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  1. #1
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    Par défaut Echange de donnees entre un microcontrôleur et moteur

    Bonjour,

    je bosse avec un microcontrôleur possedant deux USARTs(USART0 et USART1). USART0 recoit sucessivement des donnees en ASCII du PC sous la forme: DX,YF . X, Y prennent les valeurs comprises entre 0 et 9. Cependant X et Y contienent au maximum 5Bytes chacun. Exemple: D10021,12425F ou D12,2356F.

    Les donnees recues par l`USART0 sont ecris continuellement dans un tableau 2D. Des lors que l`USART0 ne recoit plus de donnees du pc, alors je vide progressivement le tableau 2D en envoyant les donnees au moteur via USART1. Jusqu´ici ca va !!

    Chaque fois que le moteur recoit via USART1 une instruction du microcontrôleur, le moteur retourne aussitôt via USART1 une reponse au microcontrôleur pour dire si oui ou non l´instruction sera execute.

    Si j´envoie 10 instructions via USART1 au moteur, le moteur recevra la 1er instruction et ensuite il retournera via USART1 au microntrôleur une reponse pour dire si oui ou non l´instruction est correct. Apres le moteur pourra recevoir la 2ieme instruction et le processus sera pareil pour les autres instructions.

    Exemple:
    Miconcontrôleur envoie:---> "#1A\r"
    Reponse moteur:----------> "1A\r" : instruction correct( '?' est absent)

    Miconcontrôleur envoie:---> "#1°\r"
    Reponse moteur:----------> "1°?\r" : instruction pas correct( '?' est present)

    J´ai essaye de synchroniser l´envoie des instructions via USART1 vers le moteur et le retour de reponses du moteur pour chaque instruction recue. Mais je pense que je m´y prends mal au niveau de la fonction ISR(USART1_RX_vect) qui est charge de recevoir les reponses du moteur et ensuite d´activer l´envoie des autres instructions.

    Pourriez-vous m´aider s´il vous plaît !! Merci d´avance.

    PS: Dans mon programme, je me contente de gerer les reponses du moteur qui sont corrects au niveau de la fonction ISR(USART1_RX_vect).

    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 <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 16u
    #define usart_command_max_size 16u
    #define ROW 200
    #define COLUMN 12
    #define MAX 10
    ///////////////////////////////////////////////////////////////////
    char Table_2D[ROW][COLUMN]; // table in dimensional two
    char Table_1D[COLUMN] = {0}; // table in dimensional one
    char motor_command[COLUMN];
    char usart0_tx_buffer[usart_buffer_max_size];
    char usart1_tx_buffer[usart_buffer_max_size];
    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_start = 0;
    volatile uint8_t COMMAND_SIZE = 0;
    volatile uint8_t command_ready = 0;
    /////////////////////////////////////////////////////////////////////
    int i = 0; // Number of elements in a row
    int j = 0; // Number of rows
    int N = sizeof(Table_2D) / sizeof(Table_2D[0]); // Number of rows
    int M = sizeof(Table_2D) / sizeof(Table_2D[j][0]); // Number elements of 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) | (0<<RXCIE1) | (0<<TXCIE1) | (0<<UDRIE1);
      UCSR1C = (0<<USBS1) | (1<<UCSZ11) | (1<<UCSZ10); // 1 Stopbit, data = 8 Bits
    }
    /////////////////////////////////////////////////////////////////////
    
    // 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;
    }
    
    
    // Treatment of command
    static void ProcessCommand(void)
    {
      int i;
      int k;
      int x;
      int y;
      int pos_x;
      int pos_y;
     
      char x_motor[12];
      char y_motor[12];
    
         for (i = 0; i < COMMAND_SIZE; ++i)
           if (motor_command[i] == ',')
             break;
    
         if (i <= 0 || i >= COMMAND_SIZE - 1)
         {
       
           USART0_Send("\x15");  // NAK, Sending didn´t work.
           COMMAND_SIZE = 0;
           return;
         }
      // Conversion of x and y in integer for the execution of calculation,if it is necessary
      // Extraction of X and Y
        
           motor_command[i] = 0;
           motor_command[COMMAND_SIZE] = 0;
           x = atoi(motor_command);
           y = atoi(motor_command + i + 1);
    
