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vezde 2022-10-18 10:33:48 +02:00
parent 840748461a
commit 030b0d1bd4
23 changed files with 4535 additions and 689 deletions
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1
doc/Flowchart-robot.drawio Normal file
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@ -0,0 +1 @@
<mxfile host="app.diagrams.net" modified="2022-10-11T12:40:49.574Z" agent="5.0 (X11)" etag="YNnbMm92YCTksZ5bMFh4" version="20.4.0" type="device"><diagram name="Page-1" id="c7558073-3199-34d8-9f00-42111426c3f3">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</diagram></mxfile>

1
software/dumber3/Core/Inc/batterie.h
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@ -10,5 +10,4 @@
void BATTERIE_Init(void); void BATTERIE_Init(void);
#endif /* INC_BATTERIE_H_ */ #endif /* INC_BATTERIE_H_ */

70
software/dumber3/Core/Inc/cmd.h Normal file
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@ -0,0 +1,70 @@
/*
* cmd.h
*
* Created on: 3 oct. 2022
* Author: dimercur
*/
#ifndef INC_CMD_H_
#define INC_CMD_H_
#include "main.h"
typedef enum {
pingCMD = 'p',
resetCMD = 'r',
setMotorCMD = 'm',
startWWatchDogCMD = 'W',
resetWatchdogCMD = 'w',
getBatteryVoltageCMD = 'v',
getVersionCMD = 'V',
startWithoutWatchCMD = 'u',
moveCMD = 'M',
turnCMD = 'T',
busyStateCMD = 'b',
testCMD = 't',
debugCMD = 'a',
powerOffCMD = 'z'
} CMD_Type;
typedef enum {
okANS = 'O',
errANS = 'E',
unknownANS = 'C',
batOK = '2',
batLOW = '1',
batEMPTY = '0'
} ANS_Type;
#define END_OF_CMD '\r'
typedef struct {
CMD_Type type;
} CMD_Generic;
typedef struct {
CMD_Type type;
int32_t motor_left;
int32_t motor_right;
} CMD_SetMotor;
typedef struct {
CMD_Type type;
int32_t distance;
} CMD_Move;
typedef struct {
CMD_Type type;
int32_t turns;
} CMD_Turn;
#define CMD_DECODE_INVALID ((CMD_Generic*)NULL)
#define CMD_DECODE_UNKNOWN ((CMD_Generic*)UINT32_MAX)
ANS_Type cmdIsValid(char* cmd);
CMD_Generic* cmdDecode(char* cmd);
void cmdSendAnswer(ANS_Type ans);
void cmdSendBatteryLevel(char level);
void cmdSendVersion();
#endif /* INC_CMD_H_ */

4
software/dumber3/Core/Inc/config.h
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@ -7,6 +7,8 @@
#include "stm32l0xx_hal.h" #include "stm32l0xx_hal.h"
#include "cmsis_os.h" #include "cmsis_os.h"
#define SYSTEM_VERSION_STR "version 2.0\r"
#define STACK_SIZE 0x100 #define STACK_SIZE 0x100
#define PriorityMoteurs (configMAX_PRIORITIES -1) #define PriorityMoteurs (configMAX_PRIORITIES -1)
@ -18,5 +20,7 @@
#define PriorityLeds (configMAX_PRIORITIES -7) #define PriorityLeds (configMAX_PRIORITIES -7)
#define BATTERIE_PERIODE_SCRUTATION 1000 #define BATTERIE_PERIODE_SCRUTATION 1000
#define XBEE_TX_SEMAPHORE_WAIT 500
#define XBEE_RX_BUFFER_MAX_LENGTH 50
TickType_t msToTicks(TickType_t ms); TickType_t msToTicks(TickType_t ms);

5
software/dumber3/Core/Inc/leds.h
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@ -25,7 +25,10 @@ typedef enum {
leds_charge_bat_3, leds_charge_bat_3,
leds_charge_bat_4, leds_charge_bat_4,
leds_charge_bat_5, leds_charge_bat_5,
leds_erreur leds_erreur,
cmd_rcv_ok,
cmd_rcv_err,
cmd_rcv_unknown
} LEDS_State; } LEDS_State;
void LEDS_Init(void); void LEDS_Init(void);

15
software/dumber3/Core/Inc/main.h
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@ -42,6 +42,7 @@ extern "C" {
#include "batterie.h" #include "batterie.h"
#include "sequenceur.h" #include "sequenceur.h"
#include "xbee.h" #include "xbee.h"
#include "cmd.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
@ -72,16 +73,18 @@ void Error_Handler(void);
/* Private defines -----------------------------------------------------------*/ /* Private defines -----------------------------------------------------------*/
#define BATTERY_SENSE_Pin GPIO_PIN_0 #define BATTERY_SENSE_Pin GPIO_PIN_0
#define BATTERY_SENSE_GPIO_Port GPIOA #define BATTERY_SENSE_GPIO_Port GPIOA
#define PWM_B_GAUCHE_Pin GPIO_PIN_1 #define ENC_PHA_GAUCHE_Pin GPIO_PIN_1
#define PWM_B_GAUCHE_GPIO_Port GPIOA #define ENC_PHA_GAUCHE_GPIO_Port GPIOA
#define ENC_PHA_DROIT_Pin GPIO_PIN_2 #define ENC_PHA_DROIT_Pin GPIO_PIN_2
#define ENC_PHA_DROIT_GPIO_Port GPIOA #define ENC_PHA_DROIT_GPIO_Port GPIOA
#define ENC_PHB_DROIT_Pin GPIO_PIN_3 #define ENC_PHB_DROIT_Pin GPIO_PIN_3
#define ENC_PHB_DROIT_GPIO_Port GPIOA #define ENC_PHB_DROIT_GPIO_Port GPIOA
#define ENC_PHB_GAUCHE_Pin GPIO_PIN_6 #define ENC_PHB_GAUCHE_Pin GPIO_PIN_5
#define ENC_PHB_GAUCHE_GPIO_Port GPIOA #define ENC_PHB_GAUCHE_GPIO_Port GPIOA
#define ENC_PHA_GAUCHE_Pin GPIO_PIN_7 #define PWM_B_GAUCHE_Pin GPIO_PIN_6
#define ENC_PHA_GAUCHE_GPIO_Port GPIOA #define PWM_B_GAUCHE_GPIO_Port GPIOA
#define PWM_A_GAUCHE_Pin GPIO_PIN_7
#define PWM_A_GAUCHE_GPIO_Port GPIOA
#define PWM_A_DROIT_Pin GPIO_PIN_0 #define PWM_A_DROIT_Pin GPIO_PIN_0
#define PWM_A_DROIT_GPIO_Port GPIOB #define PWM_A_DROIT_GPIO_Port GPIOB
#define PWM_B_DROIT_Pin GPIO_PIN_1 #define PWM_B_DROIT_Pin GPIO_PIN_1
@ -100,8 +103,6 @@ void Error_Handler(void);
#define SHUTDOWN_ENCODERS_GPIO_Port GPIOB #define SHUTDOWN_ENCODERS_GPIO_Port GPIOB
#define XBEE_RESET_Pin GPIO_PIN_10 #define XBEE_RESET_Pin GPIO_PIN_10
#define XBEE_RESET_GPIO_Port GPIOA #define XBEE_RESET_GPIO_Port GPIOA
#define PWM_A_GAUCHE_Pin GPIO_PIN_15
#define PWM_A_GAUCHE_GPIO_Port GPIOA
#define BUTTON_SENSE_Pin GPIO_PIN_3 #define BUTTON_SENSE_Pin GPIO_PIN_3
#define BUTTON_SENSE_GPIO_Port GPIOB #define BUTTON_SENSE_GPIO_Port GPIOB
#define BUTTON_SENSE_EXTI_IRQn EXTI2_3_IRQn #define BUTTON_SENSE_EXTI_IRQn EXTI2_3_IRQn

6
software/dumber3/Core/Inc/messages.h
View file

@ -20,8 +20,6 @@ typedef struct {
extern QueueHandle_t LEDS_Mailbox; extern QueueHandle_t LEDS_Mailbox;
extern QueueHandle_t MOTEURS_Mailbox; extern QueueHandle_t MOTEURS_Mailbox;
extern QueueHandle_t SEQUENCEUR_Mailbox; extern QueueHandle_t SEQUENCEUR_Mailbox;
extern QueueHandle_t BATTERIE_Mailbox;
extern QueueHandle_t XBEE_Mailbox;
#define MSG_ID_NO_MESSAGE 0x00 #define MSG_ID_NO_MESSAGE 0x00
@ -39,9 +37,7 @@ extern QueueHandle_t XBEE_Mailbox;
#define MSG_ID_MOTEURS_MARCHE 0x40 #define MSG_ID_MOTEURS_MARCHE 0x40
#define MSG_ID_MOTEURS_ARRET 0x41 #define MSG_ID_MOTEURS_ARRET 0x41
#define MSG_ID_XBEE_CMD_VALIDE 0x50 #define MSG_ID_XBEE_CMD 0x50
#define MSG_ID_XBEE_CMD_INVALIDE 0x51
#define MSG_ID_XBEE_REPONSE 0x52
void MESSAGE_Init(void); void MESSAGE_Init(void);
MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx); MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx);

2
software/dumber3/Core/Inc/stm32l0xx_hal_conf.h
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@ -46,7 +46,7 @@
/*#define HAL_I2S_MODULE_ENABLED */ /*#define HAL_I2S_MODULE_ENABLED */
/*#define HAL_IWDG_MODULE_ENABLED */ /*#define HAL_IWDG_MODULE_ENABLED */
/*#define HAL_LCD_MODULE_ENABLED */ /*#define HAL_LCD_MODULE_ENABLED */
/*#define HAL_LPTIM_MODULE_ENABLED */ #define HAL_LPTIM_MODULE_ENABLED
/*#define HAL_RNG_MODULE_ENABLED */ /*#define HAL_RNG_MODULE_ENABLED */
/*#define HAL_RTC_MODULE_ENABLED */ /*#define HAL_RTC_MODULE_ENABLED */
/*#define HAL_SPI_MODULE_ENABLED */ /*#define HAL_SPI_MODULE_ENABLED */

2
software/dumber3/Core/Inc/stm32l0xx_it.h
View file

@ -52,7 +52,9 @@ void HardFault_Handler(void);
void SysTick_Handler(void); void SysTick_Handler(void);
void EXTI2_3_IRQHandler(void); void EXTI2_3_IRQHandler(void);
void EXTI4_15_IRQHandler(void); void EXTI4_15_IRQHandler(void);
void DMA1_Channel2_3_IRQHandler(void);
void ADC1_COMP_IRQHandler(void); void ADC1_COMP_IRQHandler(void);
void LPTIM1_IRQHandler(void);
void LPUART1_IRQHandler(void); void LPUART1_IRQHandler(void);
/* USER CODE BEGIN EFP */ /* USER CODE BEGIN EFP */

1
software/dumber3/Core/Inc/xbee.h
View file

@ -11,5 +11,6 @@
#include "main.h" #include "main.h"
void XBEE_Init(void); void XBEE_Init(void);
int XBEE_SendData(char* data, int length);
#endif /* INC_XBEE_H_ */ #endif /* INC_XBEE_H_ */

