Communication entre un microcontrôleur et un moteur de commande

**arthurdubois** · 12/10/2012, 19h05

Bonsoir,

je desire transferer plusieurs commandes du microcontrôleur jusqu´au moteur de commande. Cependant le moteur de commande retourne toujours une reponse lorsqu´il recoit une commande. Si je desire envoyer 5 commandes au moteur de commande, alors le moteur de commande recevra d´abord la 1er commande, ensuite il retournera la reponse au microcontrôleur. Ensuite on peut passer a l´envoie de la 2ieme commade et le moteur de commande retournera aussi la reponse. Le procede sera pareil pour les autres commandes. Ainsi, le moteur retourne une reponse entre deux commandes. Lorsque le moteur recoit une commande, il est capable de retourner automatiquement une reponse en precisant si oui ou non une commande est valide.

Exemple: Envoie de la commande-----> "#2A\r"
Reponse du moteur----------> "2A\r"-----> commande valide
Reponse du moteur----------> "2A?\r"----> commande invalide

Explication du protocôle d´une commande: "#2A\r"
#: debut d´une commande
2: Nummero du moteur
A: instruction a effectuer
\r: fin d´une commande

PS: J´envoie les commandes au moteur via USART1 et le moteur de commande retourne les reponses via l´USART1

Actuellement, je n´arrive pas a synchroniser mon ISR(USART1_RX_vect) et mon ISR(USART0_RX_vect). Du moins l´echange de donnees entre le microcontrôleur et le moteur ne marche. Se serait vraiment sympa, si vous me filez un coup de main. merci.

Mon code:

Code :

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#include <avr/io.h>
#include <avr/interrupt.h> 
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h> 
#include <util/delay.h>

#define F_CPU 9.6e6
#define FOSC 8000000 // Clock Speed
#define BAUD 115200UL

#define UBRR_VAL ((FOSC+BAUD*8)/(BAUD*16)-1)   // clever runden

/* 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<<UDRIE0);
  UCSR0C = (1<<USBS0) | (1<<UCSZ01) | (1<<UCSZ00);
  UCSR1B = (1<<RXEN1) | (1<<TXEN1) | (0<<RXCIE1) | (0<<UDRIE1);
  UCSR1C = (1<<USBS1) | (1<<UCSZ11) | (1<<UCSZ10);
} 

/**********************************************************/

/* Entree de la file */
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;
  }
}

/* Sortie de la file */
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;
}

/* Entree de la file */
void USART1_QueueIn(char c)
{
  int i;

  if (usart1_tx_buffer_size < usart_buffer_max_size)
  {
    i = (usart1_tx_buffer_size + usart1_tx_buffer_start) % usart_buffer_max_size;
    usart1_tx_buffer[i] = c;
    ++usart1_tx_buffer_size;
  }
}

/* Sortie de la file */
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;
}

/* Envoie d´une reponse via la file a 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;
}

/* Envoie une commande via la file a 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;
}

ISR(USART0_RX_vect)
{
 
  USART1_Send("#2A\r"); 
  UCSR1B = (1<<RXCIE1); 

  USART1_Send("#2C\r"); 
  UCSR1B = (1<<RXCIE1);

  USART1_Send("#2D\r"); 
  UCSR1B = (1<<RXCIE1);
}

ISR(USART1_RX_vect)
{
 char stringresponse[30] ;
 stringresponse[30] = UDR1;

 switch(stringresponse[30])
 {
   case '2A\r':
   stringresponse[0] = '\0'; // Vider la chaîne
   UCSR1B = (0<<RXCIE1); 
   break;

   case '2c\r':
   stringresponse[0] = '\0';
   UCSR1B = (0<<RXCIE1);
   break;

  case '2D\r':
  stringresponse[0] = '\0';
  UCSR1B = (0<<RXCIE1);
  break;

 default:
 
 }
}

int main (void)
{ 
  USART_Init(UBRR_VAL); // Initialisation de USART0 et USART1
  sei();  
  while (1)
  {
   	 
  }
  
}

**arthurdubois** · 12/10/2012, 19h39

Sorry j´ai omis une fonction d´interruption. Je complete mon code:

Code :

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#include <avr/io.h>
#include <avr/interrupt.h> 
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h> 
#include <util/delay.h>

#define F_CPU 9.6e6
#define FOSC 8000000 // Clock Speed
#define BAUD 115200UL

#define UBRR_VAL ((FOSC+BAUD*8)/(BAUD*16)-1)   // clever runden

/* 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<<UDRIE0);
  UCSR0C = (1<<USBS0) | (1<<UCSZ01) | (1<<UCSZ00);
  UCSR1B = (1<<RXEN1) | (1<<TXEN1) | (0<<RXCIE1) | (0<<UDRIE1);
  UCSR1C = (1<<USBS1) | (1<<UCSZ11) | (1<<UCSZ10);
} 

/**********************************************************/

/* Entree de la file */
void USART1_QueueIn(char c)
{
  int i;

  if (usart1_tx_buffer_size < usart_buffer_max_size)
  {
    i = (usart1_tx_buffer_size + usart1_tx_buffer_start) % usart_buffer_max_size;
    usart1_tx_buffer[i] = c;
    ++usart1_tx_buffer_size;
  }
}

/* Sortie de la file */
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;
}


/* Envoie une commande via la file a 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;
}

ISR(USART0_RX_vect)
{
 
  USART1_Send("#2A\r"); 
  UCSR1B = (1<<RXCIE1); 

  USART1_Send("#2C\r"); 
  UCSR1B = (1<<RXCIE1);

  USART1_Send("#2D\r"); 
  UCSR1B = (1<<RXCIE1);
}

ISR(USART1_RX_vect)
{
 char stringresponse[30] ;
 stringresponse[30] = UDR1;

 switch(stringresponse[30])
 {
   case '2A\r':
   stringresponse[0] = '\0'; // Vider la chaîne
   UCSR1B = (0<<RXCIE1); 
   break;

   case '2c\r':
   stringresponse[0] = '\0';
   UCSR1B = (0<<RXCIE1);
   break;

  case '2D\r':
  stringresponse[0] = '\0';
  UCSR1B = (0<<RXCIE1);
  break;

 default:
 // ignorer
 }
}

/* La fonction d´interruption d´envoi de byte */
/* Cette fonction est active lorsque UDRIE1 = 1 */
ISR(USART1_UDRE_vect)
{
  UDR1 = USART1_QueueOut();
  /* S'il n'y a plus de données à envoyer on arrete l'emission */
  if (usart1_tx_buffer_size == 0)
    UCSR1B &= ~(1 << UDRIE1);
}


int main (void)
{ 
  USART_Init(UBRR_VAL); // Initialisation de USART0 et USART1
  sei();  
  while (1)
  {
   	 
  }
  
}

**arthurdubois** · 23/01/2013, 15h14

programme:

Code :

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#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)
  {
    asm volatile("nop");
  }
   _delay_ms(20);
}



// 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();    
  }
}

Communication entre un microcontrôleur et un moteur de commande

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