Code pour valider le fonctionnement de la communication I2C
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commit
42c1f8dcf0
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Cerveau/Cerveau.ino
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552
Cerveau/Cerveau.ino
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#include <M5Core2.h>
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#include <Wire.h>
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#include <WiFi.h>
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#include <WebServer.h>
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#include <math.h>
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#define WIRE Wire
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#define Rad_Deg 57.2957795130823
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#define gst_server;
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const char* ssid = "riombotique";
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const char* password = "password";
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// adresse du >Pi qui gere le serveur : 192.168.99.100
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IPAddress local_IP(192, 168, 99, 101);
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IPAddress gateway(192, 168, 99, 1);
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IPAddress subnet(255, 255, 255, 0);
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// const char* ssid = "metrofocus_etage";
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// const char* password = "19282915001";
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// IPAddress local_IP(192, 168, 1, 99);
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// IPAddress gateway(192, 168, 1, 1);
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// IPAddress subnet(255, 255, 255, 0);
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WebServer server(80);
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const int16_t I2C_MASTER = 0x42;
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const int16_t I2C_SLAVE_chassi = 0x55;
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const int16_t I2C_SLAVE_trian = 0x30;
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uint8_t test = 32;
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uint32_t i = 0;
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int16_t cmd_chassi_x = 0;
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int16_t xA =0;
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int16_t cmd_chassi_y = 0;
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int16_t yA =0;
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int16_t rot = 0;
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int16_t MemCmd_A = 0;
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int16_t Cmd_Angle = 0;
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int16_t vit = 0;
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int16_t acc = 0;
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int16_t MemCmd_X = 800;
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int16_t MemCmd_Y = 800;
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int16_t mem_x = 0; // faire une memoire et travailler avec
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int16_t mem_y = 0;
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bool corrige = false;
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int coef_mvt = 39; // coef mise en mm de la commande de mouvement
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uint8_t Mot[] = {0,0,0,0,0,0,0,0,0,0,0,0}; /*{0,0,0,0,205,206,207,208,209,210,211};*/
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bool Mvt_finit = 0;
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int toto = 0;
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int direction = 1;
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int nbr_essai = 0;
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int Position_actuelle_X, Position_actuelle_Y, MemPosition_X, MemPosition_Y, X_futur, Y_futur, compar_X, compar_Y, Angle_Robot_DEG_int; // Coordonée X Y de la triangulation
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float Angle_Robot_RAD =0;
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int PosLimNeg = -100000;
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int PosLimPos = 100000;
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bool lec_Balise_1 =0;
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bool lec_Balise_2 =0;
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bool lec_Balise_3 =0;
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bool lec_Calcul_ok =0;
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uint8_t error =0; // erreur de lecture I2C
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bool Err_Tri_com =0;
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bool Err_Chassi_com=0;
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bool Err_Cha_send=0;
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const char* ErreurListe[] = {"......", "Triang", "Chassi", "ChaRaz", "TriRaz", "ChSend"};
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int IndexErr = 0;
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int index_Maitre = 0;
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//enum Step {Initial, MemCmdMvt, MemActPos, Verif_Chassis_Rdy, Send_Chassis, Verif_Chassis_CmdOk, Verif_Fin_Mvt, ComparPos};
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//Step stp;
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bool Mvt_tolerance_OK =false;
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bool Balises_OK = 0;
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int tolerance_position =100;
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char* tableau[] = {"Lecture serveur", "Prise position", "Verif mvmt end ou cmd", "Compar position"};
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char* statu[] = {"/..","./.","../"};
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int index_statu=0;
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struct chassis_reception_t {
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char status;
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};
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struct chassis_emission_t {
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char status;
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int translation_x, translation_y, rotation_y;
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};
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#define FORM \
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"<!DOCTYPE html>\n" \
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"<html>\n" \
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"<head>\n" \
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"<meta charset=\"UTF-8\">\n" \
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"<title>A simple form</title>\n" \
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"</head>\n" \
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"<body>\n" \
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"<form action=\"/form\" method=\"post\">\n" \
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"<br>" \
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"<label for=\"X\">X : en mm</label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"X\" name=\"X\">\n" \
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"<br>" \
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"<label for=\"Y\">Y : en mm</label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"Y\" name=\"Y\">\n" \
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"<br>" \
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"<label for=\"R\">Rotation : en degres</label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"R\" name=\"R\">\n" \
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"<br>" \
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"<label for=\"V\">Vitesse : </label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"V\" name=\"V\" value=\"2000\">\n" \
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"<br>" \
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"<br>" \
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"<label for=\"A\">Accel : </label>\n" \
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"<br>" \
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"<input type=\"text\" id=\"A\" name=\"A\"value=\"1500\">\n" \
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"<br>" \
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"<br>" \