13
software/dumber3/Core/Src/batterie.c
View file

@ -69,9 +69,12 @@ void BATTERIE_VoltageThread(void* params) {
while (1) { while (1) {
if (BATTERIE_LireTension(&tension) ==0) { if (BATTERIE_LireTension(&tension) ==0) {
MESSAGE_SendMailbox(SEQUENCEUR_Mailbox, MSG_ID_BAT_CHARGE, BATTERIE_Mailbox, (void*)&tension); if (HAL_GPIO_ReadPin(GPIOB, USB_SENSE_Pin)==GPIO_PIN_SET) // le chargeur est branché
MESSAGE_SendMailbox(SEQUENCEUR_Mailbox, MSG_ID_BAT_CHARGE, (QueueHandle_t)0x0, (void*)&tension);
else
MESSAGE_SendMailbox(SEQUENCEUR_Mailbox, MSG_ID_BAT_NIVEAU, (QueueHandle_t)0x0, (void*)&tension);
} else { } else {
MESSAGE_SendMailbox(SEQUENCEUR_Mailbox, MSG_ID_BAT_ADC_ERR, BATTERIE_Mailbox, (void*)0x0); MESSAGE_SendMailbox(SEQUENCEUR_Mailbox, MSG_ID_BAT_ADC_ERR, (QueueHandle_t)0x0, (void*)0x0);
} }
vTaskDelay(pdMS_TO_TICKS(BATTERIE_PERIODE_SCRUTATION)); vTaskDelay(pdMS_TO_TICKS(BATTERIE_PERIODE_SCRUTATION));
@ -106,13 +109,13 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
if (GPIO_Pin == USB_SENSE_Pin) { // Le chargeur vient d'etre branché ou debranché if (GPIO_Pin == USB_SENSE_Pin) { // Le chargeur vient d'etre branché ou debranché
if (HAL_GPIO_ReadPin(GPIOB, GPIO_Pin)==GPIO_PIN_SET) // le chargeur est branché if (HAL_GPIO_ReadPin(GPIOB, GPIO_Pin)==GPIO_PIN_SET) // le chargeur est branché
MESSAGE_SendMailboxFromISR(SEQUENCEUR_Mailbox, MSG_ID_BAT_CHARGEUR_ON, BATTERIE_Mailbox, 0x0, &xHigherPriorityTaskWoken); MESSAGE_SendMailboxFromISR(SEQUENCEUR_Mailbox, MSG_ID_BAT_CHARGEUR_ON, (QueueHandle_t)0x0, 0x0, &xHigherPriorityTaskWoken);
else else
MESSAGE_SendMailboxFromISR(SEQUENCEUR_Mailbox, MSG_ID_BAT_CHARGEUR_OFF, BATTERIE_Mailbox, 0x0, &xHigherPriorityTaskWoken); MESSAGE_SendMailboxFromISR(SEQUENCEUR_Mailbox, MSG_ID_BAT_CHARGEUR_OFF, (QueueHandle_t)0x0, 0x0, &xHigherPriorityTaskWoken);
} }
else if (GPIO_Pin == BUTTON_SENSE_Pin) { // on vient d'appuyer sur le bouton on/off else if (GPIO_Pin == BUTTON_SENSE_Pin) { // on vient d'appuyer sur le bouton on/off
if (HAL_GPIO_ReadPin(GPIOB, GPIO_Pin)==GPIO_PIN_SET) // le chargeur est branché if (HAL_GPIO_ReadPin(GPIOB, GPIO_Pin)==GPIO_PIN_SET) // le chargeur est branché
MESSAGE_SendMailboxFromISR(SEQUENCEUR_Mailbox, MSG_ID_BUTTON_PRESSED, BATTERIE_Mailbox, 0x0, &xHigherPriorityTaskWoken); MESSAGE_SendMailboxFromISR(SEQUENCEUR_Mailbox, MSG_ID_BUTTON_PRESSED, (QueueHandle_t)0x0, 0x0, &xHigherPriorityTaskWoken);
} }
if (xHigherPriorityTaskWoken) { if (xHigherPriorityTaskWoken) {

150
software/dumber3/Core/Src/cmd.c Normal file
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@ -0,0 +1,150 @@
/*
* cmd.c
*
* Created on: 3 oct. 2022
* Author: dimercur
*/
#include "cmd.h"
#include <stdlib.h>
#include <string.h>
#include <stdio.h>
/* Definition des commandes */
//void cmdAddChecksum(char* ans) {
// uint16_t j;
// unsigned char checksum=0;
//
// for (j = 0; ans[j] != END_OF_CMD; j++)
// checksum ^= ans[j];
// if (checksum == END_OF_CMD)
// checksum++;
// ans[j] = checksum;
// ans[j + 1] = END_OF_CMD;
//}
/**
* @brief Verifie le checksum de la commande recue
*
* Vérifie le dernier carctére de receiptString sensé être le checksum.
* Si celui-ci est bon, ll retournera 0 et supprimera le checksum du tableau receiptString
* sinon il retournera 1 sans faire de modification.
* @param None
* @retval 0 ou 1
*
*/
ANS_Type cmdVerifyChecksum(char* cmd) {
uint16_t j;
uint16_t length;
unsigned char checksum=0;
length = strlen(cmd);
for (j = 0; j < length - 2; j++) {
checksum ^= cmd[j];
}
if (checksum == END_OF_CMD)
checksum++;
if (cmd[j] == checksum) {
cmd[length - 2] = 0;
cmd[length - 1] = 0;
cmd[length] = 0;
return okANS;
} else
return errANS;
}
ANS_Type cmdIsValid(char* cmd) {
uint16_t j;
uint16_t length;
unsigned char checksum=0;
length = strlen(cmd);
for (j = 0; j < length - 2; j++) {
checksum ^= cmd[j];
}
if (checksum == END_OF_CMD)
checksum++;
if (cmd[j] == checksum)
return okANS;
else
return errANS;
}
CMD_Generic* cmdDecode(char* cmd) {
CMD_Generic* decodedCmd;
if (cmdVerifyChecksum(cmd) != okANS)
return CMD_DECODE_INVALID;
else if (cmd[0] == moveCMD) {
int32_t laps;
uint16_t testReception = sscanf(cmd, "M=%li", &laps);
if (testReception!=1) return CMD_DECODE_INVALID;
else {
decodedCmd=(CMD_Generic*)malloc(sizeof(CMD_Move));
((CMD_Move*)decodedCmd)->type = moveCMD;
((CMD_Move*)decodedCmd)->distance = laps;
}
} else if (cmd[0] == turnCMD) {
int32_t degree;
uint16_t testReception = sscanf(cmd, "T=%li", &degree);
if (testReception != 1) return CMD_DECODE_INVALID;
else {
degree = degree * 1.40;
decodedCmd=(CMD_Generic*)malloc(sizeof(CMD_Turn));
((CMD_Turn*)decodedCmd)->type = moveCMD;
((CMD_Turn*)decodedCmd)->turns= degree;
}
} else if (cmd[0] == setMotorCMD) {
int32_t moteurG,moteurD;
uint16_t testReception = sscanf(cmd, "m=%li,%li", &moteurG, &moteurD);
if (testReception != 1) return CMD_DECODE_INVALID;
else {
decodedCmd=(CMD_Generic*)malloc(sizeof(CMD_SetMotor));
((CMD_SetMotor*)decodedCmd)->type = moveCMD;
((CMD_SetMotor*)decodedCmd)->motor_left= moteurG;
((CMD_SetMotor*)decodedCmd)->motor_right= moteurD;
}
} else if ((cmd[0] == pingCMD) || (cmd[0] == resetCMD) || (cmd[0] == startWWatchDogCMD) || (cmd[0] == resetWatchdogCMD) ||
(cmd[0] == getBatteryVoltageCMD) || (cmd[0] == getVersionCMD) || (cmd[0] == startWithoutWatchCMD) || (cmd[0] == busyStateCMD) ||
(cmd[0] == testCMD) || (cmd[0] == debugCMD) || (cmd[0] == powerOffCMD)) {
decodedCmd=(CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = cmd[0];
} else return CMD_DECODE_UNKNOWN;
return decodedCmd;
}
void cmdSendAnswer(ANS_Type ans) {
char cmdStr[4];
cmdStr[0] = (char)ans;
cmdStr[1] = (char)ans;
cmdStr[2] = END_OF_CMD;
cmdStr[3] = 0; // end of string
XBEE_SendData(cmdStr, 3);
}
void cmdSendBatteryLevel(char level) {
char cmdStr[4];
char localLevel=level;
if (localLevel<0) localLevel=0;
else if (localLevel>2) localLevel=2;
cmdStr[0] = localLevel+'0';
cmdStr[1] = localLevel+'0';
cmdStr[2] = END_OF_CMD;
cmdStr[3] = 0; // end of string
XBEE_SendData(cmdStr, 3);
}
void cmdSendVersion() {
XBEE_SendData(SYSTEM_VERSION_STR, strlen(SYSTEM_VERSION_STR));
}

47
software/dumber3/Core/Src/leds.c
View file

@ -49,19 +49,18 @@ void LEDS_Init(void) {
vTaskResume(xHandleLeds); vTaskResume(xHandleLeds);
} }
void LEDS_AnimationThread(void* params) { void LEDS_AnimationThread(void* params) {
MESSAGE_Typedef msg; MESSAGE_Typedef msg;
uint8_t cnt=0; uint8_t cnt=0;
static int oneShot=1;
while (1) { while (1) {
vTaskDelay(pdMS_TO_TICKS(100)); vTaskDelay(pdMS_TO_TICKS(100));
msg = MESSAGE_ReadMailboxNoDelay(LEDS_Mailbox); msg = MESSAGE_ReadMailboxNoDelay(LEDS_Mailbox);
cnt++; cnt++;
if (msg.id == MSG_ID_LED_ETAT) { // Si c'est bien un message de changemnet d'etat LEDS if (msg.id == MSG_ID_LED_ETAT) { // Si c'est bien un message de changement d'etat LEDS
LEDS_Animation = *((LEDS_State*)msg.data); LEDS_Animation = *((LEDS_State*)msg.data);
if (LEDS_Animation != LEDS_AnimationAncien) { // si le nouvel etat est different de l'ancien if (LEDS_Animation != LEDS_AnimationAncien) { // si le nouvel etat est different de l'ancien
@ -73,6 +72,12 @@ void LEDS_AnimationThread(void* params) {
LEDS_EteintRouge(); LEDS_EteintRouge();
cnt=0; cnt=0;
} }
if ((LEDS_Animation == cmd_rcv_ok) || (LEDS_Animation == cmd_rcv_err) || (LEDS_Animation == cmd_rcv_unknown))
{
oneShot =1;
cnt=0;
}
} }
switch (LEDS_Animation) { switch (LEDS_Animation) {
@ -193,6 +198,42 @@ void LEDS_AnimationThread(void* params) {
else else
cnt=0; cnt=0;
break; break;
case cmd_rcv_ok:
if (oneShot) {
if (cnt<3)
LEDS_AllumeVerte();
else if (cnt<10)
LEDS_EteintVerte();
else {
cnt=0;
oneShot=0;
}
}
break;
case cmd_rcv_err:
if (oneShot) {
if (cnt<3)
LEDS_AllumeRouge();
else if (cnt<10)
LEDS_EteintRouge();
else {
cnt=0;
oneShot=0;
}
}
break;
case cmd_rcv_unknown:
if (oneShot) {
if (cnt<3)
LEDS_AllumeJaune();
else if (cnt<10)
LEDS_EteintJaune();
else {
cnt=0;
oneShot=0;
}
}
break;
default: default:
break; break;
} }

