mirror of
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Debut de la doc dumber v3
This commit is contained in:
dimercur
parent
18c5cb2eb0
commit
2a8686a100
15 changed files with 458 additions and 13 deletions
1
.gitignore
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/software/raspberry/superviseur-robot/superviseur/dist/
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/software/raspberry/superviseur-robot/superviseur/dist/
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/software/raspberry/testeur/testeur/build/
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/software/raspberry/testeur/testeur/build/
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/software/raspberry/testeur/testeur/dist/
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/software/raspberry/testeur/testeur/dist/
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/software/dumber3/Release/
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/software/dumber3/Debug/
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/software/dumber3/Debug/
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/software/dumber3/Tests/
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/software/dumber3/Tests/
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52
doc/Doc robot/Commande MOVE.drawio
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52
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36
doc/Doc robot/Commande PING.drawio
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36
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58
doc/Doc robot/Commande RESET.drawio
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58
doc/Doc robot/Commande RESET.drawio
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52
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36
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doc/Doc robot/Robot Dumber v3 - Manuel technique.docx
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<diagram name="Page-1" id="s1iIJNLQm_feeAUxPTrX">
|
||||||
|
<mxGraphModel dx="1118" dy="979" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
|
||||||
|
<root>
|
||||||
|
<mxCell id="0" />
|
||||||
|
<mxCell id="1" parent="0" />
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-1" value="" style="ellipse;fillColor=strokeColor;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="399" y="90" width="30" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-2" value="IDLE" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="354" y="180" width="120" height="60" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-3" value="" style="endArrow=classic;html=1;rounded=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="1" source="gdbxGBDsbOmqj8yGOonJ-1" target="gdbxGBDsbOmqj8yGOonJ-2">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="530" as="sourcePoint" />
|
||||||
|
<mxPoint x="440" y="480" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-5" value="Demarrage" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="gdbxGBDsbOmqj8yGOonJ-3">
|
||||||
|
<mxGeometry x="-0.279" y="5" relative="1" as="geometry">
|
||||||
|
<mxPoint x="-5" as="offset" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-4" value="RUN" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="354" y="320" width="120" height="60" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-25" value="Commande<br>de sureté <br>de fonctionnement" style="verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.patternFillRect;fillStyle=diagGrid;step=5;fillStrokeWidth=0.2;fillStrokeColor=#dddddd;rotation=0;dashed=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="500" y="285" width="150" height="115" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-6" value="" style="endArrow=classic;html=1;rounded=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="gdbxGBDsbOmqj8yGOonJ-2" target="gdbxGBDsbOmqj8yGOonJ-4">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="530" as="sourcePoint" />
|
||||||
|
<mxPoint x="440" y="480" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-7" value="Start with watchdog<br>ou<br>Start without watchdog" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];rotation=0;" vertex="1" connectable="0" parent="gdbxGBDsbOmqj8yGOonJ-6">
|
||||||
|
<mxGeometry x="-0.1336" y="1" relative="1" as="geometry">
|
||||||
|
<mxPoint as="offset" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-11" value="" style="curved=1;endArrow=classic;html=1;rounded=0;exitX=1;exitY=0.25;exitDx=0;exitDy=0;entryX=1;entryY=0.75;entryDx=0;entryDy=0;" edge="1" parent="1" source="gdbxGBDsbOmqj8yGOonJ-4" target="gdbxGBDsbOmqj8yGOonJ-4">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="480" y="340" as="sourcePoint" />
|
||||||
|
<mxPoint x="540" y="370" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="540" y="320" />
|
||||||
|
<mxPoint x="560" y="330" />
|
||||||
|
<mxPoint x="570" y="350" />
|
||||||
|
<mxPoint x="550" y="380" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-12" value="Reset watchdog&nbsp;<br>(si le watchdog est actif)" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="gdbxGBDsbOmqj8yGOonJ-11">
|
||||||
|
<mxGeometry x="-0.0635" y="1" relative="1" as="geometry">
|
||||||
|
<mxPoint as="offset" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-20" value="Commandes<br>de mouvement" style="verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.patternFillRect;fillStyle=diagGrid;step=5;fillStrokeWidth=0.2;fillStrokeColor=#dddddd;rotation=0;dashed=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="200" y="285" width="130" height="115" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-13" value="" style="curved=1;endArrow=classic;html=1;rounded=0;exitX=0;exitY=0.25;exitDx=0;exitDy=0;entryX=0;entryY=0.75;entryDx=0;entryDy=0;" edge="1" parent="1" source="gdbxGBDsbOmqj8yGOonJ-4" target="gdbxGBDsbOmqj8yGOonJ-4">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="260" y="330" as="sourcePoint" />
|
||||||
|
<mxPoint x="310" y="280" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="320" y="320" />
|
||||||
|
<mxPoint x="310" y="320" />
|
||||||
|
<mxPoint x="250" y="320" />
|
||||||
|
<mxPoint x="260" y="380" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-14" value="Move&nbsp;<br>ou<br>Turn" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="gdbxGBDsbOmqj8yGOonJ-13">
|
||||||
|
<mxGeometry x="-0.0409" y="1" relative="1" as="geometry">
|
||||||
|