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"<input type=\"submit\" value=\" Vas-Y \">\n" \
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"<br>" \
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"<br>" \
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"<input type=\"reset\" value=\"Reset\">\n" \
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"<br>" \
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"<br>" \
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"<input type=\"submit\" value=\" STOP \">\n" \
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"</form>\n" \
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"</body>\n" \
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"</html>\n"
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void handleForm() {
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String message;
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message += FORM;
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server.send(200, "text/html", message);
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String myString0 = server.arg("X"); //positon de cmd en X mm
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// x= myString0.toInt() * coef_mvt/10;
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xA= myString0.toInt();
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String myString1 = server.arg("Y"); //positon de cmd en Y mm
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// y= myString1.toInt() * coef_mvt/10;
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yA= myString1.toInt();
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String myString2 = server.arg("R"); //positon de cmd en Rotation Deg °
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rot= myString2.toInt() * 13.88888;
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String myString3 = server.arg("V"); // Vitesse de cmd en
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vit= myString3.toInt();
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String myString4 = server.arg("A"); // Acceleration de cmd
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acc= myString4.toInt();
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}
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void setup() {
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// put your setup code here, to run once:
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Serial.begin(115200);
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M5.begin(); //Initialize M5Core2
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M5.Lcd.setTextSize(2);
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M5.Lcd.print("Bonjour\nEcran\n\nRecherche Wifi");
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Initialisation_wifi();
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server.on("/form", handleForm);
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WIRE.begin();
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M5.Lcd.clear();
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M5.Lcd.setCursor(0, 10);
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M5.Lcd.print("Scan Triangulation en cours");
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//scan_I2C_bus();
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//int compteur = 0;
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//while(compteur < 3){ //triangulation calcul valide ************** a prendre sur I2c)
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// Scan_Triangulation(); //Prise de la position actuel
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// delay(50);
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// if (Balises_OK && error == 0 && Xr > 0 && Yr > 0) compteur ++;
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//}
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// MemPosition_X = 800;
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// MemPosition_Y = 800;
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M5.Lcd.clear();
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M5.Lcd.setCursor(0, 0);M5.Lcd.print("Pos");M5.Lcd.setCursor(50, 0);M5.Lcd.print("X :");M5.Lcd.setCursor(150, 0);M5.Lcd.print("|Xp:");
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M5.Lcd.setCursor(0, 20);M5.Lcd.print("n-1");
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M5.Lcd.setCursor(50, 20);M5.Lcd.print("Y :");M5.Lcd.setCursor(150, 20);M5.Lcd.print("|Yp:");
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M5.Lcd.setCursor(0, 40);M5.Lcd.print("Pos");
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M5.Lcd.setCursor(50, 40);M5.Lcd.print("X :");
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M5.Lcd.setCursor(0, 60);M5.Lcd.print("Act");
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M5.Lcd.setCursor(50, 60);M5.Lcd.print("Y :");
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M5.Lcd.setCursor(10, 80);M5.Lcd.print("Trans I2C");
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M5.Lcd.setCursor(10, 100);M5.Lcd.print("Triangulation ");
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M5.Lcd.setCursor(10, 120);M5.Lcd.print("AngleRad");
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M5.Lcd.setCursor(10, 140);M5.Lcd.print("Tol x:");
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M5.Lcd.setCursor(10, 160);M5.Lcd.print("Tol y:");
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M5.Lcd.setCursor(10, 180);M5.Lcd.print("Case");
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//M5.Lcd.setCursor(10, 200);M5.Lcd.print("cmd :");
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}
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void loop() {
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static char wait = 0;
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char erreur;
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static int64_t time;
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struct chassis_reception_t chassis_reception;
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Serial.println("Scan_chassis");
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erreur = Scan_Chassi(&chassis_reception);
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Serial.println("fin Scan_chassis");
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// Si le chassis est disponible
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// Attente 1 seconde avant d'envoyer un messa
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Serial.println("if 0x02");
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if(chassis_reception.status == 0x02 && wait == 0){
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time = esp_timer_get_time();
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wait = 1;
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}
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Serial.println("wait 1s");
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if(wait == 1 && esp_timer_get_time() > time + 1000000){
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Serial.println("send_Chassis");
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send_Chassis();
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wait = 0;
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}
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//strategie();
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//affichage_resultats();
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//delay(500);
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}
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void affichage_resultats() {
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index_statu ++;
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if(index_statu >=3){index_statu =0;}
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// affichage des resultats .........................
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M5.Lcd.setCursor(75, 0);M5.Lcd.print(MemPosition_X);M5.Lcd.print(" "); M5.Lcd.setCursor(200, 0);M5.Lcd.print(X_futur);M5.Lcd.print(" ");
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M5.Lcd.setCursor(75, 20);M5.Lcd.print(MemPosition_Y);M5.Lcd.print(" "); M5.Lcd.setCursor(200, 20);M5.Lcd.print(Y_futur);M5.Lcd.print(" ");
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M5.Lcd.setCursor(75, 40);M5.Lcd.print(Position_actuelle_X);M5.Lcd.print(" ");
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M5.Lcd.setCursor(75, 60);M5.Lcd.print(Position_actuelle_Y);M5.Lcd.print(" ");
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M5.Lcd.setCursor(220, 80);M5.Lcd.print(ErreurListe[IndexErr]);M5.Lcd.print(" ");
