i = 0; s[i] != 0; ++i)
USART0_QueueIn(s[i]);
if (usart0_tx_buffer_size > 0)
UCSR0B |= 1 << UDRIE0;
}
// Sending a command via circular buffer to the USART1
static void USART1_Send(const char *s)
{
int i;
for (i = 0; s[i] != 0; ++i)
USART1_QueueIn(s[i]);
if (usart1_tx_buffer_size > 0)
UCSR1B |= 1 << UDRIE1;
++command_ready;
}
// Treatment of command
void ProcessCommand(char *p)
{
char buffer[cols + 1] = {0};
char *separator = {","};
char *x_pos = NULL ;
char *y_pos = NULL ;
char x_motor[12] = {0};
char y_motor[12] = {0};
char s1_x[20] = "#1s";
char s1_y[20] = "#2s";
char s_x[20] = {0};
char s_y[20] = {0};
int x = 0, y = 0;
int x1 = 0, y1 = 0;
// Copy of coordinate(x,y)
strcpy(buffer, p);
// buffer = strdup(p);
// Extraction of position x and y
x_pos = strtok(buffer, separator);
y_pos = strtok(NULL, separator);
//x = atoi(x_pos);
//y = atoi(y_pos);
//x1 = x * 127 / 500;
//y1 = y * 127 / 500;
//itoa(x1, x_motor,10);
//itoa(y1, y_motor,10);
// copy of string
strcpy(x_motor, x_pos);
strcpy(y_motor, y_pos);
strcat(x_motor, "\r" ); // concatenation of string
strcat(s1_x , x_motor);
strcpy(s_x, s1_x); // copy of string
strcat(y_motor, "\r" );
strcat(s1_y , y_motor);
strcpy(s_y, s1_y);
// Sending position x_moteur
if(flag == 0)
{
Deletecaracter(s1_x); // Delete the caracter '#' in s1_x
USART1_Send(s_x);
delay();
if(strcmp(response, responsemotor) == 0)
{
memset(response, 0, sizeof(response)); // string is empty
memset(responsemotor, 0, sizeof(responsemotor)); // string is empty
counter = 0;
}
if(flag == 1)
{
flag = 0;
USART1_Send("#1A\r");
delay();
if(strcmp(response, "1A\r") == 0)
{
memset(response, 0, sizeof(response)); // string is empty
flag = 0;
counter = 0;
}
}
}
if(flag == 0)
{
Deletecaracter(s1_y); // Delete the caracter '#' in s1_x
USART1_Send(s_y);
delay();
if(strcmp(response, responsemotor) == 0)
{
memset(response, 0, sizeof(response)); // string is empty
memset(responsemotor, 0, sizeof(responsemotor)); // string is empty
counter = 0;
}
if(flag == 1)
{
flag = 0;
USART1_Send("#2A\r");
delay();
if(strcmp(response, "2A\r") == 0)
{
memset(response, 0, sizeof(response)); // string is empty
flag = 0;
counter = 0;
command_ready = 0;
memset(p, 0, sizeof(p));
}
}
}
wait();
}
// function wait
void wait(void)
{
unsigned int counter = 10;
for(int i = 0; i < counter; i++)
{
_delay_ms(3000); // Wait 3000ms --> 3s
}
}
void delay(void)
{
while(flag == 0)
{
unsigned int i = 1;
while(i != flag)
{
// We have nothing to do
}
}
}
// function receive interrupt of Byte
// the fuction receice interrupt is High, if RXCIE0 = 1
ISR(USART0_RX_vect)
{
// Reception of command -->("D X,Y F")
char data;
data = UDR0;
if (data == 'F')
{
++i;
USART0_Send("\x06"); // ACK ---> PC can send next data
command_execution = 1; // Activation sending of position
}
else if (data == 'D')
{
// Generation of a new command
j = 0;
}
else
{
// If we not receive 'F' or 'D', we store
// the positions of coordinate in a table2D
if(i < lines)
{
if(j < cols)
{
table2D[i][j] = data;
++j;
}
}
else
{
//USART0_Send("\x04");// EOT --> PC must wait a few minuts
// i = 0;
}
}
}
void Copytable(char table_2D[lines][cols + 1], int N, int M)
{
int i, j;
char table_1D[cols + 1] = {0};
for(i = 0; i < N; i++)
{
for(j = 0; j < M; j++)
{
table_1D[j] = table_2D[i][j];
}
ProcessCommand(table_1D);
memset(table_1D, 0, sizeof(table_1D));
}
}
// The function interrupt for sending of Byte
// The function interrupt is active, if UDRIE0 = 1
ISR(USART0_UDRE_vect)
{
UDR0 = USART0_QueueOut();
// Stop sending,if we don´t have data to send.
if (usart0_tx_buffer_size == 0)
UCSR0B &= ~(1 << UDRIE0);
}
// The function interrupt for sending of Byte
// The function interrupt is active, if UDRIE1 = 1
ISR(USART1_UDRE_vect)
{
UDR1 = USART1_QueueOut();
// Stop sending,if we don´t have data to send.
if (usart1_tx_buffer_size == 0)
UCSR1B &= ~(1 << UDRIE1);
}
ISR(USART1_RX_vect)
{
char data;
data = UDR1;
if(counter < cols)
{
response[counter] = data;
if(response[counter] == '\r')
{
flag = 1;
}
else
{
++counter;
}
}
}
void Sendtomotor(char string2D[LINE][MAX])
{
char stepmotor[MAX] = {0};
char datamotor[MAX] = {0};
int i, j;
for(i = 0; i < LINE; i++)
{
for(j = 0; j < MAX; j++)
{
stepmotor[j] = string2D[i][j];
datamotor[j] = stepmotor[j];
}
Deletecaracter(stepmotor);
USART1_Send(datamotor);
delay();
if(flag == 1)
{
if(strcmp(response, responsemotor) == 0)
{
memset(response, 0, sizeof(response)); // string is empty
memset(responsemotor, 0, sizeof(responsemotor)); // string is empty
flag = 0;
counter = 0;
}
}
}
command_ready = 0;
}
// Delete the caracter '#'
void Deletecaracter(char * string)
{
int i = 0, j = 0, size = 0;
size = strlen(string); // Size of string without '\0'
for(i = 0; string[i] != 0 ; i++)
{
if(string[i] == '#')
{
for(j = i; j < size; j++)
{
string[j] = string[j+1];
responsemotor[j] = string[j];
}
}
}
}
void Sendingposition(void)
{
if(command_execution == 1)
{
Copytable(table2D, lines, cols);
command_execution = 0;
}
}
int main (void)
{
USART_Init(UBRR_VAL); // Initialisation of USART0 and USART1
sei(); // Activation of function Interrupt
Sendtomotor(firststring2D); // Initialisaton of Motor-control
while (1) // Infinite loop
{
Sendingposition();
}
} |
Echange de donnees entre un microcontrôleur et moteur
Répondre avec citation
Partager