From 64b8f9fe08527aaaf9bf96dff9ff81d410a0162d Mon Sep 17 00:00:00 2001
From: dimercur <dimercur@insa-toulouse.fr>
Date: Wed, 11 Oct 2023 16:04:45 +0200
Subject: [PATCH] creation des niveau de battery, a regler sur banc

---
 software/dumber3/.cproject                 |  26 ++---
 software/dumber3/Application/application.c | 111 +++++++++++++--------
 software/dumber3/Application/batterie.c    |  47 +++++++--
 software/dumber3/Application/commands.c    |  15 ++-
 software/dumber3/Application/commands.h    |   2 +-
 software/dumber3/Application/messages.h    |   1 +
 software/dumber3/TestsPlans/tests.c        |   3 +-
 7 files changed, 125 insertions(+), 80 deletions(-)

diff --git a/software/dumber3/.cproject b/software/dumber3/.cproject
index 34090fd..dfa0378 100644
--- a/software/dumber3/.cproject
+++ b/software/dumber3/.cproject
@@ -327,28 +327,16 @@
 							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1151842665.1610208999" name="Resource Custom Build Step Output Type"/>
 						</tool>
 					</fileInfo>
-					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.727722516.Application/application.c" name="application.c" rcbsApplicability="disable" resourcePath="Application/application.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.983087978">
-						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.983087978" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985">
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.606614377" 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.o0" valueType="enumerated"/>
-							<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1996673393" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
+					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.727722516.1184097105" name="application.c" rcbsApplicability="disable" resourcePath="Application/application.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985.298003348">
+						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985.298003348" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985">
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.235309210" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
+							<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1492946438" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 						</tool>
-						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.389963892.995306756" name="Resource Custom Build Step">
-							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.115340338.624270908" name="Resource Custom Build Step Input Type">
+						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.693102693" name="Resource Custom Build Step">
+							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.676361119" name="Resource Custom Build Step Input Type">
 								<additionalInput kind="additionalinputdependency" paths=""/>
 							</inputType>
-							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1700687045.61103792" name="Resource Custom Build Step Output Type"/>
-						</tool>
-					</fileInfo>
-					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.727722516.200947957" name="leds.c" rcbsApplicability="disable" resourcePath="Application/leds.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985.155574165">
-						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985.155574165" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985">
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.301013410" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
-							<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1898228332" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
-						</tool>
-						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.2113983486" name="Resource Custom Build Step">
-							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.1308025369" name="Resource Custom Build Step Input Type">
-								<additionalInput kind="additionalinputdependency" paths=""/>
-							</inputType>
-							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.555839812" name="Resource Custom Build Step Output Type"/>
+							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.789962441" name="Resource Custom Build Step Output Type"/>
 						</tool>
 					</fileInfo>
 					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.727722516.53808517" name="batterie.c" rcbsApplicability="disable" resourcePath="Application/batterie.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985.1171631638">
diff --git a/software/dumber3/Application/application.c b/software/dumber3/Application/application.c
index e6c6fca..7ade529 100644
--- a/software/dumber3/Application/application.c
+++ b/software/dumber3/Application/application.c
@@ -29,7 +29,7 @@ typedef enum {
 typedef struct {
 	APPLICATION_State state;
 	uint8_t cmd;
-	uint16_t batteryVoltage;
+	uint16_t batteryState;
 	char batteryUpdate;
 	char inCharge;
 	int32_t distance;
@@ -143,7 +143,7 @@ void APPLICATION_MainThread(void* params) {
 						cmdSendAnswer(ANS_OK);
 						break;
 					case CMD_GET_BATTERY:
-						cmdSendBatteryLevel(systemInfos.batteryVoltage);
+						cmdSendBatteryLevel(systemInfos.batteryState);
 						break;
 					case CMD_GET_VERSION:
 						cmdSendVersion();
@@ -177,25 +177,28 @@ void APPLICATION_MainThread(void* params) {
 
 			break;
 
-/* TODO
- * Revoir la gestion de la batterie ici
- */
-//		case MSG_ID_BAT_CHARGE_OFF:
-//		case MSG_ID_BAT_CHARGE_COMPLETE:
-//			systemInfos.batteryVoltage = *((uint16_t*)msg.data);
-//			systemInfos.batteryUpdate = 1;
-//
-//			if (msg.id == MSG_ID_BAT_CHARGE_COMPLETE)
-//				systemInfos.inCharge =1;
-//			else
-//				systemInfos.inCharge =0;
-//			break;
-//
-//		case MSG_ID_BAT_CHARGE_ON:
-//				systemInfos.inCharge =1;
-//			break;
-
-		case MSG_ID_MOTEURS_STOP:
+		case MSG_ID_BAT_ADC_ERR:
+			/* depart en panic: error 2 */
+			break;
+		case MSG_ID_BAT_CHARGE_ERR:
+			/* depart en panic: error 3 */
+			break;
+		case MSG_ID_BAT_CHARGE_COMPLETE:
+		case MSG_ID_BAT_CHARGE_LOW:
+		case MSG_ID_BAT_CHARGE_MED:
+		case MSG_ID_BAT_CHARGE_HIGH:
+			systemInfos.batteryUpdate=1;
+			systemInfos.inCharge=1;
+			systemInfos.batteryState = msg.id;
+			break;
+		case MSG_ID_BAT_CRITICAL_LOW:
+		case MSG_ID_BAT_LOW:
+		case MSG_ID_BAT_MED:
+		case MSG_ID_BAT_HIGH:
+			systemInfos.batteryUpdate=1;
+			systemInfos.batteryState = msg.id;
+			break;
+		case MSG_ID_MOTEURS_END_OF_MOUVMENT:
 			systemInfos.endOfMouvement= 1;
 			break;
 
@@ -218,18 +221,43 @@ void APPLICATION_StateMachine() {
 		APPLICATION_TransitionToNewState(stateInCharge);
 	}
 
-/* TODO
- * Revoir la gestion de la batterie ici
- */
-//	if (systemInfos.batteryUpdate) {
-//		ledState = APPLICATION_BatteryLevel(systemInfos.batteryVoltage, systemInfos.state);
-//
-//		if (ledState == leds_niveau_bat_0)
-//			APPLICATION_TransitionToNewState(stateLowBatDisable);
-//		else if (systemInfos.state==stateStartup) {
-//			MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
-//		}
-//	}
+	if (systemInfos.batteryUpdate) {
+		ledState = leds_off;
+
+		if (systemInfos.batteryState==MSG_ID_BAT_CRITICAL_LOW) {
+			ledState = leds_bat_critical_low;
+			APPLICATION_TransitionToNewState(stateLowBatDisable);
+		} else if (systemInfos.state == stateInCharge) {
+			switch (systemInfos.batteryState) {
+			case MSG_ID_BAT_CHARGE_COMPLETE:
+				ledState= leds_bat_charge_complete;
+				break;
+			case  MSG_ID_BAT_CHARGE_HIGH:
+				ledState= leds_bat_charge_high;
+				break;
+			case  MSG_ID_BAT_CHARGE_MED:
+				ledState= leds_bat_charge_med;
+				break;
+			case  MSG_ID_BAT_CHARGE_LOW:
+				ledState= leds_bat_charge_low;
+				break;
+			}
+		} else if (systemInfos.state==stateStartup) {
+			switch (systemInfos.batteryState) {
+			case  MSG_ID_BAT_HIGH:
+				ledState= leds_bat_high;
+				break;
+			case  MSG_ID_BAT_MED:
+				ledState= leds_bat_med;
+				break;
+			case  MSG_ID_BAT_LOW:
+				ledState= leds_bat_low;
+				break;
+			}
+		}
+
+		LEDS_Set(ledState);
+	}
 
 	if (systemInfos.cmd != CMD_NONE) {
 		/* a newer command just arrived, process it
@@ -317,7 +345,7 @@ void APPLICATION_StateMachine() {
 
 void APPLICATION_TransitionToNewState(APPLICATION_State new_state) {
 	LEDS_State ledState = leds_off;
-	uint32_t data;
+	int32_t data;
 
 	switch (new_state) {
 	case stateStartup:
@@ -325,20 +353,20 @@ void APPLICATION_TransitionToNewState(APPLICATION_State new_state) {
 		break;
 	case stateIdle:
 		ledState = leds_idle;
-		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+		LEDS_Set(ledState);
 
 		MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_STOP, APPLICATION_Mailbox, (void*)NULL);
 		systemTimeout.watchdogEnabled=0;
 		break;
 	case stateRun:
 		ledState = leds_run;
-		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+		LEDS_Set(ledState);
 
 		MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_STOP, APPLICATION_Mailbox, (void*)NULL);
 		break;
 	case stateInMouvement:
 		ledState = leds_run;
-		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+		LEDS_Set(ledState);
 
 		if (systemInfos.cmd == CMD_MOVE) {
 			data = systemInfos.distance;
@@ -349,19 +377,20 @@ void APPLICATION_TransitionToNewState(APPLICATION_State new_state) {
 		}
 		break;
 	case stateInCharge:
-		ledState = APPLICATION_BatteryLevel(systemInfos.batteryVoltage, systemInfos.inCharge);
-		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+		/* les leds sont gerées dans APPLICATION_StateMachine */
+		MESSAGE_SendMailbox(MOTEURS_Mailbox, MSG_ID_MOTEURS_STOP, APPLICATION_Mailbox, (void*)NULL);
 		systemTimeout.watchdogEnabled=0;
 		break;
 	case stateWatchdogDisable:
 		ledState = leds_erreur_1;
-		MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+		LEDS_Set(ledState);
+
 		systemTimeout.watchdogEnabled=0;
 		break;
 	case stateLowBatDisable:
 		ledState = leds_bat_critical_low;
 		LEDS_Set(ledState);
-		//MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledState);
+
 		systemTimeout.watchdogEnabled=0;
 
 		vTaskDelay(pdMS_TO_TICKS(4000)); // wait 4s
diff --git a/software/dumber3/Application/batterie.c b/software/dumber3/Application/batterie.c
index 4427322..317626e 100644
--- a/software/dumber3/Application/batterie.c
+++ b/software/dumber3/Application/batterie.c
@@ -117,20 +117,49 @@ int BATTERIE_LireTension(uint16_t *val) {
 	return 0;
 }
 
-const uint8_t BATTERIE_NiveauBatteryNormal[5] = {
-		0
-};
+/*
+ * Il faut considerer ces valeurs comme les seuils de baculement dans une categorie
+ * ou une autre
+ *
+ * Seuil :                         critical          low          high
+ * Tension batterie:   2.9   critic  3.1      low    3.3    med    3.6    high     4.2
+ *
+ */
+#define BATTERIE_LEVEL_CRITICAL  		200
+#define BATTERIE_LEVEL_LOW       		300
+#define BATTERIE_LEVEL_HIGH      		500
 
-const uint8_t BATTERIE_NiveauBatteryCharge[5] = {
-		0
-};
+#define BATTERIE_LEVEL_CHARGE_LOW		400
+#define BATTERIE_LEVEL_CHARGE_HIGH      700
 
 uint16_t BATTERIE_BatteryLevel(uint8_t voltage, BATTERIE_StatusChargerTypedef chargerStatus) {
 	uint16_t msgId=0;
 
-	/* TODO: A faire
-	 * Pour l'instant, testons les niveaux de batterie
-	 */
+	switch (chargerStatus) {
+	case CHARGEUR_CHARGE_COMPLETE:
+		msgId = MSG_ID_BAT_CHARGE_COMPLETE;
+		break;
+	case CHARGEUR_IN_CHARGE:
+		if (voltage<=BATTERIE_LEVEL_CHARGE_LOW)
+			msgId = MSG_ID_BAT_CHARGE_LOW;
+		else if (voltage>=BATTERIE_LEVEL_CHARGE_HIGH)
+			msgId = MSG_ID_BAT_CHARGE_HIGH;
+		else
+			msgId = MSG_ID_BAT_CHARGE_MED;
+		break;
+	case CHARGEUR_NOT_PLUGGED:
+		if (voltage<=BATTERIE_LEVEL_CRITICAL)
+			msgId = MSG_ID_BAT_CRITICAL_LOW;
+		else if (voltage<=BATTERIE_LEVEL_LOW)
+			msgId = MSG_ID_BAT_LOW;
+		else if (voltage>=BATTERIE_LEVEL_HIGH)
+			msgId = MSG_ID_BAT_HIGH;
+		else
+			msgId = MSG_ID_BAT_MED;
+		break;
+	default:
+		msgId = MSG_ID_BAT_CHARGE_ERR;
+	}
 
 	return msgId;
 }
diff --git a/software/dumber3/Application/commands.c b/software/dumber3/Application/commands.c
index 135c81b..8bf7e56 100644
--- a/software/dumber3/Application/commands.c
+++ b/software/dumber3/Application/commands.c
@@ -247,18 +247,17 @@ void cmdSendString(char *str) {
 	MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (char*) answer);
 }
 
-void cmdSendBatteryLevel(char level) {
+void cmdSendBatteryLevel(uint16_t batteryState) {
 	char* answer;
-	char localLevel=level;
 
-	if (localLevel<0) localLevel=0;
-	else if (localLevel>2) localLevel=2;
-
-	switch (localLevel) {
-	case 2:
+	switch (batteryState) {
+	case MSG_ID_BAT_CHARGE_COMPLETE:
+	case MSG_ID_BAT_CHARGE_HIGH:
+	case MSG_ID_BAT_HIGH:
 		answer = cmdAddChecksum("2\r");
 		break;
-	case 1:
+	case MSG_ID_BAT_CHARGE_MED:
+	case MSG_ID_BAT_MED:
 		answer = cmdAddChecksum("1\r");
 		break;
 	default:
diff --git a/software/dumber3/Application/commands.h b/software/dumber3/Application/commands.h
index 3a1caac..da961f1 100644
--- a/software/dumber3/Application/commands.h
+++ b/software/dumber3/Application/commands.h
@@ -81,7 +81,7 @@ typedef struct __attribute__((packed)) {
 CMD_Generic* cmdDecode(char* cmd, uint8_t length);
 void cmdSendAnswer(uint8_t ans);
 void cmdSendString(char* str);
-void cmdSendBatteryLevel(char level);
+void cmdSendBatteryLevel(uint16_t batteryState);
 void cmdSendVersion(void);
 void cmdSendBusyState(uint8_t state);
 
diff --git a/software/dumber3/Application/messages.h b/software/dumber3/Application/messages.h
index b58a10c..fe3f944 100644
--- a/software/dumber3/Application/messages.h
+++ b/software/dumber3/Application/messages.h
@@ -46,6 +46,7 @@ extern QueueHandle_t XBEE_Mailbox;
 #define MSG_ID_MOTEURS_STOP			0x40
 #define MSG_ID_MOTEURS_MOVE			0x41
 #define MSG_ID_MOTEURS_TURN			0x42
+#define MSG_ID_MOTEURS_END_OF_MOUVMENT	0x43
 
 #define MSG_ID_XBEE_CMD				0x50
 #define MSG_ID_XBEE_ANS				0x51
diff --git a/software/dumber3/TestsPlans/tests.c b/software/dumber3/TestsPlans/tests.c
index 44725bb..1de29a6 100644
--- a/software/dumber3/TestsPlans/tests.c
+++ b/software/dumber3/TestsPlans/tests.c
@@ -75,13 +75,12 @@ void TESTS_BasicTests(void* params) {
 	char str[100];
 
 	ledsState = leds_run;
-	MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledsState); // show program is running
+	LEDS_Set(ledsState); // show program is running
 
 	switch (TESTS_Nbr) {
 	case LEDS_Tests: //Leds tests
 
 		while (ledsState<=leds_state_unknown) {
-			//MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledsState);
 			LEDS_Set(ledsState);
 			vTaskDelay(pdMS_TO_TICKS(TESTS_PERIODE)); // wait 10s
 			ledsState++;