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M5.Lcd.setCursor(220, 100);M5.Lcd.print(lec_Balise_1);M5.Lcd.print(lec_Balise_2);M5.Lcd.print(lec_Balise_3);M5.Lcd.print(lec_Calcul_ok);M5.Lcd.print(" ");
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M5.Lcd.setCursor(150, 120);M5.Lcd.print(Angle_Robot_RAD);M5.Lcd.print(" ");
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M5.Lcd.setCursor(90, 140);M5.Lcd.print(compar_X);M5.Lcd.print(" ");
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M5.Lcd.setCursor(90, 160);M5.Lcd.print(compar_Y);M5.Lcd.print(" ");
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M5.Lcd.setCursor(70, 180);M5.Lcd.print(index_Maitre);M5.Lcd.print(", ");M5.Lcd.print(tableau[index_Maitre]);M5.Lcd.print(" ");
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//M5.Lcd.setCursor(90, 200);M5.Lcd.print(x);M5.Lcd.print(" ");M5.Lcd.print(y);M5.Lcd.print(" ");M5.Lcd.print(rot);M5.Lcd.print(" ");
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M5.Lcd.setCursor(50, 220);M5.Lcd.print(statu[index_statu]);M5.Lcd.print(" ");M5.Lcd.print(index_statu);
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}
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void Initialisation_wifi(){
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//Initialisation wifi
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//------------WIFI------------
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//Initialisation wifi
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WiFi.config(local_IP, gateway, subnet);
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WiFi.begin(ssid, password);
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int test_wifi = 0;
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while (WiFi.status() != WL_CONNECTED){
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delay(300);
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M5.Lcd.print(".");
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test_wifi ++;
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if (test_wifi > 10) break;
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}
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if (WiFi.status() == WL_CONNECTED) {
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server.begin();
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Serial.println("Server started");
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delay(500);
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M5.Lcd.clear();
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M5.Lcd.setCursor(10,10);
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M5.Lcd.print("Connecte au reseau ;-)");
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M5.Lcd.setCursor(10,30);
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M5.Lcd.print(ssid);
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}
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else {
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// le routeur riombotique n'a pas été trouvé - création d'un point d'accès
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WiFi.mode(WIFI_OFF);
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if (!WiFi.softAP("cerveau", "ilestsecret")) {
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log_e("Soft AP creation failed.");
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while(1);
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}
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IPAddress myIP = WiFi.softAPIP();
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server.begin();
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M5.Lcd.clear();
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M5.Lcd.setCursor(10,10);
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M5.Lcd.print("Creation Hotspot ;-)");
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M5.Lcd.setCursor(10,30);
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M5.Lcd.print("cerveau 192.168.4.1");
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M5.Lcd.setCursor(10,50);
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M5.Lcd.print("mdp : ilestsecret");
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}
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delay(1500);
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}
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void affiche_erreur(char * chaine1, char * chaine2){
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M5.Lcd.clear();
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M5.Lcd.setCursor(10,10);
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M5.Lcd.setTextColor(RED);
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M5.Lcd.print("Erreur fatale :-(");
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M5.Lcd.setTextColor(WHITE);
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M5.Lcd.setCursor(10,30);
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M5.Lcd.print(chaine1);
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M5.Lcd.setCursor(10,50);
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M5.Lcd.print(chaine2);
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}
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void affiche_msg(char * chaine1, char * chaine2){
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M5.Lcd.clear();
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M5.Lcd.setCursor(10,10);
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M5.Lcd.print("Message :");
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M5.Lcd.setCursor(10,30);
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M5.Lcd.print(chaine1);
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M5.Lcd.setCursor(10,50);
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M5.Lcd.print(chaine2);
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}
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void strategie(){
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struct chassis_reception_t chassis_reception;
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switch(index_Maitre){
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case 0 : //---------------------------------------------------------------------------------------------------------
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server.handleClient(); //************* Lecture des données recu pour coordoné (X,Y,rotation)
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if(vit!=0 && !corrige){
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Serial.printf("vit:%d, corrige: %d\n", vit, corrige);
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MemCmd_X = xA; //Memorisation de la comande pour comparaison avec arrivé
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MemCmd_Y = yA;
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MemCmd_A = rot;
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//index_Maitre = 1; // Bloc le serveur WEB si on n'a pas la triangulation
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index_Maitre = 2;
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}
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break;
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case 1 : //---------------------------------------------------------------------------------------------------------
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Scan_Triangulation(); //Prise de la position actuel
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MemPosition_X = Position_actuelle_X;
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MemPosition_Y = Position_actuelle_Y;
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if(Balises_OK == true && error == 0){ //triangulation calcul valide ************** a prendre sur I2c
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index_Maitre = 2;
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}else{
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//print probleme de lecture triangulatation
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}
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//Si position Pas OK ******************
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break;
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case 2 : //---------------------------------------------------------------------------------------------------------
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Scan_Chassi(&chassis_reception); //Verif de la fin de mouvement remonté par le chassis
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if(Err_Chassi_com !=0){
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affiche_erreur("case 2", "Err_Chassi_com !=0");
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for(int j=0; j<10; j++){
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affichage_resultats();
