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authorschodet2003-12-13 16:43:44 +0000
committerschodet2003-12-13 16:43:44 +0000
commitbbd4ad1a1034dd4776db3d364b5fa268923124c1 (patch)
treea7cb96c51d2ecc38c0741f5187cc7a69d6ae8704 /2004/n/asserv/src
parent7852fb953115ea9363d8e40dfa90fa869c257bf8 (diff)
Implémentation des files de priorités séries.
Diffstat (limited to '2004/n/asserv/src')
-rw-r--r--2004/n/asserv/src/main.c4
-rw-r--r--2004/n/asserv/src/motor.h8
-rw-r--r--2004/n/asserv/src/serial.c172
-rw-r--r--2004/n/asserv/src/serial.h12
4 files changed, 168 insertions, 28 deletions
diff --git a/2004/n/asserv/src/main.c b/2004/n/asserv/src/main.c
index 1dd817e..7f3732c 100644
--- a/2004/n/asserv/src/main.c
+++ b/2004/n/asserv/src/main.c
@@ -57,7 +57,7 @@ A1-5 B2-7 C4-5 D2-6 E0-2
#fuses HS,WDT,WDT128,PUT,NOBROWNOUT,NOLVP
#use delay(clock=20000000)
#use rs232(baud=115200,xmit=PIN_C6,parity=N,rcv=PIN_C7,bits=8)
-#priority EXT,EXT1,RDA,TIMER2
+#priority EXT,EXT1,RDA,TBE,TIMER2
#include "motor.c"
#include "serial.c"
@@ -98,8 +98,6 @@ main_init (void)
enable_interrupts (INT_TIMER2);
enable_interrupts (INT_RDA);
enable_interrupts (GLOBAL);
- // Heu, on s'en servait pour le bus...
- //output_low (PIN_B2);
}
void
diff --git a/2004/n/asserv/src/motor.h b/2004/n/asserv/src/motor.h
index 92b1680..be29c03 100644
--- a/2004/n/asserv/src/motor.h
+++ b/2004/n/asserv/src/motor.h
@@ -27,7 +27,7 @@
/* +AutoDec */
-/* Initialise le modue moteur. */
+/* Initialise le module moteur. */
void
motor_init (void);
@@ -35,6 +35,10 @@ motor_init (void);
signed long
safe_add_long (signed long &a, signed long &b);
+/* Soustraction limite 32000. */
+signed long
+safe_sub_long (signed long &a, signed long &b);
+
/* Limite un entier entre -MAX et MAX. */
signed long
boundary (signed long &n, signed long &max);
@@ -84,7 +88,7 @@ motor_parse (void);
/* Dmarre l'asservissement. */
void
-motor_toggle_asservi (short fl);
+motor_toggle_asservi (void);
/* -AutoDec */
diff --git a/2004/n/asserv/src/serial.c b/2004/n/asserv/src/serial.c
index a72f7db..0c113e7 100644
--- a/2004/n/asserv/src/serial.c
+++ b/2004/n/asserv/src/serial.c
@@ -29,18 +29,26 @@
#define HEXDIGIT(a) ((a) <= 9 ? (a) + '0' : (a) + ('a' - 10))
#define SERIAL2INT(a, b) (HEX (a) << 4 | HEX (b))
-#define CRLF "\r"
+#define CRLF '\r'
+#define EOB '\0'
/* Tampon de reception. */
-char serial_recv_buf[SERIAL_RECV_BUF_LEN];
-int serial_recv_buf_n;
+/* Compilateur de merde !
