mirror of
https://github.com/yoboujon/dumber.git
synced 2025-06-08 13:50:49 +02:00
Driver XBEE semble enfin marcher correctement
This commit is contained in:
vezde
parent
c6ad9b7094
commit
aa83f00d28
15 changed files with 521 additions and 377 deletions
|
|
@ -110,15 +110,40 @@
|
|||
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1151842665" name="Resource Custom Build Step Output Type"/>
|
||||
</tool>
|
||||
</fileInfo>
|
||||
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.2043503841" name="main.c" rcbsApplicability="disable" resourcePath="Core/Src/main.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.346617134">
|
||||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.346617134" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
|
||||
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1496459642" 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.1504381080.1752824616" name="commands.c" rcbsApplicability="disable" resourcePath="Application/commands.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2065737495">
|
||||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2065737495" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1535445780" 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.1660271606" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
|
||||
</tool>
|
||||
<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.216781005" name="Resource Custom Build Step">
|
||||
<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.2033552080" name="Resource Custom Build Step Input Type">
|
||||
<additionalInput kind="additionalinputdependency"/>
|
||||
<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.1545965840" name="Resource Custom Build Step">
|
||||
<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.1314783453" name="Resource Custom Build Step Input Type">
|
||||
<additionalInput kind="additionalinputdependency" paths=""/>
|
||||
</inputType>
|
||||
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.664489298" name="Resource Custom Build Step Output Type"/>
|
||||
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.930101754" name="Resource Custom Build Step Output Type"/>
|
||||
</tool>
|
||||
</fileInfo>
|
||||
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.1827743340" name="application.c" rcbsApplicability="disable" resourcePath="Application/application.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2011451410">
|
||||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2011451410" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1397894115" 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.1629958820" 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" name="Resource Custom Build Step">
|
||||
<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.115340338" name="Resource Custom Build Step Input Type">
|
||||
<additionalInput kind="additionalinputdependency" paths=""/>
|
||||
</inputType>
|
||||
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1700687045" name="Resource Custom Build Step Output Type"/>
|
||||
</tool>
|
||||
</fileInfo>
|
||||
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.306963435" name="xbee.c" rcbsApplicability="disable" resourcePath="Application/xbee.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.277959437">
|
||||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.277959437" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.980636813" 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.1291936146" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
|
||||
</tool>
|
||||
<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.1344848918" name="Resource Custom Build Step">
|
||||
<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.1895641321" name="Resource Custom Build Step Input Type">
|
||||
<additionalInput kind="additionalinputdependency" paths=""/>
|
||||
</inputType>
|
||||
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.840380300" name="Resource Custom Build Step Output Type"/>
|
||||
</tool>
|
||||
</fileInfo>
|
||||
<sourceEntries>
|
||||
|
|
|
|||
|
|
@ -38,6 +38,8 @@ typedef struct {
|
|||
int32_t motor_right;
|
||||
char endOfMouvement;
|
||||
char powerOffRequired;
|
||||
uint16_t senderAddress;
|
||||
uint8_t rfProblem;
|
||||
|
||||
} APPLICATION_Infos;
|
||||
|
||||
|
|
@ -83,8 +85,8 @@ void APPLICATION_Init(void) {
|
|||
|
||||
/* Init de la partie RF / reception des messages */
|
||||
XBEE_Init();
|
||||
BATTERIE_Init();
|
||||
MOTEURS_Init();
|
||||
//BATTERIE_Init();
|
||||
//MOTEURS_Init();
|
||||
|
||||
/* Create the task without using any dynamic memory allocation. */
|
||||
xHandleApplicationMain = xTaskCreateStatic(
|
||||
|
|
@ -112,8 +114,8 @@ void APPLICATION_Init(void) {
|
|||
|
||||
void APPLICATION_MainThread(void* params) {
|
||||
MESSAGE_Typedef msg;
|
||||
XBEE_INCOMING_FRAME *xbeeFrame;
|
||||
|
||||
char *cmd;
|
||||
CMD_Generic* decodedCmd;
|
||||
|
||||
while (1) {
|
||||
|
|
@ -121,54 +123,84 @@ void APPLICATION_MainThread(void* params) {
|
|||
|
||||
switch (msg.id) {
|
||||
case MSG_ID_XBEE_CMD:
|
||||
cmd = (char*)msg.data;
|
||||
decodedCmd = cmdDecode(cmd);
|
||||
// systemInfos.senderAddress = 0x81;
|
||||
// systemInfos.cmd = 0;
|
||||
// cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
|
||||
//
|
||||
// if (msg.data != NULL)
|
||||
// free (msg.data);
|
||||
|
||||
if (decodedCmd==CMD_DECODE_UNKNOWN)
|
||||
cmdSendAnswer(ANS_UNKNOWN);
|
||||
else {
|
||||
systemInfos.cmd = decodedCmd->type;
|
||||
systemTimeout.inactivityCnt = 0;
|
||||
xbeeFrame = (XBEE_INCOMING_FRAME*)msg.data;
|
||||
|
||||
/* Manage answer to command, when possible
|
||||
* (further treatment of the command will be done in APPLICATION_StateMachine) */
|
||||
switch (decodedCmd->type) {
|
||||
case CMD_PING:
|
||||
case CMD_TEST:
|
||||
case CMD_DEBUG:
|
||||
case CMD_POWER_OFF:
|
||||
cmdSendAnswer(ANS_OK);
|
||||
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)
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_UNKNOWN);
|
||||
else {
|
||||
systemInfos.cmd = decodedCmd->type;
|
||||
systemTimeout.inactivityCnt = 0;
|
||||
|
||||
/* Manage answer to command, when possible
|
||||
* (further treatment of the command will be done in APPLICATION_StateMachine) */
|
||||
switch (decodedCmd->type) {
|
||||
case CMD_PING:
|
||||
case CMD_TEST:
|
||||
case CMD_DEBUG:
|
||||
case CMD_POWER_OFF:
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
|
||||
break;
|
||||
case CMD_GET_BATTERY:
|
||||
cmdSendBatteryLevel(systemInfos.senderAddress, systemInfos.batteryVoltage);
|
||||
break;
|
||||
case CMD_GET_VERSION:
|
||||
cmdSendVersion(SYSTEM_VERSION);
|
||||
break;
|
||||
case CMD_GET_BUSY_STATE:
|
||||
if (systemInfos.state == stateInMouvement)
|
||||
cmdSendBusyState(systemInfos.senderAddress, 0x1);
|
||||
else
|
||||
cmdSendBusyState(systemInfos.senderAddress, 0x0);
|
||||
break;
|
||||
case CMD_MOVE:
|
||||
systemInfos.distance = ((CMD_Move*)decodedCmd)->distance;
|
||||
break;
|
||||
case CMD_TURN:
|
||||
systemInfos.turns = ((CMD_Turn*)decodedCmd)->turns;
|
||||
break;
|
||||
default:
|
||||
/* All others commands must be processed in state machine
|
||||
* in order to find what action to do and what answer to give
|
||||
*/
|
||||
break;
|
||||
}
|
||||
free(decodedCmd);
|
||||
}
|
||||
break;
|
||||
case CMD_GET_BATTERY:
|
||||
cmdSendBatteryLevel(systemInfos.batteryVoltage);
|
||||
break;
|
||||
case CMD_GET_VERSION:
|
||||
cmdSendVersion(SYSTEM_VERSION);
|
||||
break;
|
||||
case CMD_GET_BUSY_STATE:
|
||||
if (systemInfos.state == stateInMouvement)
|
||||
cmdSendBusyState(0x1);
|
||||
else
|
||||
cmdSendBusyState(0x0);
|
||||
break;
|
||||
case CMD_MOVE:
|
||||
systemInfos.distance = ((CMD_Move*)decodedCmd)->distance;
|
||||
break;
|
||||
case CMD_TURN:
|
||||
systemInfos.turns = ((CMD_Turn*)decodedCmd)->turns;
|
||||
|
||||
case XBEE_TX_STATUS_TYPE:
|
||||
if (xbeeFrame->ack == 0) {
|
||||
if (systemInfos.rfProblem !=0)
|
||||
systemInfos.rfProblem--;
|
||||
} else {
|
||||
if (systemInfos.rfProblem !=255)
|
||||
systemInfos.rfProblem++;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
/* All others commands must be processed in state machine
|
||||
* in order to find what action to do and what answer to give
|
||||
*/
|
||||
break;
|
||||
}
|
||||
|
||||
free(decodedCmd);
|
||||
// if (xbeeFrame->data != NULL)
|
||||
// free(xbeeFrame->data);
|
||||
|
||||
free(xbeeFrame);
|
||||
}
|
||||
|
||||
free(cmd);
|
||||
|
||||
break;
|
||||
|
||||
case MSG_ID_BAT_NIVEAU:
|
||||
|
|
@ -232,16 +264,16 @@ void APPLICATION_StateMachine() {
|
|||
(systemInfos.state == stateRun) ||
|
||||
(systemInfos.state == stateInMouvement)) {
|
||||
/* command RESET is only applicable in those 3 states, otherwise it is rejected */
|
||||
cmdSendAnswer(ANS_OK);
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
|
||||
APPLICATION_TransitionToNewState(stateIdle);
|
||||
} else
|
||||
cmdSendAnswer(ANS_ERR);
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_ERR);
|
||||
break;
|
||||
case CMD_START_WITH_WATCHDOG:
|
||||
case CMD_START_WITHOUT_WATCHDOG:
|
||||
if (systemInfos.state == stateIdle) {
|
||||
/* only state where START cmd is accepted */
|
||||
cmdSendAnswer(ANS_OK);
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
|
||||
|
||||
APPLICATION_TransitionToNewState(stateRun);
|
||||
|
||||
|
|
@ -251,15 +283,15 @@ void APPLICATION_StateMachine() {
|
|||
systemTimeout.watchdogMissedCnt=0;
|
||||
}
|
||||
} else
|
||||
cmdSendAnswer(ANS_ERR);
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_ERR);
|
||||
break;
|
||||
case CMD_RESET_WATCHDOG:
|
||||
if ((systemInfos.state == stateRun) || (systemInfos.state == stateInMouvement)) {
|
||||
if ((systemTimeout.watchdogEnabled ==0 ) ||
|
||||
((systemTimeout.watchdogCnt>=APPLICATION_WATCHDOG_MIN) && (systemTimeout.watchdogCnt<=APPLICATION_WATCHDOG_MAX)))
|
||||
cmdSendAnswer(ANS_OK);
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
|
||||
else
|
||||
cmdSendAnswer(ANS_ERR);
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_ERR);
|
||||
|
||||
systemTimeout.watchdogCnt =0;
|
||||
}
|
||||
|
|
@ -271,17 +303,17 @@ void APPLICATION_StateMachine() {
|
|||
if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance !=0)) ||
|
||||
((systemInfos.cmd == CMD_TURN) && (systemInfos.turns !=0))) {
|
||||
systemInfos.endOfMouvement = 0;
|
||||
cmdSendAnswer(ANS_OK);
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
|
||||
APPLICATION_TransitionToNewState(stateInMouvement);