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Scan_Chassi(&chassis_reception);
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//delay(500);
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}
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// ********************************* ERREUR DE COM FATAL ***********************
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}
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if(Mvt_finit==0){
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send_Chassis(); //Envoie des coordonées à atteindre
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while(Mvt_finit!=1){
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Scan_Chassi(&chassis_reception); //Verif de la fin de mouvement remonté par le chassis (time out ?**********)
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delay(50);
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}
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Scan_Chassi(&chassis_reception); //Verif de la fin de mouvement remonté par le chassis (time out ?**********)
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}else{
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send_Chassis_RAZ(); //Envoie des coordonées à atteindre
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}
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//M5.Lcd.clear();
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index_Maitre = 0;
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break;
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}
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}
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void compar_cinematique(){
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// Consigne de position à atteindre en X, Y et angle par rapport à la position actuel
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// dans le repère du terrain
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//Position à atteindre théorique
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X_futur = MemCmd_X;
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Y_futur = MemCmd_Y;
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Scan_Triangulation(); //Prise de la position actuel
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if(Balises_OK == true && error == 0){ //triangulation calcul valide ************** a prendre sur I2c
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compar_X = X_futur - Position_actuelle_X; //compar de la position théoriquement atteinte avec la position actuel
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compar_Y = Y_futur - Position_actuelle_Y; //YR : position actuel Y_futur : Position de départ + mouvement demander (donc point d'arrivé théorique)
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if(abs(compar_X) < tolerance_position && abs(compar_Y) < tolerance_position){
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Mvt_tolerance_OK = true;
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}else{
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// print de la difference ; determiné cmd il nous faudrait faire à nouveau pour atteindre la position voulue
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// Distance à parcourir
|
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float distance_calculee = sqrt(sq(compar_X) + sq(compar_Y));
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float angle_robot_vers_destination = M_PI_2 - atan2(compar_Y, compar_X);
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float distance_Y_ref_robot = cos(angle_robot_vers_destination - Angle_Robot_RAD) * distance_calculee;
|
||||
float distance_X_ref_robot = sin(angle_robot_vers_destination - Angle_Robot_RAD) * distance_calculee;
|
||||
|
||||
if(corrige == false){
|
||||
mem_x = distance_X_ref_robot; // faire une memoire et travailler avec
|
||||
mem_y = distance_Y_ref_robot;
|
||||
corrige = true;
|
||||
}
|
||||
Mvt_tolerance_OK = false;
|
||||
}
|
||||
}else{
|
||||
compar_X =0 ; //compar de la position théoriquement atteinte avec la position actuel
|
||||
compar_Y =0 ;
|
||||
mem_x =0 ; //compar de la position théoriquement atteinte avec la position actuel
|
||||
mem_y =0 ;
|
||||
}
|
||||
}
|
||||
|
||||
/// @brief Lit l'état du chassis en I2C
|
||||
/// @return renvoi 0 si tout s'est bien passé, un code d'erreur sinon
|
||||
int Scan_Chassi(struct chassis_reception_t * chassis_reception){
|
||||
unsigned char tampon2[10];
|
||||
//(Adresse I2c, Adresse dans le registre, tampon, longueur de donnée)
|
||||
//Serial.println("avant lire registre");
|
||||
error = I2C_lire_registre(I2C_SLAVE_chassi, 0, tampon2, 8);
|
||||
Serial.println("apres lire registre");
|
||||
if (error !=0){
|
||||
Serial.println("scan chassis erreur");
|
||||
Err_Chassi_com =1;IndexErr = 2;
|
||||
affiche_erreur("Scan_Chassi", "Erreur I2C");
|
||||
while(1);
|
||||
}else{
|
||||
Serial.println("scan chassis ok");
|
||||
Err_Chassi_com =0;
|
||||
IndexErr = 0;
|
||||
int valeur;
|
||||
|
||||
Mvt_finit = (0x04 == tampon2[0] & 0x04);
|
||||
char chaine[32];
|
||||
sprintf(chaine, "tampon2: %x %x %x %x %x %x %x %x\n", tampon2[0], tampon2[1], tampon2[2], tampon2[3], tampon2[4],
|
||||
tampon2[5], tampon2[6], tampon2[7]);
|
||||
affiche_msg("Scan_Chassi", chaine);
|
||||
chassis_reception->status = tampon2[0];
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/// @brief Récupère position (X, Y) et l'orientation du robot
|
||||
void Scan_Triangulation(){
|
||||
unsigned char tampon2[14];
|
||||
lec_Balise_1, lec_Balise_2, lec_Balise_3 = 0, 0, 0;
|
||||
//(Adresse I2c, Adresse dans le registre, tampon, longueur de donnée)
|
||||
error = I2C_lire_registre(I2C_SLAVE_trian, 0, tampon2, 13); // si errror != de 0 alors erreur de communication
|
||||
if (error !=0){Err_Tri_com =1;IndexErr = 1;lec_Balise_1=0;lec_Balise_2=0;lec_Balise_3=0;}
|
||||
else{Err_Tri_com =0;IndexErr = 0;}
|
||||
if (error ==0){
|
||||
Position_actuelle_X = tampon2[1]<< 24 | tampon2[2]<< 16 | tampon2[3]<< 8 | tampon2[4] ;
|
||||
Position_actuelle_Y = tampon2[5]<< 24 | tampon2[6]<< 16 | tampon2[7]<< 8 | tampon2[8] ;
|
||||
Angle_Robot_DEG_int = tampon2[9]<< 24 | tampon2[10]<< 16 | tampon2[11]<< 8 | tampon2[12] ;
|
||||
// Serial.print(tampon2[9], BIN);Serial.print(" ");Serial.print(tampon2[10], BIN);Serial.print(" ");Serial.print(tampon2[11], BIN);Serial.print(" ");Serial.println(tampon2[12], BIN);
|
||||
Angle_Robot_RAD = Angle_Robot_DEG_int * M_PI / 180.;
|
||||
lec_Balise_1 = tampon2[0] & 0x01;
|
||||
lec_Balise_2 = (tampon2[0] >>1) & 0x01;
|
||||
lec_Balise_3 = (tampon2[0] >>2 )& 0x01;
|
||||
lec_Calcul_ok = (tampon2[0] >>3 )& 0x01;
|
||||
|
||||
if(Position_actuelle_X < PosLimNeg | Position_actuelle_X > PosLimPos){Position_actuelle_X = 9999;}
|
||||
if(Position_actuelle_Y < PosLimNeg | Position_actuelle_Y > PosLimPos){Position_actuelle_Y = 9999;}
|
||||
}
|
||||
if(lec_Balise_1 == 1 && lec_Balise_2 == 1 && lec_Balise_3 == 1 && lec_Calcul_ok == 1 && error ==0){
|
||||
Balises_OK = true;
|
||||
}else{
|
||||
Balises_OK = false;
|
||||
}
|
||||
}
|
||||
|
||||
void send_Chassis_RAZ(){
|
||||
uint8_t RAZ_Message[11]={0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
|
||||
|
||||
error = I2C_ecrire_registre(I2C_SLAVE_chassi, 0, RAZ_Message, 11);
|
||||
}
|
||||
|
||||
void send_Chassis(){
|
||||
//if(nbr_essai<=10){
|
||||
Cmd_Angle = MemCmd_A;
|
||||
// Prévient le chassis d'un nouveau mouvement avec le 2eme bit du premier Octet
|
||||
Mot[0] = 2;
|
||||
//y*=-1;
|
||||
//y = y*direction;
|
||||
Mot[1] = cmd_chassi_x >>8; Mot[2] = cmd_chassi_x;
|
||||
Mot[3] = cmd_chassi_y >>8; Mot[4] = cmd_chassi_y;
|
||||
//Serial.println(y);
|
||||
Mot[5] = Cmd_Angle >>8; Mot[6] = Cmd_Angle;
|
||||
Mot[7] = vit >>8; Mot[8] = vit;
|
||||
Mot[9] = acc >>8; Mot[10] = acc;
|
||||
|
||||
error = I2C_ecrire_registre(I2C_SLAVE_chassi, 0, Mot, 11);
|
||||
if (error !=0){Err_Cha_send =1; IndexErr = 5;}
|
||||
else{Err_Cha_send =0;IndexErr = 0;}
|
||||
if(error==0){ //si pas d'erreur de transmission alors RAZ des valeurs
|
||||
nbr_essai ++;
|
||||
cmd_chassi_x = 0;
|
||||
cmd_chassi_y = 0;
|
||||
Cmd_Angle = 0;
|
||||
vit = 0;
|
||||
acc = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void scan_I2C_bus(){
|
||||
char error, address;
|
||||
char tampon[10];
|
||||
int nDevices=0;
|
||||
|
||||
|
||||
M5.Lcd.print(" ");
|
||||
for(address = 0; address < 16; address++ ){
|
||||
sprintf(tampon, "%x", address);
|
||||
M5.Lcd.print(tampon);
|
||||
}
|
||||
M5.Lcd.print("\n");
|
||||
|
||||
for(address = 0; address < 128; address++ )
|
||||
{
|
||||
|
||||
// The i2c_scanner uses the return value of
|
||||
// the Write.endTransmisstion to see if
|
||||
// a device did acknowledge to the address.
