Ajout de la communication et envoi des valeurs des joystick et boutons par i2c

.vscode/settings.json

@@ -1,9 +1,5 @@
 {
     "files.associations": {
-        "stdlib.h": "c",
+
-        "stdio.h": "c",
-        "i2c_slave.h": "c",
-        "i2c.h": "c",
-        "moteur.h": "c"
     }
 }

CMakeLists.txt

@@ -15,8 +15,6 @@ add_executable(Mon_Projet
   i2c_maitre.c
   i2c_slave.c
   communication.c
-  moteur.c
-  Servomoteur.c
 )
 
 target_include_directories(Mon_Projet PRIVATE Mon_Projet_ULD_API/inc/)

Servomoteur.c

@@ -1,88 +0,0 @@
-#include "moteur.h"
-
-// Define pins servo
-#define SERVO1_PIN 20
-#define SERVO2_PIN 21
-
-// S0 : 26 - PWM 5 - Chan A
-// S1 : 22 - PWM 3 - Chan A
-// S2 : 21 - PWM 2 - Chan B
-// S3 : 20 - PWM 2 - Chan A
-// S4 : 27 - PWM 5 - Chan B
-
-void Servomoteur_init(){
-    // Set wrap of pwm slice
-	pwm_set_wrap(2, 25000);
-    pwm_set_wrap(3, 25000);
-    pwm_set_wrap(5, 25000);
-
-	// Set clock div for this pwm slice
-	pwm_set_clkdiv(2, 100);
-    pwm_set_clkdiv(3, 100);
-    pwm_set_clkdiv(5, 100);
-
-	// Enable pwm slice
-	pwm_set_enabled(2, true);
-    pwm_set_enabled(3, true);
-    pwm_set_enabled(5, true);
-
-	// Set channel level
-	pwm_set_chan_level(2, PWM_CHAN_A, 2800); // S3 - Ouvert : 1700 - Fermé : 2800
-	pwm_set_chan_level(2, PWM_CHAN_B, 2650); // S2 - Ouvert : 1500 - Fermé : 2650
-    pwm_set_chan_level(3, PWM_CHAN_A, 2300); // S1 - 2300 Pousse, 1500 Neutre
-	pwm_set_chan_level(5, PWM_CHAN_A, 900); // S0 - Dépose 900 - 1750
-    pwm_set_chan_level(5, PWM_CHAN_B, 1500); // S4 - Ouvert 2700 - Fermé : 1500 
-
-
-    // Init pin for the servos
-	gpio_init(SERVO1_PIN);
-	gpio_init(SERVO2_PIN);
-    gpio_init(22);
-    gpio_init(26);
-	gpio_init(27);
-	gpio_set_function(SERVO1_PIN, GPIO_FUNC_PWM);
-	gpio_set_function(SERVO2_PIN, GPIO_FUNC_PWM);
-	gpio_set_function(22, GPIO_FUNC_PWM);
-	gpio_set_function(26, GPIO_FUNC_PWM);
-	gpio_set_function(27, GPIO_FUNC_PWM);
-
-	// Edit 17/01/2024
-	// Réglage servomoteurs en 25000 * 100
-	// Pince
-	// Pot : 1700
-	// Plante : 1970
-	// Ouvert : 1000
-	// Ascenseur
-	// Haut : 2550
-	// Bas : 1550
-	// Lâche plante : 2050
-	// Lâche pot jardinière : 1950
-}
-
-void Servo_pince_tient(){
-    pwm_set_chan_level(2, PWM_CHAN_A, 2800);
-    pwm_set_chan_level(5, PWM_CHAN_B, 1350);
-    pwm_set_chan_level(2, PWM_CHAN_B, 2650);
-}
-
-void Servo_pince_lache(){
-    pwm_set_chan_level(2, PWM_CHAN_A, 1700);
-    pwm_set_chan_level(5, PWM_CHAN_B, 2550);
-    pwm_set_chan_level(2, PWM_CHAN_B, 1500);
-}
-
-void Servo_came_pousse(){
-    pwm_set_chan_level(3, PWM_CHAN_A, 2300); // S1 - 2300 Pousse, 1500 Neutre
-}
-
-void Servo_came_neutre(){
-    pwm_set_chan_level(3, PWM_CHAN_A, 1500); // S1 - 2300 Pousse, 1500 Neutre
-}
-
-void Servo_deplie_banderole(){
-    pwm_set_chan_level(5, PWM_CHAN_A, 900); // S0 - Dépose 900 - neutre 1750
-}
-
-void Servo_plie_banderole(){
-    pwm_set_chan_level(5, PWM_CHAN_A, 1750); // S0 - Dépose 900 - neutre 1750
-}

