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Version 1.4 du soft robot. Rajout de la commande PowerOff

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Sébastien DI MERCURIO 2018-10-10 10:22:57 +02:00
parent 365843d786
commit 5beb9ad12d
8 changed files with 157 additions and 84 deletions
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156
software/robot/.cproject
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@ -12,7 +12,7 @@
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@ -139,8 +139,8 @@
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@ -150,103 +150,131 @@
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<tool id="com.atollic.truestudio.exe.release.toolchain.ldcc.814843865" name="C++ Linker" superClass="com.atollic.truestudio.exe.release.toolchain.ldcc"> <tool id="com.atollic.truestudio.exe.debug.toolchain.ldcc.78429074" name="C++ Linker" superClass="com.atollic.truestudio.exe.debug.toolchain.ldcc">
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<option id="com.atollic.truestudio.common_options.target.fpu.740897850" name="Floating point" superClass="com.atollic.truestudio.common_options.target.fpu"/> <option id="com.atollic.truestudio.common_options.target.fpu.316456134" name="Floating point" superClass="com.atollic.truestudio.common_options.target.fpu" useByScannerDiscovery="false"/>
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<option id="com.atollic.truestudio.ldcc.general.scriptfile.1933119698" name="Linker script" superClass="com.atollic.truestudio.ldcc.general.scriptfile" value="../stm32_flash.ld" valueType="string"/> <option id="com.atollic.truestudio.ldcc.general.scriptfile.1677631160" name="Linker script" superClass="com.atollic.truestudio.ldcc.general.scriptfile" useByScannerDiscovery="false" value="../stm32_flash.ld" valueType="string"/>
<inputType id="com.atollic.truestudio.ldcc.input.889935215" name="Input" superClass="com.atollic.truestudio.ldcc.input"> <inputType id="com.atollic.truestudio.ldcc.input.1448912373" name="Input" superClass="com.atollic.truestudio.ldcc.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/> <additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/> <additionalInput kind="additionalinput" paths="$(LIBS)"/>
</inputType> </inputType>
</tool> </tool>
<tool id="com.atollic.truestudio.ar.base.1273293321" name="Archiver" superClass="com.atollic.truestudio.ar.base"/> <tool id="com.atollic.truestudio.ar.base.488911491" name="Archiver" superClass="com.atollic.truestudio.ar.base"/>
<tool id="com.atollic.truestudio.exe.release.toolchain.secoutput.1769879070" name="Other" superClass="com.atollic.truestudio.exe.release.toolchain.secoutput"/> <tool id="com.atollic.truestudio.exe.debug.toolchain.secoutput.1237334475" name="Other" superClass="com.atollic.truestudio.exe.debug.toolchain.secoutput"/>
</toolChain>
</folderInfo>
<folderInfo id="com.atollic.truestudio.exe.debug.584431509.2045581985.system" name="/" resourcePath="system">
<toolChain id="com.atollic.truestudio.exe.debug.toolchain.1622713741" name="Atollic ARM Tools" superClass="com.atollic.truestudio.exe.debug.toolchain" unusedChildren="">
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<option id="com.atollic.truestudio.toolchain_options.mcu.536866847.908777965.359661470" name="Microcontroller" superClass="com.atollic.truestudio.toolchain_options.mcu.536866847"/>
<option id="com.atollic.truestudio.toolchain_options.vendor.636197389.788614232.1573191851" name="Vendor name" superClass="com.atollic.truestudio.toolchain_options.vendor.636197389"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.atollic.truestudio.exe.debug.toolchain.platform.1940668383" isAbstract="false" name="Debug platform" osList="all" superClass="com.atollic.truestudio.exe.debug.toolchain.platform"/>
<tool id="com.atollic.truestudio.exe.debug.toolchain.as.609504728" name="Assembler" superClass="com.atollic.truestudio.exe.debug.toolchain.as.1282106265">
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</tool>
<tool id="com.atollic.truestudio.exe.debug.toolchain.gcc.1122108280" name="C Compiler" superClass="com.atollic.truestudio.exe.debug.toolchain.gcc.176685112">
<inputType id="com.atollic.truestudio.gcc.input.931352173" superClass="com.atollic.truestudio.gcc.input"/>
</tool>
<tool id="com.atollic.truestudio.exe.debug.toolchain.ld.1614483643" name="C Linker" superClass="com.atollic.truestudio.exe.debug.toolchain.ld.539950594"/>
<tool id="com.atollic.truestudio.exe.debug.toolchain.gpp.1062710865" name="C++ Compiler" superClass="com.atollic.truestudio.exe.debug.toolchain.gpp.1799243953">
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<tool id="com.atollic.truestudio.exe.debug.toolchain.ldcc.1006350212" name="C++ Linker" superClass="com.atollic.truestudio.exe.debug.toolchain.ldcc.78429074"/>
<tool id="com.atollic.truestudio.ar.base.1384193587" name="Archiver" superClass="com.atollic.truestudio.ar.base.488911491"/>
<tool id="com.atollic.truestudio.exe.debug.toolchain.secoutput.1245030582" name="Other" superClass="com.atollic.truestudio.exe.debug.toolchain.secoutput.1237334475"/>
</toolChain> </toolChain>
</folderInfo> </folderInfo>
<sourceEntries> <sourceEntries>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Libraries"/> <entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Libraries"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/> <entry excluding="MAE.h|SPI.h|cmde_spi.h|MAE.c|SPI.c|cmde_spi.c|main.cpp|it_dubmy.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="system"/>
</sourceEntries> </sourceEntries>
</configuration> </configuration>
</storageModule> </storageModule>