|
||||
} // 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
|
||||
if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) ||
|
||||
((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) {
|
||||
systemInfos.endOfMouvement = 1;
|
||||
cmdSendAnswer(ANS_OK);
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
|
||||
}
|
||||
} else
|
||||
cmdSendAnswer(ANS_ERR);
|
||||
cmdSendAnswer(systemInfos.senderAddress, ANS_ERR);
|
||||
break;
|
||||
default: // commands no common for every states
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -12,22 +12,44 @@
|
|||
|
||||
/* Definition des commandes */
|
||||
|
||||
CMD_Generic* cmdDecode(char* cmd) {
|
||||
CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
|
||||
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:
|
||||
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;
|
||||
|
||||
case 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];
|
||||
((CMD_Turn*)decodedCmd)->turns = ((CMD_Turn*)decodedCmd)->turns * 1.4;
|
||||
sscanf (&rawCmd[1], "%d", &val);
|
||||
|
||||
((CMD_Turn*)decodedCmd)->turns = (int16_t) val;
|
||||
((CMD_Turn*)decodedCmd)->turns = ((CMD_Turn*)decodedCmd)->turns * 1.4;
|
||||
}
|
||||
break;
|
||||
|
||||
case CMD_PING:
|
||||
|
|
@ -43,22 +65,29 @@ CMD_Generic* cmdDecode(char* cmd) {
|
|||
case CMD_POWER_OFF:
|
||||
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
|
||||
decodedCmd->type = cmd[0];
|
||||
|
||||
break;
|
||||
default:
|
||||
decodedCmd = CMD_DECODE_UNKNOWN;
|
||||
}
|
||||
|
||||
endTime=SysTick->VAL;
|
||||
|
||||
if (endTime>startTime)
|
||||
duration = (uint32_t)(SysTick->LOAD+1)-endTime+startTime;
|
||||
else
|
||||
duration = startTime-endTime;
|
||||
|
||||
return decodedCmd;
|
||||
}
|
||||
|
||||
void cmdSendAnswer(uint8_t ans) {
|
||||
void cmdSendAnswer(uint16_t address, uint8_t ans) {
|
||||
ANS_Generic answer;
|
||||
|
||||
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;
|
||||
char localLevel=level;
|
||||
|
||||
|
|
@ -68,19 +97,19 @@ void cmdSendBatteryLevel(char level) {
|
|||
answer.ans = ANS_OK;
|
||||
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;
|
||||
|
||||
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;
|
||||
|
||||
answer.ans = ANS_OK;
|
||||
|
|
@ -88,5 +117,5 @@ void cmdSendBusyState(uint8_t state) {
|
|||
|
||||
if (answer.state >1) answer.state=0;
|
||||
|
||||
XBEE_SendData((char*)&answer, sizeof (answer));
|
||||
XBEE_SendData(address, (char*)&answer, sizeof (answer));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -10,31 +10,39 @@
|
|||
|
||||
#include "application.h"
|
||||
|
||||
#define CMD_NONE 0x0
|
||||
#define CMD_PING 0x1
|
||||
#define CMD_RESET 0x2
|
||||
#define CMD_START_WITH_WATCHDOG 0x3
|
||||
#define CMD_RESET_WATCHDOG 0x4
|
||||
#define CMD_GET_BATTERY 0x5
|
||||
#define CMD_GET_VERSION 0x6
|
||||
#define CMD_START_WITHOUT_WATCHDOG 0x7
|
||||
#define CMD_MOVE 0x8
|
||||
#define CMD_TURN 0x9
|
||||
#define CMD_GET_BUSY_STATE 0xA
|
||||
#define CMD_TEST 0xB
|
||||
#define CMD_DEBUG 0xC
|
||||
#define CMD_POWER_OFF 0xD
|
||||
typedef enum {
|
||||
CMD_NONE=0x0,
|
||||
CMD_PING,
|
||||
CMD_RESET,
|
||||
CMD_START_WITH_WATCHDOG,
|
||||
CMD_RESET_WATCHDOG,
|
||||
CMD_GET_BATTERY,
|
||||
CMD_GET_VERSION,
|
||||
CMD_START_WITHOUT_WATCHDOG,
|
||||
CMD_MOVE,
|
||||
CMD_TURN,
|
||||
CMD_GET_BUSY_STATE,
|
||||
CMD_TEST,
|
||||
CMD_DEBUG,
|
||||
CMD_POWER_OFF
|
||||
} CMD_CommandsType;
|
||||
|
||||
#define ANS_OK 0x80
|
||||
#define ANS_ERR 0x81
|
||||
#define ANS_UNKNOWN 0x82
|
||||
typedef enum {
|
||||
ANS_OK=0x80,
|
||||
ANS_ERR,
|
||||
ANS_UNKNOWN
|
||||
} CMD_AnswersType;
|
||||
|
||||
#define ANS_BAT_OK 0x2
|
||||
#define ANS_BAT_LOW 0x1
|
||||
#define ANS_BAT_EMPTY 0x0
|
||||
typedef enum {
|
||||
ANS_BAT_EMPTY=0,
|
||||
ANS_BAT_LOW,
|
||||
ANS_BAT_OK
|
||||
} CMD_BatteryLevelType;
|
||||
|
||||
#define ANS_STATE_NOT_BUSY 0x0
|
||||
#define ANS_STATE_BUSY 0x1
|
||||
typedef enum {
|
||||
ANS_STATE_NOT_BUSY=0,
|
||||
ANS_STATE_BUSY
|
||||
} CMD_BusyType;
|
||||
|
||||
typedef struct __attribute__((packed)) {
|
||||
uint8_t type;
|
||||
|
|
@ -56,7 +64,7 @@ typedef struct __attribute__((packed)) {
|
|||
|
||||
typedef struct __attribute__((packed)) {
|
||||
uint8_t ans;
|
||||
uint8_t version;
|
||||
char version[6];
|
||||
} ANS_Version;
|
||||
|
||||
typedef struct __attribute__((packed)) {
|
||||
|
|
@ -72,10 +80,10 @@ typedef struct __attribute__((packed)) {
|
|||
#define CMD_DECODE_INVALID ((CMD_Generic*)NULL)
|
||||
#define CMD_DECODE_UNKNOWN ((CMD_Generic*)UINT32_MAX)
|
||||
|
||||
CMD_Generic* cmdDecode(char* cmd);
|
||||
void cmdSendAnswer(uint8_t ans);
|
||||
void cmdSendBatteryLevel(char level);
|
||||
void cmdSendVersion();
|
||||
void cmdSendBusyState(uint8_t state);
|
||||
CMD_Generic* cmdDecode(char* cmd, uint8_t length);
|
||||
void cmdSendAnswer(uint16_t address, uint8_t ans);
|
||||
void cmdSendBatteryLevel(uint16_t address, char level);
|
||||
void cmdSendVersion(uint16_t address);
|
||||
void cmdSendBusyState(uint16_t address, uint8_t state);
|
||||
|
||||
#endif /* INC_CMD_H_ */
|
||||
|
|
|
|||
|
|
@ -7,7 +7,7 @@
|
|||
#include "stm32l0xx_hal.h"
|
||||
#include "cmsis_os.h"
|
||||
|
||||
#define SYSTEM_VERSION_STR "version 2.0\r"