Servomoteur.h

@@ -1,9 +0,0 @@
-void Servomoteur_init();
-void Servo_pince_tient();
-void Servo_pince_lache();
-
-void Servo_came_pousse();
-void Servo_came_neutre();
-
-void Servo_deplie_banderole();
-void Servo_plie_banderole();

communication.c

@@ -97,11 +97,11 @@ void communication_init(void){
     i2c_maitre_init();
 }
 
-void communication_send_message(unsigned char * message, unsigned int message_length){
+void communication_envoyer_message(unsigned char * message, unsigned int message_length){
     memcpy(context.mem, message, message_length);
 }
 
-int communication_read_message(unsigned char * message){
+int communication_lire_message(unsigned char * message){
-    i2c_lire_registre(I2C_SLAVE_ADDRESS, 0, message, 25);
+    i2c_lire_registre(I2C_SLAVE_ADDRESS, 0, message, 255);
 
 }

communication.h

@@ -1,5 +1,5 @@
 #include "i2c_maitre.h"
 
 void communication_init(void);
-void communication_send_message(unsigned char * message, unsigned int message_length);
+void communication_envoyer_message(unsigned char * message, unsigned int message_length);
-enum i2c_resultat_t communication_read_message(unsigned char * message);
+enum i2c_resultat_t communication_lire_message(unsigned char * message);

i2c_maitre.c

@@ -31,7 +31,7 @@ enum i2c_resultat_t i2c_transmission(uint8_t _adresse_7bits, uint8_t* emission,
 
 void i2c_maitre_init(void){
     //stdio_init_all();
-    i2c_init(i2c1, 10 * 1000);
+    i2c_init(i2c1, 100 * 1000);
 
     printf("Initialisation des broches\n");
     for(int i=0; i++; i<=28){

main.c

@@ -1,101 +1,173 @@
-#include "pico/stdlib.h"
+ /*****
-#include "hardware/adc.h"
+ * Copyright (c) 2023 - Poivron Robotique
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+*/
 #include "communication.h"
-#include "Servomoteur.h"
+#include "pico/stdlib.h"
+#include "hardware/pwm.h"
 #include <stdio.h>
-#include "moteur.h"
+#include "hardware/adc.h"
+#define LED_VERTE 25
+#define PIN_VITESSE_M1 2
+#define PIN_SENS_A_M1 0
+#define PIN_SENS_B_M1 1
 
-// Juste pour information - les broches sont re-définies dans i2c_slave
+int result0, result1;
-#define I2C0_SDA_PIN 16
+int joystic_clicker;
-#define I2C0_SCL_PIN 17
+int pince;
+int ascenceur;
 
-// Juste pour information - les broches sont re-définies dans i2c_master
-#define I2C1_SDA_PIN 18
-#define I2C1_SCL_PIN 19
 
-// Allumage de la led verte
+int M1_INITIALISE()
-#define PIN_LED_VERTE 25
-
-void main(void)
 {
-	char message[256], reception[256];
+	gpio_init(PIN_VITESSE_M1);
-	
+	gpio_init(PIN_SENS_A_M1);
-	// Init "all"
+	gpio_init(PIN_SENS_B_M1);
-    stdio_init_all();
+
-	Init_motion_motor();
+    gpio_set_dir(PIN_VITESSE_M1, GPIO_OUT);
-	Servomoteur_init();
+	gpio_set_dir(PIN_SENS_A_M1, GPIO_OUT);
+	gpio_set_dir(PIN_SENS_B_M1, GPIO_OUT);
+
+	gpio_set_function(PIN_VITESSE_M1, GPIO_FUNC_PWM);
+	pwm_set_wrap(PIN_VITESSE_M1, 100);
+	pwm_set_chan_level(PIN_VITESSE_M1, PWM_CHAN_B, 50);
+    
+}
+
+int M1_AVANCE()
+{
+
+	gpio_put(PIN_VITESSE_M1, 1);
+	gpio_put(PIN_SENS_A_M1, 1);
+	gpio_put(PIN_SENS_B_M1, 0);
+
+
+
+}
+
+int M1_RECULE()
+{
+
+	gpio_put(PIN_VITESSE_M1, 1);
+	gpio_put(PIN_SENS_A_M1, 0);
+	gpio_put(PIN_SENS_B_M1, 1);
+
+
+
+}
+int Adc_Init()
+{
+	adc_init();
+	adc_gpio_init(26);
+	adc_gpio_init(27);
+}
+int AdcRead0()
+{
+	adc_select_input(0);
+	uint16_t resultadc = adc_read();
+	return resultadc;
+}
+
+
+
+
+
+int AdcRead1()
+{
+	adc_select_input(1);
+	uint16_t resultadc = adc_read();
+	return resultadc;
+}
+
+
+
+
+
+
+void main()
+{
+	char message [256];
+	stdio_init_all();
+
+	// Communication
 	communication_init();
-	
+
-	gpio_init(PIN_LED_VERTE);
+	// Pour envoyer un message
-	gpio_set_function(PIN_LED_VERTE, GPIO_FUNC_PWM);
+	// communication_envoyer_message(message, 254);
-	pwm_set_clkdiv(4, 100);
+
+
+	// CLignottement LED
+	gpio_set_function(LED_VERTE, GPIO_FUNC_PWM);
 	pwm_set_wrap(4, 100);
+	pwm_set_chan_level(4, PWM_CHAN_B, 25);
 	pwm_set_enabled(4, true);
-	pwm_set_chan_level(4, PWM_CHAN_B, 100);
 
