From a7b523828d0e99be718e5358c8af401cedea3e47 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nathana=C3=ABl=20Restori?= Date: Sat, 13 Oct 2012 13:10:20 +0200 Subject: [PATCH] =?UTF-8?q?Add=20I=C2=B2C=20part?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- latex/TM.tex | 137 +- latex/bibliographie.bib | 58 +- latex/images/I2C/I2C_ACK.eps | 282 ++++ latex/images/I2C/I2C_ACK.svg | 38 + latex/images/I2C/I2C_Architecture.eps | 665 ++++++++ latex/images/I2C/I2C_Architecture.svg | 98 ++ latex/images/I2C/I2C_EchangeMaitreEsclave.eps | 1462 +++++++++++++++++ latex/images/I2C/I2C_EchangeMaitreEsclave.svg | 124 ++ latex/images/I2C/I2C_Encodage.eps | 333 ++++ latex/images/I2C/I2C_Encodage.svg | 38 + latex/images/I2C/I2C_Pause.eps | 613 +++++++ latex/images/I2C/I2C_Pause.svg | 38 + latex/images/I2C/I2C_RESTART.eps | 281 ++++ latex/images/I2C/I2C_RESTART.svg | 33 + latex/images/I2C/I2C_START.eps | 266 +++ latex/images/I2C/I2C_START.svg | 33 + latex/images/I2C/I2C_STOP.eps | 269 +++ latex/images/I2C/I2C_STOP.svg | 33 + 18 files changed, 4799 insertions(+), 2 deletions(-) create mode 100644 latex/images/I2C/I2C_ACK.eps create mode 100644 latex/images/I2C/I2C_ACK.svg create mode 100644 latex/images/I2C/I2C_Architecture.eps create mode 100644 latex/images/I2C/I2C_Architecture.svg create mode 100644 latex/images/I2C/I2C_EchangeMaitreEsclave.eps create mode 100644 latex/images/I2C/I2C_EchangeMaitreEsclave.svg create mode 100644 latex/images/I2C/I2C_Encodage.eps create mode 100644 latex/images/I2C/I2C_Encodage.svg create mode 100644 latex/images/I2C/I2C_Pause.eps create mode 100644 latex/images/I2C/I2C_Pause.svg create mode 100644 latex/images/I2C/I2C_RESTART.eps create mode 100644 latex/images/I2C/I2C_RESTART.svg create mode 100644 latex/images/I2C/I2C_START.eps create mode 100644 latex/images/I2C/I2C_START.svg create mode 100644 latex/images/I2C/I2C_STOP.eps create mode 100644 latex/images/I2C/I2C_STOP.svg diff --git a/latex/TM.tex b/latex/TM.tex index 7abc0fd..208cc89 100644 --- a/latex/TM.tex +++ b/latex/TM.tex @@ -39,7 +39,7 @@ \thispagestyle{empty} Je remercie bla bla bla... \vfill -Image de couverture par \enquote{oomlout}, sous licence Creative Commons Attribution-Share like 2.0 Generic (CC BY-SA 2.0) +Image de couverture par \enquote{oomlout}, sous licence \emph{Creative Commons Attribution-Share Alike 2.0 Generic (CC BY-SA 2.0)}. \tableofcontents @@ -74,6 +74,141 @@ Les mots en \textbf{gras} sont des mots expliqués dans le glossaire ou des acro Les textes écrits avec \verb|cette police d'écriture| sont des extraits de code. +\chapter{L'I²C} +\section{Le bus I²C} +Le bus l'I²C a été développé par Philips en 1982. La première norme (notée 1.0) a été publiée en 1992 et la dernière (noté 4.0) en 2012. + +\section{Les caractéristiques} +L'I²C a plusieurs caractéristiques intéressantes : +\begin{itemize} + \item il n'utilise que deux lignes (en réalité trois, la masse devant être commune à tous les maîtres et les esclaves) + \item il est multi-maîtres : plusieurs objets peuvent contrôler le bus + \item il est multi-esclaves : plusieurs objets peuvent répondre à un maître + \item c'est un bus série : chaque information est découpée en plusieurs morceaux de taille fixe + \item c'est un bus synchrone : possède une horloge propre (imposée par les maître qui veux parler) + \item c'est un bus