197
software/dumber3/Core/Src/main.c
View file

@ -48,20 +48,22 @@
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc; ADC_HandleTypeDef hadc;
LPTIM_HandleTypeDef hlptim1;
UART_HandleTypeDef hlpuart1; UART_HandleTypeDef hlpuart1;
DMA_HandleTypeDef hdma_lpuart1_tx;
TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3; TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim21; TIM_HandleTypeDef htim21;
TIM_HandleTypeDef htim22;
/* Definitions for defaultTask */ /* Definitions for defaultTask */
osThreadId_t defaultTaskHandle; //osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = { //const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask", // .name = "defaultTask",
.stack_size = 128 * 4, // .stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal, // .priority = (osPriority_t) osPriorityNormal,
}; //};
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
/* USER CODE END PV */ /* USER CODE END PV */
@ -74,7 +76,8 @@ static void MX_LPUART1_UART_Init(void);
static void MX_TIM2_Init(void); static void MX_TIM2_Init(void);
static void MX_TIM3_Init(void); static void MX_TIM3_Init(void);
static void MX_TIM21_Init(void); static void MX_TIM21_Init(void);
static void MX_TIM22_Init(void); static void MX_DMA_Init(void);
static void MX_LPTIM1_Init(void);
void StartDefaultTask(void *argument); void StartDefaultTask(void *argument);
/* USER CODE BEGIN PFP */ /* USER CODE BEGIN PFP */
@ -119,15 +122,16 @@ int main(void)
MX_TIM2_Init(); MX_TIM2_Init();
MX_TIM3_Init(); MX_TIM3_Init();
MX_TIM21_Init(); MX_TIM21_Init();
MX_TIM22_Init(); MX_DMA_Init();
MX_LPTIM1_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
/* Init des messages box */ /* Init des messages box */
MESSAGE_Init(); MESSAGE_Init();
LEDS_Init(); LEDS_Init();
XBEE_Init(); XBEE_Init();
BATTERIE_Init(); //BATTERIE_Init();
MOTEURS_Init(); //MOTEURS_Init();
SEQUENCEUR_Init(); SEQUENCEUR_Init();
/*MOTEURS_Init(); /*MOTEURS_Init();
@ -155,7 +159,7 @@ int main(void)
/* Create the thread(s) */ /* Create the thread(s) */
/* creation of defaultTask */ /* creation of defaultTask */
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); //defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
/* USER CODE BEGIN RTOS_THREADS */ /* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */ /* add threads, ... */
@ -221,8 +225,10 @@ void SystemClock_Config(void)
{ {
Error_Handler(); Error_Handler();
} }
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_LPUART1; PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_LPUART1|RCC_PERIPHCLK_LPTIM1;
PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_PCLK1; PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_PCLK1;
PeriphClkInit.LptimClockSelection = RCC_LPTIM1CLKSOURCE_PCLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
@ -283,6 +289,38 @@ static void MX_ADC_Init(void)
} }
/**
* @brief LPTIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_LPTIM1_Init(void)
{
/* USER CODE BEGIN LPTIM1_Init 0 */
/* USER CODE END LPTIM1_Init 0 */
/* USER CODE BEGIN LPTIM1_Init 1 */
/* USER CODE END LPTIM1_Init 1 */
hlptim1.Instance = LPTIM1;
hlptim1.Init.Clock.Source = LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC;
hlptim1.Init.Clock.Prescaler = LPTIM_PRESCALER_DIV1;
hlptim1.Init.Trigger.Source = LPTIM_TRIGSOURCE_SOFTWARE;
hlptim1.Init.OutputPolarity = LPTIM_OUTPUTPOLARITY_HIGH;
hlptim1.Init.UpdateMode = LPTIM_UPDATE_IMMEDIATE;
hlptim1.Init.CounterSource = LPTIM_COUNTERSOURCE_INTERNAL;
if (HAL_LPTIM_Init(&hlptim1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN LPTIM1_Init 2 */
/* USER CODE END LPTIM1_Init 2 */
}
/** /**
* @brief LPUART1 Initialization Function * @brief LPUART1 Initialization Function
* @param None * @param None
@ -329,9 +367,8 @@ static void MX_TIM2_Init(void)
/* USER CODE END TIM2_Init 0 */ /* USER CODE END TIM2_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM2_Init 1 */ /* USER CODE BEGIN TIM2_Init 1 */
@ -342,16 +379,16 @@ static void MX_TIM2_Init(void)
htim2.Init.Period = 65535; htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK) sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
{ sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
Error_Handler(); sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
} sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; sConfig.IC1Filter = 0;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
{ sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
Error_Handler(); sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
} sConfig.IC2Filter = 0;
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK) if (HAL_TIM_Encoder_Init(&htim2, &sConfig) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
@ -361,22 +398,9 @@ static void MX_TIM2_Init(void)
{ {
Error_Handler(); Error_Handler();
} }
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */ /* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */ /* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
} }
@ -428,6 +452,18 @@ static void MX_TIM3_Init(void)
sConfigOC.Pulse = 0; sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIMEx_RemapConfig(&htim3, TIM3_TI1_GPIO) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
@ -493,51 +529,18 @@ static void MX_TIM21_Init(void)
} }
/** /**
* @brief TIM22 Initialization Function * Enable DMA controller clock
* @param None
* @retval None
*/ */
static void MX_TIM22_Init(void) static void MX_DMA_Init(void)
{ {
/* USER CODE BEGIN TIM22_Init 0 */ /* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* USER CODE END TIM22_Init 0 */ /* DMA interrupt init */
/* DMA1_Channel2_3_IRQn interrupt configuration */
TIM_Encoder_InitTypeDef sConfig = {0}; HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 3, 0);
TIM_MasterConfigTypeDef sMasterConfig = {0}; HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
/* USER CODE BEGIN TIM22_Init 1 */
/* USER CODE END TIM22_Init 1 */
htim22.Instance = TIM22;
htim22.Init.Prescaler = 0;
htim22.Init.CounterMode = TIM_COUNTERMODE_UP;
htim22.Init.Period = 65535;
htim22.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim22.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim22, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim22, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM22_Init 2 */
/* USER CODE END TIM22_Init 2 */
} }
@ -641,24 +644,24 @@ TickType_t msToTicks(TickType_t ms) {
* @retval None * @retval None
*/ */
/* USER CODE END Header_StartDefaultTask */ /* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument) //void StartDefaultTask(void *argument)
{ //{
/* USER CODE BEGIN 5 */ // /* USER CODE BEGIN 5 */
LEDS_State state = leds_off; // LEDS_State state = leds_off;
//
/* Infinite loop */ // /* Infinite loop */
for(;;) // for(;;)
{ // {
state++; // state++;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, SEQUENCEUR_Mailbox, (void*)&state); // MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, SEQUENCEUR_Mailbox, (void*)&state);
//
if (state>leds_erreur) // if (state>leds_erreur)
state = leds_off; // state = leds_off;
//
vTaskDelay(pdMS_TO_TICKS(5000)); // vTaskDelay(pdMS_TO_TICKS(5000));
} // }
/* USER CODE END 5 */ // /* USER CODE END 5 */
} //}
/** /**
* @brief This function is executed in case of error occurrence. * @brief This function is executed in case of error occurrence.

2
software/dumber3/Core/Src/messages.c
View file

@ -20,8 +20,6 @@ void MESSAGE_Init(void) {
LEDS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef)); LEDS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
MOTEURS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef)); MOTEURS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
SEQUENCEUR_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef)); SEQUENCEUR_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
BATTERIE_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
XBEE_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
} }
MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx) { MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx) {

232
software/dumber3/Core/Src/sequenceur.c
View file

@ -6,6 +6,9 @@
*/ */
#include "sequenceur.h" #include "sequenceur.h"
#include "timers.h"
#include "string.h"
#include <stdlib.h>
StaticTask_t xTaskSequenceurMain; StaticTask_t xTaskSequenceurMain;
@ -15,20 +18,45 @@ StaticTask_t xTaskSequenceurMain;
StackType_t xStackSequenceurMain[ STACK_SIZE ]; StackType_t xStackSequenceurMain[ STACK_SIZE ];
TaskHandle_t xHandleSequenceurMain = NULL; TaskHandle_t xHandleSequenceurMain = NULL;
StaticTask_t xTaskSequenceurTimeout; StaticTimer_t xBufferTimerTimeout;
TimerHandle_t xHandleTimerTimeout = NULL;
/* Buffer that the task being created will use as its stack. Note this is void vTimerTimeoutCallback( TimerHandle_t xTimer );
an array of StackType_t variables. The size of StackType_t is dependent on
the RTOS port. */
StackType_t xStackSequenceurTimeout[ STACK_SIZE ];
TaskHandle_t xHandleSequenceurTimeout = NULL;
void SEQUENCEUR_MainThread(void* params); void SEQUENCEUR_MainThread(void* params);
void SEQUENCEUR_TimeoutThread(void* params); void SEQUENCEUR_TimeoutThread(void* params);
void SEQUENCEUR_StateMachine();
LEDS_State SEQUENCEUR_BatteryLevel(uint16_t voltage, char inCharge);
void SEQUENCEUR_PowerOff();
uint16_t SEQUENCEUR_CntTimeout; uint16_t SEQUENCEUR_CntTimeout;
uint16_t SEQUENCEUR_CntPowerOff; uint16_t SEQUENCEUR_CntPowerOff;
typedef enum {
stateStartup=0,
stateIdle,
stateRun,
stateInCharge,
stateInMouvement,
stateWatchdogDisable,
stateLowBatDisable
} SEQUENCEUR_State;
typedef struct {
SEQUENCEUR_State state;
CMD_Type cmd;
uint16_t batteryVoltage;
char batteryUpdate;
char inCharge;
int32_t distance;
int32_t turns;
int32_t motor_left;
int32_t motor_right;
char endOfMouvement;
char powerOffRequired;
} SEQUENCEUR_Infos;
SEQUENCEUR_Infos systemInfos = {0};
void SEQUENCEUR_Init(void) { void SEQUENCEUR_Init(void) {
/* Create the task without using any dynamic memory allocation. */ /* Create the task without using any dynamic memory allocation. */
xHandleSequenceurMain = xTaskCreateStatic( xHandleSequenceurMain = xTaskCreateStatic(
@ -42,24 +70,192 @@ void SEQUENCEUR_Init(void) {
vTaskResume(xHandleSequenceurMain); vTaskResume(xHandleSequenceurMain);
/* Create the task without using any dynamic memory allocation. */ /* Create the task without using any dynamic memory allocation. */
xHandleSequenceurTimeout = xTaskCreateStatic(
SEQUENCEUR_TimeoutThread, /* Function that implements the task. */ xHandleTimerTimeout = xTimerCreateStatic(
"SEQUENCEUR Timeout", /* Text name for the task. */ "Seq Timer",
STACK_SIZE, /* Number of indexes in the xStack array. */ //pdMS_TO_TICKS(100),
NULL, /* Parameter passed into the task. */ pdMS_TO_TICKS(2000),
PrioritySequenceurTimeout,/* Priority at which the task is created. */ pdTRUE,
xStackSequenceurTimeout, /* Array to use as the task's stack. */ ( void * ) 0,
&xTaskSequenceurTimeout); /* Variable to hold the task's data structure. */ vTimerTimeoutCallback,
vTaskResume(xHandleSequenceurTimeout); &xBufferTimerTimeout);
xTimerStart(xHandleTimerTimeout,0 );
SEQUENCEUR_CntTimeout =0; SEQUENCEUR_CntTimeout =0;
SEQUENCEUR_CntPowerOff=0; SEQUENCEUR_CntPowerOff=0;
} }
void SEQUENCEUR_MainThread(void* params) { void SEQUENCEUR_MainThread(void* params) {
MESSAGE_Typedef msg;
char *cmd;
CMD_Generic* decodedCmd;
while (1) {
msg = MESSAGE_ReadMailbox(SEQUENCEUR_Mailbox);
switch (msg.id) {
case MSG_ID_XBEE_CMD:
cmd = (char*)msg.data;
if (cmdIsValid(cmd)!= okANS)
cmdSendAnswer(errANS);
else {
decodedCmd = cmdDecode(cmd);
if (decodedCmd==CMD_DECODE_INVALID)
cmdSendAnswer(errANS);
else if (decodedCmd==CMD_DECODE_UNKNOWN)
cmdSendAnswer(unknownANS);
else {
systemInfos.cmd = decodedCmd->type;
if (decodedCmd->type == moveCMD)
systemInfos.distance = ((CMD_Move*)decodedCmd)->distance;
else if (decodedCmd->type == turnCMD)
systemInfos.turns = ((CMD_Turn*)decodedCmd)->turns;
else if (decodedCmd->type == setMotorCMD) {
systemInfos.motor_left = ((CMD_SetMotor*)decodedCmd)->motor_left;
systemInfos.motor_right = ((CMD_SetMotor*)decodedCmd)->motor_right;
}
free(decodedCmd);
}
}
free(cmd);
break;
case MSG_ID_BAT_NIVEAU:
case MSG_ID_BAT_CHARGE:
systemInfos.batteryVoltage = *((uint16_t*)msg.data);
systemInfos.batteryUpdate = 1;
if (msg.id == MSG_ID_BAT_CHARGE)
systemInfos.inCharge =1;
else
systemInfos.inCharge =0;
break;
case MSG_ID_BAT_CHARGEUR_ON:
case MSG_ID_BAT_CHARGEUR_OFF:
if (msg.id == MSG_ID_BAT_CHARGEUR_ON)
systemInfos.inCharge =1;
else
systemInfos.inCharge =0;
break;
case MSG_ID_MOTEURS_ARRET:
systemInfos.endOfMouvement= 1;
break;
case MSG_ID_BUTTON_PRESSED:
systemInfos.powerOffRequired =1;
break;
}
SEQUENCEUR_StateMachine();
}
}
void SEQUENCEUR_StateMachine() {
LEDS_State ledState = leds_off;
if (systemInfos.inCharge) {
systemInfos.state = stateInCharge;
} else if (systemInfos.batteryUpdate) {
ledState = SEQUENCEUR_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
if (ledState == leds_niveau_bat_0)
systemInfos.state= stateLowBatDisable;
}
switch (systemInfos.cmd) { // commands common to every state
case pingCMD:
break;
case getVersionCMD:
break;
case getBatteryVoltageCMD:
break;
case powerOffCMD:
break;
case resetCMD:
break;
case busyStateCMD:
break;
case testCMD:
break;
case debugCMD:
break;
default: // commands no common for every states
break;
}
switch (systemInfos.state) {
case stateStartup:
if (systemInfos.batteryUpdate) {
ledState = SEQUENCEUR_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, SEQUENCEUR_Mailbox, (void*)&ledState);
vTaskDelay(pdMS_TO_TICKS(2000)); // wait 2s
systemInfos.state= stateIdle;
ledState = leds_idle;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, SEQUENCEUR_Mailbox, (void*)&ledState);
}
break;
case stateIdle:
if (systemInfos.powerOffRequired)
SEQUENCEUR_PowerOff();
break;
case stateRun:
if (systemInfos.powerOffRequired)
SEQUENCEUR_PowerOff();
break;
case stateInCharge:
if (!systemInfos.inCharge) {
systemInfos.state = stateIdle;
ledState = leds_idle;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, SEQUENCEUR_Mailbox, (void*)&ledState);
} else if (systemInfos.batteryUpdate) {
ledState = SEQUENCEUR_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, SEQUENCEUR_Mailbox, (void*)&ledState);
}
break;
case stateInMouvement:
if (systemInfos.powerOffRequired)
SEQUENCEUR_PowerOff();
break;
case stateWatchdogDisable:
if (systemInfos.powerOffRequired)
SEQUENCEUR_PowerOff();
break;
case stateLowBatDisable:
ledState = leds_charge_bat_0;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, SEQUENCEUR_Mailbox, (void*)&ledState);
vTaskDelay(pdMS_TO_TICKS(2000)); // wait 2s
SEQUENCEUR_PowerOff();
break;
}
systemInfos.batteryUpdate = 0;
systemInfos.cmd =0;
systemInfos.endOfMouvement =0;
systemInfos.powerOffRequired=0;
}
LEDS_State SEQUENCEUR_BatteryLevel(uint16_t voltage, char inCharge) {
LEDS_State ledState=leds_niveau_bat_0;
return ledState;
}
void SEQUENCEUR_PowerOff() {
} }
void SEQUENCEUR_TimeoutThread(void* params) { /* This task is called every 2s */
void vTimerTimeoutCallback( TimerHandle_t xTimer ) {
} }