-	int vitesse_angle = 0;
+	// ADC
-	int vitesse_m1 = 0;
+	adc_init();
-	int vitesse_m2 = 0;
+	adc_gpio_init(26);
-	int vitesse_m3 = 0;
+	adc_gpio_init(27);
-	int vitesse_m4 = 0;
+	
-
+	while (1) 
-	while(1){
+	{
-
+		// Voie X
-		if (!(communication_read_message(reception) == I2C_ECHEC))
+		result1 = AdcRead1();
+	 	
+		message[0] = result1/16;
+		
+		// Voie Y
+		result0 = AdcRead0();
+		
+		message[1] = result0/16;
+		
+		//clic sur le joystic
+		gpio_init(1);
+		gpio_pull_up(1);
+    	gpio_set_dir(1, GPIO_IN);
+		joystic_clicker = gpio_get(1);
+		if (!joystic_clicker)
 		{
-			vitesse_m1 = reception[0] - 128;
+			message[2] = result1/16;
-			vitesse_m2 = reception[0] - 128;
+			message[1] = 128;
-			vitesse_m3 = reception[1] - 128;
+			message[0] = 128;
-			vitesse_m4 = reception[1] - 128;
-
-			vitesse_angle = reception[2] - 128;
-
-			switch(reception[3]){
-				case 0: Servo_pince_lache(); break;
-				case 1: Servo_pince_tient(); break;
-			}
-
-			switch(reception[4]){
-				case 0: Servo_plie_banderole(); break;
-				case 1: Servo_deplie_banderole(); break;
-			}
-			switch(reception[5]){
-				case 0: Servo_came_neutre(); break;
-				case 1: Servo_came_pousse(); break;
-				
-			}
-
 		}
 		else
 		{
-			vitesse_angle = 0;
+			message[2] = 128;
-			vitesse_m1 = 0;
-			vitesse_m2 = 0;
-			vitesse_m3 = 0;
-			vitesse_m4 = 0;
-
-			pwm_set_chan_level(4, PWM_CHAN_B, 10);
-		
 		}
 
-		if(vitesse_angle != 0)
-		{
-			vitesse_m1 = vitesse_angle;
-			vitesse_m2 = -vitesse_angle;
-			vitesse_m3 = vitesse_angle;
-			vitesse_m4 = -vitesse_angle;
-		}
 
-		printf(">vitesseM1:%d\n", vitesse_m1);
-		printf(">vitesseM2:%d\n", vitesse_m2);
-		printf(">vitesseM3:%d\n", vitesse_m3);
-		printf(">vitesseM4:%d\n", vitesse_m4);
 
-		Motor1_speed(vitesse_m1);
+		//pince
-		Motor2_speed(vitesse_m2);
+		gpio_init(2);
-		Motor3_speed(vitesse_m3);
+		gpio_set_dir(2, GPIO_IN);
-		Motor4_speed(vitesse_m4);
+		gpio_pull_up(2);
+		pince = gpio_get(2);
+		message [3] = pince;
 