|
||||
#define SYSTEM_VERSION_STR "2.0"
|
||||
#define SYSTEM_VERSION 0x20
|
||||
|
||||
#define STACK_SIZE 0x100
|
||||
|
|
|
|||
|
|
@ -42,12 +42,6 @@ typedef struct {
|
|||
MOTEURS_EtatMoteur MOTEURS_EtatMoteurGauche, MOTEURS_EtatMoteurDroit = {0};
|
||||
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_DELAY 3
|
||||
|
||||
|
|
@ -101,6 +95,8 @@ void MOTEURS_Init(void) {
|
|||
xStackMoteursAsservissement, /* Array to use as the task's stack. */
|
||||
&xTaskMoteursAsservissement); /* Variable to hold the task's data structure. */
|
||||
vTaskSuspend(xHandleMoteursAsservissement); // On ne lance la tache d'asservissement que lorsque'une commande moteur arrive
|
||||
|
||||
MOTEURS_DesactiveAlim();
|
||||
}
|
||||
|
||||
void MOTEURS_Avance(uint32_t distance) {
|
||||
|
|
@ -136,19 +132,37 @@ void MOTEURS_TachePrincipale(void* params) {
|
|||
switch (msg.id) {
|
||||
case MSG_ID_MOTEURS_MOVE:
|
||||
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);
|
||||
break;
|
||||
case MSG_ID_MOTEURS_TURN:
|
||||
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);
|
||||
break;
|
||||
case MSG_ID_MOTEURS_STOP:
|
||||
// TODO: trucs a faire ici
|
||||
vTaskSuspend(xHandleMoteursAsservissement);
|
||||
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);
|
||||
else
|
||||
// Les moteurs tournent encore
|
||||
vTaskResume(xHandleMoteursAsservissement);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
|
|
@ -181,8 +195,14 @@ void MOTEURS_TacheAsservissement( void* params ) {
|
|||
deltaD = MOTEURS_EtatMoteurDroit.consigne - encodeurDroit;
|
||||
|
||||
if (((MOTEURS_EtatMoteurDroit.consigne ==0) && (MOTEURS_EtatMoteurGauche.consigne ==0)) &&
|
||||
((deltaD==0) && (deltaG==0))) MOTEURS_DesactiveAlim();
|
||||
else MOTEURS_ActiveAlim();
|
||||
((deltaD==0) && (deltaG==0))) {
|
||||
MOTEURS_DesactiveAlim();
|
||||
|
||||
vTaskSuspend(xHandleMoteursAsservissement);
|
||||
}
|
||||
else if (MOTEURS_EtatAlim() == GPIO_PIN_RESET) {
|
||||
MOTEURS_ActiveAlim();
|
||||
}
|
||||
|
||||
if (deltaG !=0) {
|
||||
MOTEURS_EtatMoteurGauche.commande = MOTEURS_EtatMoteurGauche.commande + MOTEUR_Kp*deltaG;
|
||||
|
|
|
|||
|
|
@ -10,6 +10,7 @@
|
|||
#include "semphr.h"
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include "stm32l0xx_ll_usart.h"
|
||||
|
||||
extern UART_HandleTypeDef hlpuart1;
|
||||
extern DMA_HandleTypeDef hdma_lpuart1_tx;
|
||||
|
|
@ -28,15 +29,23 @@ StaticTask_t xTaskXbeeRX;
|
|||
StackType_t xStackXbeeRX[ STACK_SIZE ];
|
||||
TaskHandle_t xHandleXbeeRX = NULL;
|
||||
|
||||
uint8_t txBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
|
||||
uint16_t txIndex;
|
||||
uint16_t txDataToSend;
|
||||
|
||||
void XBEE_RxThread(void* params);
|
||||
|
||||
SemaphoreHandle_t xHandleSemaphoreRX = NULL;
|
||||
StaticSemaphore_t xSemaphoreRx;
|
||||
|
||||
uint8_t* rxBuffer;
|
||||
uint8_t rxWaitForACK;
|
||||
uint8_t rxBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
|
||||
//uint8_t rxWaitForACK =0;
|
||||
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_BODY 2
|
||||
|
||||
|
|
@ -46,15 +55,27 @@ SemaphoreHandle_t xHandleSemaphoreTX_ACK = NULL;
|
|||
StaticSemaphore_t xSemaphoreTX;
|
||||
StaticSemaphore_t xSemaphoreTX_ACK;
|
||||
|
||||
uint8_t* txBuffer;
|
||||
|
||||
void XBEE_Init(void) {
|
||||
xHandleSemaphoreTX = xSemaphoreCreateBinaryStatic( &xSemaphoreTX );
|
||||
xHandleSemaphoreTX_ACK = xSemaphoreCreateBinaryStatic( &xSemaphoreTX_ACK );
|
||||
xSemaphoreGive(xHandleSemaphoreTX);
|
||||
//xSemaphoreTake(xHandleSemaphoreTX_ACK);
|
||||
|
||||
rxBuffer=(uint8_t*)malloc(XBEE_RX_BUFFER_MAX_LENGTH);
|
||||
rxWaitForACK = 0;
|
||||
xHandleSemaphoreRX = xSemaphoreCreateBinaryStatic( &xSemaphoreRx );
|
||||
|
||||
/* 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 ****/
|
||||
|
|
@ -110,33 +131,6 @@ char* XBEE_EncodeWithEscapeChar(char* data, int length, int *encodedLength) {
|
|||
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
|
||||
*
|
||||
|
|
@ -146,19 +140,16 @@ char* XBEE_DecodeWithoutEscapeChar(char* encodedData, int encodedLength, int *le
|
|||
* \param frameLength length of frame
|
||||
* \return new frame (allocated) containing escaped data
|
||||
*/
|
||||
char* XBEE_EncodeTransmissionFrame(char* data, int length, uint16_t destination, int* frameLength) {
|
||||
uint8_t checksum;
|
||||
char* frame;
|
||||
void XBEE_EncodeTransmissionFrame(char* data, int length, uint16_t destination, char* frame, int* frameLength) {
|
||||
uint8_t checksum=0;
|
||||
uint16_t localLength=0;
|
||||
char* p;
|
||||
|
||||
int encodedLength;
|
||||
char *encodedData = XBEE_EncodeWithEscapeChar(data, length, &encodedLength);
|
||||
localLength = length+9;
|
||||
|
||||
*frameLength= encodedLength+9;
|
||||
frame = (char*)malloc(*frameLength);
|
||||
|
||||
frame[0] = '~';
|
||||
frame[1] = (char)((uint16_t)(*frameLength-3)>>8);
|
||||
frame[2] = (char)((uint16_t)(*frameLength-3));
|
||||
frame[0] = (char)XBEE_FRAME_SOF_CHAR;
|
||||
frame[1] = (char)((uint16_t)(localLength-4)>>8);
|
||||
frame[2] = (char)((uint16_t)(localLength-4));
|
||||
frame[3] = (char)XBEE_TX_16BIT_REQUEST_TYPE;
|
||||
frame[4] = 0x1;
|
||||
|
||||
|
|
@ -167,22 +158,25 @@ char* XBEE_EncodeTransmissionFrame(char* data, int length, uint16_t destination,