293
software/dumber3/Core/Src/stm32l0xx_hal_msp.c
View file

@ -24,6 +24,7 @@
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_lpuart1_tx;
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */ /* USER CODE BEGIN TD */
@ -147,6 +148,56 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
} }
/**
* @brief LPTIM MSP Initialization
* This function configures the hardware resources used in this example
* @param hlptim: LPTIM handle pointer
* @retval None
*/
void HAL_LPTIM_MspInit(LPTIM_HandleTypeDef* hlptim)
{
if(hlptim->Instance==LPTIM1)
{
/* USER CODE BEGIN LPTIM1_MspInit 0 */
/* USER CODE END LPTIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_LPTIM1_CLK_ENABLE();
/* LPTIM1 interrupt Init */
HAL_NVIC_SetPriority(LPTIM1_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(LPTIM1_IRQn);
/* USER CODE BEGIN LPTIM1_MspInit 1 */
/* USER CODE END LPTIM1_MspInit 1 */
}
}
/**
* @brief LPTIM MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hlptim: LPTIM handle pointer
* @retval None
*/
void HAL_LPTIM_MspDeInit(LPTIM_HandleTypeDef* hlptim)
{
if(hlptim->Instance==LPTIM1)
{
/* USER CODE BEGIN LPTIM1_MspDeInit 0 */
/* USER CODE END LPTIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_LPTIM1_CLK_DISABLE();
/* LPTIM1 interrupt DeInit */
HAL_NVIC_DisableIRQ(LPTIM1_IRQn);
/* USER CODE BEGIN LPTIM1_MspDeInit 1 */
/* USER CODE END LPTIM1_MspDeInit 1 */
}
}
/** /**
* @brief UART MSP Initialization * @brief UART MSP Initialization
* This function configures the hardware resources used in this example * This function configures the hardware resources used in this example
@ -176,6 +227,24 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
GPIO_InitStruct.Alternate = GPIO_AF4_LPUART1; GPIO_InitStruct.Alternate = GPIO_AF4_LPUART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* LPUART1 DMA Init */
/* LPUART1_TX Init */
hdma_lpuart1_tx.Instance = DMA1_Channel2;
hdma_lpuart1_tx.Init.Request = DMA_REQUEST_5;
hdma_lpuart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_lpuart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_lpuart1_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_lpuart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_lpuart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_lpuart1_tx.Init.Mode = DMA_NORMAL;
hdma_lpuart1_tx.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_lpuart1_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(huart,hdmatx,hdma_lpuart1_tx);
/* LPUART1 interrupt Init */ /* LPUART1 interrupt Init */
HAL_NVIC_SetPriority(LPUART1_IRQn, 3, 0); HAL_NVIC_SetPriority(LPUART1_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(LPUART1_IRQn); HAL_NVIC_EnableIRQ(LPUART1_IRQn);
@ -208,6 +277,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
*/ */
HAL_GPIO_DeInit(GPIOB, USART_TX_Pin|USART_RX_Pin); HAL_GPIO_DeInit(GPIOB, USART_TX_Pin|USART_RX_Pin);
/* LPUART1 DMA DeInit */
HAL_DMA_DeInit(huart->hdmatx);
/* LPUART1 interrupt DeInit */ /* LPUART1 interrupt DeInit */
HAL_NVIC_DisableIRQ(LPUART1_IRQn); HAL_NVIC_DisableIRQ(LPUART1_IRQn);
/* USER CODE BEGIN LPUART1_MspDeInit 1 */ /* USER CODE BEGIN LPUART1_MspDeInit 1 */
@ -217,39 +289,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
} }
/**
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
}
/** /**
* @brief TIM_Encoder MSP Initialization * @brief TIM_Encoder MSP Initialization
* This function configures the hardware resources used in this example * This function configures the hardware resources used in this example
@ -259,7 +298,38 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder) void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
{ {
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim_encoder->Instance==TIM21) if(htim_encoder->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
PA5 ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = ENC_PHA_GAUCHE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(ENC_PHA_GAUCHE_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = ENC_PHB_GAUCHE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_TIM2;
HAL_GPIO_Init(ENC_PHB_GAUCHE_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_encoder->Instance==TIM21)
{ {
/* USER CODE BEGIN TIM21_MspInit 0 */ /* USER CODE BEGIN TIM21_MspInit 0 */
@ -283,29 +353,27 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
/* USER CODE END TIM21_MspInit 1 */ /* USER CODE END TIM21_MspInit 1 */
} }
else if(htim_encoder->Instance==TIM22)
{
/* USER CODE BEGIN TIM22_MspInit 0 */
/* USER CODE END TIM22_MspInit 0 */ }
/* Peripheral clock enable */
__HAL_RCC_TIM22_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE(); /**
/**TIM22 GPIO Configuration * @brief TIM_Base MSP Initialization
PA6 ------> TIM22_CH1 * This function configures the hardware resources used in this example
PA7 ------> TIM22_CH2 * @param htim_base: TIM_Base handle pointer
* @retval None
*/ */
GPIO_InitStruct.Pin = ENC_PHB_GAUCHE_Pin|ENC_PHA_GAUCHE_Pin; void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; {
GPIO_InitStruct.Pull = GPIO_NOPULL; if(htim_base->Instance==TIM3)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; {
GPIO_InitStruct.Alternate = GPIO_AF5_TIM22; /* USER CODE BEGIN TIM3_MspInit 0 */
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM22_MspInit 1 */ /* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM22_MspInit 1 */ /* USER CODE END TIM3_MspInit 1 */
} }
} }
@ -313,45 +381,27 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim) void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{ {
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim->Instance==TIM2) if(htim->Instance==TIM3)
{
/* USER CODE BEGIN TIM2_MspPostInit 0 */
/* USER CODE END TIM2_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
PA15 ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = PWM_B_GAUCHE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(PWM_B_GAUCHE_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = PWM_A_GAUCHE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_TIM2;
HAL_GPIO_Init(PWM_A_GAUCHE_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspPostInit 1 */
/* USER CODE END TIM2_MspPostInit 1 */
}
else if(htim->Instance==TIM3)
{ {
/* USER CODE BEGIN TIM3_MspPostInit 0 */ /* USER CODE BEGIN TIM3_MspPostInit 0 */
/* USER CODE END TIM3_MspPostInit 0 */ /* USER CODE END TIM3_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM3 GPIO Configuration /**TIM3 GPIO Configuration
PA6 ------> TIM3_CH1
PA7 ------> TIM3_CH2
PB0 ------> TIM3_CH3 PB0 ------> TIM3_CH3
PB1 ------> TIM3_CH4 PB1 ------> TIM3_CH4
*/ */
GPIO_InitStruct.Pin = PWM_B_GAUCHE_Pin|PWM_A_GAUCHE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = PWM_A_DROIT_Pin|PWM_B_DROIT_Pin; GPIO_InitStruct.Pin = PWM_A_DROIT_Pin|PWM_B_DROIT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
@ -365,39 +415,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
} }
} }
/**
* @brief TIM_Base MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
/* USER CODE END TIM2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM2_CLK_DISABLE();
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
}
/** /**
* @brief TIM_Encoder MSP De-Initialization * @brief TIM_Encoder MSP De-Initialization
* This function freeze the hardware resources used in this example * This function freeze the hardware resources used in this example
@ -406,7 +423,25 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
*/ */
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder) void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
{ {
if(htim_encoder->Instance==TIM21) if(htim_encoder->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
/* USER CODE END TIM2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM2_CLK_DISABLE();
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
PA5 ------> TIM2_CH1
*/
HAL_GPIO_DeInit(GPIOA, ENC_PHA_GAUCHE_Pin|ENC_PHB_GAUCHE_Pin);
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */
}
else if(htim_encoder->Instance==TIM21)
{ {
/* USER CODE BEGIN TIM21_MspDeInit 0 */ /* USER CODE BEGIN TIM21_MspDeInit 0 */
@ -424,23 +459,27 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
/* USER CODE END TIM21_MspDeInit 1 */ /* USER CODE END TIM21_MspDeInit 1 */
} }
else if(htim_encoder->Instance==TIM22)
{
/* USER CODE BEGIN TIM22_MspDeInit 0 */
/* USER CODE END TIM22_MspDeInit 0 */ }
/* Peripheral clock disable */
__HAL_RCC_TIM22_CLK_DISABLE();
/**TIM22 GPIO Configuration /**
PA6 ------> TIM22_CH1 * @brief TIM_Base MSP De-Initialization
PA7 ------> TIM22_CH2 * This function freeze the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/ */
HAL_GPIO_DeInit(GPIOA, ENC_PHB_GAUCHE_Pin|ENC_PHA_GAUCHE_Pin); void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE BEGIN TIM22_MspDeInit 1 */ /* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM22_MspDeInit 1 */ /* USER CODE END TIM3_MspDeInit 1 */
} }
} }