1
software/robot/.gitignore vendored
View file

@ -1,3 +1,4 @@
/Debug/ /Debug/
/html/ /html/
/Release/

2
software/robot/.settings/language.settings.xml
View file

@ -10,7 +10,7 @@
</provider> </provider>
</extension> </extension>
</configuration> </configuration>
<configuration id="com.atollic.truestudio.configuration.release.1711240076" name="Release"> <configuration id="com.atollic.truestudio.exe.debug.584431509.2045581985" name="Release">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider"> <extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<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.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>

10
software/robot/.settings/org.eclipse.cdt.managedbuilder.core.prefs
View file

@ -1,10 +1,20 @@
eclipse.preferences.version=1 eclipse.preferences.version=1
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509.2045581985/CPATH/delimiter=\:
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509.2045581985/CPATH/operation=remove
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509.2045581985/C_INCLUDE_PATH/delimiter=\:
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509.2045581985/C_INCLUDE_PATH/operation=remove
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509.2045581985/append=true
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509.2045581985/appendContributed=true
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/CPATH/delimiter=\: environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/CPATH/delimiter=\:
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/CPATH/operation=remove environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/CPATH/operation=remove
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/C_INCLUDE_PATH/delimiter=\: environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/C_INCLUDE_PATH/delimiter=\:
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/C_INCLUDE_PATH/operation=remove environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/C_INCLUDE_PATH/operation=remove
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/append=true environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/append=true
environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/appendContributed=true environment/buildEnvironmentInclude/com.atollic.truestudio.exe.debug.584431509/appendContributed=true
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.584431509.2045581985/LIBRARY_PATH/delimiter=\:
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.584431509.2045581985/LIBRARY_PATH/operation=remove
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.584431509.2045581985/append=true
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.584431509.2045581985/appendContributed=true
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.584431509/LIBRARY_PATH/delimiter=\: environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.584431509/LIBRARY_PATH/delimiter=\:
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.584431509/LIBRARY_PATH/operation=remove environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.584431509/LIBRARY_PATH/operation=remove
environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.584431509/append=true environment/buildEnvironmentLibrary/com.atollic.truestudio.exe.debug.584431509/append=true

3
software/robot/X-CTU_command_List.xml
View file

@ -38,5 +38,8 @@
<packet name="GetBattery"> <packet name="GetBattery">
<payload>76760D</payload> <payload>76760D</payload>
</packet> </packet>
<packet name="PowerOff">
<payload>7A7A0D</payload>
</packet>
</packets_list> </packets_list>
</data> </data>

49
software/robot/src/cmdManager.c
View file

@ -49,6 +49,7 @@
#define BusyStateCMD 'b' #define BusyStateCMD 'b'
#define TestCMD 't' #define TestCMD 't'
#define DebugCMD 'a' #define DebugCMD 'a'
#define PowerOffCMD 'z'
#define OK_ANS "O\r" #define OK_ANS "O\r"
#define ERR_ANS "E\r" #define ERR_ANS "E\r"
@ -57,6 +58,23 @@
#define BAT_LOW "1\r" #define BAT_LOW "1\r"
#define BAT_EMPTY "0\r" #define BAT_EMPTY "0\r"
/* Prototype des fonctions */
char cmdVerifyChecksum(void);
void cmdAddChecksum(void);
void cmdResetAction(void);
void cmdBusyStateAction(void);
void cmdPingAction(void);
void cmdVersionAction(void);
void cmdStartWithoutWatchdogAction(void);
void cmdMoveAction(void);
void cmdTurnAction(void);
void cmdBatteryVoltageAction(void);
void cmdStartWithWatchdogAction(void);
void cmdResetWatchdogAction(void);
void cmdDebugAction(void);
void cmdPowerOffAction(void);
/** @addtogroup Checksum /** @addtogroup Checksum
* @{ * @{
*/ */
@ -138,8 +156,11 @@ void cmdManage(void) {
if (cmdVerifyChecksum() != 0) { if (cmdVerifyChecksum() != 0) {
strcpy(sendString, UNKNOW_ANS); strcpy(sendString, UNKNOW_ANS);
} else { // Checksum valide } else { // Checksum valide
if (Dumber.StateSystem==STATE_DISABLE) { // SI la batterie est trop faible, impossible d'accepter une commande: on reste dans ce mode if (Dumber.StateSystem==STATE_DISABLE) { // SI la batterie est trop faible, impossible d'accepter une commande sauf poweroff: on reste dans ce mode
strcpy(sendString, ERR_ANS); if (receiptString[0]==PowerOffCMD)
cmdPowerOffAction();
else
strcpy(sendString, ERR_ANS);
} else { } else {
switch (receiptString[0]) { switch (receiptString[0]) {
case PingCMD: case PingCMD:
@ -182,10 +203,13 @@ void cmdManage(void) {
cmdBusyStateAction(); cmdBusyStateAction();
break; break;
case 'a': case DebugCMD:
cmdDebugAction(); cmdDebugAction();
break; break;
case PowerOffCMD:
cmdPowerOffAction();
break;
default: default:
strcpy(sendString, UNKNOW_ANS); strcpy(sendString, UNKNOW_ANS);
} }
@ -418,6 +442,25 @@ void cmdDebugAction(void) {
usartSendData(); usartSendData();
} }
/**
* @brief Eteint le robot
*
* @param None
* @retval None
*/
void cmdPowerOffAction(void) {
volatile int i;
systemChangeState(STATE_DISABLE);
strcpy(sendString, OK_ANS);
cmdAddChecksum();
usartSendData();
/* Attente d'un certain temps (100 ms), pour que la reponse parte */
for (i=0; i<100000; i++);
systemShutDown(); // Ne ressort jamais de cette fonction
}
/** /**
* @} * @}
*/ */

12
software/robot/src/cmdManager.h
View file

@ -22,19 +22,7 @@
#include <stm32f10x.h> #include <stm32f10x.h>
void cmdManage(void); void cmdManage(void);
char cmdVerifyChecksum(void);
void cmdAddChecksum(void); void cmdAddChecksum(void);
void cmdResetAction(void);
void cmdBusyStateAction(void);
void cmdPingAction(void);
void cmdVersionAction(void);
void cmdStartWithoutWatchdogAction(void);
void cmdMoveAction(void);
void cmdTurnAction(void);
void cmdBatteryVoltageAction(void);
void cmdStartWithWatchdogAction(void);
void cmdResetWatchdogAction(void);
void cmdDebugAction(void);
#endif /* _CMD_MANAGER_H_ */ #endif /* _CMD_MANAGER_H_ */

8
software/robot/src/system_dumby.h
View file

@ -33,7 +33,7 @@
#include "stm32f10x.h" #include "stm32f10x.h"
/* Déclaration des Constantes */ /* Déclaration des Constantes */
#define VERSION "version 1.3\r" #define VERSION "version 1.4\r"
#define SPI 10 #define SPI 10
#define USART 20 #define USART 20
@ -47,9 +47,9 @@
#define UNDEFINED 101 #define UNDEFINED 101
#define TIMER_1s 1000 // 1 sec #define TIMER_1s 1000 // 1 sec
#define TIMER_Watchdog 3050 // //#define TIMER_Watchdog 3050
#define TTMER_Inactivity 120000 // 2 min //#define TTMER_Inactivity 120000 // 2 min
#define WATCHDOG_MIN 970 #define WATCHDOG_MIN 970
#define WATCHDOG_MAX 1030 #define WATCHDOG_MAX 1030