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Driver XBEE semble enfin marcher correctement

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vezde 2023-04-11 17:14:18 +02:00
parent c6ad9b7094
commit aa83f00d28
15 changed files with 521 additions and 377 deletions
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39
software/dumber3/.cproject
View file

@ -110,15 +110,40 @@
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74
software/dumber3/Application/application.c
View file

@ -38,6 +38,8 @@ typedef struct {
int32_t motor_right; int32_t motor_right;
char endOfMouvement; char endOfMouvement;
char powerOffRequired; char powerOffRequired;
uint16_t senderAddress;
uint8_t rfProblem;
} APPLICATION_Infos; } APPLICATION_Infos;
@ -83,8 +85,8 @@ void APPLICATION_Init(void) {
/* Init de la partie RF / reception des messages */ /* Init de la partie RF / reception des messages */
XBEE_Init(); XBEE_Init();
BATTERIE_Init(); //BATTERIE_Init();
MOTEURS_Init(); //MOTEURS_Init();
/* Create the task without using any dynamic memory allocation. */ /* Create the task without using any dynamic memory allocation. */
xHandleApplicationMain = xTaskCreateStatic( xHandleApplicationMain = xTaskCreateStatic(
@ -112,8 +114,8 @@ void APPLICATION_Init(void) {
void APPLICATION_MainThread(void* params) { void APPLICATION_MainThread(void* params) {
MESSAGE_Typedef msg; MESSAGE_Typedef msg;
XBEE_INCOMING_FRAME *xbeeFrame;
char *cmd;
CMD_Generic* decodedCmd; CMD_Generic* decodedCmd;
while (1) { while (1) {
@ -121,11 +123,24 @@ void APPLICATION_MainThread(void* params) {
switch (msg.id) { switch (msg.id) {
case MSG_ID_XBEE_CMD: case MSG_ID_XBEE_CMD:
cmd = (char*)msg.data; // systemInfos.senderAddress = 0x81;
decodedCmd = cmdDecode(cmd); // systemInfos.cmd = 0;
// cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
//
// if (msg.data != NULL)
// free (msg.data);
xbeeFrame = (XBEE_INCOMING_FRAME*)msg.data;
if (xbeeFrame != NULL) {
systemInfos.senderAddress = xbeeFrame->source_addr;
switch (xbeeFrame->type) {
case XBEE_RX_16BIT_PACKET_TYPE:
decodedCmd = cmdDecode(xbeeFrame->data,xbeeFrame->length);
if (decodedCmd==CMD_DECODE_UNKNOWN) if (decodedCmd==CMD_DECODE_UNKNOWN)
cmdSendAnswer(ANS_UNKNOWN); cmdSendAnswer(systemInfos.senderAddress, ANS_UNKNOWN);
else { else {
systemInfos.cmd = decodedCmd->type; systemInfos.cmd = decodedCmd->type;
systemTimeout.inactivityCnt = 0; systemTimeout.inactivityCnt = 0;
@ -137,19 +152,19 @@ void APPLICATION_MainThread(void* params) {
case CMD_TEST: case CMD_TEST:
case CMD_DEBUG: case CMD_DEBUG:
case CMD_POWER_OFF: case CMD_POWER_OFF:
cmdSendAnswer(ANS_OK); cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
break; break;
case CMD_GET_BATTERY: case CMD_GET_BATTERY:
cmdSendBatteryLevel(systemInfos.batteryVoltage); cmdSendBatteryLevel(systemInfos.senderAddress, systemInfos.batteryVoltage);
break; break;
case CMD_GET_VERSION: case CMD_GET_VERSION:
cmdSendVersion(SYSTEM_VERSION); cmdSendVersion(SYSTEM_VERSION);
break; break;
case CMD_GET_BUSY_STATE: case CMD_GET_BUSY_STATE:
if (systemInfos.state == stateInMouvement) if (systemInfos.state == stateInMouvement)
cmdSendBusyState(0x1); cmdSendBusyState(systemInfos.senderAddress, 0x1);
else else
cmdSendBusyState(0x0); cmdSendBusyState(systemInfos.senderAddress, 0x0);
break; break;
case CMD_MOVE: case CMD_MOVE:
systemInfos.distance = ((CMD_Move*)decodedCmd)->distance; systemInfos.distance = ((CMD_Move*)decodedCmd)->distance;
@ -163,12 +178,29 @@ void APPLICATION_MainThread(void* params) {
*/ */
break; break;
} }
free(decodedCmd); free(decodedCmd);
} }
break;
free(cmd); case XBEE_TX_STATUS_TYPE:
if (xbeeFrame->ack == 0) {
if (systemInfos.rfProblem !=0)
systemInfos.rfProblem--;
} else {
if (systemInfos.rfProblem !=255)
systemInfos.rfProblem++;
}
break;
default:
break;
}
// if (xbeeFrame->data != NULL)
// free(xbeeFrame->data);
free(xbeeFrame);
}
break; break;
case MSG_ID_BAT_NIVEAU: case MSG_ID_BAT_NIVEAU:
@ -232,16 +264,16 @@ void APPLICATION_StateMachine() {
(systemInfos.state == stateRun) || (systemInfos.state == stateRun) ||
(systemInfos.state == stateInMouvement)) { (systemInfos.state == stateInMouvement)) {
/* command RESET is only applicable in those 3 states, otherwise it is rejected */ /* command RESET is only applicable in those 3 states, otherwise it is rejected */
cmdSendAnswer(ANS_OK); cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
APPLICATION_TransitionToNewState(stateIdle); APPLICATION_TransitionToNewState(stateIdle);
} else } else
cmdSendAnswer(ANS_ERR); cmdSendAnswer(systemInfos.senderAddress, ANS_ERR);
break; break;
case CMD_START_WITH_WATCHDOG: case CMD_START_WITH_WATCHDOG:
case CMD_START_WITHOUT_WATCHDOG: case CMD_START_WITHOUT_WATCHDOG:
if (systemInfos.state == stateIdle) { if (systemInfos.state == stateIdle) {
/* only state where START cmd is accepted */ /* only state where START cmd is accepted */
cmdSendAnswer(ANS_OK); cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
APPLICATION_TransitionToNewState(stateRun); APPLICATION_TransitionToNewState(stateRun);
@ -251,15 +283,15 @@ void APPLICATION_StateMachine() {
systemTimeout.watchdogMissedCnt=0; systemTimeout.watchdogMissedCnt=0;
} }
} else } else
cmdSendAnswer(ANS_ERR); cmdSendAnswer(systemInfos.senderAddress, ANS_ERR);
break; break;
case CMD_RESET_WATCHDOG: case CMD_RESET_WATCHDOG:
if ((systemInfos.state == stateRun) || (systemInfos.state == stateInMouvement)) { if ((systemInfos.state == stateRun) || (systemInfos.state == stateInMouvement)) {
if ((systemTimeout.watchdogEnabled ==0 ) || if ((systemTimeout.watchdogEnabled ==0 ) ||
((systemTimeout.watchdogCnt>=APPLICATION_WATCHDOG_MIN) && (systemTimeout.watchdogCnt<=APPLICATION_WATCHDOG_MAX))) ((systemTimeout.watchdogCnt>=APPLICATION_WATCHDOG_MIN) && (systemTimeout.watchdogCnt<=APPLICATION_WATCHDOG_MAX)))
cmdSendAnswer(ANS_OK); cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
else else
cmdSendAnswer(ANS_ERR); cmdSendAnswer(systemInfos.senderAddress, ANS_ERR);
systemTimeout.watchdogCnt =0; systemTimeout.watchdogCnt =0;
} }
@ -271,17 +303,17 @@ void APPLICATION_StateMachine() {
if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance !=0)) || if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance !=0)) ||
((systemInfos.cmd == CMD_TURN) && (systemInfos.turns !=0))) { ((systemInfos.cmd == CMD_TURN) && (systemInfos.turns !=0))) {
systemInfos.endOfMouvement = 0; systemInfos.endOfMouvement = 0;
cmdSendAnswer(ANS_OK); cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
APPLICATION_TransitionToNewState(stateInMouvement); APPLICATION_TransitionToNewState(stateInMouvement);
} // if TURN and MOVE are sent without parameter, do nothing: we are still in run state } // if TURN and MOVE are sent without parameter, do nothing: we are still in run state
} else if (systemInfos.state == stateInMouvement) { // in this state, MOVE and TURN cmds are accepted only if they come with no parameter } else if (systemInfos.state == stateInMouvement) { // in this state, MOVE and TURN cmds are accepted only if they come with no parameter
if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) || if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) ||
((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) { ((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) {
systemInfos.endOfMouvement = 1; systemInfos.endOfMouvement = 1;
cmdSendAnswer(ANS_OK); cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
} }
} else } else
cmdSendAnswer(ANS_ERR); cmdSendAnswer(systemInfos.senderAddress, ANS_ERR);
break; break;
default: // commands no common for every states default: // commands no common for every states
break; break;