30
software/dumber3/Core/Src/stm32l0xx_it.c
View file

@ -59,6 +59,8 @@
/* External variables --------------------------------------------------------*/ /* External variables --------------------------------------------------------*/
extern ADC_HandleTypeDef hadc; extern ADC_HandleTypeDef hadc;
extern LPTIM_HandleTypeDef hlptim1;
extern DMA_HandleTypeDef hdma_lpuart1_tx;
extern UART_HandleTypeDef hlpuart1; extern UART_HandleTypeDef hlpuart1;
/* USER CODE BEGIN EV */ /* USER CODE BEGIN EV */
@ -154,6 +156,20 @@ void EXTI4_15_IRQHandler(void)
/* USER CODE END EXTI4_15_IRQn 1 */ /* USER CODE END EXTI4_15_IRQn 1 */
} }
/**
* @brief This function handles DMA1 channel 2 and channel 3 interrupts.
*/
void DMA1_Channel2_3_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
/* USER CODE END DMA1_Channel2_3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_lpuart1_tx);
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
/* USER CODE END DMA1_Channel2_3_IRQn 1 */
}
/** /**
* @brief This function handles ADC, COMP1 and COMP2 interrupts (COMP interrupts through EXTI lines 21 and 22). * @brief This function handles ADC, COMP1 and COMP2 interrupts (COMP interrupts through EXTI lines 21 and 22).
*/ */
@ -168,6 +184,20 @@ void ADC1_COMP_IRQHandler(void)
/* USER CODE END ADC1_COMP_IRQn 1 */ /* USER CODE END ADC1_COMP_IRQn 1 */
} }
/**
* @brief This function handles LPTIM1 global interrupt / LPTIM1 wake-up interrupt through EXTI line 29.
*/
void LPTIM1_IRQHandler(void)
{
/* USER CODE BEGIN LPTIM1_IRQn 0 */
/* USER CODE END LPTIM1_IRQn 0 */
HAL_LPTIM_IRQHandler(&hlptim1);
/* USER CODE BEGIN LPTIM1_IRQn 1 */
/* USER CODE END LPTIM1_IRQn 1 */
}
/** /**
* @brief This function handles LPUART1 global interrupt / LPUART1 wake-up interrupt through EXTI line 28. * @brief This function handles LPUART1 global interrupt / LPUART1 wake-up interrupt through EXTI line 28.
*/ */

23
software/dumber3/Core/Src/syscalls.c
View file

@ -31,6 +31,7 @@
#include <sys/time.h> #include <sys/time.h>
#include <sys/times.h> #include <sys/times.h>
#include "cmsis_os.h"
/* Variables */ /* Variables */
extern int __io_putchar(int ch) __attribute__((weak)); extern int __io_putchar(int ch) __attribute__((weak));
@ -42,6 +43,28 @@ char **environ = __env;
/* Functions */ /* Functions */
void* malloc(size_t size)
{
void* ptr = NULL;
if(size > 0)
{
// We simply wrap the FreeRTOS call into a standard form
ptr = pvPortMalloc(size);
} // else NULL if there was an error
return ptr;
}
void free(void* ptr)
{
if(ptr)
{
// We simply wrap the FreeRTOS call into a standard form
vPortFree(ptr);
}
}
void initialise_monitor_handles() void initialise_monitor_handles()
{ {
} }

101
software/dumber3/Core/Src/xbee.c
View file

@ -7,6 +7,12 @@
#include "xbee.h" #include "xbee.h"
#include "semphr.h"
#include <stdlib.h>
#include <string.h>
extern UART_HandleTypeDef hlpuart1;
extern DMA_HandleTypeDef hdma_lpuart1_tx;
StaticTask_t xTaskXbeeRX; StaticTask_t xTaskXbeeRX;
@ -16,45 +22,82 @@ StaticTask_t xTaskXbeeRX;
StackType_t xStackXbeeRX[ STACK_SIZE ]; StackType_t xStackXbeeRX[ STACK_SIZE ];
TaskHandle_t xHandleXbeeRX = NULL; TaskHandle_t xHandleXbeeRX = NULL;
StaticTask_t xTaskXbeeTX; SemaphoreHandle_t xSemaphoreTX = NULL;
StaticSemaphore_t xSemaphoreTXBuffer;
/* Buffer that the task being created will use as its stack. Note this is uint8_t* txBuffer;
an array of StackType_t variables. The size of StackType_t is dependent on
the RTOS port. */ uint8_t* rxBuffer;
StackType_t xStackXbeeTX[ STACK_SIZE ]; uint32_t rxBufferIndex;
TaskHandle_t xHandleXbeeTX = NULL;
void XBEE_RxThread(void* params); void XBEE_RxThread(void* params);
void XBEE_TxThread(void* params);
void XBEE_Init(void) { void XBEE_Init(void) {
/* Create the task without using any dynamic memory allocation. */ xSemaphoreTX = xSemaphoreCreateBinaryStatic( &xSemaphoreTXBuffer );
xHandleXbeeTX = xTaskCreateStatic( xSemaphoreGive(xSemaphoreTX);
XBEE_TxThread, /* Function that implements the task. */
"XBEE Tx", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityXbeeTX,/* Priority at which the task is created. */
xStackXbeeTX, /* Array to use as the task's stack. */
&xTaskXbeeTX); /* Variable to hold the task's data structure. */
vTaskResume(xHandleXbeeTX);
/* Create the task without using any dynamic memory allocation. */ rxBuffer=(uint8_t*)malloc(XBEE_RX_BUFFER_MAX_LENGTH);
xHandleXbeeRX = xTaskCreateStatic( rxBufferIndex=0;
XBEE_RxThread, /* Function that implements the task. */
"XBEE Rx", /* Text name for the task. */ if(HAL_UART_Receive_IT(&hlpuart1, rxBuffer, 1)!= HAL_OK) {
STACK_SIZE, /* Number of indexes in the xStack array. */ while(1);
NULL, /* Parameter passed into the task. */ }
PriorityXbeeRX,/* Priority at which the task is created. */
xStackXbeeRX, /* Array to use as the task's stack. */
&xTaskXbeeRX); /* Variable to hold the task's data structure. */
vTaskResume(xHandleXbeeRX);
} }
void XBEE_TxThread(void* params) { int XBEE_SendData(char* data, int length) {
int data_length = length;
BaseType_t state;
state = xSemaphoreTake(xSemaphoreTX, pdMS_TO_TICKS(XBEE_TX_SEMAPHORE_WAIT)); // wait max 500 ms
if (state != pdFALSE) { /* test semaphore take answer */
if ((txBuffer = (uint8_t*)malloc(length))!=NULL) {
memcpy((void*)txBuffer, (void*) data, length);
if(HAL_UART_Transmit_IT(&hlpuart1, txBuffer, data_length)!= HAL_OK)
return -3;
} else return -2;
} else return -1;
return length;
} }
void XBEE_RxThread(void* params) { void HAL_UART_TxCpltCallback(UART_HandleTypeDef *UartHandle) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
/* Do stuff here */
free (txBuffer);
xSemaphoreGiveFromISR( xSemaphoreTX, &xHigherPriorityTaskWoken );
/* If xHigherPriorityTaskWoken was set to true you
we should yield. The actual macro used here is
port specific. */
portYIELD_FROM_ISR(xHigherPriorityTaskWoken );
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (rxBuffer[rxBufferIndex] == '\r') {
rxBuffer[rxBufferIndex+1]=0; // add end of string
MESSAGE_SendMailboxFromISR(SEQUENCEUR_Mailbox, MSG_ID_XBEE_CMD, (QueueHandle_t)0x0, (void*)rxBuffer, &xHigherPriorityTaskWoken);
rxBuffer = malloc(XBEE_RX_BUFFER_MAX_LENGTH);
rxBufferIndex=0;
} else if (rxBufferIndex>=XBEE_RX_BUFFER_MAX_LENGTH-2) // prevent buffer overflow
rxBufferIndex=0;
else
rxBufferIndex++;
if(HAL_UART_Receive_IT(&hlpuart1, &rxBuffer[rxBufferIndex], 1)!= HAL_OK) {
while(1);
}
if (xHigherPriorityTaskWoken) {
/* If xHigherPriorityTaskWoken is now set to pdTRUE then a context switch
should be performed to ensure the interrupt returns directly to the highest
priority task. The macro used for this purpose is dependent on the port in
use and may be called portEND_SWITCHING_ISR(). */
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
} }

772
software/dumber3/Drivers/STM32L0xx_HAL_Driver/Inc/stm32l0xx_hal_lptim.h Normal file
View file