           COMMAND_SIZE = 0;   
    
        // Conversion in stepping motor
           pos_x= x * 127/500;
           pos_y= y * 127/500;
        // Conversion in ascii
           itoa(pos_x, x_motor, 10);
           itoa(pos_y, y_motor, 10);
    
           if(command_start == 0)
    	   {
              // Sending position x_moteur
             USART1_Send("#1s");
             USART1_Send(x_motor);
             USART1_Send("\r");
           }
    
    	   if(command_start == 1)
    	   {
             USART1_Send("#1A\r"); // the plate can move in axis x
           }
    		  
    	   if(command_start == 2)
    	   {
                   // Sending of position y_moteur
             USART1_Send("#2s");
             USART1_Send(y_motor);
             USART1_Send("\r");
           }
    	   if(command_start == 3)
    	   {
             USART1_Send("#2A\r"); // the plate can move in axis y
    	   }
    
    	   
        wait(3000); //wait 3000ms ---> 3s
      
    }
    
    ISR(USART1_RX_vect)
    {
     
     char response[MAX] = {0};
     int n,m;
     
     for(n = 0; n < MAX; n++)
     {
      response[n] = UDR1;
     }
      
        if(strcmp(response, "1D0\r") == 0)
        {
          for(m = 0; m < MAX; m++)
    	  {
            response[m] = '\0'; // String is empty
    	  }
    	     command_ready = 1;
        } 
    
        if(strcmp(response, "2D0\r") == 0)
        {
          for(m = 0; m < MAX; m++)
    	  {
            response[m] = '\0'; // String is empty
    	  }
    	   command_ready = 2;
        }
    	
    	
        if(strcmp(response, "1p2\r") == 0)
        {
         for(m = 0; m < MAX; m++)
    	  {
            response[m] = '\0'; // String is empty
    	  }
    	    command_ready = 3;
        } 
    
    	
        if(strcmp(response, "2p2\r") == 0)
        {
         for(m = 0; m < MAX; m++)
    	  {
            response[m] = '\0'; // String is empty
    	  }
    	   command_ready = 0;
        } 
    
    	
        if(strcmp(response, "1sx_motor\r") == 0)
        {
         for(m = 0; m < MAX; m++)
    	  {
            response[m] = '\0'; // String is empty
    	  }
    	    command_start = 1;
        }
    	
    	 
        if(strcmp(response, "1A\r") == 0)
        {
          for(m = 0; m < MAX; m++)
    	  {
            response[m] = '\0'; // String is empty
    	  }
    	  
        }
    
    	if(strcmp(response, "Ziel erreicht") == 0)
    	{
    	  for(m = 0; m < MAX; m++)
    	  {
            response[m] = '\0'; // String is empty
    	  }
    	    command_start = 2;
    	} 
    	
    	
        if(strcmp(response, "1sy_motor\r") == 0)
        {
         for(m = 0; m < MAX; m++)
    	  {
            response[m] = '\0'; // String is empty
    	  }
    	     command_start = 3;
        } 
    
    	 
        if(strcmp(response, "2A\r") == 0)
        {
          for(m = 0; m < MAX; m++)
    	  {
            response[m] = '\0'; // String is empty
    	  }
    	 
        } 
        
    	if(strcmp(response, "Ziel erreicht") == 0)
    	{
    	  for(m = 0; m < MAX; m++)
    	  {
            response[m] = '\0'; // String is empty
    	  }
    	    command_start = 0;
    	 }
     
    
    }
    
    // function wait
    
    void wait(unsigned int time)
    {
      unsigned int counter = 20;
        for(int i = 0; i < counter; i++)
        {
          _delay_ms(time); 
        }
    }
    
    
    
    // function receive interrupt of Byte
    // the fuction receice interrupt is High, if RXCIE0 = 1 
    ISR(USART0_RX_vect)
    {
      char data;
      data = UDR0;
    
     // Reception of command -->("D X,Y F")
     // X = x_motor and Y = y_motor
     
      if (data == 'F')
      {            
        ++j;
        USART0_Send("\x06"); // ACK ---> PC can send next data
       
       }
    
       else if (data == 'D')
       {
        // Generation of a new command
        i = 0;
       }
    
      
      else
      {
        // If we not receive  'F' or 'D', we store
        // the positions of coordinate in a table
       
        if(j < ROW)
        {
          if(i < COLUMN)
          {
            Table_2D[j][i] = data;
            ++i;
          }
         
         }
         else
         {
           //USART0_Send("\x04");// EOT --> PC must wait a few minuts   
          // j = 0;
         }   
       }
      command_execution = 1; // Sending of data begin to USART1
    }
    
    void Copytable(char Originaltable2D[N][M], char Copytable1D[], int N1, int M1)
    {
    
      int j1;
      int i1;
      for(j1 = 0; j1 < N1; j1++)
      {
        for(i1 = 0; i1 < M1; i1++)
        {
          Copytable1D[i1] = Originaltable2D[j1][i1];
          motor_command[COMMAND_SIZE] = Copytable1D[i1];
          ++COMMAND_SIZE;
        }
    
        ProcessCommand();
      }
    
    }
     
    
    
    // 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);
    }
    
    
    void ConfigurationMotor(void)
     {
       //USART1_Send("#1|0\r"); // Deactivation of response motor-control Nr 1
       //USART1_Send("#2|0\r"); // Deactivation of response motor-control Nr 2
       //USART1_Send("#1:baud=7"); // Baudrate = 9600
       //USART1_Send("#2:baud=7"); // Baudrate = 9600
       USART1_Send("#1D0\r"); // The actual position of plate is the origin in axis x
       																																																																																																																																																																																																																			            
     }
     
    
    int main (void)
    {
      sei(); // Activation of function Interrupt
      USART_Init(UBRR_VAL); // Initialisation of USART0 and USART1
      ConfigurationMotor(); // Initialisaton of Motor-control
      
      
      
     
      while (1) // Infinite loop
      {
        
        if(command_ready == 1)
    	{
          USART1_Send("#2D0\r"); // The actual position of plate is the origin in axis y
    	}
    
    	if(command_ready == 2)
    	{
          USART1_Send("#1p2\r"); // Mode: Positioning absolut --> p=2
    	}
    		
    	if(command_ready == 3)
    	{
          USART1_Send("#2p2\r"); // Mode: Positioning absolut --> p=2	 
    	}
    	  
    	  
    	 if(command_execution == 1)
        {
          Copytable(Table_2D, Table_1D, ROW, COLUMN);
          command_execution = 0;   
        }
            
      }
     
    }

  2. #2
    Invité régulier
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    Par défaut

    Bonsoir,

    A l´aide du deboggage, j´ai teste mon programme lorsque le microcontrôleur est alimente par une source de tension de 5V.
    Les fonctions USART_Init(UBRR_VAL), Sei() et Sendtomotor(firststring2D) que j´appelle dans mon main fonctionne comme je le desire.

    Mais la fonction
    Code :
    Copytable(Table_2D, Table_1D, ROW, COLUMN)
    qui se trouve a l´interieur de la fonction me cause des soucis.

    Lors du deboggage, le debogguer entre dans la fonction

    Code :
    Copytable(Table_2D, Table_1D, ROW, COLUMN
    sans probleme. Une fois a l´interieur de la fonction Copytable, le debogguer est sense entrer dans les deux boucles for, puis entrer dans la fonction ProcessCommand.

    Au lieu de cela, le debogguer entre d´abord dans la fonction ProcessCommand et execute les instructions char s1_x = "#1s"; char s1_y = "#2s"; strcat(s1_x ,x_motor ); strcat(s1_y ,y_motor ); , puis il revient dans la fonction Copytable et cette fois le debogguer entre dans les deux boucles for, ensuite il entre normalement dans la fonction ProcessCommand.

    Je ne comprend pas ce disfonctionement de mon programme.

    pourriez vous m´aider svp.??

    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>
    #define F_CPU 3686400UL
    #include <util/delay.h>
    
    #define FOSC 7372000 // Clock Speed
    #define BAUD 9600UL
    
    #define UBRR_VAL ((FOSC+BAUD*8)/(BAUD*16)-1)   // clever runden
    ///////////////////////////////////////////////////////////////////
    #define usart_buffer_max_size 16u
    //#define usart_command_max_size 16u
    #define ROW 1
    #define COLUMN 13
    #define MAX 11
    #define LINE 4
    
    ///////////////////////////////////////////////////////////////////
    char Table_2D[ROW][COLUMN]; // table in dimensional two
    char Table_1D[COLUMN] = {0}; // table in dimensional one
    char motor_command[COLUMN];
    char usart0_tx_buffer[usart_buffer_max_size];
    char usart1_tx_buffer[usart_buffer_max_size];
    char responsemotor[MAX];
    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 COMMAND_SIZE = 0;
    /////////////////////////////////////////////////////////////////////
    int i; // Number of elements in a row
    int j = 0; // Number of rows
    int N = sizeof(Table_2D) / sizeof(Table_2D[0]); // Number of rows
    int M = sizeof(Table_2D) / sizeof(Table_2D[j][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) | (0<<RXCIE1) | (0<<TXCIE1) | (0<<UDRIE1);
      UCSR1C = (0<<USBS1) | (1<<UCSZ11) | (1<<UCSZ10); // 1 Stopbit, data = 8 Bits
    }
    
    ////////////////////////////////////////////////////////////////////////////////
    
    // 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
    static void ProcessCommand(void)
    {
      int i;
      int k;
      int x;
      int y;
      int pos_x;
      int pos_y;
      char x_motor[12];
      char y_motor[12];
      char s1_x[20] = "#1s";
      char s1_y[20] = "#2s";
    
         for (i = 0; i < COMMAND_SIZE; ++i)
           if (motor_command[i] == ',')
             break;
    
         if (i <= 0 || i >= COMMAND_SIZE - 1)
         {
       
           USART0_Send("\x15");  // NAK, Sending didn´t work.
           COMMAND_SIZE = 0;
           return;
         }
      // Conversion of x and y in integer for the execution of calculation,if it is necessary
      // Extraction of X and Y
        
           motor_command[i] = 0;
           motor_command[COMMAND_SIZE] = 0;
           x = atoi(motor_command);
           y = atoi(motor_command + i + 1);
    
           COMMAND_SIZE = 0;   
    
        // Conversion in stepping motor
           pos_x= x * 127/500;
           pos_y= y * 127/500;
        // Conversion in ascii
           itoa(pos_x, x_motor, 10);
           itoa(pos_y, y_motor, 10);
    
           strcat(s1_x ,x_motor );
           strcat(s1_x , "\r");
    
           strcat(s1_y ,y_motor );
           strcat(s1_y , "\r");
    
            // Sending position x_moteur
          //USART1_Send("#1s");
          //USART1_Send(x_motor);
          //USART1_Send("\r");
    
          Deletecaracter(s1_x); // Delete the symbo '#' in s1_x
          USART1_Send(s1_x);
    
          if(command_ready == 1)
          {
             USART1_Send("#1A\r"); // the plate can move in axis x
          }
          if(command_ready == 2)
          {
            // Sending of position y_moteur
            //USART1_Send("#2s");
            //USART1_Send(y_motor);
            //USART1_Send("\r");
            Deletecaracter(s1_y);
            USART1_Send(s1_y);
           }
          if(command_ready == 3)
          {
            USART1_Send("#2A\r"); // the plate can move in axis y
          }
    
           command_ready = 0;
    
           wait();
    	     
    }
    
    // function wait
    
    void wait(void)
    {
      unsigned int counter = 6;
        for(int i = 0; i < counter; i++)
        {
          _delay_ms(2000); // Wait 2000ms --> 2s
        }
    }
    
    
    // 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")
     // X = x_motor and Y = y_motor
    
      char data;
      data = UDR0;
     
     
       if (data == 'F')
       {             
         ++j;
         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
         i = 0;
        }
       
       else
       {
          // If we not receive  'F' or 'D', we store
          // the positions of coordinate in a table2D
       
         if(j < ROW)
         {
           if(i < COLUMN)
           {
            Table_2D[j][i] = data;
             ++i;
           }
         
         }
          else
          {
           //USART0_Send("\x04");// EOT --> PC must wait a few minuts   
          // j = 0;
          }   
        }
      
    
    }
    
    void Copytable(char Originaltable2D[N][M], char Copytable[M], int N1, int M1)
    {
    
      int j1;
      int i1;
      for(j1 = 0; j1 < N1; j1++)
      {
        for(i1 = 0; i1 < M1; i1++)
        {
          Copytable[i1] = Originaltable2D[j1][i1];
          motor_command[COMMAND_SIZE] = Copytable[i1];
          ++COMMAND_SIZE;
        }
    
        ProcessCommand();
      }
    
    }
     
    
    
    // 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 response[MAX] = {UDR1};
    
     /* char response[MAX] = {0};
      int m;
      for(m = 0; m < MAX; m++)
      {
        response[m] = UDR1;
      } */
    
      if(strcmp(response, responsemotor) == 0)
      {
        memset(response, 0, sizeof(response)); // string is empty
        memset(responsemotor, 0, sizeof(responsemotor)); // string is empty
      }
      if(strcmp(response, "1A\r") == 0)
      {
        memset(response, 0, sizeof(response)); // string is empty   
      }
     
      if(strcmp(response, "2A\r") == 0)
      {
        memset(response, 0, sizeof(response)); // string is empty
      }
    
    }
    
     void Sendtomotor(char string2D[LINE][MAX])
     {
       char stepmotor[MAX];
       int i, j;
    
       for(j = 0; j < LINE; j++)
       {
         for(i = 0; i < MAX; i++)
         {
           stepmotor[i] = string2D[j][i];
         }
    
         Deletecaracter(stepmotor);
         USART1_Send(stepmotor);
       }
       command_ready = 0;
     }
    
    void Deletecaracter(char * string)
    {
      int i;
    
      for(i = 0; string[i] != 0 ; i++)
      {
         if(string[i] == '#')
         {
           // We not need the caracter '#'
         }
         else
         {
           responsemotor[i] = string[i];
         }
      }
    }
    
    void Sendingposition(void)
    {
      if(command_execution == 1)
        {
          Copytable(Table_2D, Table_1D, ROW, COLUMN);
          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
      //Sendingposition(); // Sending of position to USART1
     
    
      while (1) // Infinite loop
      {
         //ConfigurationMotor(); // Initialisaton of Motor-control
         Sendingposition();     
      }
     
    }
    Merci d´avance.

  3. #3
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    Ce n'est pas forcément un problème de ton programme, mais peut-être que ton déboggueur est perdu... As-tu vérifié que les optimisations sont désactivées lorsque tu compiles ton code pour le débogguer ?

  4. #4
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    Bonsoir,

    J´ai deboggue a plusieurs reprises mon programme et je me suis rendu compte que la synchronisation entre l´envoie des donnees depuis le microcontrôleur via la fonction USART1_Send et la reception automatique des reponses du moteur par le microcontrôleur via la fonction interrupt ISR(USART1_RX_vect) ne marche pas bien.

    J´ai effectue a nouveau des modifications dans mon prog et le resultat a ete un succes.

    Programme:

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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();    
      }
    }

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