|
|||
|
||||
frame[7] = 0x0;
|
||||
|
||||
char* p_data = encodedData;
|
||||
for (char *p=&frame[8]; p<&frame[8] + encodedLength; p++, p_data++) {
|
||||
*p= *p_data;
|
||||
for (p = &frame[8]; p< (data + length); p++) {
|
||||
if ((*data == (char)XBEE_API_ESCAPE_CHAR) || (*data == (char)XBEE_API_START_OF_FRAME) ||
|
||||
(*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 */
|
||||
checksum =0;
|
||||
for (int i=3; i<*frameLength; i++) {
|
||||
for (int i=3; i<(localLength-1); i++) {
|
||||
checksum += (uint8_t)frame[i];
|
||||
}
|
||||
|
||||
frame[*frameLength] = 0xFF-checksum;
|
||||
|
||||
free ((void*)encodedData);
|
||||
|
||||
return frame;
|
||||
*p = 0xFF-checksum;
|
||||
*frameLength = localLength;
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -207,7 +201,8 @@ XBEE_Status XBEE_DecodeFrame(char* rawFrame, XBEE_INCOMING_FRAME** incomingFrame
|
|||
uint16_t rawFrameLength;
|
||||
uint8_t checksum;
|
||||
XBEE_Status status = XBEE_OK;
|
||||
int incomingDataLength = 0;
|
||||
int allocatedSize;
|
||||
int dataSize;
|
||||
|
||||
int i;
|
||||
|
||||
|
|
@ -223,34 +218,56 @@ XBEE_Status XBEE_DecodeFrame(char* rawFrame, XBEE_INCOMING_FRAME** incomingFrame
|
|||
if (checksum != 0xFF)
|
||||
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) {
|
||||
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 */
|
||||
(*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;
|
||||
|
||||
for (i=0; i<dataSize; i++)
|
||||
(*incomingFrame)->data[i] = rawFrame[i+8];
|
||||
|
||||
break;
|
||||
|
||||
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)->data=0x0;
|
||||
(*incomingFrame)->data[0]=0x0;
|
||||
(*incomingFrame)->length = 0;
|
||||
break;
|
||||
|
||||
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)->data=0x0;
|
||||
(*incomingFrame)->data[0]=0x0;
|
||||
(*incomingFrame)->length = 0;
|
||||
break;
|
||||
|
||||
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)->data=0x0;
|
||||
(*incomingFrame)->data[0]=0x0;
|
||||
(*incomingFrame)->length = 0;
|
||||
break;
|
||||
|
||||
default:
|
||||
free (*incomingFrame);
|
||||
*incomingFrame=NULL;
|
||||
return 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
|
||||
* \return status of decoding: XBEE_OK if decoding is successful,
|
||||
* 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 data_length;
|
||||
int XBEE_SendData(uint16_t address, char* data, int length) {
|
||||
BaseType_t state;
|
||||
XBEE_INCOMING_FRAME* incomingFrame;
|
||||
int status = XBEE_OK;
|
||||
|
||||
// Prevents successive calls to overlap
|
||||
state = xSemaphoreTake(xHandleSemaphoreTX, pdMS_TO_TICKS(XBEE_TX_SEMAPHORE_WAIT)); // wait max 500 ms (to avoid interlocking)
|
||||
|
|
@ -281,50 +297,33 @@ int XBEE_SendData(char* data, int length) {
|
|||
if answer is false, it means timeout appends
|
||||
We should probably reset something in "else" branch */
|
||||
|
||||
/* TODO: stuff to do here for converting data into API frame */
|
||||
txBuffer = (uint8_t*)XBEE_EncodeWithEscapeChar(data, length, &data_length);
|
||||
XBEE_EncodeTransmissionFrame(data, length, address, (char*) txBuffer, (int*)&txDataToSend);
|
||||
|
||||
if (txBuffer!=NULL) {
|
||||
if (HAL_UART_Transmit_DMA(&hlpuart1, txBuffer, data_length)!= HAL_OK)
|
||||
return XBEE_TX_ERROR;
|
||||
else {
|
||||
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;
|
||||
LL_USART_TransmitData8(hlpuart1.Instance, txBuffer[0]);
|
||||
txIndex =1;
|
||||
LL_USART_EnableIT_TXE(hlpuart1.Instance); // enable TX Interrupt
|
||||
} else status= XBEE_TX_TIMEOUT;
|
||||
|
||||
return length;
|
||||
return status;
|
||||
}
|
||||
|
||||
/**
|
||||
* DMA Interrupt request for transmission. Call when transmission is finished
|
||||
*
|
||||
* \param UartHandle not used
|
||||
*/
|
||||
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *UartHandle) {
|
||||
void XBEE_TX_IRQHandler(void) {
|
||||
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 );
|
||||
}
|
||||
|
||||
/* If xHigherPriorityTaskWoken was set to true you
|
||||
we should yield. The actual macro used here is
|
||||
port specific. */
|
||||
portYIELD_FROM_ISR(xHigherPriorityTaskWoken );
|
||||
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 );
|
||||
}
|
||||
}
|
||||
|
||||
/***** Rx Part *****/
|
||||
|
|
@ -335,53 +334,78 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *UartHandle) {
|
|||
* \param params not used
|
||||
*/
|
||||
void XBEE_RxThread(void* params) {
|
||||
BaseType_t state;
|
||||
XBEE_INCOMING_FRAME* incomingFrame;
|
||||
XBEE_INCOMING_FRAME *incomingFrame;
|
||||
|
||||
rxPhase= XBEE_RX_PHASE_HEADER;
|
||||
while (HAL_UART_Receive_DMA(&hlpuart1, rxBuffer, 3)== HAL_OK); // start reception of frame
|
||||
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) {
|
||||
while ((state = xSemaphoreTake(xHandleSemaphoreRX, portMAX_DELAY))==pdTRUE); // wait forever
|
||||
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);
|
||||
/* 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;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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) {
|
||||
void XBEE_RX_IRQHandler(void) {
|
||||
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||
uint16_t frameLength;