59
software/dumber3/Application/commands.c
View file

@ -12,22 +12,44 @@
/* Definition des commandes */ /* Definition des commandes */
CMD_Generic* cmdDecode(char* cmd) { CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
CMD_Generic* decodedCmd; CMD_Generic* decodedCmd;
char cmd_type = cmd[0];
int val;
uint32_t startTime, endTime;
volatile uint32_t duration;
switch (cmd[0]) startTime = SysTick->VAL;
switch (cmd_type)
{ {
case CMD_MOVE: case CMD_MOVE:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Move)); decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Move));
((CMD_Move*)decodedCmd)->distance = ((uint16_t)cmd[1]<<8) + (uint16_t)cmd[2]; decodedCmd->type = cmd[0];
{
char rawCmd[length+1];
memcpy((void*)rawCmd, (void*)cmd, length);
rawCmd[length] = (char)0; /* 0 ending string */
sscanf (&rawCmd[1], "%d", &val);
((CMD_Move*)decodedCmd)->distance= (int16_t) val;
}
break; break;
case CMD_TURN: case CMD_TURN:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Turn)); decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Turn));
decodedCmd->type = cmd[0];
{
char rawCmd[length+1];
memcpy((void*)rawCmd, (void*)cmd, length);
rawCmd[length] = (char)0; /* 0 ending string */
((CMD_Turn*)decodedCmd)->turns = ((uint16_t)cmd[1]<<8) + (uint16_t)cmd[2]; sscanf (&rawCmd[1], "%d", &val);
((CMD_Turn*)decodedCmd)->turns = (int16_t) val;
((CMD_Turn*)decodedCmd)->turns = ((CMD_Turn*)decodedCmd)->turns * 1.4; ((CMD_Turn*)decodedCmd)->turns = ((CMD_Turn*)decodedCmd)->turns * 1.4;
}
break; break;
case CMD_PING: case CMD_PING:
@ -43,22 +65,29 @@ CMD_Generic* cmdDecode(char* cmd) {
case CMD_POWER_OFF: case CMD_POWER_OFF:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic)); decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = cmd[0]; decodedCmd->type = cmd[0];
break;
default: default:
decodedCmd = CMD_DECODE_UNKNOWN; decodedCmd = CMD_DECODE_UNKNOWN;
} }
endTime=SysTick->VAL;
if (endTime>startTime)
duration = (uint32_t)(SysTick->LOAD+1)-endTime+startTime;
else
duration = startTime-endTime;
return decodedCmd; return decodedCmd;
} }
void cmdSendAnswer(uint8_t ans) { void cmdSendAnswer(uint16_t address, uint8_t ans) {
ANS_Generic answer; ANS_Generic answer;
answer.ans = ans; answer.ans = ans;
XBEE_SendData((char*)&answer, sizeof (answer)); XBEE_SendData(address, (char*)&answer, sizeof (answer));
} }
void cmdSendBatteryLevel(char level) { void cmdSendBatteryLevel(uint16_t address, char level) {
ANS_Battery answer; ANS_Battery answer;
char localLevel=level; char localLevel=level;
@ -68,19 +97,19 @@ void cmdSendBatteryLevel(char level) {
answer.ans = ANS_OK; answer.ans = ANS_OK;
answer.bat_level = localLevel; answer.bat_level = localLevel;
XBEE_SendData((char*)&answer, sizeof (answer)); XBEE_SendData(address, (char*)&answer, sizeof (answer));
} }
void cmdSendVersion() { void cmdSendVersion(uint16_t address) {
ANS_Version answer; ANS_Version answer;
answer.ans = ANS_OK; answer.ans = ANS_OK;
answer.version = SYSTEM_VERSION; strcpy (answer.version, SYSTEM_VERSION_STR);
XBEE_SendData((char*)&answer, sizeof (answer)); XBEE_SendData(address, (char*)&answer, sizeof (answer));
} }
void cmdSendBusyState(uint8_t state) { void cmdSendBusyState(uint16_t address, uint8_t state) {
ANS_Busy_State answer; ANS_Busy_State answer;
answer.ans = ANS_OK; answer.ans = ANS_OK;
@ -88,5 +117,5 @@ void cmdSendBusyState(uint8_t state) {
if (answer.state >1) answer.state=0; if (answer.state >1) answer.state=0;
XBEE_SendData((char*)&answer, sizeof (answer)); XBEE_SendData(address, (char*)&answer, sizeof (answer));
} }

64
software/dumber3/Application/commands.h
View file

@ -10,31 +10,39 @@
#include "application.h" #include "application.h"
#define CMD_NONE 0x0 typedef enum {
#define CMD_PING 0x1 CMD_NONE=0x0,
#define CMD_RESET 0x2 CMD_PING,
#define CMD_START_WITH_WATCHDOG 0x3 CMD_RESET,
#define CMD_RESET_WATCHDOG 0x4 CMD_START_WITH_WATCHDOG,
#define CMD_GET_BATTERY 0x5 CMD_RESET_WATCHDOG,
#define CMD_GET_VERSION 0x6 CMD_GET_BATTERY,
#define CMD_START_WITHOUT_WATCHDOG 0x7 CMD_GET_VERSION,
#define CMD_MOVE 0x8 CMD_START_WITHOUT_WATCHDOG,
#define CMD_TURN 0x9 CMD_MOVE,
#define CMD_GET_BUSY_STATE 0xA CMD_TURN,
#define CMD_TEST 0xB CMD_GET_BUSY_STATE,
#define CMD_DEBUG 0xC CMD_TEST,
#define CMD_POWER_OFF 0xD CMD_DEBUG,
CMD_POWER_OFF
} CMD_CommandsType;
#define ANS_OK 0x80 typedef enum {
#define ANS_ERR 0x81 ANS_OK=0x80,
#define ANS_UNKNOWN 0x82 ANS_ERR,
ANS_UNKNOWN
} CMD_AnswersType;
#define ANS_BAT_OK 0x2 typedef enum {
#define ANS_BAT_LOW 0x1 ANS_BAT_EMPTY=0,
#define ANS_BAT_EMPTY 0x0 ANS_BAT_LOW,
ANS_BAT_OK
} CMD_BatteryLevelType;
#define ANS_STATE_NOT_BUSY 0x0 typedef enum {
#define ANS_STATE_BUSY 0x1 ANS_STATE_NOT_BUSY=0,
ANS_STATE_BUSY
} CMD_BusyType;
typedef struct __attribute__((packed)) { typedef struct __attribute__((packed)) {
uint8_t type; uint8_t type;
@ -56,7 +64,7 @@ typedef struct __attribute__((packed)) {
typedef struct __attribute__((packed)) { typedef struct __attribute__((packed)) {
uint8_t ans; uint8_t ans;
uint8_t version; char version[6];
} ANS_Version; } ANS_Version;
typedef struct __attribute__((packed)) { typedef struct __attribute__((packed)) {
@ -72,10 +80,10 @@ typedef struct __attribute__((packed)) {
#define CMD_DECODE_INVALID ((CMD_Generic*)NULL) #define CMD_DECODE_INVALID ((CMD_Generic*)NULL)
#define CMD_DECODE_UNKNOWN ((CMD_Generic*)UINT32_MAX) #define CMD_DECODE_UNKNOWN ((CMD_Generic*)UINT32_MAX)
CMD_Generic* cmdDecode(char* cmd); CMD_Generic* cmdDecode(char* cmd, uint8_t length);
void cmdSendAnswer(uint8_t ans); void cmdSendAnswer(uint16_t address, uint8_t ans);
void cmdSendBatteryLevel(char level); void cmdSendBatteryLevel(uint16_t address, char level);
void cmdSendVersion(); void cmdSendVersion(uint16_t address);
void cmdSendBusyState(uint8_t state); void cmdSendBusyState(uint16_t address, uint8_t state);
#endif /* INC_CMD_H_ */ #endif /* INC_CMD_H_ */