|
||||
if(address !=0){
|
||||
WIRE.beginTransmission(address);
|
||||
error = WIRE.endTransmission(true);
|
||||
}else{
|
||||
error = -1;
|
||||
}
|
||||
|
||||
if((nDevices % 16) == 0){
|
||||
M5.Lcd.print("\n");
|
||||
sprintf(tampon, "%x ", address/16);
|
||||
M5.Lcd.print(tampon);
|
||||
|
||||
}
|
||||
|
||||
if (error == 0)
|
||||
{
|
||||
M5.Lcd.setTextColor(GREEN);
|
||||
M5.Lcd.print("X");
|
||||
Serial.printf("SUCCESS - endTransmission: %u\n", error);
|
||||
M5.Lcd.setTextColor(WHITE);
|
||||
|
||||
WIRE.beginTransmission(address);
|
||||
WIRE.write("Hello !\n");
|
||||
WIRE.endTransmission(true);
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.printf("endTransmission: %u\n", error);
|
||||
M5.Lcd.print(".");
|
||||
}
|
||||
nDevices++;
|
||||
|
||||
}
|
||||
delay(10000);
|
||||
|
||||
}
|
||||
33
Cerveau/I2C_Master_lib.ino
Normal file
33
Cerveau/I2C_Master_lib.ino
Normal file
@ -0,0 +1,33 @@
|
||||
size_t _I2C_write(uint8_t *data, size_t quantity)
|
||||
{
|
||||
for(size_t i = 0; i < quantity; ++i) {
|
||||
if(!WIRE.write(data[i])) {
|
||||
return i;
|
||||
}
|
||||
}
|
||||
return quantity;
|
||||
|
||||
}
|
||||
|
||||
uint8_t I2C_ecrire_registre(int adresse_i2c, uint adresse_registre, unsigned char * donnees, uint taille_donnees){
|
||||
// Ecriture
|
||||
WIRE.beginTransmission(adresse_i2c);
|
||||
WIRE.write(adresse_registre);
|
||||
_I2C_write(donnees, taille_donnees);
|
||||
return WIRE.endTransmission(true);
|
||||
}
|
||||
|
||||
uint8_t I2C_lire_registre(int adresse_i2c, uint adresse_registre, unsigned char * donnees_recues, uint taille_donnees){
|
||||
int status;
|
||||
byte temp;
|
||||
WIRE.beginTransmission(adresse_i2c);
|
||||
WIRE.write(adresse_registre);
|
||||
status = WIRE.endTransmission(true);
|
||||
|
||||
WIRE.requestFrom(adresse_i2c, taille_donnees + 1);
|
||||
// ceci contient l'adresse
|
||||
Wire.readBytes(&temp, 1);
|
||||
// Et ceci les données
|
||||
Wire.readBytes(donnees_recues, taille_donnees);
|
||||
return status;
|
||||
}
|
||||
288
Chassis/Chassis.ino
Normal file
288
Chassis/Chassis.ino
Normal file
@ -0,0 +1,288 @@
|
||||
// Programme Chassi Robot Riom Robotique
|
||||
// Version : 5=6
|
||||
// Etat : (En cours de dev / à tester / Fonctionnel)
|
||||
//
|
||||
// à tester
|
||||
// en cours de test i2c, 02/03/2024 je recoit bien la trame i2c avec les donées dans le bon sens
|
||||
//
|
||||
//*********************************************************************
|
||||
//******************** Integration et config WIFI *********************
|
||||
//*********************************************************************
|
||||
// serveur - depuis machine reseau http://192.XXX.XXX.XX?variable extrait la variable
|
||||
//#include <M5Core2.h>
|
||||
#include "Wire.h"
|
||||
#define I2C_DEV_ADDR 0x55
|
||||
|
||||
//Definition des Variantes :
|
||||
#define serialP;
|
||||
#define gst_I2C;
|
||||
|
||||
byte * I2C_memory;
|
||||
|
||||
//*********************************************************************
|
||||
//******************** Integration et config Moteur *******************
|
||||
//*********************************************************************
|
||||
#include <AccelStepper.h>
|
||||
#define pul1 D10
|
||||
#define dir1 D9
|
||||
#define pul2 D2
|
||||
#define dir2 D1
|
||||
#define pul3 D8
|
||||
#define dir3 D7
|
||||
#define pul4 D6
|
||||
#define dir4 D3
|
||||
|
||||
// AccelStepper stepperX(1.8, dir1, pul1); // X
|
||||
// AccelStepper stepperY(1.8, dir2, pul2); // Y
|
||||
// AccelStepper stepperZ(1.8, dir3, pul3); // Z
|
||||
// AccelStepper stepperA(1.8, dir4, pul4); // A
|
||||
AccelStepper stepperX(1.8, pul1, dir1); // X
|
||||
AccelStepper stepperY(1.8, pul2, dir2); // Y
|
||||
AccelStepper stepperZ(1.8, pul3, dir3); // Z
|
||||
AccelStepper stepperA(1.8, pul4, dir4); // A
|
||||
|
||||
int Men= D0; //Motor All enable pin
|
||||
|
||||
// Data pour la lecture de donnée