|
||||
uint8_t data;
|
||||
|
||||
if (rxPhase == XBEE_RX_PHASE_HEADER) { // we just received header part
|
||||
frameLength=XBEE_GetFrameLength(rxBuffer); /* Compute body part of the frame + checksum */
|
||||
data = LL_USART_ReceiveData8(hlpuart1.Instance); // lecture de l'octet reçu
|
||||
|
||||
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
|
||||
switch (rxPhase) {
|
||||
case XBEE_RX_PHASE_SOF:
|
||||
if (data == XBEE_FRAME_SOF_CHAR) {
|
||||
rxBuffer[0] = data;
|
||||
rxPhase = XBEE_RX_PHASE_HEADER;
|
||||
rxIndex = 1;
|
||||
}
|
||||
} 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 {
|
||||
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 */
|
||||
}
|
||||
|
||||
rxPhase = XBEE_RX_PHASE_HEADER;
|
||||
while (HAL_UART_Receive_DMA(&hlpuart1, rxBuffer, 3)!= HAL_OK); // try to receive header
|
||||
break;
|
||||
default:
|
||||
while(1);
|
||||
}
|
||||
|
||||
if (xHigherPriorityTaskWoken) {
|
||||
|
|
@ -392,3 +416,25 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
|
|||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -17,20 +17,21 @@ typedef enum {
|
|||
XBEE_RX_TIMEOUT=-3,
|
||||
XBEE_RX_ERROR=-4,
|
||||
XBEE_TX_ERROR=-5,
|
||||
XBEE_INVALID_FRAME=-6
|
||||
XBEE_INVALID_FRAME=-6,
|
||||
XBEE_TX_TIMEOUT=-7,
|
||||
} XBEE_Status;
|
||||
|
||||
#define XBEE_RX_PACKET_TYPE 0x90
|
||||
#define XBEE_RX_EXPLICIT_TYPE 0x91
|
||||
#define XBEE_TX_STATUS_TYPE 0x89
|
||||
#define XBEE_AT_CMD_RESPONSE_TYPE 0x88
|
||||
#define XBEE_MODEM_STATUS_TYPE 0x8A
|
||||
#define XBEE_EXTENDED_TX_STATUS_TYPE 0x8B
|
||||
#define XBEE_LOCAL_AT_CMD_TYPE 0x08
|
||||
#define XBEE_TX_REQUEST_TYPE 0x10
|
||||
#define XBEE_TX_EXPLICIT_TYPE 0x11
|
||||
#define XBEE_TX_16BIT_REQUEST_TYPE 0x01
|
||||
#define XBEE_RX_16BIT_PACKET_TYPE 0x81
|
||||
#define XBEE_RX_PACKET_TYPE 0x90
|
||||
#define XBEE_RX_EXPLICIT_TYPE 0x91
|
||||
#define XBEE_TX_STATUS_TYPE 0x89
|
||||
#define XBEE_AT_CMD_RESPONSE_TYPE 0x88
|
||||
#define XBEE_MODEM_STATUS_TYPE 0x8A
|
||||
#define XBEE_EXTENDED_TX_STATUS_TYPE 0x8B
|
||||
#define XBEE_LOCAL_AT_CMD_TYPE 0x08
|
||||
#define XBEE_TX_REQUEST_TYPE 0x10
|
||||
#define XBEE_TX_EXPLICIT_TYPE 0x11
|
||||
#define XBEE_TX_16BIT_REQUEST_TYPE 0x01
|
||||
#define XBEE_RX_16BIT_PACKET_TYPE 0x81
|
||||
|
||||
#define XBEE_AT_STATUS_SUCCESS 0
|
||||
#define XBEE_AT_STATUS_ERROR 1
|
||||
|
|
@ -49,15 +50,18 @@ typedef enum {
|
|||
#define XBEE_RX_OPTIONS_BRODCASTED 0x02
|
||||
#define XBEE_RX_OPTIONS_PAN_BROADCASTED 0x04
|
||||
|
||||
#define XBEE_FRAME_SOF_CHAR 0x7E // '~'
|
||||
|
||||
typedef struct {
|
||||
uint8_t type;
|
||||
uint16_t source_addr;
|
||||
char* data;
|
||||
uint8_t length;
|
||||
char ack;
|
||||
char modem_status;
|
||||
char data[];
|
||||
} XBEE_INCOMING_FRAME;
|
||||
|
||||
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_ */
|
||||
|
|
|
|||
|
|
@ -65,7 +65,7 @@
|
|||
#define configMAX_PRIORITIES ( 56 )
|
||||
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
|
||||
#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_16_BIT_TICKS 0
|
||||
#define configUSE_MUTEXES 1
|
||||
|
|
|
|||
|
|
@ -46,7 +46,6 @@ ADC_HandleTypeDef hadc;
|
|||
|
||||
UART_HandleTypeDef hlpuart1;
|
||||
DMA_HandleTypeDef hdma_lpuart1_tx;
|
||||
DMA_HandleTypeDef hdma_lpuart1_rx;
|
||||
|
||||
TIM_HandleTypeDef htim2;
|
||||
TIM_HandleTypeDef htim3;
|
||||
|
|
@ -300,7 +299,8 @@ static void MX_LPUART1_UART_Init(void)
|
|||
hlpuart1.Init.Mode = UART_MODE_TX_RX;
|
||||
hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
||||
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)
|
||||
{
|
||||
Error_Handler();
|
||||
|
|
@ -738,8 +738,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
|||
HAL_IncTick();
|
||||
}
|
||||
/* USER CODE BEGIN Callback 1 */
|
||||
if ((htim->Instance == TIM2) || (htim->Instance == TIM21)) /* Timers des encodeurs */
|
||||
MOTEURS_TimerEncodeurUpdate(htim);
|
||||
|
||||
/* USER CODE END Callback 1 */
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -26,8 +26,6 @@
|
|||
/* USER CODE END Includes */
|
||||
extern DMA_HandleTypeDef hdma_lpuart1_tx;
|
||||
|
||||
extern DMA_HandleTypeDef hdma_lpuart1_rx;
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN TD */
|
||||
|
||||
|
|
@ -197,23 +195,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
|
|||
|
||||
__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 */
|
||||
HAL_NVIC_SetPriority(LPUART1_IRQn, 3, 0);
|
||||
HAL_NVIC_EnableIRQ(LPUART1_IRQn);
|
||||
|
|
@ -248,7 +229,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
|
|||
|
||||
/* LPUART1 DMA DeInit */
|
||||
HAL_DMA_DeInit(huart->hdmatx);
|
||||
HAL_DMA_DeInit(huart->hdmarx);
|
||||
|
||||
/* LPUART1 interrupt DeInit */
|
||||
HAL_NVIC_DisableIRQ(LPUART1_IRQn);
|
||||
|
|
|
|||
|
|
@ -58,7 +58,6 @@
|
|||
/* External variables --------------------------------------------------------*/
|
||||
extern ADC_HandleTypeDef hadc;
|
||||
extern DMA_HandleTypeDef hdma_lpuart1_tx;
|
||||
extern DMA_HandleTypeDef hdma_lpuart1_rx;
|
||||
extern UART_HandleTypeDef hlpuart1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim21;
|
||||
|
|
@ -139,17 +138,16 @@ void EXTI4_15_IRQHandler(void)
|
|||
/**
|
||||
* @brief This function handles DMA1 channel 2 and channel 3 interrupts.