bidirectionnel half-duplex : les informations peuvent circuler dans les deux sens mais dans un seul sens à la fois + \item il peux communiquer à des vitesses allant de 100 kbit/s à 5 Mbit/s +\end{itemize} + +\section{Topologie} +Tout d'abord, plusieurs équipements peuvent être connectés au bus en même temps (qu'ils soient maîtres ou esclaves). + +Les équipement sont connectés entre eux à l'aide de deux lignes : +\begin{itemize} + \item SDA (Serial Data Line) : ligne de données bidirectionnelle, + \item SCL (Serial Clock Line) : ligne d'horloge de synchronisation bidirectionnelle +\end{itemize} +Il faut toute fois une troisième ligne pour avoir une masse commune à tous les équipements. +Tous les équipements doivent être alimentés avec le même potentiel (pour avoir la même référence comme niveau haut) mais peuvent être alimentés par différentes sources. + +Les échanges ont toujours lieu entre un maître et un esclave et sont toujours débutés par le maître. Toute fois, rien n'empêche à un équipement de passer du status de maître au status d'esclave et vice-versa. + +L'état logique \enquote{0} ou \enquote{LOW} est l'état \enquote{dominant} tandis que l'état logique \enquote{1} ou \enquote{HIGH} est l'état \enquote{récessif}. Cela veux dire que si un équipement impose l'état LOW et qu'un autre impose l'état HIGH, la ligne sera à l'état LOW. + +\begin{figure}[h] + \centering + \includegraphics[width=1\textwidth]{images/I2C/I2C_Architecture.eps} + \caption{Architecture I²C avec plusieurs maîtres et plusieurs esclaves} + \label{fig:I2C_Architecture} +\end{figure} + +\section{Le protocole I²C} +Toutes les images ont été faites par \enquote{Emiaille} et sont sous licence \emph{Creative Commons paternité – partage à l’identique 3.0 (non transposée)}. + +\subsection{L'encodage} +Pour transmettre un bit, le maître doit d'abord placer la ligne SCL au niveau LOW puis placer la ligne SDA au niveau voulu (LOW pour transmettre un 1 ou HIGH pour transmettre un 0). Ensuite, il place la ligne SCL au niveau HIGH, attend un temps défini par la vitesse et la norme utilisée puis replace la ligne SCL au niveau LOW. Un bit vient d'être transmis. Il recommence pour transmettre le bit suivant. Tant que la ligne SCL est au niveau HIGH, la ligne SDA ne doit pas changer d'état. +\begin{figure}[h] + \centering + \includegraphics{images/I2C/I2C_Encodage.eps} + \caption{Encodage d'un bit I²C} + \label{fig:I2C_Encodage} +\end{figure} + +\subsection{La commande START} +La commande START est un transgression à la règle d'encodage. Elle est utilisé pour signaler le début d'une trame. +Pour envoyer un START, la ligne SDA doit passer de l'état HIGH à LOW pendant que la ligne SCL est à l'état HIGH. +\begin{figure}[h] + \centering + \includegraphics{images/I2C/I2C_START.eps} + \caption{Condition de START I²C} + \label{fig:I2C_START} +\end{figure} + +\subsection{La commande STOP} +La commande STOP est un transgression à la règle d'encodage. Elle est utilisé pour signaler la fin d'une trame. +Pour envoyer un STOP, la ligne SDA doit passer de l'état LOW à HIGH pendant que la ligne SCL est à l'état HIGH. +\begin{figure}[h] + \centering + \includegraphics{images/I2C/I2C_STOP.eps} + \caption{Condition de STOP I²C} + \label{fig:I2C_STOP} +\end{figure} + +\subsection{La commande RESTART} +La commande RESTART est un transgression à la règle