<mxPoint as="offset" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-27" value="Commandes<br>de surveillance" style="verticalLabelPosition=bottom;verticalAlign=top;html=1;shape=mxgraph.basic.patternFillRect;fillStyle=diagGrid;step=5;fillStrokeWidth=0.2;fillStrokeColor=#dddddd;rotation=0;dashed=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="349" y="400" width="130" height="115" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-26" value="" style="curved=1;endArrow=classic;html=1;rounded=0;exitX=0.25;exitY=1;exitDx=0;exitDy=0;entryX=0.75;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" source="gdbxGBDsbOmqj8yGOonJ-4" target="gdbxGBDsbOmqj8yGOonJ-4">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="399" y="470" as="sourcePoint" />
|
||||||
|
<mxPoint x="449" y="420" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="380" y="460" />
|
||||||
|
<mxPoint x="450" y="460" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="gdbxGBDsbOmqj8yGOonJ-28" value="Get battery<br>Get status" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="gdbxGBDsbOmqj8yGOonJ-26">
|
||||||
|
<mxGeometry x="-0.0101" y="-2" relative="1" as="geometry">
|
||||||
|
<mxPoint y="8" as="offset" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
</root>
|
||||||
|
</mxGraphModel>
|
||||||
|
</diagram>
|
||||||
|
</mxfile>
|
||||||
|
|
@ -64,7 +64,7 @@
|
||||||
35,
|
35,
|
||||||
36
|
36
|
||||||
],
|
],
|
||||||
"visible_layers": "ff8ddff_80000000",
|
"visible_layers": "ff85d55_80000000",
|
||||||
"zone_display_mode": 0
|
"zone_display_mode": 0
|
||||||
},
|
},
|
||||||
"meta": {
|
"meta": {
|
||||||
|
|
|
||||||
|
|
@ -161,7 +161,7 @@
|
||||||
</tool>
|
</tool>
|
||||||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.663337004" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
|
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.663337004" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
|
||||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.2139966704" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
|
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.2139966704" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
|
||||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1992693675" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
|
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1992693675" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o2" valueType="enumerated"/>
|
||||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.310647191" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
|
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.310647191" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
|
||||||
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
|
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
|
||||||
<listOptionValue builtIn="false" value="STM32L071xx"/>
|
<listOptionValue builtIn="false" value="STM32L071xx"/>
|
||||||
|
|
|
||||||
|
|
@ -141,7 +141,9 @@ void APPLICATION_MainThread(void* params) {
|
||||||
case CMD_PING:
|
case CMD_PING:
|
||||||
case CMD_TEST:
|
case CMD_TEST:
|
||||||
case CMD_DEBUG:
|
case CMD_DEBUG:
|
||||||
|
cmdSendAnswer(ANS_OK);
|
||||||
case CMD_POWER_OFF:
|
case CMD_POWER_OFF:
|
||||||
|
systemInfos.powerOffRequired=1;
|
||||||
cmdSendAnswer(ANS_OK);
|
cmdSendAnswer(ANS_OK);
|
||||||
break;
|
break;
|
||||||
case CMD_GET_BATTERY:
|
case CMD_GET_BATTERY:
|
||||||
|
|
|
||||||
|
|
@ -13,15 +13,16 @@
|
||||||
|
|
||||||
#define STACK_SIZE 0x100
|
#define STACK_SIZE 0x100
|
||||||
|
|
||||||
#define PriorityMoteursAsservissement (configMAX_PRIORITIES -1)
|
#define PriorityLedsAction (configMAX_PRIORITIES -1)
|
||||||
#define PriorityXbeeRX (configMAX_PRIORITIES -2)
|
#define PriorityXbeeRX (configMAX_PRIORITIES -2)
|
||||||
#define PriorityXbeeTX (configMAX_PRIORITIES -3)
|
#define PriorityXbeeTX (configMAX_PRIORITIES -3)
|
||||||
#define PriorityMoteursHandler (configMAX_PRIORITIES -4)
|
#define PriorityLedsHandler (configMAX_PRIORITIES -4)
|
||||||
#define PriorityBatterieHandler (configMAX_PRIORITIES -5)
|
#define PriorityMoteursAsservissement (configMAX_PRIORITIES -5)
|
||||||
#define PriorityApplicationHandler (configMAX_PRIORITIES -6)
|
#define PriorityMoteursHandler (configMAX_PRIORITIES -6)
|
||||||
#define PrioritySequenceurTimeout (configMAX_PRIORITIES -7)
|
#define PriorityBatterieHandler (configMAX_PRIORITIES -7)
|
||||||
#define PriorityLedsAction (configMAX_PRIORITIES -8)
|
#define PriorityApplicationHandler (configMAX_PRIORITIES -8)
|
||||||
#define PriorityLedsHandler (configMAX_PRIORITIES -9)
|
#define PrioritySequenceurTimeout (configMAX_PRIORITIES -9)
|
||||||
|
|
||||||
|
|
||||||
#define PriorityTestsHandler (configMAX_PRIORITIES -10)
|
#define PriorityTestsHandler (configMAX_PRIORITIES -10)
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -5,8 +5,7 @@
|
||||||
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
|
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
|
||||||
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
|
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
|
||||||
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
|
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
|
||||||
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
|
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1550554864878592196" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
||||||
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="831277936659017291" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
|
||||||
<language-scope id="org.eclipse.cdt.core.gcc"/>
|
<language-scope id="org.eclipse.cdt.core.gcc"/>
|
||||||
<language-scope id="org.eclipse.cdt.core.g++"/>
|
<language-scope id="org.eclipse.cdt.core.g++"/>
|
||||||
</provider>
|
</provider>
|
||||||
|
|
@ -17,8 +16,7 @@
|
||||||
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
|
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
|
||||||
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
|
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
|
||||||
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
|
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
|
||||||
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
|
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1550554864878592196" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
||||||
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="831277936659017291" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
|
||||||
<language-scope id="org.eclipse.cdt.core.gcc"/>
|
<language-scope id="org.eclipse.cdt.core.gcc"/>
|
||||||
<language-scope id="org.eclipse.cdt.core.g++"/>
|
<language-scope id="org.eclipse.cdt.core.g++"/>
|
||||||
</provider>
|
</provider>
|
||||||
|
|
|
||||||
Loading…
Add table
Reference in a new issue