2
software/dumber3/Application/config.h
View file

@ -7,7 +7,7 @@
#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 SYSTEM_VERSION_STR "2.0"
#define SYSTEM_VERSION 0x20 #define SYSTEM_VERSION 0x20
#define STACK_SIZE 0x100 #define STACK_SIZE 0x100

42
software/dumber3/Application/moteurs.c
View file

@ -42,12 +42,6 @@ typedef struct {
MOTEURS_EtatMoteur MOTEURS_EtatMoteurGauche, MOTEURS_EtatMoteurDroit = {0}; MOTEURS_EtatMoteur MOTEURS_EtatMoteurGauche, MOTEURS_EtatMoteurDroit = {0};
MOTEURS_EtatDiff MOTEURS_EtatDifferentiel; MOTEURS_EtatDiff MOTEURS_EtatDifferentiel;
uint16_t MOTEUR_DerniereValEncodeursG;
uint16_t MOTEUR_DerniereValEncodeursD;
#define MOTEUR_GAUCHE 0
#define MOTEUR_DROIT 1
#define MOTEUR_Kp 15 #define MOTEUR_Kp 15
#define MOTEUR_DELAY 3 #define MOTEUR_DELAY 3
@ -101,6 +95,8 @@ void MOTEURS_Init(void) {
xStackMoteursAsservissement, /* Array to use as the task's stack. */ xStackMoteursAsservissement, /* Array to use as the task's stack. */
&xTaskMoteursAsservissement); /* Variable to hold the task's data structure. */ &xTaskMoteursAsservissement); /* Variable to hold the task's data structure. */
vTaskSuspend(xHandleMoteursAsservissement); // On ne lance la tache d'asservissement que lorsque'une commande moteur arrive vTaskSuspend(xHandleMoteursAsservissement); // On ne lance la tache d'asservissement que lorsque'une commande moteur arrive
MOTEURS_DesactiveAlim();
} }
void MOTEURS_Avance(uint32_t distance) { void MOTEURS_Avance(uint32_t distance) {
@ -136,19 +132,37 @@ void MOTEURS_TachePrincipale(void* params) {
switch (msg.id) { switch (msg.id) {
case MSG_ID_MOTEURS_MOVE: case MSG_ID_MOTEURS_MOVE:
distance = *((uint32_t*)msg.data); distance = *((uint32_t*)msg.data);
MOTEURS_EtatDifferentiel.distance = distance;
MOTEURS_EtatDifferentiel.tours = 0;
MOTEURS_EtatMoteurGauche.consigne=50;
MOTEURS_EtatMoteurDroit.consigne=50;
// TODO: trucs a faire ici
vTaskResume(xHandleMoteursAsservissement); vTaskResume(xHandleMoteursAsservissement);
break; break;
case MSG_ID_MOTEURS_TURN: case MSG_ID_MOTEURS_TURN:
tours = *((uint32_t*)msg.data); tours = *((uint32_t*)msg.data);
MOTEURS_EtatDifferentiel.distance = 0;
MOTEURS_EtatDifferentiel.tours = tours;
MOTEURS_EtatMoteurGauche.consigne=50;
MOTEURS_EtatMoteurDroit.consigne=50;
// TODO: trucs a faire ici
vTaskResume(xHandleMoteursAsservissement); vTaskResume(xHandleMoteursAsservissement);
break; break;
case MSG_ID_MOTEURS_STOP: case MSG_ID_MOTEURS_STOP:
// TODO: trucs a faire ici MOTEURS_EtatDifferentiel.distance = 0;
MOTEURS_EtatDifferentiel.tours = 0;
MOTEURS_EtatMoteurGauche.consigne=0;
MOTEURS_EtatMoteurDroit.consigne=0;
if ((MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurGauche.encodeur) ==0) &&
(MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurDroit.encodeur) ==0))
// Les moteurs sont déjà arretés
vTaskSuspend(xHandleMoteursAsservissement); vTaskSuspend(xHandleMoteursAsservissement);
else
// Les moteurs tournent encore
vTaskResume(xHandleMoteursAsservissement);
break; break;
default: default:
break; break;
@ -181,8 +195,14 @@ void MOTEURS_TacheAsservissement( void* params ) {
deltaD = MOTEURS_EtatMoteurDroit.consigne - encodeurDroit; deltaD = MOTEURS_EtatMoteurDroit.consigne - encodeurDroit;
if (((MOTEURS_EtatMoteurDroit.consigne ==0) && (MOTEURS_EtatMoteurGauche.consigne ==0)) && if (((MOTEURS_EtatMoteurDroit.consigne ==0) && (MOTEURS_EtatMoteurGauche.consigne ==0)) &&
((deltaD==0) && (deltaG==0))) MOTEURS_DesactiveAlim(); ((deltaD==0) && (deltaG==0))) {
else MOTEURS_ActiveAlim(); MOTEURS_DesactiveAlim();
vTaskSuspend(xHandleMoteursAsservissement);
}
else if (MOTEURS_EtatAlim() == GPIO_PIN_RESET) {
MOTEURS_ActiveAlim();
}
if (deltaG !=0) { if (deltaG !=0) {
MOTEURS_EtatMoteurGauche.commande = MOTEURS_EtatMoteurGauche.commande + MOTEUR_Kp*deltaG; MOTEURS_EtatMoteurGauche.commande = MOTEURS_EtatMoteurGauche.commande + MOTEUR_Kp*deltaG;