d'encodage. Elle est utilisé pour signaler le début d'une nouvelle trame sans passer par une condition STOP. +Pour envoyer un RESTART, la ligne SDA doit passer de l'état LOW à HIGH pendant que la ligne SCL est à l'état HIGH. En fait, il s'agit que la commande START qui est envoyée entre un START en un STOP. +\begin{figure}[h] + \centering + \includegraphics{images/I2C/I2C_RESTART.eps} + \caption{Condition de RESTART I²C} + \label{fig:I2C_RESTART} +\end{figure} + +\subsection{L'acquittement} +Quand le récepteur à reçu un octet, il envoie la commande ACK pour signaler qu'il l'a bien reçu ou la commande NACK pour signaler un problème lors de la réception. +Quand le récepteur est un maître, il peux envoyer un NACK pour demander l'arrêt de la lecture avant d'envoyer un STOP. +Pour envoyer un ACK, le récepteur envoie simplement un bit 0. Pour envoyer un NACK, le récepteur envoie simplement un bit 1. +\begin{figure}[h] + \centering + \includegraphics{images/I2C/I2C_ACK.eps} + \caption{Acquittement I²C} + \label{fig:I2C_ACK} +\end{figure} + +\subsection{La pause} +A tout moment, l'esclave peux bloquer la ligne SCL à LOW pour signaler qu'il est occupé. +Pour aire un pause, l'esclave maintient la ligne SCL au niveau LOW tandis que le maître maintient la ligne au niveau HIGH. Le maître va détecter l'écrasement et maintenir la ligne au niveau HIGH jusqu'à ce que l'esclave est libéré la ligne. +\begin{figure}[h] + \centering + \includegraphics{images/I2C/I2C_Pause.eps} + \caption{Pause I²C} + \label{fig:I2C_Pause} +\end{figure} + +\subsection{Un échange complet} +Tout d'abord, tout les maîtres écoutent en permanence les deux lignes. S'ils détectent un START, ils savent qu'ils doivent attendre un STOP avant de tenter de parler à un esclave. Cette écoute permanente permet aussi de détecter les pauses et les conflits (plusieurs maîtres qui tentent de parler en même temps). + +Voici un exemple d'échange complet : +\begin{enumerate} + \item le maître qui veux parler attend que le bus soit libre s'il est occupé + \item le maître envoie la commande START + \item le maître envoie un octet : le sept premiers bits correspondent à l'adresse et le huitième permet de savoir si le maître demande une lecture ou une écriture (ici, une écriture) + \item l'esclave envoie un bit d'acquittement (ici, un ACK) + \item l'esclave peux demander une pause + \item le maître envoie un octet qui contient une commande + \item l'esclave envoie un bit d'acquittement (ici, un ACK) + \item l'esclave peux demander une pause + \item le maître envoie la commande RESTART + \item le maître envoie un octet : le sept premiers bits correspondent à l'adresse et le huitième permet de savoir si le maître demande une lecture ou une écriture (ici, une lecture) + \item l'esclave envoie un premier octet qui contient le début des données + \item le maître envoie un bit d'acquittement (ici, un ACK) + \item l'esclave peux demander une pause + \item l'esclave envoie un deuxième octet qui contient la suite des données + \item le maître envoie un bit d'acquittement (ici, un NACK) + \item l'esclave peux demander une pause + \item le maître envoie la commande STOP pour libérer le bus +\end{enumerate} +\begin{figure}[h] + \centering + \includegraphics[width=1\textwidth]{images/I2C/I2C_EchangeMaitreEsclave.eps} + \caption{Exemple d'échange I²C entre un