-		
+		gpio_init(6);
+		gpio_set_dir(6, GPIO_IN);
+		gpio_pull_up(6);
+		ascenceur = gpio_get(6);
+		message[4] = ascenceur;
+
+
+		printf(">x:%d\n", message[0]);
+		printf(">Y:%d\n", message[1]);
+		printf(">Rz:%d\n", message[2]);
+		printf(">pince:%d\n", message[3]);
+		printf(">ascenceur:%d\n", message[4]);
+		sleep_ms(100);
+		communication_envoyer_message(message, 254);
 	}
-}
+	M1_INITIALISE();
+	while(1)
+	{
+		M1_AVANCE();
+		sleep_ms(1000);
+		M1_RECULE();
+		sleep_ms(1000);
+	
+	}
+
+}

moteur.c

@@ -1,200 +0,0 @@
-#include "moteur.h"
-
-// Define pins servo
-#define MOTEUR1_PIN_SENS1 4
-#define MOTEUR1_PIN_SENS2 5
-#define MOTEUR1_PIN_ACTIVATION 0
-#define MOTEUR2_PIN_SENS1 6
-#define MOTEUR2_PIN_SENS2 7
-#define MOTEUR2_PIN_ACTIVATION 1
-#define MOTEUR3_PIN_SENS1 11
-#define MOTEUR3_PIN_SENS2 10
-#define MOTEUR3_PIN_ACTIVATION 2
-#define MOTEUR4_PIN_SENS1 8
-#define MOTEUR4_PIN_SENS2 9
-#define MOTEUR4_PIN_ACTIVATION 3
-
-// Init all motion motors pins
-void Init_motion_motor(void)
-{
-	// Init motion motors
-
-	// Init 1/0 pin for control motion motors
-	gpio_init(MOTEUR1_PIN_SENS1);
-	gpio_init(MOTEUR1_PIN_SENS2);
-	gpio_init(MOTEUR2_PIN_SENS1);
-	gpio_init(MOTEUR2_PIN_SENS2);
-	gpio_init(MOTEUR3_PIN_SENS1);
-	gpio_init(MOTEUR3_PIN_SENS2);
-	gpio_init(MOTEUR4_PIN_SENS1);
-	gpio_init(MOTEUR4_PIN_SENS2);
-	gpio_set_dir(MOTEUR1_PIN_SENS1, GPIO_OUT);
-	gpio_set_dir(MOTEUR1_PIN_SENS2, GPIO_OUT);
-	gpio_set_dir(MOTEUR2_PIN_SENS1, GPIO_OUT);
-	gpio_set_dir(MOTEUR2_PIN_SENS2, GPIO_OUT);
-	gpio_set_dir(MOTEUR3_PIN_SENS1, GPIO_OUT);
-	gpio_set_dir(MOTEUR3_PIN_SENS2, GPIO_OUT);
-	gpio_set_dir(MOTEUR4_PIN_SENS1, GPIO_OUT);
-	gpio_set_dir(MOTEUR4_PIN_SENS2, GPIO_OUT);
-
-	// Set direction to 0 (disactivate)
-	gpio_put(MOTEUR1_PIN_SENS1, 0);
-	gpio_put(MOTEUR1_PIN_SENS2, 0);
-	gpio_put(MOTEUR2_PIN_SENS1, 0);
-	gpio_put(MOTEUR2_PIN_SENS2, 0);
-	gpio_put(MOTEUR3_PIN_SENS1, 0);
-	gpio_put(MOTEUR3_PIN_SENS2, 0);
-	gpio_put(MOTEUR4_PIN_SENS1, 0);
-	gpio_put(MOTEUR4_PIN_SENS2, 0);
-
-	// Init pwm pins for motion motors
-	gpio_init(MOTEUR1_PIN_ACTIVATION);
-	gpio_init(MOTEUR2_PIN_ACTIVATION);
-	gpio_init(MOTEUR3_PIN_ACTIVATION);
-	gpio_init(MOTEUR4_PIN_ACTIVATION);
-	gpio_set_function(MOTEUR1_PIN_ACTIVATION, GPIO_FUNC_PWM);
-	gpio_set_function(MOTEUR2_PIN_ACTIVATION, GPIO_FUNC_PWM);
-	gpio_set_function(MOTEUR3_PIN_ACTIVATION, GPIO_FUNC_PWM);
-	gpio_set_function(MOTEUR4_PIN_ACTIVATION, GPIO_FUNC_PWM);
-
-	// Set wrap of pwm slices
-	pwm_set_wrap(0, 127);
-	pwm_set_wrap(1, 127);
-
-	// Active all pwm slices
-	pwm_set_enabled(0, true);
-	pwm_set_enabled(1, true);
-
-	// Set speed to 0
-	pwm_set_chan_level(0, PWM_CHAN_A, 0);
-	pwm_set_chan_level(0, PWM_CHAN_B, 0);
-	pwm_set_chan_level(1, PWM_CHAN_A, 0);
-	pwm_set_chan_level(1, PWM_CHAN_B, 0);
-
-	
-
-	
-}
-
-
-// Set motor 1 speed forward
-void Motor1_forward(int speed)
-{
-	pwm_set_chan_level(0, PWM_CHAN_A, speed);
-	gpio_put(MOTEUR1_PIN_SENS1, 0);
-	gpio_put(MOTEUR1_PIN_SENS2, 1);
-}
-
-// Set motor 1 speed backward
-void Motor1_backward(int speed)
-{
-	pwm_set_chan_level(0, PWM_CHAN_A, speed);
-	gpio_put(MOTEUR1_PIN_SENS1, 1);
-	gpio_put(MOTEUR1_PIN_SENS2, 0);
-}
-
-// Set motor 1 speed and direction (negative value : backward / positive value : forward)
-void Motor1_speed(int speed)
-{
-	if(speed < 0)
-	{
-		speed = -speed;
-		Motor1_backward(speed);
-	}
-	else
-	{
-		Motor1_forward(speed);
-	}
-}
-
-// Set motor 2 speed forward
-void Motor2_forward(int speed)
-{
-	pwm_set_chan_level(0, PWM_CHAN_B, speed);
-	gpio_put(MOTEUR2_PIN_SENS1, 0);
-	gpio_put(MOTEUR2_PIN_SENS2, 1);
-}
-
-// Set motor 2 speed backward
-void Motor2_backward(int speed)
-{
-	pwm_set_chan_level(0, PWM_CHAN_B, speed);
-	gpio_put(MOTEUR2_PIN_SENS1, 1);
-	gpio_put(MOTEUR2_PIN_SENS2, 0);
-}
-
-// Set motor 2 speed and direction (negative value : backward / positive value : forward)
-void Motor2_speed(int speed)
-{
-	if(speed < 0)
-	{
-		speed = -speed;
-		Motor2_backward(speed);
-	}
-	else
-	{
-		Motor2_forward(speed);
-	}
-}
-
-// Set motor 3 speed forward
-void Motor3_forward(int speed)
-{
-	pwm_set_chan_level(1, PWM_CHAN_A, speed);
-	gpio_put(MOTEUR3_PIN_SENS1, 0);
-	gpio_put(MOTEUR3_PIN_SENS2, 1);
-}
-
-// Set motor 3 speed backward
-void Motor3_backward(int speed)
-{
-	pwm_set_chan_level(1, PWM_CHAN_A, speed);
-	gpio_put(MOTEUR3_PIN_SENS1, 1);
-	gpio_put(MOTEUR3_PIN_SENS2, 0);
-}
-
-// Set motor 3 speed and direction (negative value : backward / positive value : forward)
-void Motor3_speed(int speed)
-{
-	if(speed < 0)
-	{
-		speed = -speed;
-		Motor3_backward(speed);
-	}
-	else
-	{
-		Motor3_forward(speed);
-	}
-}
-
-// Set motor 4 speed forward
-void Motor4_forward(int speed)
-{
-	pwm_set_chan_level(1, PWM_CHAN_B, speed);
-	gpio_put(MOTEUR4_PIN_SENS1, 1);
-	gpio_put(MOTEUR4_PIN_SENS2, 0);
-}
-
-// Set motor 4 speed backward
-void Motor4_backward(int speed)
-{
-	pwm_set_chan_level(1, PWM_CHAN_B, speed);
-	gpio_put(MOTEUR4_PIN_SENS1, 0);
-	gpio_put(MOTEUR4_PIN_SENS2, 1);
-}
-
-// Set motor 4 speed and direction (negative value : backward / positive value : forward)
-void Motor4_speed(int speed)
-{
-	if(speed < 0)
-	{
-		speed = -speed;
-		Motor4_backward(speed);
-	}
-	else
-	{
-		Motor4_forward(speed);
-	}
-}
-
-// Set

moteur.h

@@ -1,17 +0,0 @@
-#include "pico/stdlib.h"
-#include "hardware/pwm.h"
-
-void Init_motion_motor(void);
-void Motor1_forward(int speed);
-void Motor1_backward(int speed);
-void Motor1_speed(int speed);
-void Motor2_forward(int speed);
-void Motor2_backward(int speed);
-void Motor2_speed(int speed);
-void Motor3_forward(int speed);
-void Motor3_backward(int speed);
-void Motor3_speed(int speed);
-void Motor2_forward(int speed);
-void Motor3_backward(int speed);
-void Motor4_speed(int speed);
-