@ -0,0 +1,772 @@
/**
******************************************************************************
* @file stm32l0xx_hal_lptim.h
* @author MCD Application Team
* @brief Header file of LPTIM HAL module.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32L0xx_HAL_LPTIM_H
#define STM32L0xx_HAL_LPTIM_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32l0xx_hal_def.h"
/** @addtogroup STM32L0xx_HAL_Driver
* @{
*/
#if defined (LPTIM1)
/** @addtogroup LPTIM
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup LPTIM_Exported_Types LPTIM Exported Types
* @{
*/
#define LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT EXTI_IMR_IM29 /*!< External interrupt line 29 Connected to the LPTIM EXTI Line */
/**
* @brief LPTIM Clock configuration definition
*/
typedef struct
{
uint32_t Source; /*!< Selects the clock source.
This parameter can be a value of @ref LPTIM_Clock_Source */
uint32_t Prescaler; /*!< Specifies the counter clock Prescaler.
This parameter can be a value of @ref LPTIM_Clock_Prescaler */
} LPTIM_ClockConfigTypeDef;
/**
* @brief LPTIM Clock configuration definition
*/
typedef struct
{
uint32_t Polarity; /*!< Selects the polarity of the active edge for the counter unit
if the ULPTIM input is selected.
Note: This parameter is used only when Ultra low power clock source is used.
Note: If the polarity is configured on 'both edges', an auxiliary clock
(one of the Low power oscillator) must be active.
This parameter can be a value of @ref LPTIM_Clock_Polarity */
uint32_t SampleTime; /*!< Selects the clock sampling time to configure the clock glitch filter.
Note: This parameter is used only when Ultra low power clock source is used.
This parameter can be a value of @ref LPTIM_Clock_Sample_Time */
} LPTIM_ULPClockConfigTypeDef;
/**
* @brief LPTIM Trigger configuration definition
*/
typedef struct
{
uint32_t Source; /*!< Selects the Trigger source.
This parameter can be a value of @ref LPTIM_Trigger_Source */
uint32_t ActiveEdge; /*!< Selects the Trigger active edge.
Note: This parameter is used only when an external trigger is used.
This parameter can be a value of @ref LPTIM_External_Trigger_Polarity */
uint32_t SampleTime; /*!< Selects the trigger sampling time to configure the clock glitch filter.
Note: This parameter is used only when an external trigger is used.
This parameter can be a value of @ref LPTIM_Trigger_Sample_Time */
} LPTIM_TriggerConfigTypeDef;
/**
* @brief LPTIM Initialization Structure definition
*/
typedef struct
{
LPTIM_ClockConfigTypeDef Clock; /*!< Specifies the clock parameters */
LPTIM_ULPClockConfigTypeDef UltraLowPowerClock;/*!< Specifies the Ultra Low Power clock parameters */
LPTIM_TriggerConfigTypeDef Trigger; /*!< Specifies the Trigger parameters */
uint32_t OutputPolarity; /*!< Specifies the Output polarity.
This parameter can be a value of @ref LPTIM_Output_Polarity */
uint32_t UpdateMode; /*!< Specifies whether the update of the autoreload and the compare
values is done immediately or after the end of current period.
This parameter can be a value of @ref LPTIM_Updating_Mode */
uint32_t CounterSource; /*!< Specifies whether the counter is incremented each internal event
or each external event.
This parameter can be a value of @ref LPTIM_Counter_Source */
} LPTIM_InitTypeDef;
/**
* @brief HAL LPTIM State structure definition
*/
typedef enum
{
HAL_LPTIM_STATE_RESET = 0x00U, /*!< Peripheral not yet initialized or disabled */
HAL_LPTIM_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */
HAL_LPTIM_STATE_BUSY = 0x02U, /*!< An internal process is ongoing */
HAL_LPTIM_STATE_TIMEOUT = 0x03U, /*!< Timeout state */
HAL_LPTIM_STATE_ERROR = 0x04U /*!< Internal Process is ongoing */
} HAL_LPTIM_StateTypeDef;
/**
* @brief LPTIM handle Structure definition
*/
#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
typedef struct __LPTIM_HandleTypeDef
#else
typedef struct
#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
{
LPTIM_TypeDef *Instance; /*!< Register base address */
LPTIM_InitTypeDef Init; /*!< LPTIM required parameters */
HAL_StatusTypeDef Status; /*!< LPTIM peripheral status */
HAL_LockTypeDef Lock; /*!< LPTIM locking object */
__IO HAL_LPTIM_StateTypeDef State; /*!< LPTIM peripheral state */
#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
void (* MspInitCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< LPTIM Base Msp Init Callback */
void (* MspDeInitCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< LPTIM Base Msp DeInit Callback */
void (* CompareMatchCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Compare match Callback */
void (* AutoReloadMatchCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Auto-reload match Callback */
void (* TriggerCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< External trigger event detection Callback */
void (* CompareWriteCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Compare register write complete Callback */
void (* AutoReloadWriteCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Auto-reload register write complete Callback */
void (* DirectionUpCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Up-counting direction change Callback */
void (* DirectionDownCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Down-counting direction change Callback */
#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
} LPTIM_HandleTypeDef;
#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
/**
* @brief HAL LPTIM Callback ID enumeration definition
*/
typedef enum
{
HAL_LPTIM_MSPINIT_CB_ID = 0x00U, /*!< LPTIM Base Msp Init Callback ID */
HAL_LPTIM_MSPDEINIT_CB_ID = 0x01U, /*!< LPTIM Base Msp DeInit Callback ID */
HAL_LPTIM_COMPARE_MATCH_CB_ID = 0x02U, /*!< Compare match Callback ID */
HAL_LPTIM_AUTORELOAD_MATCH_CB_ID = 0x03U, /*!< Auto-reload match Callback ID */
HAL_LPTIM_TRIGGER_CB_ID = 0x04U, /*!< External trigger event detection Callback ID */
HAL_LPTIM_COMPARE_WRITE_CB_ID = 0x05U, /*!< Compare register write complete Callback ID */
HAL_LPTIM_AUTORELOAD_WRITE_CB_ID = 0x06U, /*!< Auto-reload register write complete Callback ID */
HAL_LPTIM_DIRECTION_UP_CB_ID = 0x07U, /*!< Up-counting direction change Callback ID */
HAL_LPTIM_DIRECTION_DOWN_CB_ID = 0x08U, /*!< Down-counting direction change Callback ID */
} HAL_LPTIM_CallbackIDTypeDef;
/**
* @brief HAL TIM Callback pointer definition
*/
typedef void (*pLPTIM_CallbackTypeDef)(LPTIM_HandleTypeDef *hlptim); /*!< pointer to the LPTIM callback function */
#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup LPTIM_Exported_Constants LPTIM Exported Constants
* @{
*/
/** @defgroup LPTIM_Clock_Source LPTIM Clock Source
* @{
*/
#define LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC 0x00000000U
#define LPTIM_CLOCKSOURCE_ULPTIM LPTIM_CFGR_CKSEL
/**
* @}
*/
/** @defgroup LPTIM_Clock_Prescaler LPTIM Clock Prescaler
* @{
*/
#define LPTIM_PRESCALER_DIV1 0x00000000U
#define LPTIM_PRESCALER_DIV2 LPTIM_CFGR_PRESC_0
#define LPTIM_PRESCALER_DIV4 LPTIM_CFGR_PRESC_1
#define LPTIM_PRESCALER_DIV8 (LPTIM_CFGR_PRESC_0 | LPTIM_CFGR_PRESC_1)
#define LPTIM_PRESCALER_DIV16 LPTIM_CFGR_PRESC_2
#define LPTIM_PRESCALER_DIV32 (LPTIM_CFGR_PRESC_0 | LPTIM_CFGR_PRESC_2)
#define LPTIM_PRESCALER_DIV64 (LPTIM_CFGR_PRESC_1 | LPTIM_CFGR_PRESC_2)
#define LPTIM_PRESCALER_DIV128 LPTIM_CFGR_PRESC
/**
* @}
*/
/** @defgroup LPTIM_Output_Polarity LPTIM Output Polarity
* @{
*/
#define LPTIM_OUTPUTPOLARITY_HIGH 0x00000000U
#define LPTIM_OUTPUTPOLARITY_LOW LPTIM_CFGR_WAVPOL
/**
* @}
*/
/** @defgroup LPTIM_Clock_Sample_Time LPTIM Clock Sample Time
* @{
*/
#define LPTIM_CLOCKSAMPLETIME_DIRECTTRANSITION 0x00000000U
#define LPTIM_CLOCKSAMPLETIME_2TRANSITIONS LPTIM_CFGR_CKFLT_0
#define LPTIM_CLOCKSAMPLETIME_4TRANSITIONS LPTIM_CFGR_CKFLT_1
#define LPTIM_CLOCKSAMPLETIME_8TRANSITIONS LPTIM_CFGR_CKFLT
/**
* @}
*/
/** @defgroup LPTIM_Clock_Polarity LPTIM Clock Polarity
* @{
*/
#define LPTIM_CLOCKPOLARITY_RISING 0x00000000U
#define LPTIM_CLOCKPOLARITY_FALLING LPTIM_CFGR_CKPOL_0
#define LPTIM_CLOCKPOLARITY_RISING_FALLING LPTIM_CFGR_CKPOL_1
/**
* @}
*/
/** @defgroup LPTIM_Trigger_Source LPTIM Trigger Source
* @{
*/
#define LPTIM_TRIGSOURCE_SOFTWARE 0x0000FFFFU
#define LPTIM_TRIGSOURCE_0 0x00000000U
#define LPTIM_TRIGSOURCE_1 LPTIM_CFGR_TRIGSEL_0
#define LPTIM_TRIGSOURCE_2 LPTIM_CFGR_TRIGSEL_1
#define LPTIM_TRIGSOURCE_3 (LPTIM_CFGR_TRIGSEL_0 | LPTIM_CFGR_TRIGSEL_1)
#define LPTIM_TRIGSOURCE_4 LPTIM_CFGR_TRIGSEL_2
#define LPTIM_TRIGSOURCE_5 (LPTIM_CFGR_TRIGSEL_0 | LPTIM_CFGR_TRIGSEL_2)
#define LPTIM_TRIGSOURCE_6 (LPTIM_CFGR_TRIGSEL_1 | LPTIM_CFGR_TRIGSEL_2)
#define LPTIM_TRIGSOURCE_7 LPTIM_CFGR_TRIGSEL
/**
* @}
*/
/** @defgroup LPTIM_External_Trigger_Polarity LPTIM External Trigger Polarity
* @{
*/
#define LPTIM_ACTIVEEDGE_RISING LPTIM_CFGR_TRIGEN_0
#define LPTIM_ACTIVEEDGE_FALLING LPTIM_CFGR_TRIGEN_1
#define LPTIM_ACTIVEEDGE_RISING_FALLING LPTIM_CFGR_TRIGEN
/**
* @}
*/
/** @defgroup LPTIM_Trigger_Sample_Time LPTIM Trigger Sample Time
* @{
*/
#define LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION 0x00000000U
#define LPTIM_TRIGSAMPLETIME_2TRANSITIONS LPTIM_CFGR_TRGFLT_0
#define LPTIM_TRIGSAMPLETIME_4TRANSITIONS LPTIM_CFGR_TRGFLT_1
#define LPTIM_TRIGSAMPLETIME_8TRANSITIONS LPTIM_CFGR_TRGFLT
/**
* @}
*/
/** @defgroup LPTIM_Updating_Mode LPTIM Updating Mode
* @{
*/
#define LPTIM_UPDATE_IMMEDIATE 0x00000000U
#define LPTIM_UPDATE_ENDOFPERIOD LPTIM_CFGR_PRELOAD
/**
* @}
*/
/** @defgroup LPTIM_Counter_Source LPTIM Counter Source
* @{
*/
#define LPTIM_COUNTERSOURCE_INTERNAL 0x00000000U
#define LPTIM_COUNTERSOURCE_EXTERNAL LPTIM_CFGR_COUNTMODE
/**
* @}
*/
/** @defgroup LPTIM_Flag_Definition LPTIM Flags Definition
* @{
*/
#define LPTIM_FLAG_DOWN LPTIM_ISR_DOWN
#define LPTIM_FLAG_UP LPTIM_ISR_UP
#define LPTIM_FLAG_ARROK LPTIM_ISR_ARROK
#define LPTIM_FLAG_CMPOK LPTIM_ISR_CMPOK
#define LPTIM_FLAG_EXTTRIG LPTIM_ISR_EXTTRIG
#define LPTIM_FLAG_ARRM LPTIM_ISR_ARRM
#define LPTIM_FLAG_CMPM LPTIM_ISR_CMPM
/**
* @}
*/
/** @defgroup LPTIM_Interrupts_Definition LPTIM Interrupts Definition
* @{
*/
#define LPTIM_IT_DOWN LPTIM_IER_DOWNIE
#define LPTIM_IT_UP LPTIM_IER_UPIE
#define LPTIM_IT_ARROK LPTIM_IER_ARROKIE
#define LPTIM_IT_CMPOK LPTIM_IER_CMPOKIE
#define LPTIM_IT_EXTTRIG LPTIM_IER_EXTTRIGIE
#define LPTIM_IT_ARRM LPTIM_IER_ARRMIE
#define LPTIM_IT_CMPM LPTIM_IER_CMPMIE
/**
* @}
*/
/**
* @}
*/
/* Exported macros -----------------------------------------------------------*/
/** @defgroup LPTIM_Exported_Macros LPTIM Exported Macros
* @{
*/
/** @brief Reset LPTIM handle state.
* @param __HANDLE__ LPTIM handle
* @retval None
*/
#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
#define __HAL_LPTIM_RESET_HANDLE_STATE(__HANDLE__) do { \
(__HANDLE__)->State = HAL_LPTIM_STATE_RESET; \
(__HANDLE__)->MspInitCallback = NULL; \
(__HANDLE__)->MspDeInitCallback = NULL; \
} while(0)
#else
#define __HAL_LPTIM_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_LPTIM_STATE_RESET)
#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
/**
* @brief Enable the LPTIM peripheral.
* @param __HANDLE__ LPTIM handle
* @retval None
*/
#define __HAL_LPTIM_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (LPTIM_CR_ENABLE))
/**
* @brief Disable the LPTIM peripheral.
* @param __HANDLE__ LPTIM handle
* @note The following sequence is required to solve LPTIM disable HW limitation.
* Please check Errata Sheet ES0335 for more details under "MCU may remain
* stuck in LPTIM interrupt when entering Stop mode" section.
* @note Please call @ref HAL_LPTIM_GetState() after a call to __HAL_LPTIM_DISABLE to
* check for TIMEOUT.
* @retval None
*/
#define __HAL_LPTIM_DISABLE(__HANDLE__) LPTIM_Disable(__HANDLE__)
/**
* @brief Start the LPTIM peripheral in Continuous mode.
* @param __HANDLE__ LPTIM handle
* @retval None
*/
#define __HAL_LPTIM_START_CONTINUOUS(__HANDLE__) ((__HANDLE__)->Instance->CR |= LPTIM_CR_CNTSTRT)
/**
* @brief Start the LPTIM peripheral in single mode.
* @param __HANDLE__ LPTIM handle
* @retval None
*/
#define __HAL_LPTIM_START_SINGLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= LPTIM_CR_SNGSTRT)
/**
* @brief Write the passed parameter in the Autoreload register.
* @param __HANDLE__ LPTIM handle
* @param __VALUE__ Autoreload value
* @retval None
* @note The ARR register can only be modified when the LPTIM instance is enabled.
*/
#define __HAL_LPTIM_AUTORELOAD_SET(__HANDLE__ , __VALUE__) ((__HANDLE__)->Instance->ARR = (__VALUE__))
/**
* @brief Write the passed parameter in the Compare register.
* @param __HANDLE__ LPTIM handle
* @param __VALUE__ Compare value
* @retval None
* @note The CMP register can only be modified when the LPTIM instance is enabled.
*/
#define __HAL_LPTIM_COMPARE_SET(__HANDLE__ , __VALUE__) ((__HANDLE__)->Instance->CMP = (__VALUE__))
/**
* @brief Check whether the specified LPTIM flag is set or not.
* @param __HANDLE__ LPTIM handle
* @param __FLAG__ LPTIM flag to check
* This parameter can be a value of:
* @arg LPTIM_FLAG_DOWN : Counter direction change up Flag.
* @arg LPTIM_FLAG_UP : Counter direction change down to up Flag.
* @arg LPTIM_FLAG_ARROK : Autoreload register update OK Flag.
* @arg LPTIM_FLAG_CMPOK : Compare register update OK Flag.
* @arg LPTIM_FLAG_EXTTRIG : External trigger edge event Flag.
* @arg LPTIM_FLAG_ARRM : Autoreload match Flag.
* @arg LPTIM_FLAG_CMPM : Compare match Flag.
* @retval The state of the specified flag (SET or RESET).
*/
#define __HAL_LPTIM_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->ISR &(__FLAG__)) == (__FLAG__))
/**
* @brief Clear the specified LPTIM flag.
* @param __HANDLE__ LPTIM handle.
* @param __FLAG__ LPTIM flag to clear.
* This parameter can be a value of:
* @arg LPTIM_FLAG_DOWN : Counter direction change up Flag.
* @arg LPTIM_FLAG_UP : Counter direction change down to up Flag.
* @arg LPTIM_FLAG_ARROK : Autoreload register update OK Flag.
* @arg LPTIM_FLAG_CMPOK : Compare register update OK Flag.
* @arg LPTIM_FLAG_EXTTRIG : External trigger edge event Flag.
* @arg LPTIM_FLAG_ARRM : Autoreload match Flag.
* @arg LPTIM_FLAG_CMPM : Compare match Flag.
* @retval None.
*/
#define __HAL_LPTIM_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ICR = (__FLAG__))
/**
* @brief Enable the specified LPTIM interrupt.
* @param __HANDLE__ LPTIM handle.
* @param __INTERRUPT__ LPTIM interrupt to set.
* This parameter can be a value of:
* @arg LPTIM_IT_DOWN : Counter direction change up Interrupt.
* @arg LPTIM_IT_UP : Counter direction change down to up Interrupt.
* @arg LPTIM_IT_ARROK : Autoreload register update OK Interrupt.
* @arg LPTIM_IT_CMPOK : Compare register update OK Interrupt.
* @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt.
* @arg LPTIM_IT_ARRM : Autoreload match Interrupt.
* @arg LPTIM_IT_CMPM : Compare match Interrupt.
* @retval None.
* @note The LPTIM interrupts can only be enabled when the LPTIM instance is disabled.
*/
#define __HAL_LPTIM_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER |= (__INTERRUPT__))
/**
* @brief Disable the specified LPTIM interrupt.
* @param __HANDLE__ LPTIM handle.
* @param __INTERRUPT__ LPTIM interrupt to set.
* This parameter can be a value of:
* @arg LPTIM_IT_DOWN : Counter direction change up Interrupt.
* @arg LPTIM_IT_UP : Counter direction change down to up Interrupt.
* @arg LPTIM_IT_ARROK : Autoreload register update OK Interrupt.
* @arg LPTIM_IT_CMPOK : Compare register update OK Interrupt.
* @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt.
* @arg LPTIM_IT_ARRM : Autoreload match Interrupt.
* @arg LPTIM_IT_CMPM : Compare match Interrupt.
* @retval None.
* @note The LPTIM interrupts can only be disabled when the LPTIM instance is disabled.
*/
#define __HAL_LPTIM_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER &= (~(__INTERRUPT__)))
/**
* @brief Check whether the specified LPTIM interrupt source is enabled or not.
* @param __HANDLE__ LPTIM handle.
* @param __INTERRUPT__ LPTIM interrupt to check.
* This parameter can be a value of:
* @arg LPTIM_IT_DOWN : Counter direction change up Interrupt.
* @arg LPTIM_IT_UP : Counter direction change down to up Interrupt.
* @arg LPTIM_IT_ARROK : Autoreload register update OK Interrupt.
* @arg LPTIM_IT_CMPOK : Compare register update OK Interrupt.
* @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt.
* @arg LPTIM_IT_ARRM : Autoreload match Interrupt.
* @arg LPTIM_IT_CMPM : Compare match Interrupt.
* @retval Interrupt status.
*/
#define __HAL_LPTIM_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER\
& (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET)
/**
* @brief Enable interrupt on the LPTIM Wake-up Timer associated Exti line.
* @retval None
*/
#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_IT() (EXTI->IMR\
|= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT)
/**
* @brief Disable interrupt on the LPTIM Wake-up Timer associated Exti line.
* @retval None
*/
#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_IT() (EXTI->IMR\
&= ~(LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT))
/**
* @brief Enable event on the LPTIM Wake-up Timer associated Exti line.
* @retval None.
*/
#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_EVENT() (EXTI->EMR\
|= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT)
/**
* @brief Disable event on the LPTIM Wake-up Timer associated Exti line.
* @retval None.
*/
#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_EVENT() (EXTI->EMR\
&= ~(LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT))
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @defgroup LPTIM_Exported_Functions LPTIM Exported Functions
* @{
*/
/** @addtogroup LPTIM_Exported_Functions_Group1
* @brief Initialization and Configuration functions.
* @{
*/
/* Initialization/de-initialization functions ********************************/
HAL_StatusTypeDef HAL_LPTIM_Init(LPTIM_HandleTypeDef *hlptim);
HAL_StatusTypeDef HAL_LPTIM_DeInit(LPTIM_HandleTypeDef *hlptim);
/* MSP functions *************************************************************/
void HAL_LPTIM_MspInit(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_MspDeInit(LPTIM_HandleTypeDef *hlptim);
/**
* @}
*/
/** @addtogroup LPTIM_Exported_Functions_Group2
* @brief Start-Stop operation functions.
* @{
*/
/* Start/Stop operation functions *********************************************/
/* ################################# PWM Mode ################################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_PWM_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_PWM_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_PWM_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_PWM_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/* ############################# One Pulse Mode ##############################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/* ############################## Set once Mode ##############################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse);
HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/* ############################### Encoder Mode ##############################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_Encoder_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_Encoder_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/* ############################# Time out Mode ##############################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout);
HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout);
HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/* ############################## Counter Mode ###############################*/
/* Blocking mode: Polling */
HAL_StatusTypeDef HAL_LPTIM_Counter_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
HAL_StatusTypeDef HAL_LPTIM_Counter_Stop(LPTIM_HandleTypeDef *hlptim);
/* Non-Blocking mode: Interrupt */
HAL_StatusTypeDef HAL_LPTIM_Counter_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period);
HAL_StatusTypeDef HAL_LPTIM_Counter_Stop_IT(LPTIM_HandleTypeDef *hlptim);
/**
* @}
*/
/** @addtogroup LPTIM_Exported_Functions_Group3
* @brief Read operation functions.
* @{
*/
/* Reading operation functions ************************************************/
uint32_t HAL_LPTIM_ReadCounter(LPTIM_HandleTypeDef *hlptim);
uint32_t HAL_LPTIM_ReadAutoReload(LPTIM_HandleTypeDef *hlptim);
uint32_t HAL_LPTIM_ReadCompare(LPTIM_HandleTypeDef *hlptim);
/**
* @}
*/
/** @addtogroup LPTIM_Exported_Functions_Group4
* @brief LPTIM IRQ handler and callback functions.
* @{
*/
/* LPTIM IRQ functions *******************************************************/
void HAL_LPTIM_IRQHandler(LPTIM_HandleTypeDef *hlptim);
/* CallBack functions ********************************************************/
void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_AutoReloadMatchCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_TriggerCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_CompareWriteCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_AutoReloadWriteCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_DirectionUpCallback(LPTIM_HandleTypeDef *hlptim);
void HAL_LPTIM_DirectionDownCallback(LPTIM_HandleTypeDef *hlptim);
/* Callbacks Register/UnRegister functions ***********************************/
#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1)
HAL_StatusTypeDef HAL_LPTIM_RegisterCallback(LPTIM_HandleTypeDef *lphtim, HAL_LPTIM_CallbackIDTypeDef CallbackID,
pLPTIM_CallbackTypeDef pCallback);
HAL_StatusTypeDef HAL_LPTIM_UnRegisterCallback(LPTIM_HandleTypeDef *lphtim, HAL_LPTIM_CallbackIDTypeDef CallbackID);
#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */
/**
* @}
*/
/** @addtogroup LPTIM_Group5
* @brief Peripheral State functions.
* @{
*/
/* Peripheral State functions ************************************************/
HAL_LPTIM_StateTypeDef HAL_LPTIM_GetState(LPTIM_HandleTypeDef *hlptim);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/** @defgroup LPTIM_Private_Types LPTIM Private Types
* @{
*/
/**
* @}
*/
/* Private variables ---------------------------------------------------------*/
/** @defgroup LPTIM_Private_Variables LPTIM Private Variables
* @{
*/
/**
* @}
*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup LPTIM_Private_Constants LPTIM Private Constants
* @{
*/
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup LPTIM_Private_Macros LPTIM Private Macros
* @{
*/
#define IS_LPTIM_CLOCK_SOURCE(__SOURCE__) (((__SOURCE__) == LPTIM_CLOCKSOURCE_ULPTIM) || \
((__SOURCE__) == LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC))
#define IS_LPTIM_CLOCK_PRESCALER(__PRESCALER__) (((__PRESCALER__) == LPTIM_PRESCALER_DIV1 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV2 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV4 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV8 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV16 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV32 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV64 ) || \
((__PRESCALER__) == LPTIM_PRESCALER_DIV128))
#define IS_LPTIM_CLOCK_PRESCALERDIV1(__PRESCALER__) ((__PRESCALER__) == LPTIM_PRESCALER_DIV1)
#define IS_LPTIM_OUTPUT_POLARITY(__POLARITY__) (((__POLARITY__) == LPTIM_OUTPUTPOLARITY_LOW ) || \
((__POLARITY__) == LPTIM_OUTPUTPOLARITY_HIGH))
#define IS_LPTIM_CLOCK_SAMPLE_TIME(__SAMPLETIME__) (((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_DIRECTTRANSITION) || \
((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_2TRANSITIONS) || \
((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_4TRANSITIONS) || \
((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_8TRANSITIONS))
#define IS_LPTIM_CLOCK_POLARITY(__POLARITY__) (((__POLARITY__) == LPTIM_CLOCKPOLARITY_RISING) || \
((__POLARITY__) == LPTIM_CLOCKPOLARITY_FALLING) || \
((__POLARITY__) == LPTIM_CLOCKPOLARITY_RISING_FALLING))
#define IS_LPTIM_TRG_SOURCE(__TRIG__) (((__TRIG__) == LPTIM_TRIGSOURCE_SOFTWARE) || \
((__TRIG__) == LPTIM_TRIGSOURCE_0) || \
((__TRIG__) == LPTIM_TRIGSOURCE_1) || \
((__TRIG__) == LPTIM_TRIGSOURCE_2) || \
((__TRIG__) == LPTIM_TRIGSOURCE_3) || \
((__TRIG__) == LPTIM_TRIGSOURCE_4) || \
((__TRIG__) == LPTIM_TRIGSOURCE_5) || \
((__TRIG__) == LPTIM_TRIGSOURCE_6) || \
((__TRIG__) == LPTIM_TRIGSOURCE_7))
#define IS_LPTIM_EXT_TRG_POLARITY(__POLARITY__) (((__POLARITY__) == LPTIM_ACTIVEEDGE_RISING ) || \
((__POLARITY__) == LPTIM_ACTIVEEDGE_FALLING ) || \
((__POLARITY__) == LPTIM_ACTIVEEDGE_RISING_FALLING ))
#define IS_LPTIM_TRIG_SAMPLE_TIME(__SAMPLETIME__) (((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION) || \
((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_2TRANSITIONS ) || \
((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_4TRANSITIONS ) || \
((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_8TRANSITIONS ))
#define IS_LPTIM_UPDATE_MODE(__MODE__) (((__MODE__) == LPTIM_UPDATE_IMMEDIATE) || \
((__MODE__) == LPTIM_UPDATE_ENDOFPERIOD))
#define IS_LPTIM_COUNTER_SOURCE(__SOURCE__) (((__SOURCE__) == LPTIM_COUNTERSOURCE_INTERNAL) || \
((__SOURCE__) == LPTIM_COUNTERSOURCE_EXTERNAL))
#define IS_LPTIM_AUTORELOAD(__AUTORELOAD__) ((__AUTORELOAD__) <= 0x0000FFFFUL)
#define IS_LPTIM_COMPARE(__COMPARE__) ((__COMPARE__) <= 0x0000FFFFUL)
#define IS_LPTIM_PERIOD(__PERIOD__) ((__PERIOD__) <= 0x0000FFFFUL)
#define IS_LPTIM_PULSE(__PULSE__) ((__PULSE__) <= 0x0000FFFFUL)
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup LPTIM_Private_Functions LPTIM Private Functions
* @{
*/
void LPTIM_Disable(LPTIM_HandleTypeDef *hlptim);
/**
* @}
*/
/**
* @}
*/
#endif /* LPTIM1 */
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* STM32L0xx_HAL_LPTIM_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

2457
software/dumber3/Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_lptim.c Normal file
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116
software/dumber3/Dumber3.ioc
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@ -2,6 +2,17 @@
ADC.IPParameters=SamplingTime,Resolution ADC.IPParameters=SamplingTime,Resolution
ADC.Resolution=ADC_RESOLUTION_8B ADC.Resolution=ADC_RESOLUTION_8B
ADC.SamplingTime=ADC_SAMPLETIME_160CYCLES_5 ADC.SamplingTime=ADC_SAMPLETIME_160CYCLES_5
Dma.LPUART1_TX.0.Direction=DMA_MEMORY_TO_PERIPH
Dma.LPUART1_TX.0.Instance=DMA1_Channel2
Dma.LPUART1_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.LPUART1_TX.0.MemInc=DMA_MINC_ENABLE
Dma.LPUART1_TX.0.Mode=DMA_NORMAL
Dma.LPUART1_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.LPUART1_TX.0.PeriphInc=DMA_PINC_DISABLE
Dma.LPUART1_TX.0.Priority=DMA_PRIORITY_LOW
Dma.LPUART1_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
Dma.Request0=LPUART1_TX
Dma.RequestsNb=1
FREERTOS.INCLUDE_pcTaskGetTaskName=1 FREERTOS.INCLUDE_pcTaskGetTaskName=1
FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1 FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1
FREERTOS.INCLUDE_xTaskAbortDelay=1 FREERTOS.INCLUDE_xTaskAbortDelay=1
@ -20,28 +31,29 @@ LPUART1.IPParameters=BaudRate,WordLength
LPUART1.WordLength=UART_WORDLENGTH_8B LPUART1.WordLength=UART_WORDLENGTH_8B
Mcu.Family=STM32L0 Mcu.Family=STM32L0
Mcu.IP0=ADC Mcu.IP0=ADC
Mcu.IP1=FREERTOS Mcu.IP1=DMA
Mcu.IP2=LPUART1 Mcu.IP10=TIM21
Mcu.IP3=NVIC Mcu.IP2=FREERTOS
Mcu.IP4=RCC Mcu.IP3=LPTIM1
Mcu.IP5=SYS Mcu.IP4=LPUART1
Mcu.IP6=TIM2 Mcu.IP5=NVIC
Mcu.IP7=TIM3 Mcu.IP6=RCC
Mcu.IP8=TIM21 Mcu.IP7=SYS
Mcu.IP9=TIM22 Mcu.IP8=TIM2
Mcu.IPNb=10 Mcu.IP9=TIM3
Mcu.IPNb=11
Mcu.Name=STM32L071C(B-Z)Tx Mcu.Name=STM32L071C(B-Z)Tx
Mcu.Package=LQFP48 Mcu.Package=LQFP48
Mcu.Pin0=PA0 Mcu.Pin0=PA0
Mcu.Pin1=PA1 Mcu.Pin1=PA1
Mcu.Pin10=PB12 Mcu.Pin10=PB11
Mcu.Pin11=PB13 Mcu.Pin11=PB12
Mcu.Pin12=PB14 Mcu.Pin12=PB13
Mcu.Pin13=PB15 Mcu.Pin13=PB14
Mcu.Pin14=PA10 Mcu.Pin14=PB15
Mcu.Pin15=PA13 Mcu.Pin15=PA10
Mcu.Pin16=PA14 Mcu.Pin16=PA13
Mcu.Pin17=PA15 Mcu.Pin17=PA14
Mcu.Pin18=PB3 Mcu.Pin18=PB3
Mcu.Pin19=PB4 Mcu.Pin19=PB4
Mcu.Pin2=PA2 Mcu.Pin2=PA2
@ -50,16 +62,16 @@ Mcu.Pin21=PB7
Mcu.Pin22=PB8 Mcu.Pin22=PB8
Mcu.Pin23=PB9 Mcu.Pin23=PB9
Mcu.Pin24=VP_FREERTOS_VS_CMSIS_V2 Mcu.Pin24=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin25=VP_SYS_VS_Systick Mcu.Pin25=VP_LPTIM1_VS_LPTIM_counterModeInternalClock
Mcu.Pin26=VP_TIM2_VS_ClockSourceINT Mcu.Pin26=VP_SYS_VS_Systick
Mcu.Pin27=VP_TIM3_VS_ClockSourceINT Mcu.Pin27=VP_TIM3_VS_ClockSourceINT
Mcu.Pin3=PA3 Mcu.Pin3=PA3
Mcu.Pin4=PA6 Mcu.Pin4=PA5
Mcu.Pin5=PA7 Mcu.Pin5=PA6
Mcu.Pin6=PB0 Mcu.Pin6=PA7
Mcu.Pin7=PB1 Mcu.Pin7=PB0
Mcu.Pin8=PB10 Mcu.Pin8=PB1
Mcu.Pin9=PB11 Mcu.Pin9=PB10
Mcu.PinsNb=28 Mcu.PinsNb=28
Mcu.ThirdPartyNb=0 Mcu.ThirdPartyNb=0
Mcu.UserConstants= Mcu.UserConstants=
@ -67,10 +79,12 @@ Mcu.UserName=STM32L071CBTx
MxCube.Version=6.3.0 MxCube.Version=6.3.0
MxDb.Version=DB.6.0.30 MxDb.Version=DB.6.0.30
NVIC.ADC1_COMP_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true NVIC.ADC1_COMP_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true
NVIC.DMA1_Channel2_3_IRQn=true\:3\:0\:false\:false\:true\:true\:false\:true
NVIC.EXTI2_3_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true NVIC.EXTI2_3_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true
NVIC.EXTI4_15_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true NVIC.EXTI4_15_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.LPTIM1_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true
NVIC.LPUART1_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true NVIC.LPUART1_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PendSV_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:false NVIC.PendSV_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:false
@ -83,9 +97,9 @@ PA0.GPIOParameters=GPIO_Label
PA0.GPIO_Label=BATTERY_SENSE PA0.GPIO_Label=BATTERY_SENSE
PA0.Mode=IN0 PA0.Mode=IN0
PA0.Signal=ADC_IN0 PA0.Signal=ADC_IN0
PA1.GPIOParameters=GPIO_Speed,GPIO_Label PA1.GPIOParameters=GPIO_Label
PA1.GPIO_Label=PWM_B_GAUCHE PA1.GPIO_Label=ENC_PHA_GAUCHE
PA1.GPIO_Speed=GPIO_SPEED_FREQ_HIGH PA1.Locked=true
PA1.Signal=S_TIM2_CH2 PA1.Signal=S_TIM2_CH2
PA10.GPIOParameters=GPIO_Label PA10.GPIOParameters=GPIO_Label
PA10.GPIO_Label=XBEE_RESET PA10.GPIO_Label=XBEE_RESET
@ -95,11 +109,6 @@ PA13.Mode=Serial_Wire
PA13.Signal=SYS_SWDIO PA13.Signal=SYS_SWDIO
PA14.Mode=Serial_Wire PA14.Mode=Serial_Wire
PA14.Signal=SYS_SWCLK PA14.Signal=SYS_SWCLK
PA15.GPIOParameters=GPIO_Speed,GPIO_Label
PA15.GPIO_Label=PWM_A_GAUCHE
PA15.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PA15.Locked=true
PA15.Signal=S_TIM2_CH1
PA2.GPIOParameters=GPIO_Label PA2.GPIOParameters=GPIO_Label
PA2.GPIO_Label=ENC_PHA_DROIT PA2.GPIO_Label=ENC_PHA_DROIT
PA2.Locked=true PA2.Locked=true
@ -108,12 +117,18 @@ PA3.GPIOParameters=GPIO_Label
PA3.GPIO_Label=ENC_PHB_DROIT PA3.GPIO_Label=ENC_PHB_DROIT
PA3.Locked=true PA3.Locked=true
PA3.Signal=S_TIM21_CH2 PA3.Signal=S_TIM21_CH2
PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=ENC_PHB_GAUCHE
PA5.Locked=true
PA5.Signal=S_TIM2_CH1
PA6.GPIOParameters=GPIO_Label PA6.GPIOParameters=GPIO_Label
PA6.GPIO_Label=ENC_PHB_GAUCHE PA6.GPIO_Label=PWM_B_GAUCHE
PA6.Signal=S_TIM22_CH1 PA6.Locked=true
PA6.Signal=S_TIM3_CH1
PA7.GPIOParameters=GPIO_Label PA7.GPIOParameters=GPIO_Label
PA7.GPIO_Label=ENC_PHA_GAUCHE PA7.GPIO_Label=PWM_A_GAUCHE
PA7.Signal=S_TIM22_CH2 PA7.Locked=true
PA7.Signal=S_TIM3_CH2
PB0.GPIOParameters=GPIO_Speed,GPIO_Label PB0.GPIOParameters=GPIO_Speed,GPIO_Label
PB0.GPIO_Label=PWM_A_DROIT PB0.GPIO_Label=PWM_A_DROIT
PB0.GPIO_Speed=GPIO_SPEED_FREQ_HIGH PB0.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
@ -210,7 +225,7 @@ ProjectManager.StackSize=0x200
ProjectManager.TargetToolchain=STM32CubeIDE ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation= ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=true ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC_Init-ADC-false-HAL-true,4-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM21_Init-TIM21-false-HAL-true,8-MX_TIM22_Init-TIM22-false-HAL-true ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC_Init-ADC-false-HAL-true,4-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM21_Init-TIM21-false-HAL-true,8-MX_DMA_Init-DMA-false-HAL-true
RCC.ADCFreq_Value=4000000 RCC.ADCFreq_Value=4000000
RCC.AHBFreq_Value=6000000 RCC.AHBFreq_Value=6000000
RCC.APB1Freq_Value=6000000 RCC.APB1Freq_Value=6000000
@ -254,30 +269,29 @@ SH.S_TIM21_CH1.0=TIM21_CH1,Encoder_Interface
SH.S_TIM21_CH1.ConfNb=1 SH.S_TIM21_CH1.ConfNb=1
SH.S_TIM21_CH2.0=TIM21_CH2,Encoder_Interface SH.S_TIM21_CH2.0=TIM21_CH2,Encoder_Interface
SH.S_TIM21_CH2.ConfNb=1 SH.S_TIM21_CH2.ConfNb=1
SH.S_TIM22_CH1.0=TIM22_CH1,Encoder_Interface SH.S_TIM2_CH1.0=TIM2_CH1,Encoder_Interface
SH.S_TIM22_CH1.ConfNb=1
SH.S_TIM22_CH2.0=TIM22_CH2,Encoder_Interface
SH.S_TIM22_CH2.ConfNb=1
SH.S_TIM2_CH1.0=TIM2_CH1,PWM Generation1 CH1
SH.S_TIM2_CH1.ConfNb=1 SH.S_TIM2_CH1.ConfNb=1
SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2 SH.S_TIM2_CH2.0=TIM2_CH2,Encoder_Interface
SH.S_TIM2_CH2.ConfNb=1 SH.S_TIM2_CH2.ConfNb=1
SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
SH.S_TIM3_CH1.ConfNb=1
SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
SH.S_TIM3_CH2.ConfNb=1
SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3 SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
SH.S_TIM3_CH3.ConfNb=1 SH.S_TIM3_CH3.ConfNb=1
SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4 SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
SH.S_TIM3_CH4.ConfNb=1 SH.S_TIM3_CH4.ConfNb=1
TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM3.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4 TIM3.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2 VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_LPTIM1_VS_LPTIM_counterModeInternalClock.Mode=Counts__internal_clock_event_00
VP_LPTIM1_VS_LPTIM_counterModeInternalClock.Signal=LPTIM1_VS_LPTIM_counterModeInternalClock
VP_SYS_VS_Systick.Mode=SysTick VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_TIM2_VS_ClockSourceINT.Mode=Internal
VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
board=custom board=custom