+ * char serial_recv_buf[SERIAL_RECV_BUF_LEN];
+ * int serial_recv_buf_n; */
short serial_recv_full, serial_recv_working;
/* Tampon d'emmission. */
#define SERIAL_SEND_BUF_LEN 20
char serial_send_buf[SERIAL_SEND_BUF_LEN];
int serial_send_buf_n;
-short serial_send_full, serial_send_working;
+short serial_send_full;
+
+/* Tampon d'emmision non fiable. */
+#define SERIAL_UNRELIABLE_SEND_BUF_LEN 20
+char serial_unreliable_send_buf[SERIAL_UNRELIABLE_SEND_BUF_LEN];
+int serial_unreliable_send_buf_n;
+short serial_unreliable_send_full;
/* Initialise la reception serie. */
void
@@ -51,8 +59,11 @@ serial_init (void)
serial_recv_working = 0;
serial_send_buf_n = 0;
serial_send_full = 0;
- serial_send_working = 0;
- printf ("!z" CRLF);
+ serial_unreliable_send_buf_n = 0;
+ serial_unreliable_send_full = 0;
+ serial_send_char ('!');
+ serial_send_char ('z');
+ serial_send_char (CRLF);
}
/* Recois des caractres. */
@@ -73,6 +84,53 @@ serial_recv ()
serial_recv_buf[serial_recv_buf_n++] = c;
}
+/* Envois des caractres. */
+#int_TBE
+serial_send ()
+{
+ char c;
+ if (serial_send_full)
+ {
+ /* Efface le tampon non-fiable. */
+ if (serial_unreliable_send_full)
+ {
+ serial_unreliable_send_buf_n = 0;
+ serial_unreliable_send_full = 0;
+ }
+ /* Envoie le caractre fiable. */
+ c = serial_send_buf[serial_send_buf_n++];
+ putc (c);
+ /* Si fin de tampon, on le libre. */
+ if (c == CRLF)
+ {
+ serial_send_buf_n = 0;
+ serial_send_full = 0;
+ disable_interrupts (INT_TBE);
+ }
+ /* On ne fait pas le test, normalement ne doit pas arriver.
+ * assert (serial_send_buf_n < SERIAL_SEND_BUF_LEN); */
+ }
+ else
+ {
+ if (serial_unreliable_send_full)
+ {
+ /* Envoie le caractre non-fiable. */
+ c = serial_unreliable_send_buf[serial_unreliable_send_buf_n++];
+ /* Si fin de tampon, on le libre. */
+ if (c == EOB)
+ {
+ serial_unreliable_send_buf_n = 0;
+ serial_unreliable_send_full = 0;
+ disable_interrupts (INT_TBE);
+ }
+ else
+ putc (c);
+ /* On ne fait pas le test, normalement ne doit pas arriver.
+ * assert (serial_send_buf_n < SERIAL_SEND_BUF_LEN); */
+ }
+ }
+}
+
/* Traite la commande recue. */
void
serial_parse (void)
@@ -107,43 +165,115 @@ serial_parse (void)
void
serial_send_error (char c)
{
- printf ("!e%c" CRLF, c);
+ serial_send_char ('!');
+ serial_send_char ('e');
+ serial_send_char (c);
+ serial_send_char (CRLF);
}
/* Envoie un code ok. */
void
serial_send_ok (char c)
{
- printf ("!o%c" CRLF, c);
+ serial_send_char ('!');
+ serial_send_char ('o');
+ serial_send_char (c);
+ serial_send_char (CRLF);
}
/* Envoie un rapport d'un moteur. */
void
serial_send_motor_stat (char side, unsigned int vacc, unsigned long &e, unsigned long &pwm)
{
- printf ("!m%c", side);
- serial_send_int (vacc);
- putc (',');
- serial_send_long (e);
- putc (',');
- serial_send_long (pwm);
- puts (CRLF);
+ serial_unreliable_send_char ('!');
+ serial_unreliable_send_char ('m');
+ serial_unreliable_send_char (side);
+ serial_unreliable_send_int (vacc);
+ serial_unreliable_send_char (',');
+ serial_unreliable_send_long (e);
+ serial_unreliable_send_char (',');
+ serial_unreliable_send_long (pwm);
+ serial_unreliable_send_char (CRLF);
+}
+
+/* Envoie un caractre. */
+void
+serial_send_char (char c)
+{
+ /* Bloque jusqu' fin d'emmission. */