|
||||
String nom = "Arduino";
|
||||
String msg;
|
||||
int inChar;
|
||||
int data[] = {0, 0};
|
||||
int com[] = {0, 0, 0};
|
||||
|
||||
// -------------- Direction des moteurs ( pour un sens de marche commun )
|
||||
int dirX= +1;
|
||||
int dirY= -1;
|
||||
int dirZ= +1;
|
||||
int dirA= -1;
|
||||
|
||||
int cli_led=0; // initial value of input
|
||||
int Move = 0;
|
||||
String rc;
|
||||
|
||||
int16_t Target[] = {0,0,0,0,0}; //Tableau de la commande de position (X,Y,Rotation,speed,accel)
|
||||
int16_t AxeX[] = {0,0,0,0}; // distance en X pour chaque moteur
|
||||
int16_t AxeY[] = {0,0,0,0}; // distance en Y pour chaque moteur
|
||||
int16_t AxeRot[] = {0,0,0,0}; // distance en R pour chaque moteur
|
||||
int16_t Vecteur[] = {0,0,0,0};// distance en X pour chaque moteur
|
||||
|
||||
int PosX = 0; //Position X du robot
|
||||
int PosY = 0; //Position Y du robot
|
||||
int Rot = 0; //Rotation du robot
|
||||
int vitesse = 2000;
|
||||
int accel = 2000;
|
||||
|
||||
|
||||
uint8_t Mot[] = {0,0,0,0,0,0,0,0,0,0,0,0} ; //11*8bits Mot de commande I2C du Chassi ****Cmd, X, Y, Rot, Vit, Acc****
|
||||
uint8_t c[] = {0,0,0,0,0,0,0,0,0,0,0} ;
|
||||
bool Interrupt = 0; // commande d'intéruption de mouvement (Arret d'Urgence) premier bit du mot de Cmd
|
||||
bool Modif_Mvt = 0; // commande de modification de mouvement deuxieme bit du mot de Cmd
|
||||
bool fin_mvt = 0;
|
||||
int h=0;
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
pinMode(Men,OUTPUT);
|
||||
digitalWrite(Men, LOW);// Low Level Enable
|
||||
#ifdef serialP
|
||||
Serial.begin(115200);
|
||||
#endif
|
||||
pinMode(LED_BUILTIN, OUTPUT);
|
||||
for(int i=0; i<6;i++){
|
||||
digitalWrite(LED_BUILTIN, LOW);
|
||||
delay(150);
|
||||
digitalWrite(LED_BUILTIN, HIGH);
|
||||
delay(150);
|
||||
}
|
||||
|
||||
// X
|
||||
stepperX.setMaxSpeed(vitesse); stepperX.setAcceleration(accel);
|
||||
// Y
|
||||
stepperY.setMaxSpeed(vitesse); stepperY.setAcceleration(accel);
|
||||
// Z
|
||||
stepperZ.setMaxSpeed(vitesse); stepperZ.setAcceleration(accel);
|
||||
// A
|
||||
stepperA.setMaxSpeed(vitesse); stepperA.setAcceleration(accel);
|
||||
|
||||
|
||||
//Serial.println(Men);
|
||||
I2C_Slave_init(0x55);
|
||||
I2C_memory = get_i2c_data();
|
||||
I2C_memory[0] = 0x1;
|
||||
I2C_memory[1] = 0x2;
|
||||
I2C_memory[2] = 0x3;
|
||||
I2C_memory[3] = 0x4;
|
||||
I2C_memory[4] = 0x5;
|
||||
I2C_memory[5] = 0x6;
|
||||
I2C_memory[6] = 0x7;
|
||||
I2C_memory[7] = 0x8;
|
||||
|
||||
|
||||
//digitalWrite(Men, LOW);// Low Level Enable
|
||||
pinMode(pul4, OUTPUT);
|
||||
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
static char wait = 0;
|
||||
static int64_t time;
|
||||
|
||||
for(int i=0; i<8; i++){
|
||||
Serial.printf("0x%x ", I2C_memory[i]);
|
||||
}
|
||||
Serial.printf("\n");
|
||||
|
||||
// Reset octet 0 à 0 au bout d'une seconede
|
||||
if(I2C_memory[0] !=0 && wait == 0){
|
||||
time = esp_timer_get_time();
|
||||
wait = 1;
|
||||
}
|
||||
if(esp_timer_get_time() > time + 1000000 && wait == 1){
|
||||
I2C_memory[0] = 0x4;
|
||||
wait = 0;
|
||||
}
|
||||
|
||||
/*
|
||||
|
||||
if(((I2C_memory[0] & 0x02)==2) && Modif_Mvt==0){
|
||||
Modif_Mvt = 1;
|
||||
}
|
||||
if(Modif_Mvt == 1){
|
||||
//Mot = I2C_memory;
|
||||
Target[0]= (I2C_memory[1] << 8) | I2C_memory[2];
|
||||
Target[1]= (I2C_memory[3] << 8) | I2C_memory[4];
|
||||
Target[2]= (I2C_memory[5] << 8) | I2C_memory[6];
|
||||
Target[3]= (I2C_memory[7] << 8) | I2C_memory[8];
|
||||
Target[4]= (I2C_memory[9] << 8) | I2C_memory[10];
|
||||
for(int i=1; i<9; i++){
|
||||
I2C_envoi_8bits(0,i);
|
||||
}
|
||||
Position_Calculation(); //************* Calcul du Vecteur XY (incrémental)
|
||||
Mvmt(); //************* Envoie de la position à ateindre pour chaque moteur + Execution du mouvement
|
||||
|
||||
I2C_memory[0] = 0x04;
|
||||
I2C_envoi_8bits(I2C_memory[0] ,0);
|
||||
}
|
||||
|
||||
|
||||
// else{