|
||||
*/
|
||||
void DMA1_Channel2_3_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
|
||||
|
||||
/* USER CODE END DMA1_Channel2_3_IRQn 0 */
|
||||
HAL_DMA_IRQHandler(&hdma_lpuart1_tx);
|
||||
HAL_DMA_IRQHandler(&hdma_lpuart1_rx);
|
||||
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
|
||||
|
||||
/* USER CODE END DMA1_Channel2_3_IRQn 1 */
|
||||
}
|
||||
//void DMA1_Channel2_3_IRQHandler(void)
|
||||
//{
|
||||
// /* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
|
||||
//
|
||||
// /* USER CODE END DMA1_Channel2_3_IRQn 0 */
|
||||
// HAL_DMA_IRQHandler(&hdma_lpuart1_tx);
|
||||
// /* USER CODE BEGIN 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).
|
||||
|
|
@ -210,16 +208,16 @@ void TIM21_IRQHandler(void)
|
|||
/**
|
||||
* @brief This function handles LPUART1 global interrupt / LPUART1 wake-up interrupt through EXTI line 28.
|
||||
*/
|
||||
void LPUART1_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN LPUART1_IRQn 0 */
|
||||
|
||||
/* USER CODE END LPUART1_IRQn 0 */
|
||||
HAL_UART_IRQHandler(&hlpuart1);
|
||||
/* USER CODE BEGIN LPUART1_IRQn 1 */
|
||||
|
||||
/* USER CODE END LPUART1_IRQn 1 */
|
||||
}
|
||||
//void LPUART1_IRQHandler(void)
|
||||
//{
|
||||
// /* USER CODE BEGIN LPUART1_IRQn 0 */
|
||||
//
|
||||
// /* USER CODE END LPUART1_IRQn 0 */
|
||||
// HAL_UART_IRQHandler(&hlpuart1);
|
||||
// /* USER CODE BEGIN LPUART1_IRQn 1 */
|
||||
//
|
||||
// /* USER CODE END LPUART1_IRQn 1 */
|
||||
//}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
/**
|
||||
******************************************************************************
|
||||
* @file startup_stm32l010x6.s
|
||||
* @file startup_stm32l071xx.s
|
||||
* @author MCD Application Team
|
||||
* @brief STM32L010x6 Devices vector table for GCC toolchain.
|
||||
* @brief STM32L071xx Devices vector table for GCC toolchain.
|
||||
* This module performs:
|
||||
* - Set the initial SP
|
||||
* - Set the initial PC == Reset_Handler,
|
||||
|
|
@ -14,13 +14,12 @@
|
|||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© Copyright (c) 2016 STMicroelectronics.
|
||||
* All rights reserved.</center></h2>
|
||||
* Copyright (c) 2016 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software component is licensed by ST under BSD 3-Clause license,
|
||||
* the "License"; You may not use this file except in compliance with the
|
||||
* License. You may obtain a copy of the License at:
|
||||
* opensource.org/licenses/BSD-3-Clause
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
|
@ -51,27 +50,10 @@ defined in linker script */
|
|||
Reset_Handler:
|
||||
ldr r0, =_estack
|
||||
mov sp, r0 /* set stack pointer */
|
||||
|
||||
/* Call the clock system initialization function.*/
|
||||
bl SystemInit
|
||||
|
||||
/*Check if boot space corresponds to system memory*/
|
||||
|
||||
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 */
|
||||
ldr r0, =_sdata
|
||||
ldr r1, =_edata
|
||||
|
|
@ -103,8 +85,6 @@ LoopFillZerobss:
|
|||
cmp r2, r4
|
||||
bcc FillZerobss
|
||||
|
||||
/* Call the clock system intitialization function.*/
|
||||
bl SystemInit
|
||||
/* Call static constructors */
|
||||
bl __libc_init_array
|
||||
/* Call the application's entry point.*/
|
||||
|
|
@ -159,7 +139,7 @@ g_pfnVectors:
|
|||
.word PendSV_Handler
|
||||
.word SysTick_Handler
|
||||
.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 FLASH_IRQHandler /* FLASH */
|
||||
.word RCC_IRQHandler /* RCC */
|
||||
|
|
@ -170,22 +150,22 @@ g_pfnVectors:
|
|||
.word DMA1_Channel1_IRQHandler /* DMA1 Channel 1 */
|
||||
.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 ADC1_IRQHandler /* ADC1 */
|
||||
.word ADC1_COMP_IRQHandler /* ADC1, COMP1 and COMP2 */
|
||||
.word LPTIM1_IRQHandler /* LPTIM1 */
|
||||
.word 0 /* Reserved */
|
||||
.word USART4_5_IRQHandler /* USART4 and USART 5 */
|
||||
.word TIM2_IRQHandler /* TIM2 */
|
||||
.word 0 /* Reserved */
|
||||
.word 0 /* Reserved */
|
||||
.word 0 /* Reserved */
|
||||
.word 0 /* Reserved */
|
||||
.word TIM3_IRQHandler /* TIM3 */
|
||||
.word TIM6_IRQHandler /* TIM6 and DAC */
|
||||
.word TIM7_IRQHandler /* TIM7 */
|
||||
.word 0 /* Reserved */
|
||||
.word TIM21_IRQHandler /* TIM21 */
|
||||
.word 0 /* Reserved */
|
||||
.word 0 /* Reserved */
|
||||
.word I2C3_IRQHandler /* I2C3 */
|
||||
.word TIM22_IRQHandler /* TIM22 */
|
||||
.word I2C1_IRQHandler /* I2C1 */
|
||||
.word 0 /* Reserved */
|
||||
.word I2C2_IRQHandler /* I2C2 */
|
||||
.word SPI1_IRQHandler /* SPI1 */
|
||||
.word 0 /* Reserved */
|
||||
.word 0 /* Reserved */
|
||||
.word SPI2_IRQHandler /* SPI2 */
|
||||
.word USART1_IRQHandler /* USART1 */
|
||||
.word USART2_IRQHandler /* USART2 */
|
||||
.word LPUART1_IRQHandler /* LPUART1 */
|
||||
.word 0 /* Reserved */
|
||||
|
|
@ -217,6 +197,9 @@ g_pfnVectors:
|
|||
.weak WWDG_IRQHandler
|
||||
.thumb_set WWDG_IRQHandler,Default_Handler
|
||||
|
||||
.weak PVD_IRQHandler
|
||||
.thumb_set PVD_IRQHandler,Default_Handler