+ while (serial_send_full)
+ ;
+ /* Ajoute le caractre. */
+ serial_send_buf[serial_send_buf_n++] = c;
+ /* Si fin de ligne, on envois. */
+ if (c == CRLF)
+ {
+ serial_send_full = 1;
+ serial_send_buf_n = 0;
+ c = serial_send_buf[serial_send_buf_n++];
+ enable_interrupts (INT_TBE);
+ putc (c);
+ }
+}
+
+/* Envoie un caractre non-fiable. */
+void
+serial_unreliable_send_char (char c)
+{
+ /* Drop si une transmission est en cours. */
+ if (serial_send_full || serial_unreliable_send_full) return;
+ /* Ajoute le caractre. */
+ serial_send_buf[serial_send_buf_n++] = c;
+ /* Si fin de buffer, on envois. */
+ if (c == EOB)
+ {
+ serial_unreliable_send_full = 1;
+ serial_unreliable_send_buf_n = 0;
+ c = serial_unreliable_send_buf[serial_unreliable_send_buf_n++];
+ enable_interrupts (INT_TBE);
+ putc (c);
+ }
}
/* Envoie un long. */
void
serial_send_long (unsigned long &value)
{
- putc (HEXDIGIT ((make8 (value, 1) >> 4) & 0xf));
- putc (HEXDIGIT (make8 (value, 1) & 0xf));
- putc (HEXDIGIT ((make8 (value, 0) >> 4) & 0xf));
- putc (HEXDIGIT (make8 (value, 0) & 0xf));
+ serial_send_char (HEXDIGIT ((make8 (value, 1) >> 4) & 0xf));
+ serial_send_char (HEXDIGIT (make8 (value, 1) & 0xf));
+ serial_send_char (HEXDIGIT ((make8 (value, 0) >> 4) & 0xf));
+ serial_send_char (HEXDIGIT (make8 (value, 0) & 0xf));
+}
+
+/* Envoie un long non-fiable. */
+void
+serial_unreliable_send_long (unsigned long &value)
+{
+ serial_unreliable_send_char (HEXDIGIT ((make8 (value, 1) >> 4) & 0xf));
+ serial_unreliable_send_char (HEXDIGIT (make8 (value, 1) & 0xf));
+ serial_unreliable_send_char (HEXDIGIT ((make8 (value, 0) >> 4) & 0xf));
+ serial_unreliable_send_char (HEXDIGIT (make8 (value, 0) & 0xf));
}
/* Envoie un int. */
void
serial_send_int (unsigned int &value)
{
- putc (HEXDIGIT ((value >> 4) & 0xf));
- putc (HEXDIGIT (value & 0xf));
+ serial_send_char (HEXDIGIT ((value >> 4) & 0xf));
+ serial_send_char (HEXDIGIT (value & 0xf));
+}
+
+/* Envoie un int non-fiable. */
+void
+serial_unreliable_send_int (unsigned int &value)
+{
+ serial_unreliable_send_char (HEXDIGIT ((value >> 4) & 0xf));
+ serial_unreliable_send_char (HEXDIGIT (value & 0xf));
+}
+
+/* Termine le bloc non-fiable. */
+void
+serial_unreliable_send_eob (void)
+{
+ serial_unreliable_send_char (EOB);
}
diff --git a/2004/n/asserv/src/serial.h b/2004/n/asserv/src/serial.h
index 6595039..e954c75 100644
--- a/2004/n/asserv/src/serial.h
+++ b/2004/n/asserv/src/serial.h
@@ -27,8 +27,8 @@
/* Tampon de reception. */
#define SERIAL_RECV_BUF_LEN 20
-extern char serial_recv_buf[SERIAL_RECV_BUF_LEN];
-extern int serial_recv_buf_n;
+char serial_recv_buf[SERIAL_RECV_BUF_LEN];
+int serial_recv_buf_n;
/* Macros de rcupration de la commande recu. */
#define HEXBIN(a) (((a) >= '0' && (a) <= '9') ? (a) - '0' : (a) - ('a' - 10))
@@ -57,6 +57,10 @@ serial_init (void);
#int_RDA
serial_recv ();
+/* Envois des caractres. */
+#int_TBE
+serial_send ();
+
/* Traite la commande recue. */
void
serial_parse (void);
@@ -73,6 +77,10 @@ serial_send_ok (char c);
void
serial_send_motor_stat (char side, unsigned int vacc, unsigned long &e, unsigned long &pwm);
+/* Envoie un caractre. */
+void
+serial_send_char (char c);
+
/* Envoie un long. */
void
serial_send_long (unsigned long &value);