109 lines
1.7 KiB
C
109 lines
1.7 KiB
C
/*****
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* Copyright (c) 2023 - Poivron Robotique
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include "communication.h"
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#include "pico/stdlib.h"
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#include "hardware/pwm.h"
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#include <stdio.h>
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#define LED_VERTE 25
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#define PIN_VITESSE_M1 2
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#define PIN_SENS_A_M1 0
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#define PIN_SENS_B_M1 1
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// Juste pour information - les broches sont re-définies dans i2c_slave
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#define I2C0_SDA_PIN 16
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#define I2C0_SCL_PIN 17
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// Juste pour information - les broches sont re-définies dans i2c_master
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#define I2C1_SDA_PIN 18
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#define I2C1_SCL_PIN 19
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int M1_INITIALISE()
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{
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gpio_init(PIN_VITESSE_M1);
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gpio_init(PIN_SENS_A_M1);
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gpio_init(PIN_SENS_B_M1);
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gpio_set_dir(PIN_VITESSE_M1, GPIO_OUT);
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gpio_set_dir(PIN_SENS_A_M1, GPIO_OUT);
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gpio_set_dir(PIN_SENS_B_M1, GPIO_OUT);
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}
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int M1_AVANCE()
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{
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gpio_put(PIN_VITESSE_M1, 1);
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gpio_put(PIN_SENS_A_M1, 1);
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gpio_put(PIN_SENS_B_M1, 0);
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}
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int M1_RECULE()
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{
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gpio_put(PIN_VITESSE_M1, 1);
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gpio_put(PIN_SENS_A_M1, 0);
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gpio_put(PIN_SENS_B_M1, 1);
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}
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void main()
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{
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char message [256];
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stdio_init_all();
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// CLignottement LED
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gpio_set_function(LED_VERTE, GPIO_FUNC_PWM);
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pwm_set_wrap(4, 100);
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pwm_set_chan_level(4, PWM_CHAN_B, 25);
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pwm_set_enabled(4, true);
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//Moteur 1
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M1_INITIALISE();
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// Exemple de communication entre 2 Rpi Pico
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/*while(1){
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printf("Envoi message\n");
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communication_envoyer_message("Bonjour !\n", 11);
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printf("Lire message\n");
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if (communication_lire_message(message) == I2C_ECHEC){
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printf("Echec de la lecture du message\n");
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}else{
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printf("Succes\n");
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printf("%s",message);
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}
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sleep_ms(1000);
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}*/
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while(1)
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{
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M1_AVANCE();
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sleep_ms(3000);
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M1_RECULE();
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sleep_ms(3000);
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}
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} |