|
||||
// I2C_memory = get_i2c_data();
|
||||
// I2C_envoi_8bits(I2C_memory[0] | 1<<2,0);
|
||||
// I2C_envoi_8bits(I2C_memory[0] | 1<<1,0);
|
||||
// for(int i=1; i<9; i++){
|
||||
// I2C_envoi_8bits(0,i);
|
||||
|
||||
if((I2C_memory[0] & 0x02)==0 && Modif_Mvt==1){
|
||||
Modif_Mvt = 0;
|
||||
}
|
||||
|
||||
//Dé-asservissement des moteurs
|
||||
stop(); // Servo Off
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
void Position_Calculation(){
|
||||
PosX = Target[0];
|
||||
AxeX[0] = {PosX}; //x
|
||||
AxeX[1] = {-PosX}; //y
|
||||
AxeX[2] = {-PosX}; //z
|
||||
AxeX[3] = {PosX}; //a
|
||||
PosY = Target[1];
|
||||
AxeY[0] = {PosY}; //x
|
||||
AxeY[1] = {PosY}; //y
|
||||
AxeY[2] = {PosY}; //z
|
||||
AxeY[3] = {PosY}; //a
|
||||
Rot = Target[2];
|
||||
AxeRot[0] = {-Rot}; //x
|
||||
AxeRot[1] = {Rot}; //y
|
||||
AxeRot[2] = {-Rot}; //z
|
||||
AxeRot[3] = {Rot}; //a
|
||||
|
||||
vitesse = Target[3];
|
||||
accel = Target[4];
|
||||
|
||||
for (int i=0; i<4; i++){
|
||||
Vecteur[i] = (AxeX[i] + AxeY[i] + AxeRot[i])/2;
|
||||
Serial.printf("Vecteur[%d]: %d\n", i, Vecteur[i]);
|
||||
}
|
||||
|
||||
stepperX.moveTo(stepperX.currentPosition() + Vecteur[0]*dirX);
|
||||
stepperY.moveTo(stepperY.currentPosition() + Vecteur[1]*dirY);
|
||||
stepperZ.moveTo(stepperZ.currentPosition() + Vecteur[2]*dirZ);
|
||||
stepperA.moveTo(stepperA.currentPosition() + Vecteur[3]*dirA);
|
||||
|
||||
stepperX.setMaxSpeed(vitesse); stepperX.setAcceleration(accel); // X
|
||||
stepperY.setMaxSpeed(vitesse); stepperY.setAcceleration(accel); // Y
|
||||
stepperZ.setMaxSpeed(vitesse); stepperZ.setAcceleration(accel); // Z
|
||||
stepperA.setMaxSpeed(vitesse); stepperA.setAcceleration(accel); // A
|
||||
|
||||
|
||||
#ifdef serialP
|
||||
// Serial.print("Target 0 ");Serial.print("\tTarget 1");;Serial.print("\tTarget 2");;Serial.print("\tTarget 3");Serial.println("\tTarget 4");
|
||||
// Serial.print(Target[0]);Serial.print("\t\t");Serial.print(Target[1]);Serial.print("\t\t");Serial.print(Target[2]);Serial.print("\t\t");Serial.print(Target[3]);Serial.print("\t\t");Serial.println(Target[4]);
|
||||
// Serial.println();
|
||||
// Serial.print("X ");Serial.print("\t\tY");;Serial.print("\t\tZ");;Serial.print("\t\tA");Serial.println("\t\tRot");
|
||||
// Serial.print(Vecteur[0]);Serial.print("\t\t");Serial.print(Vecteur[1]);Serial.print("\t\t");Serial.print(Vecteur[2]);Serial.print("\t\t");Serial.print(Vecteur[3]);Serial.print("\t\t");Serial.println(Vecteur[4]);
|
||||
// delay(100);
|
||||
#endif
|
||||
for (int i=0; i<4; i++){
|
||||
Target[i] = 0;
|
||||
}
|
||||
// RAZ du flag de mouvement modifié
|
||||
Modif_Mvt = 0;
|
||||
|
||||
for (int i=0; i < sizeof(Mot); i++){
|
||||
Mot[i] = 0;
|
||||
}
|
||||
}
|
||||
void Mvmt(){
|
||||
int64_t time = esp_timer_get_time();
|
||||
|
||||
// Mise en Servo ON des moteurs
|
||||
digitalWrite(Men,LOW);// Low Level Enable
|
||||
if(stepperX.distanceToGo() != 0 || stepperY.distanceToGo() != 0 || stepperZ.distanceToGo() != 0 || stepperA.distanceToGo() != 0){
|
||||
//Execution du mouvement global (resort de la boucle une fois arrivé)
|
||||
#ifdef serialP
|
||||
// Serial.print("X Y Z A !");Serial.print("\t\t");Serial.print("\tinter");Serial.println("\tModif");
|
||||
// Serial.print(stepperX.distanceToGo());Serial.print("/");Serial.print(stepperY.distanceToGo());Serial.print("/");Serial.print(stepperZ.distanceToGo());Serial.print("/");Serial.print(stepperA.distanceToGo());Serial.print("\t");Serial.print(Interrupt);Serial.print("\t");Serial.println(Modif_Mvt);
|
||||
#endif
|
||||
while((stepperX.distanceToGo() != 0 || stepperY.distanceToGo() != 0 || stepperZ.distanceToGo() != 0 || stepperA.distanceToGo() != 0) /*&& (Interrupt != 1 || Modif_Mvt != 1)*/){
|
||||
stepperX.run(); // X
|
||||
stepperY.run(); // Y
|
||||
stepperZ.run(); // Z
|
||||
stepperA.run(); // A
|
||||
//-------------------
|
||||
#ifdef serialP
|
||||
// Serial.print("X Y Z A !");Serial.print("\t\t");Serial.print("\tinter");Serial.println("\tModif");
|
||||
// Serial.print(stepperX.distanceToGo());Serial.print("/");Serial.print(stepperY.distanceToGo());Serial.print("/");Serial.print(stepperZ.distanceToGo());Serial.print("/");Serial.print(stepperA.distanceToGo());Serial.print("\t");Serial.print(Interrupt);Serial.print("\t");Serial.println(Modif_Mvt);
|
||||
// delay(100);
|
||||
#endif
|
||||
if(esp_timer_get_time() > time + 100000){
|
||||
time = esp_timer_get_time();
|
||||
digitalWrite(LED_BUILTIN, cli_led);
|
||||
cli_led = !cli_led;
|
||||
}
|
||||
}
|
||||
}
|
||||
digitalWrite(LED_BUILTIN, HIGH);
|
||||
// if(Modif_Mvt == 1){
|
||||
// Position_Calculation();
|
||||
// Serial.println("\t\tRe Calculation !!!");
|
||||
// }
|
||||
}
|
||||
void stop(){
|
||||
if(Interrupt== 1){
|
||||
//delay(1000);
|
||||
Interrupt = 0;
|
||||
}
|
||||
#ifdef serialP
|
||||
// h++;
|
||||
// Serial.print("**********STOP****** ");Serial.println(h);
|
||||
#endif
|
||||
digitalWrite(Men,HIGH);// Low Level Enable
|
||||
delay(500);
|
||||
}
|
||||
62
Chassis/I2C_Slave_lib.ino
Normal file
62
Chassis/I2C_Slave_lib.ino
Normal file
@ -0,0 +1,62 @@
|
||||
#define TAILLE_MEMOIRE_I2C 256
|
||||
#define TAILLE_MESSAGE_ENVOI_MAX 32
|
||||
byte memoire_I2C[TAILLE_MEMOIRE_I2C];
|
||||
byte memoire_I2C_index=0;
|
||||
|
||||
bool nouveau_message=false;
|
||||
|
||||
uint8_t * get_i2c_data(){
|
||||
return memoire_I2C;
|
||||
}
|
||||
void onRequest(){
|
||||
uint32_t taille_envoi;
|
||||
taille_envoi = min (TAILLE_MEMOIRE_I2C-memoire_I2C_index, TAILLE_MESSAGE_ENVOI_MAX);
|
||||
|
||||
Wire.write(&memoire_I2C[memoire_I2C_index], taille_envoi);
|
||||
memoire_I2C_index += taille_envoi;
|
||||
if(memoire_I2C_index>=TAILLE_MEMOIRE_I2C){
|
||||
Serial.printf("memoire_I2C_index>=TAILLE_MEMOIRE_I2C\n");
|
||||
}
|
||||
}
|
||||
|
||||
void onReceive(int len){
|
||||
digitalWrite(LED_BUILTIN, LOW);
|
||||
memoire_I2C_index = Wire.read();
|
||||
while(Wire.available()){
|
||||
nouveau_message=true;
|
||||
memoire_I2C[memoire_I2C_index] = Wire.read();
|
||||
memoire_I2C_index++;
|
||||
}
|
||||
//Serial.printf("I2C reg: %d, val %d\n", memoire_I2C_index, memoire_I2C[memoire_I2C_index]);
|
||||
}
|
||||
|
||||
void I2C_Slave_init(int addr){
|
||||
Wire.onReceive(onReceive);
|
||||
Wire.onRequest(onRequest);
|
||||
Wire.begin(addr);
|
||||
}
|
||||
|
||||
bool I2C_Slave_nouveau_message(){
|
||||
if(nouveau_message){
|
||||
nouveau_message=false;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void I2C_envoi_8bits(byte value, char adresse){
|
||||
//printf("I2C_envoi_8bits a:%d v:%d %x %b\n",adresse, value, value, value);
|
||||
memoire_I2C[adresse] = value;
|
||||
}
|
||||
|
||||
void I2C_envoi_16bits(int16_t value, char adresse){
|
||||
memoire_I2C[adresse] = (value >> 8) & 0xFF;
|
||||
memoire_I2C[adresse+1] = value & 0xFF;
|
||||
}
|
||||
|
||||
void I2C_envoi_32bits(int32_t value, char adresse){
|
||||
memoire_I2C[adresse] = value >> 24;
|
||||
memoire_I2C[adresse+1] = (value >> 16) & 0xFF;
|
||||
memoire_I2C[adresse+2] = (value >> 8) & 0xFF;
|
||||
memoire_I2C[adresse+3] = value & 0xFF;
|
||||
}
|
||||
10
Readme.md
Normal file
10
Readme.md
Normal file
@ -0,0 +1,10 @@
|
||||
Test de la liaison I2C entre le châssis et le cerveau
|
||||
=====================================================
|
||||
|
||||
Ce code permet de tester la communication I2C entre le châssis et le cerveau. Le cerveau demande 8 octet au châssis.
|
||||
Si l'octet 0 vaut 4, au bout d'une seconde, le cerveau envoi une trame pour réinitialise l'octet à 2.
|
||||
|
||||
Le châssis scrute l'octet 0 et si celui-ci vaut 2, il attend une seconde puis le passe à 1.
|
||||
|
||||
Le châssis envoie l'état de sa mémoire par la liaison USB.
|
||||
Le cerveau affiche l'état de sa mémoire sur l'écran.
|
||||
Loading…
Reference in New Issue
Block a user