From 4d7c9c7d4308ac7c77ba29212a176fbf9e3ddb94 Mon Sep 17 00:00:00 2001
From: Samuel <samuel.kay@poivron-robotique.fr>
Date: Wed, 28 Jan 2026 19:12:56 +0100
Subject: [PATCH] Envoi message de position selon protocole "com_v2"

---
 Host_cdc_usb          | Bin 0 -> 20968 bytes
 Host_cdc_usb.c        | 103 ++++++++++++++++++++++++++++++++++++++++++
 Messages.h            |  17 +++++++
 messages_propulsion.h |  13 ++++++
 4 files changed, 133 insertions(+)
 create mode 100755 Host_cdc_usb
 create mode 100644 Host_cdc_usb.c
 create mode 100644 Messages.h
 create mode 100644 messages_propulsion.h

diff --git a/Host_cdc_usb b/Host_cdc_usb
new file mode 100755
index 0000000000000000000000000000000000000000..aaae87caaa98fc9d9edb52faaa7fddeec34d3a49
GIT binary patch
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diff --git a/Host_cdc_usb.c b/Host_cdc_usb.c
new file mode 100644
index 0000000..3bb52f5
--- /dev/null
+++ b/Host_cdc_usb.c
@@ -0,0 +1,103 @@
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+
+#include "Messages.h"
+
+  time_t rawtime;
+  struct tm * timeinfo;
+
+
+void envoi_données(uint8_t * données, unsigned int taille_données, FILE *fp){
+    for(int i=0; i<taille_données; i++ ){
+        fputc(données[i], fp);
+        printf("0x%02x ", données[i]);
+    }
+}
+
+void envoi_données_protocole(uint8_t * données, unsigned int taille_données, FILE *fp){
+    fputc(0xFF, fp);printf("0xFF ");
+    fputc(0xFF, fp);printf("0xFF ");
+    fputc(taille_données + 1, fp);printf("%d ", taille_données + 1);
+    envoi_données(données, taille_données,fp);
+    fputc(0x00, fp); printf("0x00 ");
+    
+    fputc('\n', fp); // Besoin du '\n' pour que la trame soit réellement expédiée (avant d'avoir fini de remplir le tampon)
+
+    printf("\n");
+
+}
+
+/// @brief Envoie des données, de l'entête et du caractère de fin du message
+/// @param données 
+/// @param taille_données 
+/// @param fp 
+void envoi_données_applicatives(uint8_t commande, uint8_t id_carte, uint8_t adresse_reg, uint8_t * données, unsigned int taille_données, FILE *fp){
+    struct message_applicatif_t message_applicatif;
+    message_applicatif.commande = commande;
+    message_applicatif.id_carte = id_carte;
+    message_applicatif.adresse_registre = adresse_reg;
+    message_applicatif.taille_donnees = taille_données;
+    memcpy(message_applicatif.donnees_applicative.donnees, données, taille_données);
+    envoi_données_protocole((uint8_t *) &message_applicatif, taille_données + 4, fp);
+}
+
+int main(){
+    FILE *fp;
+    time_t rawtime, rawtime_old;
+    time ( &rawtime );
+    rawtime_old =0;
+    char on=1;
+    char filename[] = "/dev/ttyACM0";
+    printf("Host cdc USB\n");
+    fp = fopen(filename, "w");
+    if(fp == NULL){
+        printf("Open failed: %s\n", filename);
+        return 1;
+    }else{
+        printf("Open success: %s\n", filename);;
+    }
+    int my_char;
+    
+    while(1){
+        time ( &rawtime );
+        if(rawtime > rawtime_old +2){
+            rawtime_old = rawtime;
+            struct msg_propulsion_position_t msg_propulsion_position;
+            msg_propulsion_position.position_x_mm = 1.5;
+            msg_propulsion_position.position_y_mm = 2.5;
+            msg_propulsion_position.orientation_rad = -3;
+            uint8_t données_led[10];
+            données_led[0]='r';
+            données_led[1]='D';
+            données_led[2]=0x00;
+            données_led[3]=0x01;
+            if(on){
+                données_led[4]=0x25;
+            }else{
+                données_led[4]=0x05;
+            }
+            on = !on;
+            
+
+            //envoi_données_protocole(données_led, 5, fp);
+            //envoi_données_applicatives('r', 'D', 0, &données_led[4], 1, fp);
+            printf("envoi message\n");
+            envoi_données_applicatives('r', 'P', 0, (uint8_t *) &msg_propulsion_position, sizeof(msg_propulsion_position), fp);
+        }
+    }
+
+    // Lecture de la liaison série (décodage hexa)
+    do{
+        my_char = fgetc(fp);
+        printf("%02x ", my_char);
+        if(my_char == '\n'){
+            
+            printf("\n");
+        }
+    }while(my_char != EOF);
+    printf("fin de lecture\n");
+    fclose(fp);
+
+}
\ No newline at end of file
diff --git a/Messages.h b/Messages.h
new file mode 100644
index 0000000..9de02dc
--- /dev/null
+++ b/Messages.h
@@ -0,0 +1,17 @@
+#include <stdint.h>
+#include "messages_propulsion.h"
+
+struct message_applicatif_t{
+  uint8_t commande; // 'r' : réception de données, 'd' : demande de données
+  uint8_t id_carte; // Identifiant de la carte (on reprend les adresses I2C)
+  uint8_t adresse_registre; // Adresse du registre lu ou écrit
+  uint8_t taille_donnees;
+  union{
+    uint8_t donnees[100];
+#ifdef MESSAGE_PROPULSION_H
+    struct msg_propulsion_position_t msg_propulsion_position;
+#endif
+
+  }donnees_applicative;
+
+};
\ No newline at end of file
diff --git a/messages_propulsion.h b/messages_propulsion.h
new file mode 100644
index 0000000..f12cc65
--- /dev/null
+++ b/messages_propulsion.h
@@ -0,0 +1,13 @@
+#include <stdint.h>
+#ifndef MESSAGE_PROPULSION_H
+#define MESSAGE_PROPULSION_H
+#define USB_ID_PROPULSION 'P'
+
+#define REG_PROPULSION_POSITION 0x00
+
+struct msg_propulsion_position_t{
+    float position_x_mm, position_y_mm, orientation_rad;
+};
+
+
+#endif
\ No newline at end of file