368
software/dumber3/Application/xbee.c
View file

@ -10,6 +10,7 @@
#include "semphr.h" #include "semphr.h"
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include "stm32l0xx_ll_usart.h"
extern UART_HandleTypeDef hlpuart1; extern UART_HandleTypeDef hlpuart1;
extern DMA_HandleTypeDef hdma_lpuart1_tx; extern DMA_HandleTypeDef hdma_lpuart1_tx;
@ -28,15 +29,23 @@ StaticTask_t xTaskXbeeRX;
StackType_t xStackXbeeRX[ STACK_SIZE ]; StackType_t xStackXbeeRX[ STACK_SIZE ];
TaskHandle_t xHandleXbeeRX = NULL; TaskHandle_t xHandleXbeeRX = NULL;
uint8_t txBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
uint16_t txIndex;
uint16_t txDataToSend;
void XBEE_RxThread(void* params); void XBEE_RxThread(void* params);
SemaphoreHandle_t xHandleSemaphoreRX = NULL; SemaphoreHandle_t xHandleSemaphoreRX = NULL;
StaticSemaphore_t xSemaphoreRx; StaticSemaphore_t xSemaphoreRx;
uint8_t* rxBuffer; uint8_t rxBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
uint8_t rxWaitForACK; //uint8_t rxWaitForACK =0;
uint8_t rxPhase; uint8_t rxPhase;
uint16_t rxFrameLength;
uint16_t rxDataToReceive;
uint16_t rxIndex;
#define XBEE_RX_PHASE_SOF 0
#define XBEE_RX_PHASE_HEADER 1 #define XBEE_RX_PHASE_HEADER 1
#define XBEE_RX_PHASE_BODY 2 #define XBEE_RX_PHASE_BODY 2
@ -46,15 +55,27 @@ SemaphoreHandle_t xHandleSemaphoreTX_ACK = NULL;
StaticSemaphore_t xSemaphoreTX; StaticSemaphore_t xSemaphoreTX;
StaticSemaphore_t xSemaphoreTX_ACK; StaticSemaphore_t xSemaphoreTX_ACK;
uint8_t* txBuffer;
void XBEE_Init(void) { void XBEE_Init(void) {
xHandleSemaphoreTX = xSemaphoreCreateBinaryStatic( &xSemaphoreTX ); xHandleSemaphoreTX = xSemaphoreCreateBinaryStatic( &xSemaphoreTX );
xHandleSemaphoreTX_ACK = xSemaphoreCreateBinaryStatic( &xSemaphoreTX_ACK ); xHandleSemaphoreTX_ACK = xSemaphoreCreateBinaryStatic( &xSemaphoreTX_ACK );
xSemaphoreGive(xHandleSemaphoreTX); xSemaphoreGive(xHandleSemaphoreTX);
//xSemaphoreTake(xHandleSemaphoreTX_ACK);
rxBuffer=(uint8_t*)malloc(XBEE_RX_BUFFER_MAX_LENGTH); xHandleSemaphoreRX = xSemaphoreCreateBinaryStatic( &xSemaphoreRx );
rxWaitForACK = 0;
/* Create the task without using any dynamic memory allocation. */
xHandleXbeeRX = xTaskCreateStatic(
XBEE_RxThread, /* Function that implements the task. */
"XBEE Rx", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityMoteurs,/* 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);
/* Enable Xbee */
HAL_GPIO_WritePin(XBEE_RESET_GPIO_Port, XBEE_RESET_Pin, GPIO_PIN_SET);
} }
/**** Support functions ****/ /**** Support functions ****/
@ -110,33 +131,6 @@ char* XBEE_EncodeWithEscapeChar(char* data, int length, int *encodedLength) {
return encodedData; return encodedData;
} }
/**
* Convert escaped data into raw data. Create a new buffer that is returned
*
* \param encodedData pointer on encoded data
* \param encodedLength length of encoded data
* \param length length of raw data
* \return new buffer allocated without escaped char
*/
char* XBEE_DecodeWithoutEscapeChar(char* encodedData, int encodedLength, int *length) {
char* data = (char*)malloc(encodedLength); // on prévoit un buffer aussi grand que celui avec caractère d'echappement,
// au cas où aucun caractère d'echappement ne serait present
*length = encodedLength; // par défaut, on considère que les données brutes ont la même taille que
// celles avec caractères d'echappement.
for (char* p=data; p< (data + encodedLength); p++) {
if (*encodedData == (char)XBEE_API_ESCAPE_CHAR) {
encodedData++; // on saute le caractere d'echappement
*p = (char) (*encodedData & 0x20);
} else
*p = *encodedData;
encodedData++;
}
return data;
}
/** /**
* Get a raw buffer and convert it into a transmission frame * Get a raw buffer and convert it into a transmission frame
* *
@ -146,19 +140,16 @@ char* XBEE_DecodeWithoutEscapeChar(char* encodedData, int encodedLength, int *le
* \param frameLength length of frame * \param frameLength length of frame
* \return new frame (allocated) containing escaped data * \return new frame (allocated) containing escaped data
*/ */
char* XBEE_EncodeTransmissionFrame(char* data, int length, uint16_t destination, int* frameLength) { void XBEE_EncodeTransmissionFrame(char* data, int length, uint16_t destination, char* frame, int* frameLength) {
uint8_t checksum; uint8_t checksum=0;
char* frame; uint16_t localLength=0;
char* p;
int encodedLength; localLength = length+9;
char *encodedData = XBEE_EncodeWithEscapeChar(data, length, &encodedLength);
*frameLength= encodedLength+9; frame[0] = (char)XBEE_FRAME_SOF_CHAR;
frame = (char*)malloc(*frameLength); frame[1] = (char)((uint16_t)(localLength-4)>>8);
frame[2] = (char)((uint16_t)(localLength-4));
frame[0] = '~';
frame[1] = (char)((uint16_t)(*frameLength-3)>>8);
frame[2] = (char)((uint16_t)(*frameLength-3));
frame[3] = (char)XBEE_TX_16BIT_REQUEST_TYPE; frame[3] = (char)XBEE_TX_16BIT_REQUEST_TYPE;
frame[4] = 0x1; frame[4] = 0x1;
@ -167,22 +158,25 @@ char* XBEE_EncodeTransmissionFrame(char* data, int length, uint16_t destination,
frame[7] = 0x0; frame[7] = 0x0;
char* p_data = encodedData; for (p = &frame[8]; p< (data + length); p++) {
for (char *p=&frame[8]; p<&frame[8] + encodedLength; p++, p_data++) { if ((*data == (char)XBEE_API_ESCAPE_CHAR) || (*data == (char)XBEE_API_START_OF_FRAME) ||
*p= *p_data; (*data == (char)XBEE_API_XOFF) ||(*data == (char)XBEE_API_XON)) {
*p = (char) XBEE_API_ESCAPE_CHAR;
p++;
*p = *data^0x20;
} else
*p = *data;
data++;
} }
/* calcul du checksum */ /* calcul du checksum */
checksum =0; for (int i=3; i<(localLength-1); i++) {
for (int i=3; i<*frameLength; i++) {
checksum += (uint8_t)frame[i]; checksum += (uint8_t)frame[i];
} }
frame[*frameLength] = 0xFF-checksum; *p = 0xFF-checksum;
*frameLength = localLength;
free ((void*)encodedData);
return frame;
} }
/** /**
@ -207,7 +201,8 @@ XBEE_Status XBEE_DecodeFrame(char* rawFrame, XBEE_INCOMING_FRAME** incomingFrame
uint16_t rawFrameLength; uint16_t rawFrameLength;
uint8_t checksum; uint8_t checksum;
XBEE_Status status = XBEE_OK; XBEE_Status status = XBEE_OK;
int incomingDataLength = 0; int allocatedSize;
int dataSize;
int i; int i;
@ -223,34 +218,56 @@ XBEE_Status XBEE_DecodeFrame(char* rawFrame, XBEE_INCOMING_FRAME** incomingFrame
if (checksum != 0xFF) if (checksum != 0xFF)
return XBEE_INVALID_FRAME; return XBEE_INVALID_FRAME;
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(sizeof(XBEE_INCOMING_FRAME)); /* Allocate a generic frame struct */
(*incomingFrame)->type = frame_type;
switch (frame_type) { switch (frame_type) {
case XBEE_RX_16BIT_PACKET_TYPE: case XBEE_RX_16BIT_PACKET_TYPE:
dataSize = rawFrameLength-5; // there is 5 bytes of "other" data than truly data bytes in a frame
allocatedSize = sizeof(XBEE_INCOMING_FRAME)+dataSize;
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->type = frame_type;
/* Get source address */ /* Get source address */
(*incomingFrame)->source_addr = (((uint16_t)rawFrame[4])<<8) + (uint16_t)rawFrame[5]; (*incomingFrame)->source_addr = (((uint16_t)rawFrame[4])<<8) + (uint16_t)rawFrame[5];
(*incomingFrame)->data = XBEE_DecodeWithoutEscapeChar(&rawFrame[8], rawFrameLength-6, &incomingDataLength); //XBEE_DecodeWithoutEscapeChar(&rawFrame[8], rawFrameLength-5, (*incomingFrame)->data, &incomingDataLength); // Data = Frame length -5
(*incomingFrame)->length = (uint8_t)(dataSize);
(*incomingFrame)->ack = 0; (*incomingFrame)->ack = 0;
for (i=0; i<dataSize; i++)
(*incomingFrame)->data[i] = rawFrame[i+8];
break; break;
case XBEE_MODEM_STATUS_TYPE: case XBEE_MODEM_STATUS_TYPE:
allocatedSize = sizeof(XBEE_INCOMING_FRAME); // no data
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->type = frame_type;
(*incomingFrame)->modem_status = rawFrame[4]; (*incomingFrame)->modem_status = rawFrame[4];
(*incomingFrame)->data=0x0; (*incomingFrame)->data[0]=0x0;
(*incomingFrame)->length = 0;
break; break;
case XBEE_TX_STATUS_TYPE: case XBEE_TX_STATUS_TYPE:
allocatedSize = sizeof(XBEE_INCOMING_FRAME); // no data
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->ack = rawFrame[5]; (*incomingFrame)->ack = rawFrame[5];
(*incomingFrame)->data=0x0; (*incomingFrame)->data[0]=0x0;
(*incomingFrame)->length = 0;
break; break;
case XBEE_EXTENDED_TX_STATUS_TYPE: case XBEE_EXTENDED_TX_STATUS_TYPE:
allocatedSize = sizeof(XBEE_INCOMING_FRAME); // no data
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->ack = rawFrame[8]; (*incomingFrame)->ack = rawFrame[8];
(*incomingFrame)->data=0x0; (*incomingFrame)->data[0]=0x0;
(*incomingFrame)->length = 0;
break; break;
default: default:
free (*incomingFrame); *incomingFrame=NULL;
return XBEE_INVALID_FRAME; return XBEE_INVALID_FRAME;
}; };
} else status = XBEE_INVALID_FRAME; } else status = XBEE_INVALID_FRAME;
@ -267,12 +284,11 @@ XBEE_Status XBEE_DecodeFrame(char* rawFrame, XBEE_INCOMING_FRAME** incomingFrame
* \param length length of data to send * \param length length of data to send
* \return status of decoding: XBEE_OK if decoding is successful, * \return status of decoding: XBEE_OK if decoding is successful,
* XBEE_TX_ERROR in case of sending error, * XBEE_TX_ERROR in case of sending error,
* XBEE_TX_ACK_ERROR in case frame was not acknowledge by detination part * XBEE_TX_TIMEOUT in case semaphore takes too long
*/ */
int XBEE_SendData(char* data, int length) { int XBEE_SendData(uint16_t address, char* data, int length) {
int data_length;
BaseType_t state; BaseType_t state;
XBEE_INCOMING_FRAME* incomingFrame; int status = XBEE_OK;
// Prevents successive calls to overlap // Prevents successive calls to overlap
state = xSemaphoreTake(xHandleSemaphoreTX, pdMS_TO_TICKS(XBEE_TX_SEMAPHORE_WAIT)); // wait max 500 ms (to avoid interlocking) state = xSemaphoreTake(xHandleSemaphoreTX, pdMS_TO_TICKS(XBEE_TX_SEMAPHORE_WAIT)); // wait max 500 ms (to avoid interlocking)
@ -281,107 +297,24 @@ int XBEE_SendData(char* data, int length) {
if answer is false, it means timeout appends if answer is false, it means timeout appends
We should probably reset something in "else" branch */ We should probably reset something in "else" branch */
/* TODO: stuff to do here for converting data into API frame */ XBEE_EncodeTransmissionFrame(data, length, address, (char*) txBuffer, (int*)&txDataToSend);
txBuffer = (uint8_t*)XBEE_EncodeWithEscapeChar(data, length, &data_length);
if (txBuffer!=NULL) { LL_USART_TransmitData8(hlpuart1.Instance, txBuffer[0]);
if (HAL_UART_Transmit_DMA(&hlpuart1, txBuffer, data_length)!= HAL_OK) txIndex =1;
return XBEE_TX_ERROR; LL_USART_EnableIT_TXE(hlpuart1.Instance); // enable TX Interrupt
else { } else status= XBEE_TX_TIMEOUT;
rxWaitForACK = 1; /* wait for TX ack */
// Wait for ACK frame after TX
state = xSemaphoreTake(xHandleSemaphoreTX_ACK, pdMS_TO_TICKS(XBEE_TX_SEMAPHORE_WAIT)); // wait max 500 ms (to avoid interlocking)
if (XBEE_DecodeFrame((char*) rxBuffer, &incomingFrame)!=XBEE_OK)
return XBEE_TX_ACK_ERROR;
else {
if (incomingFrame == 0x0)
return XBEE_TX_ACK_ERROR;
else if ((incomingFrame->type != XBEE_TX_STATUS_TYPE) || (incomingFrame->ack != XBEE_TX_STATUS_SUCCESS)) {
free ((XBEE_INCOMING_FRAME*) incomingFrame);
return XBEE_TX_ACK_ERROR;
}
}
}
} else return XBEE_TX_ERROR;
} else return XBEE_TX_ERROR;
return length; return status;
} }
/** void XBEE_TX_IRQHandler(void) {
* DMA Interrupt request for transmission. Call when transmission is finished
*
* \param UartHandle not used
*/
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *UartHandle) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
/* Free transmit buffer */
free (txBuffer);
if (rxWaitForACK != 1) /* we are waiting for an acknowledge frame, so do not give semaphore yet */ LL_USART_TransmitData8(hlpuart1.Instance, txBuffer[txIndex]);
txIndex++;
if (txIndex == txDataToSend) {
LL_USART_DisableIT_TXE(hlpuart1.Instance);
xSemaphoreGiveFromISR( xHandleSemaphoreTX, &xHigherPriorityTaskWoken ); xSemaphoreGiveFromISR( xHandleSemaphoreTX, &xHigherPriorityTaskWoken );
/* If xHigherPriorityTaskWoken was set to true you
we should yield. The actual macro used here is
port specific. */
portYIELD_FROM_ISR(xHigherPriorityTaskWoken );
}
/***** Rx Part *****/
/**
* Reception thread. Wait for incoming frame, process it and send message to application
*
* \param params not used
*/
void XBEE_RxThread(void* params) {
BaseType_t state;
XBEE_INCOMING_FRAME* incomingFrame;
rxPhase= XBEE_RX_PHASE_HEADER;
while (HAL_UART_Receive_DMA(&hlpuart1, rxBuffer, 3)== HAL_OK); // start reception of frame
// endless task
while (1) {
while ((state = xSemaphoreTake(xHandleSemaphoreRX, portMAX_DELAY))==pdTRUE); // wait forever
/* Process frame */
if (XBEE_DecodeFrame((char*) rxBuffer, &incomingFrame)==XBEE_OK) // frame is valid
if (incomingFrame != 0x0) // frame is valid
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_XBEE_CMD, (QueueHandle_t)0x0, (void*)incomingFrame);
}
}
/**
* DMA IRQ handler for reception. Receive a complete frame send send event to sending frame in case of acknowledge frame or to receive task otherwise
*
* \param UartHandle not used
*/
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
uint16_t frameLength;
if (rxPhase == XBEE_RX_PHASE_HEADER) { // we just received header part
frameLength=XBEE_GetFrameLength(rxBuffer); /* Compute body part of the frame + checksum */
if (HAL_UART_Receive_DMA(&hlpuart1, rxBuffer+3, frameLength+1)== HAL_OK) {
/* Reception of body part started successfully */
rxPhase = XBEE_RX_PHASE_BODY;
} else {
/* Failed to start reception of body
* Restart reception of header */
while (HAL_UART_Receive_DMA(&hlpuart1, rxBuffer, 3)!= HAL_OK); // try to receive header
}
} else { // we just received body part. Frame is complete
if (rxWaitForACK) {
xSemaphoreGiveFromISR( xHandleSemaphoreTX_ACK, &xHigherPriorityTaskWoken); /* Send event to sending function */
xSemaphoreGiveFromISR( xHandleSemaphoreTX, &xHigherPriorityTaskWoken ); /* Allow new sending data */
} else {
xSemaphoreGiveFromISR( xHandleSemaphoreRX, &xHigherPriorityTaskWoken ); /* send event to receive task to process received task */
}
rxPhase = XBEE_RX_PHASE_HEADER;
while (HAL_UART_Receive_DMA(&hlpuart1, rxBuffer, 3)!= HAL_OK); // try to receive header
} }
if (xHigherPriorityTaskWoken) { if (xHigherPriorityTaskWoken) {
@ -392,3 +325,116 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
} }
} }
/***** Rx Part *****/
/**
* Reception thread. Wait for incoming frame, process it and send message to application
*
* \param params not used
*/
void XBEE_RxThread(void* params) {
XBEE_INCOMING_FRAME *incomingFrame;
rxPhase= XBEE_RX_PHASE_SOF;
rxFrameLength=0;
rxDataToReceive=1;
rxIndex=0;
while (HAL_UART_Receive_IT(&hlpuart1, rxBuffer, 1)!= HAL_OK); // try starting reception of frame
LL_USART_Disable(hlpuart1.Instance);
LL_USART_DisableOverrunDetect(hlpuart1.Instance);
LL_USART_Enable(hlpuart1.Instance);
// endless task
while (1) {
if (xSemaphoreTake(xHandleSemaphoreRX, portMAX_DELAY)==pdTRUE) { // wait forever
/* Process frame */
if (XBEE_DecodeFrame((char*) rxBuffer, &incomingFrame)==XBEE_OK) { // frame is valid
if (incomingFrame != 0x0) // frame is valid
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_XBEE_CMD, (QueueHandle_t)0x0, (void*)incomingFrame);
// if (rxBuffer[3]== XBEE_RX_16BIT_PACKET_TYPE) {
// MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_XBEE_CMD, (QueueHandle_t)0x0, (void*)0x0);
}
for (int i=0; i<XBEE_RX_BUFFER_MAX_LENGTH; i++)
rxBuffer[i]=0xFF;
}
}
}
void XBEE_RX_IRQHandler(void) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
uint8_t data;
data = LL_USART_ReceiveData8(hlpuart1.Instance); // lecture de l'octet reçu
switch (rxPhase) {
case XBEE_RX_PHASE_SOF:
if (data == XBEE_FRAME_SOF_CHAR) {
rxBuffer[0] = data;
rxPhase = XBEE_RX_PHASE_HEADER;
rxIndex = 1;
}
break;
case XBEE_RX_PHASE_HEADER:
rxBuffer[rxIndex] = data;
rxIndex ++;
if (rxIndex==3) {
// header reçu, calcul de la longueur de la frame
rxFrameLength = (((uint16_t)rxBuffer[1]) << 8) + (uint16_t)rxBuffer[2];
rxDataToReceive = rxFrameLength +1; // +1 for checksum
rxPhase = XBEE_RX_PHASE_BODY;
}
break;
case XBEE_RX_PHASE_BODY:
rxBuffer[rxIndex] = data;
if (rxBuffer[rxIndex-1] == XBEE_API_ESCAPE_CHAR)
rxBuffer[rxIndex-1] = rxBuffer[rxIndex] ^ 0x20;
else {
rxIndex++;
rxDataToReceive--;
}
if (!rxDataToReceive) {
rxIndex=0;
rxPhase = XBEE_RX_PHASE_SOF;
xSemaphoreGiveFromISR( xHandleSemaphoreRX, &xHigherPriorityTaskWoken ); /* send event to receive task to process received task */
}
break;
default:
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 );
}
}
/**
* DMA IRQ handler for reception. Receive a complete frame send send event to sending frame in case of acknowledge frame or to receive task otherwise
*
* \param UartHandle not used
*/
void LPUART1_IRQHandler(void) {
if (LL_USART_IsActiveFlag_RXNE(hlpuart1.Instance)) {
XBEE_RX_IRQHandler();
} else if (LL_USART_IsActiveFlag_TXE(hlpuart1.Instance)) {
XBEE_TX_IRQHandler();
} else {
if (LL_USART_IsActiveFlag_TC(hlpuart1.Instance))
LL_USART_DisableIT_TC(hlpuart1.Instance);
else if (LL_USART_IsActiveFlag_IDLE(hlpuart1.Instance))
LL_USART_ClearFlag_IDLE(hlpuart1.Instance);
else if (LL_USART_IsActiveFlag_ORE(hlpuart1.Instance)) {
LL_USART_ClearFlag_ORE(hlpuart1.Instance);
}
}
}

