Ajout d'un systeme de panic pour tracer des erreurs irrecuperables

software/dumber3/Application/application.c

@@ -16,6 +16,8 @@
 #include "batterie.h"
 #include "messages.h"
 
+#include "panic.h"
+
 typedef enum {
 	stateStartup=0,
 	stateIdle,
@@ -179,9 +181,11 @@ void APPLICATION_MainThread(void* params) {
 
 		case MSG_ID_BAT_ADC_ERR:
 			/* depart en panic: error 2 */
+			PANIC_Raise(panic_adc_err);
 			break;
 		case MSG_ID_BAT_CHARGE_ERR:
 			/* depart en panic: error 3 */
+			PANIC_Raise(panic_charger_err);
 			break;
 		case MSG_ID_BAT_CHARGE_COMPLETE:
 		case MSG_ID_BAT_CHARGE_LOW:
@@ -382,7 +386,7 @@ void APPLICATION_TransitionToNewState(APPLICATION_State new_state) {
 		systemTimeout.watchdogEnabled=0;
 		break;
 	case stateWatchdogDisable:
-		ledState = leds_erreur_1;
+		ledState = leds_watchdog_expired;
 		LEDS_Set(ledState);
 
 		systemTimeout.watchdogEnabled=0;
@@ -440,7 +444,7 @@ void vTimerTimeoutCallback( TimerHandle_t xTimer ) {
 			systemTimeout.watchdogMissedCnt++;
 
 			if (systemTimeout.watchdogMissedCnt>=(APPLICATION_WATCHDOG_MISSED_MAX/100))
-				APPLICATION_TransitionToNewState(stateWatchdogDisable);
+				APPLICATION_TransitionToNewState(stateWatchdogDisable); /* TODO: Reprendre pour en faire un envoi de message */
 		}
 	}
 }

software/dumber3/Application/batterie.c

@@ -45,8 +45,8 @@ uint8_t BUTTON_Inactivity=1; //start with button on/off inactive
 void BATTERIE_VoltageThread(void* params);
 
 void BATTERIE_Init(void) {
-	task_handler = NULL;
+	//task_handler = NULL;
-	charger_thread_handler = NULL;
+	//charger_thread_handler = NULL;
 
 	/* Create the task without using any dynamic memory allocation. */
 	xHandleBatterie = xTaskCreateStatic(

software/dumber3/Application/leds.c

@@ -68,9 +68,11 @@
 #define LED_PATTERN_DIGIT_C			31
 #define LED_PATTERN_DIGIT_L			32
 #define LED_PATTERN_DIGIT_B			33
-#define LED_PATTERN_DIGIT_UNKNOWN	34
+#define LED_PATTERN_WDT_EXP_1		34
+#define LED_PATTERN_WDT_EXP_2		35
+#define LED_PATTERN_DIGIT_UNKNOWN	36
 
-#define LED_MAX_PATTERNS			35
+#define LED_MAX_PATTERNS			37
 
 /*
  * Relation entre segment et nom
@@ -131,6 +133,8 @@ uint16_t LEDS_Patterns [LED_MAX_PATTERNS][4]= {
 		{ LED_SEG_D_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, 0}, // C
 		{ 0, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, 0},// L
 		{ LED_SEG_F_Pin|LED_SEG_G_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin|LED_SEG_C_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_DP_Pin, 0}, // b
+		{ LED_SEG_E_Pin, LED_SEG_B_Pin, LED_SEG_D_Pin|LED_SEG_F_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_C_Pin}, // Watchdog expired 1
+		{ LED_SEG_F_Pin, LED_SEG_C_Pin, LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_G_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_B_Pin}, // Watchdog expired 2
 		{ LED_SEG_D_Pin|LED_SEG_E_Pin|LED_SEG_G_Pin, LED_SEG_B_Pin, LED_SEG_F_Pin|LED_SEG_DP_Pin, LED_SEG_A_Pin|LED_SEG_C_Pin}    // ?
 };
 
@@ -350,6 +354,14 @@ void LEDS_ActionThread(void* params) {
 
 			cnt=0;
 			break;
+		case leds_watchdog_expired:
+			if (cnt<3)
+				LEDS_ShowPattern(LED_PATTERN_WDT_EXP_1);
+			else if (cnt<6)
+				LEDS_ShowPattern(LED_PATTERN_WDT_EXP_2);
+			else
+				cnt=0;
+			break;
 		case leds_erreur_1:
 			if (cnt<5)
 				LEDS_ShowPattern(LED_PATTERN_ERROR);

software/dumber3/Application/leds.h

@@ -23,6 +23,7 @@ typedef enum {
 	leds_bat_charge_med,
 	leds_bat_charge_high,
 	leds_bat_charge_complete,
+	leds_watchdog_expired,
 	leds_erreur_1,
 	leds_erreur_2,
 	leds_erreur_3,

software/dumber3/Application/panic.c

@@ -0,0 +1,94 @@
+/*
+ * panic.c
+ *
+ *  Created on: Oct 11, 2023
+ *      Author: dimercur
+ */
+
+#include "application.h"
+#include "timers.h"
+
+#include "panic.h"
+#include "leds.h"
+
+void PANIC_StopTasksAndWait(void);
+void MOTEURS_DesactiveAlim(void);
+
+extern TaskHandle_t xHandleLedsHandler;
+extern TaskHandle_t xHandleLedsAction;
+extern TaskHandle_t xHandleBatterie;
+extern TimerHandle_t xHandleTimerButton;
+extern TaskHandle_t xHandleApplicationMain;
+extern TimerHandle_t xHandleTimerTimeout;
+extern TaskHandle_t xHandleMoteurs;
+extern TaskHandle_t xHandleMoteursAsservissement;
+extern TaskHandle_t xHandleXbeeTXHandler;
+extern TaskHandle_t xHandleXbeeRX;
+
+void PANIC_Raise(PANIC_Typedef panicId) {
+	switch (panicId) {
+	case panic_adc_err:
+		LEDS_Set(leds_erreur_1);
+		break;
+	case panic_charger_err:
+		LEDS_Set(leds_erreur_2);
+		break;
+	case panic_malloc:
+		LEDS_Set(leds_erreur_3);
+		break;
+	default:
+		LEDS_Set(leds_erreur_5);
+		break;
+	}
+
+	PANIC_StopTasksAndWait();
+}
+
+void PANIC_StopTasksAndWait(void){
+	TaskHandle_t currentTask;
+	currentTask = xTaskGetCurrentTaskHandle();
+
+	/* Arret des timers */
+	xTimerStop(xHandleTimerButton,0);
+	xTimerStop(xHandleTimerTimeout,0);
+
+	/* Arret des taches
+	 * On n'arrete toute les taches sauf celle en cours !
+	 *
+	 * a la fin, on arrete la tache en cours
+	 *
+	 * on n'arrete jamais les leds, sinon plus d'animation !!
+	 */
+
+	if (currentTask != xHandleXbeeRX)
+		vTaskSuspend(xHandleXbeeRX);
+
+	if (currentTask != xHandleXbeeTXHandler)
+			vTaskSuspend(xHandleXbeeTXHandler);
+
+	if (currentTask != xHandleMoteurs)
+			vTaskSuspend(xHandleMoteurs);
+
+	if (currentTask != xHandleMoteursAsservissement)
+			vTaskSuspend(xHandleMoteursAsservissement);
+
+	if (currentTask != xHandleBatterie)
+			vTaskSuspend(xHandleBatterie);
+
+	if (currentTask != xHandleApplicationMain)
+			vTaskSuspend(xHandleApplicationMain);
+
+
+	/* Stop des alim moteurs */
+	MOTEURS_DesactiveAlim();
+
+	/* disable XBEE */
+	HAL_GPIO_WritePin(XBEE_RESET_GPIO_Port, XBEE_RESET_Pin, GPIO_PIN_RESET);
+
+	/* Stop la tache courante */
+	vTaskSuspend(currentTask);
+
+	while (1) {
+		__WFE(); /* Attente infinie */
+	}
+}

software/dumber3/Application/panic.h

@@ -0,0 +1,19 @@
+/*
+ * panic.h
+ *
+ *  Created on: Oct 11, 2023
+ *      Author: dimercur
+ */
+
+#ifndef PANIC_H_
+#define PANIC_H_
+
+typedef enum {
+	panic_charger_err=1,  // erreur 1
+	panic_adc_err,        // erreur 2
+	panic_malloc          // erreur 3
+} PANIC_Typedef;
+
+void PANIC_Raise(PANIC_Typedef panicId);
+
+#endif /* PANIC_H_ */

software/dumber3/Core/Src/syscalls.c

@@ -33,6 +33,8 @@
 
 #include "cmsis_os.h"
 
+#include "panic.h"
+
 /* Variables */
 extern int __io_putchar(int ch) __attribute__((weak));
 extern int __io_getchar(void) __attribute__((weak));
@@ -55,6 +57,10 @@ void* malloc(size_t size)
 		// We simply wrap the FreeRTOS call into a standard form
 		ptr = pvPortMalloc(size);
 		Counter_Malloc++;
+
+		if (ptr==NULL) { /* plus assez de memoire dynamique*/
+			PANIC_Raise(panic_malloc);
+		}
 	} // else NULL if there was an error
 
 	return ptr;