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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)
{
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();
}
} |
28/12/2012, 11h50
arthur 
Echange de donnees entre un microcontrôleur et moteur
00