10
software/dumber3/Application/xbee.h
View file

@ -17,7 +17,8 @@ typedef enum {
XBEE_RX_TIMEOUT=-3, XBEE_RX_TIMEOUT=-3,
XBEE_RX_ERROR=-4, XBEE_RX_ERROR=-4,
XBEE_TX_ERROR=-5, XBEE_TX_ERROR=-5,
XBEE_INVALID_FRAME=-6 XBEE_INVALID_FRAME=-6,
XBEE_TX_TIMEOUT=-7,
} XBEE_Status; } XBEE_Status;
#define XBEE_RX_PACKET_TYPE 0x90 #define XBEE_RX_PACKET_TYPE 0x90
@ -49,15 +50,18 @@ typedef enum {
#define XBEE_RX_OPTIONS_BRODCASTED 0x02 #define XBEE_RX_OPTIONS_BRODCASTED 0x02
#define XBEE_RX_OPTIONS_PAN_BROADCASTED 0x04 #define XBEE_RX_OPTIONS_PAN_BROADCASTED 0x04
#define XBEE_FRAME_SOF_CHAR 0x7E // '~'
typedef struct { typedef struct {
uint8_t type; uint8_t type;
uint16_t source_addr; uint16_t source_addr;
char* data; uint8_t length;
char ack; char ack;
char modem_status; char modem_status;
char data[];
} XBEE_INCOMING_FRAME; } XBEE_INCOMING_FRAME;
void XBEE_Init(void); void XBEE_Init(void);
int XBEE_SendData(char* data, int length); int XBEE_SendData(uint16_t address, char* data, int length);
#endif /* INC_XBEE_H_ */ #endif /* INC_XBEE_H_ */

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

@ -65,7 +65,7 @@
#define configMAX_PRIORITIES ( 56 ) #define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128) #define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)1024) #define configTOTAL_HEAP_SIZE ((size_t)1024)
#define configMAX_TASK_NAME_LEN ( 16 ) #define configMAX_TASK_NAME_LEN ( 25 )
#define configUSE_TRACE_FACILITY 1 #define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0 #define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1 #define configUSE_MUTEXES 1

7
software/dumber3/Core/Src/main.c
View file

@ -46,7 +46,6 @@ ADC_HandleTypeDef hadc;
UART_HandleTypeDef hlpuart1; UART_HandleTypeDef hlpuart1;
DMA_HandleTypeDef hdma_lpuart1_tx; DMA_HandleTypeDef hdma_lpuart1_tx;
DMA_HandleTypeDef hdma_lpuart1_rx;
TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3; TIM_HandleTypeDef htim3;
@ -300,7 +299,8 @@ static void MX_LPUART1_UART_Init(void)
hlpuart1.Init.Mode = UART_MODE_TX_RX; hlpuart1.Init.Mode = UART_MODE_TX_RX;
hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
hlpuart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; hlpuart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
hlpuart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; hlpuart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_DMADISABLEONERROR_INIT;
hlpuart1.AdvancedInit.DMADisableonRxError = UART_ADVFEATURE_DMA_DISABLEONRXERROR;
if (HAL_UART_Init(&hlpuart1) != HAL_OK) if (HAL_UART_Init(&hlpuart1) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
@ -738,8 +738,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
HAL_IncTick(); HAL_IncTick();
} }
/* USER CODE BEGIN Callback 1 */ /* USER CODE BEGIN Callback 1 */
if ((htim->Instance == TIM2) || (htim->Instance == TIM21)) /* Timers des encodeurs */
MOTEURS_TimerEncodeurUpdate(htim);
/* USER CODE END Callback 1 */ /* USER CODE END Callback 1 */
} }

20
software/dumber3/Core/Src/stm32l0xx_hal_msp.c
View file

@ -26,8 +26,6 @@
/* USER CODE END Includes */ /* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_lpuart1_tx; extern DMA_HandleTypeDef hdma_lpuart1_tx;
extern DMA_HandleTypeDef hdma_lpuart1_rx;
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */ /* USER CODE BEGIN TD */
@ -197,23 +195,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
__HAL_LINKDMA(huart,hdmatx,hdma_lpuart1_tx); __HAL_LINKDMA(huart,hdmatx,hdma_lpuart1_tx);
/* LPUART1_RX Init */
hdma_lpuart1_rx.Instance = DMA1_Channel3;
hdma_lpuart1_rx.Init.Request = DMA_REQUEST_5;
hdma_lpuart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_lpuart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_lpuart1_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_lpuart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_lpuart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_lpuart1_rx.Init.Mode = DMA_NORMAL;
hdma_lpuart1_rx.Init.Priority = DMA_PRIORITY_HIGH;
if (HAL_DMA_Init(&hdma_lpuart1_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(huart,hdmarx,hdma_lpuart1_rx);
/* 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);
@ -248,7 +229,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
/* LPUART1 DMA DeInit */ /* LPUART1 DMA DeInit */
HAL_DMA_DeInit(huart->hdmatx); HAL_DMA_DeInit(huart->hdmatx);
HAL_DMA_DeInit(huart->hdmarx);
/* LPUART1 interrupt DeInit */ /* LPUART1 interrupt DeInit */
HAL_NVIC_DisableIRQ(LPUART1_IRQn); HAL_NVIC_DisableIRQ(LPUART1_IRQn);

42
software/dumber3/Core/Src/stm32l0xx_it.c
View file

@ -58,7 +58,6 @@
/* External variables --------------------------------------------------------*/ /* External variables --------------------------------------------------------*/
extern ADC_HandleTypeDef hadc; extern ADC_HandleTypeDef hadc;
extern DMA_HandleTypeDef hdma_lpuart1_tx; extern DMA_HandleTypeDef hdma_lpuart1_tx;
extern DMA_HandleTypeDef hdma_lpuart1_rx;
extern UART_HandleTypeDef hlpuart1; extern UART_HandleTypeDef hlpuart1;
extern TIM_HandleTypeDef htim2; extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim21; extern TIM_HandleTypeDef htim21;
@ -139,17 +138,16 @@ void EXTI4_15_IRQHandler(void)
/** /**
* @brief This function handles DMA1 channel 2 and channel 3 interrupts. * @brief This function handles DMA1 channel 2 and channel 3 interrupts.
*/ */
void DMA1_Channel2_3_IRQHandler(void) //void DMA1_Channel2_3_IRQHandler(void)
{ //{
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */ // /* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
//
/* USER CODE END DMA1_Channel2_3_IRQn 0 */ // /* USER CODE END DMA1_Channel2_3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_lpuart1_tx); // HAL_DMA_IRQHandler(&hdma_lpuart1_tx);
HAL_DMA_IRQHandler(&hdma_lpuart1_rx); // /* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */ //
// /* USER CODE END 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).
@ -210,16 +208,16 @@ void TIM21_IRQHandler(void)
/** /**
* @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.
*/ */
void LPUART1_IRQHandler(void) //void LPUART1_IRQHandler(void)
{ //{
/* USER CODE BEGIN LPUART1_IRQn 0 */ // /* USER CODE BEGIN LPUART1_IRQn 0 */
//
/* USER CODE END LPUART1_IRQn 0 */ // /* USER CODE END LPUART1_IRQn 0 */
HAL_UART_IRQHandler(&hlpuart1); // HAL_UART_IRQHandler(&hlpuart1);
/* USER CODE BEGIN LPUART1_IRQn 1 */ // /* USER CODE BEGIN LPUART1_IRQn 1 */
//
/* USER CODE END LPUART1_IRQn 1 */ // /* USER CODE END LPUART1_IRQn 1 */
} //}
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */

95
software/dumber3/Core/Startup/startup_stm32l010c6tx.s → software/dumber3/Core/Startup/startup_stm32l071xx.s
View file

@ -1,8 +1,8 @@
/** /**
****************************************************************************** ******************************************************************************
* @file startup_stm32l010x6.s * @file startup_stm32l071xx.s
* @author MCD Application Team * @author MCD Application Team
* @brief STM32L010x6 Devices vector table for GCC toolchain. * @brief STM32L071xx Devices vector table for GCC toolchain.
* This module performs: * This module performs:
* - Set the initial SP * - Set the initial SP
* - Set the initial PC == Reset_Handler, * - Set the initial PC == Reset_Handler,
@ -14,13 +14,12 @@
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* <h2><center>&copy; Copyright (c) 2016 STMicroelectronics. * Copyright (c) 2016 STMicroelectronics.
* All rights reserved.</center></h2> * All rights reserved.
* *
* This software component is licensed by ST under BSD 3-Clause license, * This software is licensed under terms that can be found in the LICENSE file
* the "License"; You may not use this file except in compliance with the * in the root directory of this software component.
* License. You may obtain a copy of the License at: * If no LICENSE file comes with this software, it is provided AS-IS.
* opensource.org/licenses/BSD-3-Clause
* *
****************************************************************************** ******************************************************************************
*/ */
@ -52,26 +51,9 @@ Reset_Handler:
ldr r0, =_estack ldr r0, =_estack
mov sp, r0 /* set stack pointer */ mov sp, r0 /* set stack pointer */
/*Check if boot space corresponds to system memory*/ /* Call the clock system initialization function.*/
bl SystemInit
LDR R0,=0x00000004
LDR R1, [R0]
LSRS R1, R1, #24
LDR R2,=0x1F
CMP R1, R2
BNE ApplicationStart
/*SYSCFG clock enable*/
LDR R0,=0x40021034
LDR R1,=0x00000001
STR R1, [R0]
/*Set CFGR1 register with flash memory remap at address 0*/
LDR R0,=0x40010000
LDR R1,=0x00000000
STR R1, [R0]
ApplicationStart:
/* Copy the data segment initializers from flash to SRAM */ /* Copy the data segment initializers from flash to SRAM */
ldr r0, =_sdata ldr r0, =_sdata
ldr r1, =_edata ldr r1, =_edata
@ -103,8 +85,6 @@ LoopFillZerobss:
cmp r2, r4 cmp r2, r4
bcc FillZerobss bcc FillZerobss
/* Call the clock system intitialization function.*/
bl SystemInit
/* Call static constructors */ /* Call static constructors */
bl __libc_init_array bl __libc_init_array
/* Call the application's entry point.*/ /* Call the application's entry point.*/
@ -159,7 +139,7 @@ g_pfnVectors:
.word PendSV_Handler .word PendSV_Handler
.word SysTick_Handler .word SysTick_Handler
.word WWDG_IRQHandler /* Window WatchDog */ .word WWDG_IRQHandler /* Window WatchDog */
.word 0 /* Reserved */ .word PVD_IRQHandler /* PVD through EXTI Line detection */
.word RTC_IRQHandler /* RTC through the EXTI line */ .word RTC_IRQHandler /* RTC through the EXTI line */
.word FLASH_IRQHandler /* FLASH */ .word FLASH_IRQHandler /* FLASH */
.word RCC_IRQHandler /* RCC */ .word RCC_IRQHandler /* RCC */
@ -170,22 +150,22 @@ g_pfnVectors:
.word DMA1_Channel1_IRQHandler /* DMA1 Channel 1 */ .word DMA1_Channel1_IRQHandler /* DMA1 Channel 1 */
.word DMA1_Channel2_3_IRQHandler /* DMA1 Channel 2 and Channel 3 */ .word DMA1_Channel2_3_IRQHandler /* DMA1 Channel 2 and Channel 3 */
.word DMA1_Channel4_5_6_7_IRQHandler /* DMA1 Channel 4, Channel 5, Channel 6 and Channel 7*/ .word DMA1_Channel4_5_6_7_IRQHandler /* DMA1 Channel 4, Channel 5, Channel 6 and Channel 7*/
.word ADC1_IRQHandler /* ADC1 */ .word ADC1_COMP_IRQHandler /* ADC1, COMP1 and COMP2 */
.word LPTIM1_IRQHandler /* LPTIM1 */ .word LPTIM1_IRQHandler /* LPTIM1 */
.word 0 /* Reserved */ .word USART4_5_IRQHandler /* USART4 and USART 5 */
.word TIM2_IRQHandler /* TIM2 */ .word TIM2_IRQHandler /* TIM2 */
.word 0 /* Reserved */ .word TIM3_IRQHandler /* TIM3 */
.word 0 /* Reserved */ .word TIM6_IRQHandler /* TIM6 and DAC */
.word 0 /* Reserved */ .word TIM7_IRQHandler /* TIM7 */
.word 0 /* Reserved */ .word 0 /* Reserved */
.word TIM21_IRQHandler /* TIM21 */ .word TIM21_IRQHandler /* TIM21 */
.word 0 /* Reserved */ .word I2C3_IRQHandler /* I2C3 */
.word 0 /* Reserved */ .word TIM22_IRQHandler /* TIM22 */
.word I2C1_IRQHandler /* I2C1 */ .word I2C1_IRQHandler /* I2C1 */
.word 0 /* Reserved */ .word I2C2_IRQHandler /* I2C2 */
.word SPI1_IRQHandler /* SPI1 */ .word SPI1_IRQHandler /* SPI1 */
.word 0 /* Reserved */ .word SPI2_IRQHandler /* SPI2 */
.word 0 /* Reserved */ .word USART1_IRQHandler /* USART1 */
.word USART2_IRQHandler /* USART2 */ .word USART2_IRQHandler /* USART2 */
.word LPUART1_IRQHandler /* LPUART1 */ .word LPUART1_IRQHandler /* LPUART1 */
.word 0 /* Reserved */ .word 0 /* Reserved */
@ -217,6 +197,9 @@ g_pfnVectors:
.weak WWDG_IRQHandler .weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler .thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_IRQHandler
.thumb_set PVD_IRQHandler,Default_Handler
.weak RTC_IRQHandler .weak RTC_IRQHandler
.thumb_set RTC_IRQHandler,Default_Handler .thumb_set RTC_IRQHandler,Default_Handler
@ -244,24 +227,51 @@ g_pfnVectors:
.weak DMA1_Channel4_5_6_7_IRQHandler .weak DMA1_Channel4_5_6_7_IRQHandler
.thumb_set DMA1_Channel4_5_6_7_IRQHandler,Default_Handler .thumb_set DMA1_Channel4_5_6_7_IRQHandler,Default_Handler
.weak ADC1_IRQHandler .weak ADC1_COMP_IRQHandler
.thumb_set ADC1_IRQHandler,Default_Handler .thumb_set ADC1_COMP_IRQHandler,Default_Handler
.weak LPTIM1_IRQHandler .weak LPTIM1_IRQHandler
.thumb_set LPTIM1_IRQHandler,Default_Handler .thumb_set LPTIM1_IRQHandler,Default_Handler
.weak USART4_5_IRQHandler
.thumb_set USART4_5_IRQHandler,Default_Handler
.weak TIM2_IRQHandler .weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler .thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM6_IRQHandler
.thumb_set TIM6_IRQHandler,Default_Handler
.weak TIM7_IRQHandler
.thumb_set TIM7_IRQHandler,Default_Handler
.weak TIM21_IRQHandler .weak TIM21_IRQHandler
.thumb_set TIM21_IRQHandler,Default_Handler .thumb_set TIM21_IRQHandler,Default_Handler
.weak I2C3_IRQHandler
.thumb_set I2C3_IRQHandler,Default_Handler
.weak TIM22_IRQHandler
.thumb_set TIM22_IRQHandler,Default_Handler
.weak I2C1_IRQHandler .weak I2C1_IRQHandler
.thumb_set I2C1_IRQHandler,Default_Handler .thumb_set I2C1_IRQHandler,Default_Handler
.weak I2C2_IRQHandler
.thumb_set I2C2_IRQHandler,Default_Handler
.weak SPI1_IRQHandler .weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler .thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler .weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler .thumb_set USART2_IRQHandler,Default_Handler
@ -271,5 +281,4 @@ g_pfnVectors:
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