maître et un esclave} + \label{fig:I2C_EchangeMaitreEsclave} +\end{figure} + +\subsection{Le cas de conflit} +Si deux maîtres (ou plus) prennent le contrôle du bus en même temps ou presque, les deux START et les lignes SCL vont se superposer et aucun des deux maîtres ne va se rendre compte qu'un autre est en train de parler un même temps. Toute fois, ils écoutent tous les deux en même temps qu'ils écrivent. Tant qu'ils envoient tous les deux un bit 1 ou 0 en même temps, il n'y aura pas de conflit entre les deux. Par contre, si l'un envoie un 1 et l'autre un 0, le 0 va écraser le 1 et le maître envoyant le 1 va détecter le conflit. Il va donc arrêter de parler et laisser l'autre continuer. Le conflit peux être détecter lors de l'écriture de l'adresse, du bit R/W ou lors de l'envoi d'un commande. +Si les deux maîtres on envoyer exactement la même chose, il n'y aura pas de conflit et ils liront ou écriront la même chose. + \chapter{Le matériel} \section{Le choix de la plate-forme} Il existe de nombreuse \gls{plate-forme} en robotique~: par exemple, le Boe-Bot de Parallax, utilisé dans les cours facultatifs de robotique de M. \textsc{Gardon}. J'ai fait le choix d'un Arduino car cette un plate-forme de plus en plus répandue, peu chère (20 € pour une carte programmable) et puissante. On trouve de nombreux exemples de \gls{DIY}, elle est programmable en \gls{C++} (donc il est possible d'utiliser des \glspl{bibliotheque}) et c'est du \gls{materiel libre}. diff --git a/latex/bibliographie.bib b/latex/bibliographie.bib index f241233..c8d0842 100644 --- a/latex/bibliographie.bib +++ b/latex/bibliographie.bib @@ -1,7 +1,63 @@ @misc{fig:Arduino_Ethernet, author = "oomlout", title = "Arduino Ethernet", - url = "https://upload.wikimedia.org/wikipedia/commons/f/f7/Arduino_Ethernet_Board_.jpg", + url = "https://commons.wikimedia.org/wiki/File:Arduino_Ethernet_Board_.jpg", + keywords = "image" +} + +@misc{fig:I2C_ACK, + author = "Emiaille", + title = "Acquittement I²C", + url ="https://commons.wikimedia.org/wiki/File:I2C_ACK.svg", + keywords = "image" +} + +@misc{fig:I2C_Architecture, + author = "Emiaille", + title = "Architecture I²C avec plusieurs maîtres et plusieurs esclaves", + url ="https://commons.wikimedia.org/wiki/File:I2C_Architecture.svg", + keywords = "image" +} + +@misc{fig:I2C_EchangeMaitreEsclave, + author = "Emiaille", + title = "Exemple d'échange I²C entre un maître et un esclave", + url ="https://commons.wikimedia.org/wiki/File:I2C_EchangeMaitreEsclave.svg", + keywords = "image" +} + +@misc{fig:I2C_Encodage, + author = "Emiaille", + title = "Encodage d'un bit I²C", + url ="https://commons.wikimedia.org/wiki/File:I2C_Encodage.svg", + keywords = "image" +} + +@misc{fig:I2C_Pause, + author = "Emiaille", + title = "Pause I²C", + url ="https://commons.wikimedia.org/wiki/File:I2C_Pause.svg", + keywords = "image" +} + +@misc{fig:I2C_RESTART, + author = "Emiaille", + title = "Condition de RESTART I²C", + url ="https://commons.wikimedia.org/wiki/File:I2C_RESTART.svg", + keywords = "image" +} + +@misc{fig:I2C_START, + author = "Emiaille", + title = "Condition de START I²C", + url ="https://commons.wikimedia.org/wiki/File:I2C_START.svg", + keywords = "image" +} + +@misc{fig:I2C_STOP, + author = "Emiaille", + title = "Condition de STOP I²C", + url 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