This is a simple code example for serial communication between pi and arduino or other board with vigibot protocole with default remote configuration :
/*
* Vigibot Pi to Arduino Uart default remote configuration example by Mike118
*/
// Meta Type :
typedef struct {
union {
struct {
int16_t x;
int16_t y;
};
int16_t coordonnees[2];
uint8_t bytes[4];
};
} Point;
typedef struct {
union {
struct {
int8_t x;
int8_t y;
int8_t z;
};
uint8_t bytes[3];
};
} Vitesses;
// CONFIG
#define PISERIAL Serial
#define NBPOSITIONS 2
#define FAILSAFE 250 // ms
// TTS
#define TTSBUFFERSIZE 255
uint8_t ttsBuffer[TTSBUFFERSIZE];
uint8_t ttsCurseur = 0;
// TX
#define TXFRAMESIZE (NBPOSITIONS * 4 + 17)
typedef struct {
union {
struct {
uint8_t sync[4]; // 4
Point positions[NBPOSITIONS]; // NBPOSITIONS * 4
uint16_t val16[2]; // 2 * 2
uint8_t choixCameras; // 1
Vitesses vitesses; // 3
uint8_t interrupteurs; // 1
uint8_t val8[4]; // 4
};
uint8_t bytes[TXFRAMESIZE];
};
} TrameTx;
// RX
#define RXFRAMESIZE (NBPOSITIONS * 4 + 9)
typedef struct {
union {
struct { // Sizes
uint8_t sync[4]; // 4
Point positions[NBPOSITIONS]; // NBPOSITIONS * 4
uint8_t choixCameras; // 1
Vitesses vitesses; // 3
uint8_t interrupteurs; // 1
};
uint8_t bytes[RXFRAMESIZE];
};
} TrameRx;
TrameTx trameTx;
TrameRx trameRx;
uint32_t lastTrameTimestamp = millis();
void setup() {
PISERIAL.begin(115200);
// add all your init here
}
void loop() {
if(readPiSerial()) {
// each time we receive a full trame run repeatedly:
// use values inside trameRx to tell your robot how to move ...
// trameRx.vitesses.x , trameRx.vitesses.y, trameRx.vitesses.z
// trameRx.positions[i].x trameRx.positions[i].y etc....
writePiSerial();
lastTrameTimestamp = millis();
}
if( millis() - lastTrameTimestamp > FAILSAFE ) {
// Stop the robot in case the robot lost connection with the Pi
} else {
// put your main code here, to run repeatedly:
// avoid abstacle, run speed ...
}
}
bool readPiSerial() {
uint8_t current;
static uint8_t lastType = 0;
static uint8_t n = 0;
static uint8_t frame[RXFRAMESIZE];
while(PISERIAL.available()) {
current = PISERIAL.read();
switch(n) {
case 0:
if(current == '$')
n = 1;
break;
case 1:
if(current != 'T' && lastType == 'T')
writeTtsBuffer('\0');
if(current == 'S' || current == 'T') {
lastType = current;
n = 2;
} else
n = 0;
break;
default:
frame[n++] = current;
if(n == RXFRAMESIZE) {
if(lastType == 'T') {
for(uint8_t i = 4; i < RXFRAMESIZE; i++) // Do not send the 4 sync data in tts
writeTtsBuffer(frame[i]);
} else if(lastType == 'S') {
for(uint8_t p = 0; p < RXFRAMESIZE; p++)
trameRx.bytes[p] = frame[p];
}
n = 0;
return true;
}
}
}
return false;
}
void writePiSerial() {
// Header, do not modify
trameTx.sync[0] = '$';
trameTx.sync[1] = 'R';
trameTx.sync[2] = ' ';
trameTx.sync[3] = ' ';
// modify the feedback according your need. By default we copy the trameRx content ...
for(uint8_t i = 0; i < NBPOSITIONS; i++) {
trameTx.positions[i].x = trameRx.positions[i].x;
trameTx.positions[i].y = trameRx.positions[i].y;
}
trameTx.val16[0] = 0; // Voltage (will be updated by Raspberry pi)
trameTx.val16[1] = 0; // Percent (will be updated by Raspberry pi)
trameTx.choixCameras = trameRx.choixCameras;
trameTx.vitesses.x = trameRx.vitesses.x;
trameTx.vitesses.y = trameRx.vitesses.y;
trameTx.vitesses.z = trameRx.vitesses.z;
trameTx.interrupteurs = trameRx.interrupteurs;
trameTx.val8[0] = 0; // CPU load (will be updated by Raspberry pi)
trameTx.val8[1] = 0; // Soc temp (will be updated by Raspberry pi)
trameTx.val8[2] = 0; // link (will be updated by Raspberry pi)
trameTx.val8[3] = 0; // RSSI (will be updated by Raspberry pi)
for( uint8_t i = 0; i < TXFRAMESIZE; i++)
PISERIAL.write(trameTx.bytes[i]);
}
void displayTtsBuffer (uint8_t * ttsBuffer, uint8_t bufferSize) {
// you should modify this function to display text on a screen depending on your hardware...
/* if using an arduino with a second Serial different from the PISERIAL example SERIAL1 you can do this :
for( uint8_t i = 0; i < bufferSize; i++)
Serial1.write(ttsBuffer[i]);
Serial1.println("");
*/
}
void writeTtsBuffer( uint8_t ttsChar) {
static uint8_t ttsCurseur = 0;
if( ttsCurseur < TTSBUFFERSIZE && ttsChar != '\0') {
ttsBuffer[ttsCurseur] = ttsChar;
ttsCurseur ++;
}
if( ttsCurseur == TTSBUFFERSIZE || ttsChar == '\0') {
displayTtsBuffer (ttsBuffer, ttsCurseur);
ttsCurseur = 0;
}
}
Note :
EN
You will need change the -1 WRITEUSERDEVICE value and replace it by the serial connection number you want use ( by default use 0 ) to tell the raspberryPi to send data to the arduino and same for READUSERDEVICE if you want the Pi to read information sent by the arduino on Vigibot. ( To do this open the management tab, open the hardware config and enable them in the effective configuration tab)
To connect your arduino to the Pi, you need to connect Arduino TX pin on Pi RX pin and Arduino Rx pin on TX Pi pin.
Plus, you need to connect ground between Arduino and Pi .
Warning:
Pi is working with a 3.3V logic level. If using a 5V arduino board ( like uno, nano or mega) you should use a logic level converter
FR
Vous devrez changer le WRITEUSERDEVICE -1 et mettre le numero du serial que vous souhaiter utiliser pour dire à la Raspberry pi d'envoyer des données à l'arduino ( en général par défaut le numéro à mettre est 0 ) et Idem avec READUSERDEVICE pour dire à la Raspberry pi de lire les informations envoyée par l'arduino sur Vigibot. ( pour le faire ouvrez la fenêtre de Gestion, puis la fenêtre de configuration matériel et activez les options souhaitées dans " configuration effective " )
Pour relier une arduino à un pi en Serial il faut connecter le TX de l'arduino au RX de la raspberry pi et inversement le RX de l'arduino au TX de la raspberry pi.
De plus, la masse de l'arduino et de la raspberry pi doit être commune...
Attention rappel :
La raspberry pi est en niveau logique 3.3V.
Si vous utilisez une arduino en 5V (arduino uno, mega, nano ) il faudra utiliser un convertisseur de niveau logique