11
software/dumber3/Dumber3 Debug.launch
View file

@ -35,13 +35,13 @@
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="true"/> <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="true"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="49FF67064970535516370687"/> <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="49FF67064970535516370687"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/> <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/> <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="true"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/> <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/> <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="true"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/> <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/> <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="freertos"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/> <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="cortex_m0"/> <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="ARM_CM0"/>
<intAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyPort" value="60000"/> <intAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyPort" value="60000"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/> <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/> <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
@ -73,6 +73,7 @@
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES"> <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
<listEntry value="4"/> <listEntry value="4"/>
</listAttribute> </listAttribute>
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/> <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;&gt;&lt;gdbmemoryBlockExpression address=&quot;536875216&quot; label=&quot;rxBuffer&quot;/&gt;&lt;gdbmemoryBlockExpression address=&quot;536875132&quot; label=&quot;txBuffer&quot;/&gt;&lt;/memoryBlockExpressionList&gt;"/>
<stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/> <stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
<stringAttribute key="saved_expressions&lt;seperator&gt;Unknown" value="rxBuffer"/>
</launchConfiguration> </launchConfiguration>

25
software/dumber3/Dumber3.ioc
View file

@ -5,15 +5,6 @@ ADC.SamplingTime=ADC_SAMPLETIME_160CYCLES_5
CAD.formats= CAD.formats=
CAD.pinconfig= CAD.pinconfig=
CAD.provider= CAD.provider=
Dma.LPUART1_RX.1.Direction=DMA_PERIPH_TO_MEMORY
Dma.LPUART1_RX.1.Instance=DMA1_Channel3
Dma.LPUART1_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.LPUART1_RX.1.MemInc=DMA_MINC_ENABLE
Dma.LPUART1_RX.1.Mode=DMA_NORMAL
Dma.LPUART1_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.LPUART1_RX.1.PeriphInc=DMA_PINC_DISABLE
Dma.LPUART1_RX.1.Priority=DMA_PRIORITY_HIGH
Dma.LPUART1_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
Dma.LPUART1_TX.0.Direction=DMA_MEMORY_TO_PERIPH Dma.LPUART1_TX.0.Direction=DMA_MEMORY_TO_PERIPH
Dma.LPUART1_TX.0.Instance=DMA1_Channel2 Dma.LPUART1_TX.0.Instance=DMA1_Channel2
Dma.LPUART1_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE Dma.LPUART1_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
@ -24,15 +15,15 @@ Dma.LPUART1_TX.0.PeriphInc=DMA_PINC_DISABLE
Dma.LPUART1_TX.0.Priority=DMA_PRIORITY_HIGH Dma.LPUART1_TX.0.Priority=DMA_PRIORITY_HIGH
Dma.LPUART1_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority Dma.LPUART1_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
Dma.Request0=LPUART1_TX Dma.Request0=LPUART1_TX
Dma.Request1=LPUART1_RX Dma.RequestsNb=1
Dma.RequestsNb=2
FREERTOS.INCLUDE_pcTaskGetTaskName=1 FREERTOS.INCLUDE_pcTaskGetTaskName=1
FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1 FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1
FREERTOS.INCLUDE_xTaskAbortDelay=1 FREERTOS.INCLUDE_xTaskAbortDelay=1
FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1 FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
FREERTOS.INCLUDE_xTaskGetHandle=1 FREERTOS.INCLUDE_xTaskGetHandle=1
FREERTOS.IPParameters=Tasks01,configTICK_RATE_HZ,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetHandle,INCLUDE_xTaskAbortDelay,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,configTOTAL_HEAP_SIZE,configUSE_NEWLIB_REENTRANT FREERTOS.IPParameters=Tasks01,configTICK_RATE_HZ,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetHandle,INCLUDE_xTaskAbortDelay,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,configTOTAL_HEAP_SIZE,configUSE_NEWLIB_REENTRANT,configMAX_TASK_NAME_LEN
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configMAX_TASK_NAME_LEN=25
FREERTOS.configTICK_RATE_HZ=1000 FREERTOS.configTICK_RATE_HZ=1000
FREERTOS.configTOTAL_HEAP_SIZE=1024 FREERTOS.configTOTAL_HEAP_SIZE=1024
FREERTOS.configUSE_NEWLIB_REENTRANT=1 FREERTOS.configUSE_NEWLIB_REENTRANT=1
@ -41,7 +32,8 @@ File.Version=6
GPIO.groupedBy=Group By Peripherals GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false KeepUserPlacement=false
LPUART1.BaudRate=115200 LPUART1.BaudRate=115200
LPUART1.IPParameters=BaudRate,WordLength LPUART1.DMADisableonRxErrorParam=UART_ADVFEATURE_DMA_DISABLEONRXERROR
LPUART1.IPParameters=BaudRate,WordLength,DMADisableonRxErrorParam
LPUART1.WordLength=UART_WORDLENGTH_8B LPUART1.WordLength=UART_WORDLENGTH_8B
Mcu.CPN=STM32L071CBT3 Mcu.CPN=STM32L071CBT3
Mcu.Family=STM32L0 Mcu.Family=STM32L0
@ -100,7 +92,7 @@ Mcu.UserName=STM32L071CBTx
MxCube.Version=6.7.0 MxCube.Version=6.7.0
MxDb.Version=DB.6.0.70 MxDb.Version=DB.6.0.70
NVIC.ADC1_COMP_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true NVIC.ADC1_COMP_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Channel2_3_IRQn=true\:3\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Channel2_3_IRQn=true\:3\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.EXTI2_3_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true NVIC.EXTI2_3_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.EXTI4_15_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true NVIC.EXTI4_15_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true NVIC.ForceEnableDMAVector=true
@ -115,7 +107,7 @@ NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:true\:false NVIC.SysTick_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM21_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true NVIC.TIM21_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true
NVIC.TIM2_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true NVIC.TIM2_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true
NVIC.TIM6_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:true\:true NVIC.TIM6_IRQn=true\:3\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM6_IRQn NVIC.TimeBase=TIM6_IRQn
NVIC.TimeBaseIP=TIM6 NVIC.TimeBaseIP=TIM6
PA0.GPIOParameters=GPIO_Label PA0.GPIOParameters=GPIO_Label
@ -126,9 +118,10 @@ PA1.GPIOParameters=GPIO_Label
PA1.GPIO_Label=ENC_PHA_GAUCHE PA1.GPIO_Label=ENC_PHA_GAUCHE
PA1.Locked=true PA1.Locked=true
PA1.Signal=GPIO_Input PA1.Signal=GPIO_Input
PA10.GPIOParameters=GPIO_Label PA10.GPIOParameters=PinState,GPIO_Label
PA10.GPIO_Label=XBEE_RESET PA10.GPIO_Label=XBEE_RESET
PA10.Locked=true PA10.Locked=true
PA10.PinState=GPIO_PIN_RESET
PA10.Signal=GPIO_Output PA10.Signal=GPIO_Output
PA11.GPIOParameters=GPIO_Label PA11.GPIOParameters=GPIO_Label
PA11.GPIO_Label=LED_SEG_F PA11.GPIO_Label=LED_SEG_F