|
||||
|
||||
.weak RTC_IRQHandler
|
||||
.thumb_set RTC_IRQHandler,Default_Handler
|
||||
|
||||
|
|
@ -244,24 +227,51 @@ g_pfnVectors:
|
|||
.weak DMA1_Channel4_5_6_7_IRQHandler
|
||||
.thumb_set DMA1_Channel4_5_6_7_IRQHandler,Default_Handler
|
||||
|
||||
.weak ADC1_IRQHandler
|
||||
.thumb_set ADC1_IRQHandler,Default_Handler
|
||||
.weak ADC1_COMP_IRQHandler
|
||||
.thumb_set ADC1_COMP_IRQHandler,Default_Handler
|
||||
|
||||
.weak LPTIM1_IRQHandler
|
||||
.thumb_set LPTIM1_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART4_5_IRQHandler
|
||||
.thumb_set USART4_5_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM2_IRQHandler
|
||||
.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
|
||||
.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
|
||||
.thumb_set I2C1_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C2_IRQHandler
|
||||
.thumb_set I2C2_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI1_IRQHandler
|
||||
.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
|
||||
.thumb_set USART2_IRQHandler,Default_Handler
|
||||
|
||||
|
|
@ -271,5 +281,4 @@ g_pfnVectors:
|
|||
|
||||
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
|
||||
|
|
@ -35,13 +35,13 @@
|
|||
<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.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="{"fVersion":1,"fItems":[{"fDisplayName":"Reset","fIsSuppressible":false,"fResetAttribute":"Software system reset","fResetStrategies":[{"fDisplayName":"Software system reset","fLaunchAttribute":"system_reset","fGdbCommands":["monitor reset\n"],"fCmdOptions":["-g"]},{"fDisplayName":"Hardware reset","fLaunchAttribute":"hardware_reset","fGdbCommands":["monitor reset hardware\n"],"fCmdOptions":["-g"]},{"fDisplayName":"Core reset","fLaunchAttribute":"core_reset","fGdbCommands":["monitor reset core\n"],"fCmdOptions":["-g"]},{"fDisplayName":"None","fLaunchAttribute":"no_reset","fGdbCommands":[],"fCmdOptions":["-g"]}],"fGdbCommandGroup":{"name":"Additional commands","commands":[]},"fStartApplication":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.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"/>
|
||||
<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"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" 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">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"><gdbmemoryBlockExpression address="536875216" label="rxBuffer"/><gdbmemoryBlockExpression address="536875132" label="txBuffer"/></memoryBlockExpressionList>"/>
|
||||
<stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
|
||||
<stringAttribute key="saved_expressions<seperator>Unknown" value="rxBuffer"/>
|
||||
</launchConfiguration>
|
||||
|
|
|
|||
|
|
@ -5,15 +5,6 @@ ADC.SamplingTime=ADC_SAMPLETIME_160CYCLES_5
|
|||
CAD.formats=
|
||||
CAD.pinconfig=
|
||||
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.Instance=DMA1_Channel2
|
||||
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.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
|
||||
Dma.Request0=LPUART1_TX
|
||||
Dma.Request1=LPUART1_RX
|
||||
Dma.RequestsNb=2
|
||||
Dma.RequestsNb=1
|
||||
FREERTOS.INCLUDE_pcTaskGetTaskName=1
|
||||
FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1
|
||||
FREERTOS.INCLUDE_xTaskAbortDelay=1
|
||||
FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=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.configMAX_TASK_NAME_LEN=25
|
||||
FREERTOS.configTICK_RATE_HZ=1000
|
||||
FREERTOS.configTOTAL_HEAP_SIZE=1024
|
||||
FREERTOS.configUSE_NEWLIB_REENTRANT=1
|
||||
|
|
@ -41,7 +32,8 @@ File.Version=6
|
|||
GPIO.groupedBy=Group By Peripherals
|
||||
KeepUserPlacement=false
|
||||
LPUART1.BaudRate=115200
|
||||
LPUART1.IPParameters=BaudRate,WordLength
|
||||
LPUART1.DMADisableonRxErrorParam=UART_ADVFEATURE_DMA_DISABLEONRXERROR
|
||||
LPUART1.IPParameters=BaudRate,WordLength,DMADisableonRxErrorParam
|
||||
LPUART1.WordLength=UART_WORDLENGTH_8B
|
||||
Mcu.CPN=STM32L071CBT3
|
||||
Mcu.Family=STM32L0
|
||||
|
|
@ -100,7 +92,7 @@ Mcu.UserName=STM32L071CBTx
|
|||
MxCube.Version=6.7.0
|
||||
MxDb.Version=DB.6.0.70
|
||||
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.EXTI4_15_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\: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.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.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.TimeBaseIP=TIM6
|
||||
PA0.GPIOParameters=GPIO_Label
|
||||
|
|
@ -126,9 +118,10 @@ PA1.GPIOParameters=GPIO_Label
|
|||
PA1.GPIO_Label=ENC_PHA_GAUCHE
|
||||
PA1.Locked=true
|
||||
PA1.Signal=GPIO_Input
|
||||
PA10.GPIOParameters=GPIO_Label
|
||||
PA10.GPIOParameters=PinState,GPIO_Label
|
||||
PA10.GPIO_Label=XBEE_RESET
|
||||
PA10.Locked=true
|
||||
PA10.PinState=GPIO_PIN_RESET
|
||||
PA10.Signal=GPIO_Output
|
||||
PA11.GPIOParameters=GPIO_Label
|
||||
PA11.GPIO_Label=LED_SEG_F
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue