From ae59f19eccf1dcae6350146f6bc0b57578eea6d3 Mon Sep 17 00:00:00 2001
From: dimercur <dimercur@insa-toulouse.fr>
Date: Thu, 11 Jan 2024 15:36:58 +0100
Subject: [PATCH] Documentation finie, reprise potentielle a prevoir pour
 retirer des balises inutiles

---
 software/dumber3/.cproject                    |  50 +---
 .../dumber3/.settings/language.settings.xml   |   6 +-
 software/dumber3/Application/messages.c       | 103 +++++++-
 software/dumber3/Application/messages.h       |  70 +++++-
 software/dumber3/Application/motors.c         | 225 +++++++++++-------
 software/dumber3/Application/motors.h         |   2 +-
 software/dumber3/Application/panic.c          |  78 +++++-
 software/dumber3/Application/panic.h          |  62 ++++-
 software/dumber3/Application/xbee.c           | 134 +++++++++--
 software/dumber3/Application/xbee.h           |  92 +++++--
 software/dumber3/Doxyfile                     |  15 +-
 software/dumber3/Dumber3 Debug.cfg            |  44 ++++
 software/dumber3/Dumber3 Debug.launch         |  41 +++-
 13 files changed, 715 insertions(+), 207 deletions(-)
 create mode 100644 software/dumber3/Dumber3 Debug.cfg

diff --git a/software/dumber3/.cproject b/software/dumber3/.cproject
index 55b763a..adf1094 100644
--- a/software/dumber3/.cproject
+++ b/software/dumber3/.cproject
@@ -74,54 +74,6 @@
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.1896077029" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec"/>
 						</toolChain>
 					</folderInfo>
-					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.129867327" name="stm32l0xx_hal_uart_ex.c" rcbsApplicability="disable" resourcePath="Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_uart_ex.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.648558844">
-						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.648558844" 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.347850982" 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.1104330500" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
-						</tool>
-						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.1659546583" name="Resource Custom Build Step">
-							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.1432031452" name="Resource Custom Build Step Input Type">
-								<additionalInput kind="additionalinputdependency" paths=""/>
-							</inputType>
-							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.415746645" name="Resource Custom Build Step Output Type"/>
-						</tool>
-					</fileInfo>
-					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.2080129162" name="stm32l0xx_hal_uart.c" rcbsApplicability="disable" resourcePath="Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_uart.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.620188347">
-						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.620188347" 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.1125301886" 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.190607955" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
-						</tool>
-						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.465455954" name="Resource Custom Build Step">
-							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.1630632169" name="Resource Custom Build Step Input Type">
-								<additionalInput kind="additionalinputdependency" paths=""/>
-							</inputType>
-							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.15440907" name="Resource Custom Build Step Output Type"/>
-						</tool>
-					</fileInfo>
-					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.1932647075" name="stm32l0xx_hal_dma.c" rcbsApplicability="disable" resourcePath="Drivers/STM32L0xx_HAL_Driver/Src/stm32l0xx_hal_dma.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.1807227080">
-						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.1807227080" 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.1457095105" 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.1399198488" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
-						</tool>
-						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.737656347" name="Resource Custom Build Step">
-							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.689637588" name="Resource Custom Build Step Input Type">
-								<additionalInput kind="additionalinputdependency" paths=""/>
-							</inputType>
-							<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.1504381080.1827743340" 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>
 					<sourceEntries>
 						<entry excluding="Xbee-API|XBEE" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Application"/>
 						<entry excluding="XBEE" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
@@ -341,7 +293,7 @@
 							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.789962441" name="Resource Custom Build Step Output Type"/>
 						</tool>
 					</fileInfo>
-					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.727722516.53808517" name="batterie.c" rcbsApplicability="disable" resourcePath="Application/batterie.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985.1171631638">
+					<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.727722516.53808517" name="batterie.c" rcbsApplicability="disable" resourcePath="Application/battery.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985.1171631638">
 						<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985.1171631638" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985">
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2016549754" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 							<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.457387693" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
diff --git a/software/dumber3/.settings/language.settings.xml b/software/dumber3/.settings/language.settings.xml
index 05e2c6b..3deb75d 100644
--- a/software/dumber3/.settings/language.settings.xml
+++ b/software/dumber3/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1588895534946134039" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1052077282282430101" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1588895534946134039" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1052077282282430101" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -27,7 +27,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1588895534946134039" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1052077282282430101" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/software/dumber3/Application/messages.c b/software/dumber3/Application/messages.c
index 40a72d9..541b953 100644
--- a/software/dumber3/Application/messages.c
+++ b/software/dumber3/Application/messages.c
@@ -1,13 +1,49 @@
-/*
- * messages.c
+/**
+ ******************************************************************************
+ * @file messages.c
+ * @brief messages handler body
+ * @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
+ * @date December 2023
  *
- *  Created on: 14 sept. 2022
- *      Author: dimercur
+ ******************************************************************************
+ * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
+ * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
+ *
+ * @copyright This file is part of "Dumber" project
+ *
+ * @copyright This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * @copyright This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+
+ * @copyright You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ ******************************************************************************
  */
 
 #include "messages.h"
 #include "stdlib.h"
 
+/** @addtogroup Application_Software
+  * @{
+  */
+
+/** @addtogroup MESSAGES
+ * Messages module handles mailbox and messages communication support between tasks
+ * @{
+ */
+
+/** @addtogroup MESSAGES_Private Private
+ * @{
+ */
+
 #define QUEUE_SIZE 5
 
 QueueHandle_t LEDS_Mailbox;
@@ -15,6 +51,12 @@ QueueHandle_t MOTORS_Mailbox;
 QueueHandle_t APPLICATION_Mailbox;
 QueueHandle_t XBEE_Mailbox;
 
+/**
+ * @brief  Function for initializing messaging system
+ *
+ * @param  None
+ * @return None
+ */
 void  MESSAGE_Init(void) {
 	LEDS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
 	MOTORS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
@@ -22,6 +64,15 @@ void  MESSAGE_Init(void) {
 	XBEE_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
 }
 
+/**
+ * @brief  Return first message a given mailbox
+ *
+ * @param[in] mbx Mailbox reference
+ * @return First message in mailbox
+ *
+ * @remark This function is blocking until a message is received.
+ * If mailbox is not empty when calling the function, return immediatly with first message in mailbox
+ */
 MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx) {
 	MESSAGE_Typedef msg= {0};
 	char msg_received =0;
@@ -37,6 +88,16 @@ MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx) {
 	return msg;
 }
 
+/**
+ * @brief  Return first message a given mailbox (non blocking)
+ *
+ * @param[in] mbx Mailbox reference
+ * @return First message in mailbox
+ *
+ * @remark This function is non blocking.
+ * If mailbox is empty when calling the function, a message structure is still returned with \ref MSG_ID_NO_MESSAGE
+ * in message id field
+ */
 MESSAGE_Typedef MESSAGE_ReadMailboxNoDelay(QueueHandle_t mbx) {
 	MESSAGE_Typedef msg= {0};
 
@@ -46,6 +107,18 @@ MESSAGE_Typedef MESSAGE_ReadMailboxNoDelay(QueueHandle_t mbx) {
 	return msg;
 }
 
+/**
+ * @brief  Post a message in a mailbox with given id and data
+ *
+ * @param[in] mbx_dest Destination mailbox
+ * @param[in] id id of message (as found in \ref msg_id_def "Message ID definitions")
+ * @param[in] mbx_sender Sender mailbox (may be null if no answer is expected)
+ * @param[in] data Reference to data to store in message structure
+ * @return None
+ *
+ * @remark This function is non blocking.
+ * If mailbox is full when calling the function, error will be ignored silently
+ */
 void MESSAGE_SendMailbox(QueueHandle_t mbx_dest, uint16_t id, QueueHandle_t mbx_sender, void *data){
 	MESSAGE_Typedef msg;
 
@@ -58,6 +131,19 @@ void MESSAGE_SendMailbox(QueueHandle_t mbx_dest, uint16_t id, QueueHandle_t mbx_
 	}
 }
 
+/**
+ * @brief  Post, from an ISR, a message in a mailbox with given id and data
+ *
+ * @param[in] mbx_dest Destination mailbox
+ * @param[in] id id of message (as found in \ref msg_id_def "Message ID definitions")
+ * @param[in] mbx_sender Sender mailbox (may be null if no answer is expected)
+ * @param[in] data Reference to data to store in message structure
+ * @param[in] xHigherPriorityTaskWoken Reference to flag indicating if a context switch is to be done at end of ISR
+ * @return None
+ *
+ * @remark This function is non blocking.
+ * If mailbox is full when calling the function, error will be ignored silently
+ */
 void MESSAGE_SendMailboxFromISR(QueueHandle_t mbx_dest, uint16_t id, QueueHandle_t mbx_sender, void *data, BaseType_t *xHigherPriorityTaskWoken) {
 	MESSAGE_Typedef msg;
 
@@ -70,5 +156,14 @@ void MESSAGE_SendMailboxFromISR(QueueHandle_t mbx_dest, uint16_t id, QueueHandle
 	}
 }
 
+/**
+  * @}
+  */
 
+/**
+  * @}
+  */
 
+/**
+  * @}
+  */
diff --git a/software/dumber3/Application/messages.h b/software/dumber3/Application/messages.h
index c78e10e..bac51fb 100644
--- a/software/dumber3/Application/messages.h
+++ b/software/dumber3/Application/messages.h
@@ -1,8 +1,31 @@
-/*
- * messages.h
+/**
+ ******************************************************************************
+ * @file messages.h
+ * @brief messages handler header
+ * @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
+ * @date December 2023
  *
- *  Created on: 14 sept. 2022
- *      Author: dimercur
+ ******************************************************************************
+ * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
+ * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
+ *
+ * @copyright This file is part of "Dumber" project
+ *
+ * @copyright This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * @copyright This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+
+ * @copyright You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ ******************************************************************************
  */
 
 #ifndef INC_MESSAGES_H_
@@ -11,10 +34,23 @@
 #include "application.h"
 #include "queue.h"
 
+/** @addtogroup Application_Software
+  * @{
+  */
+
+/** @addtogroup MESSAGES
+  * @{
+  */
+
+/** @addtogroup MESSAGES_Public Public
+  * @{
+  */
+
+/** Structure storing messages to be posted in mailbox */
 typedef struct {
-	uint16_t id;
-	QueueHandle_t* sender;
-	void *data;
+	uint16_t id;			/**< Id of message, as found in \ref msg_id_def "Message ID definitions" */
+	QueueHandle_t* sender;	/**< reference to sender mailbox, in case of expected answer */
+	void *data;				/**< reference to data */
 } MESSAGE_Typedef;
 
 extern QueueHandle_t LEDS_Mailbox;
@@ -22,6 +58,12 @@ extern QueueHandle_t MOTORS_Mailbox;
 extern QueueHandle_t APPLICATION_Mailbox;
 extern QueueHandle_t XBEE_Mailbox;
 
+/**
+ * @anchor msg_id_def
+ * @name Message ID definitions
+ * List of message identifiers
+ */
+///@{
 #define MSG_ID_NO_MESSAGE			0x00
 
 #define MSG_ID_LED_ETAT				0x10
@@ -40,7 +82,6 @@ extern QueueHandle_t XBEE_Mailbox;
 //#define MSG_ID_BAT_CHARGE_ON		0x23
 //#define MSG_ID_BAT_CHARGE_OFF		0x24
 
-
 #define MSG_ID_BUTTON_PRESSED		0x30
 
 #define MSG_ID_MOTORS_STOP			0x40
@@ -50,6 +91,7 @@ extern QueueHandle_t XBEE_Mailbox;
 
 #define MSG_ID_XBEE_CMD				0x50
 #define MSG_ID_XBEE_ANS				0x51
+///@}
 
 void MESSAGE_Init(void);
 MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx);
@@ -57,4 +99,16 @@ MESSAGE_Typedef MESSAGE_ReadMailboxNoDelay(QueueHandle_t mbx);
 void MESSAGE_SendMailbox(QueueHandle_t mbx_dest, uint16_t id, QueueHandle_t mbx_sender, void *data);
 void MESSAGE_SendMailboxFromISR(QueueHandle_t mbx_dest, uint16_t id, QueueHandle_t mbx_sender, void *data, BaseType_t *xHigherPriorityTaskWoken);
 
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
 #endif /* INC_MESSAGES_H_ */
diff --git a/software/dumber3/Application/motors.c b/software/dumber3/Application/motors.c
index a10e907..335587a 100644
--- a/software/dumber3/Application/motors.c
+++ b/software/dumber3/Application/motors.c
@@ -62,29 +62,35 @@ extern TIM_HandleTypeDef htim3;
 #define MOTORS_MAX_COMMAND	200
 #define MOTORS_MAX_ENCODER	USHRT_MAX
 
-/** Structure for storing motore (left or right) regulation state
- * Used during regulation task for controlling motor */
+/** Structure for storing motors (left or right) control state
+ * Used during control loop task for controlling motor
+ */
 typedef struct {
-	int16_t output; 		/**< */
-	int16_t set_point;		/**< Xbee RF quality (not used)*/
-	uint16_t encoder;		/**< Xbee RF quality (not used)*/
-	uint16_t encoderEdge;	/**< Xbee RF quality (not used)*/
-	uint8_t slowMotor;		/**< Xbee RF quality (not used)*/
+	int16_t output; 		/**< Output value to send to motor. Positive values for forward and negative values for backward
+	                             +/- 65535 for full power and 0 for motor stop */
+	int16_t setpoint;		/**< Set point value for motor control*/
+	uint16_t encoder;		/**< Number of encoder pulse acquired between last control loop iteration*/
+	uint16_t encoderEdge;	/**< Delta T between two encoders pulse (the fastest the motor goes, the lowest the value is.
+	                             65536 means motor is stopped */
+	uint8_t slowMotor;		/**< Flag for indicating that motor has stopped */
 } MOTORS_MotorState;
 
-/** Structure storing counters used for watchdog and system inactivity.
- * Used notably to check if watchdog reset was missed or power down system because of inactivity */
+/** Structure for storing differential control state.
+ * Used during top differentiel control loop, to ensure trjactory is strait */
 typedef struct {
-	uint8_t type;			/**< Xbee RF quality (not used)*/
-	int16_t output;		/**< Xbee RF quality (not used)*/
-	int16_t set_point;		/**< Xbee RF quality (not used)*/
-	int32_t distance;		/**< Xbee RF quality (not used)*/
-	int32_t turns;			/**< Xbee RF quality (not used)*/
+	uint8_t type;			/**< not used */
+	int16_t output;			/**< not used */
+	int16_t setpoint;		/**< not used */
+	int32_t distance;		/**< Distance to move on */
+	int32_t turns;			/**< Number of turns to apply */
 } MOTORS_DifferentialState;
 
 MOTORS_MotorState MOTORS_LeftMotorState, MOTORS_RightMotorState = { 0 };
 MOTORS_DifferentialState MOTORS_DiffState = { 0 };
 
+/**
+ * Proportionnal constant for motor control loop
+ */
 #define MOTOR_Kp 		300
 
 /***** Tasks part *****/
@@ -159,7 +165,7 @@ void EndMeasure(void) {
  * @brief  Function for initializing motors driver
  *
  * @param  None
- * @retval None
+ * @return None
  */
 void MOTORS_Init(void) {
 	/* Désactive les alimentations des moteurs */
@@ -194,10 +200,15 @@ void MOTORS_Init(void) {
 }
 
 /**
- * @brief  Function for initializing motors driver
+ * @brief  Request a movment in strait line
  *
- * @param  None
- * @retval None
+ * @remark This function wrap a message sending to motors mailbox.
+ *         In case of multiple call, only last one will be applied,
+ *         with potentially some spurious movement when processing previous messages
+ *
+ * @param[in] distance Distance to move on, in mm.
+ *            Positive values for forward movements and negative values for backward movements
+ * @return None
  */
 void MOTORS_Move(int32_t distance) {
 	static int32_t dist;
@@ -213,15 +224,20 @@ void MOTORS_Move(int32_t distance) {
 }
 
 /**
- * @brief  Function for initializing motors driver
+ * @brief  Request a movement in rotation
  *
- * @param  None
- * @retval None
+ * @remark This function wrap a message sending to motors mailbox.
+ *         In case of multiple call, only last one will be applied,
+ *         with potentially some spurious movement when processing previous messages
+ *
+ * @param[in] rotations Angle of rotation to do in degree.
+ *            Positive values for clockwise rotations and negative values for counterclockwise rotations
+ * @return None
  */
-void MOTORS_Turn(int32_t tours) {
+void MOTORS_Turn(int32_t rotations) {
 	static int32_t turns;
 
-	turns = tours;
+	turns = rotations;
 
 	if (turns) {
 		MOTORS_PowerOn();
@@ -232,10 +248,14 @@ void MOTORS_Turn(int32_t tours) {
 }
 
 /**
- * @brief  Function for initializing motors driver
+ * @brief  Request for stopping any movement
  *
- * @param  None
- * @retval None
+ * @remark This function wrap a message sending to motors mailbox.
+ *         In case of multiple call, only last one will be applied,
+ *         with potentially some spurious movement when processing previous messages
+ *
+ * @param None
+ * @return None
  */
 void MOTORS_Stop(void) {
 	MOTORS_PowerOff();
@@ -243,10 +263,12 @@ void MOTORS_Stop(void) {
 			APPLICATION_Mailbox, (void*) NULL);
 }
 
-/*
- * @brief Tache de supervision des moteurs
- * 		  Gestion de la boite aux lettres moteurs, et supervision generale
- * @param params non utilisé
+/**
+ * @brief Handler task for motor control
+ *        Manage mailbox et overall management
+ *
+ * @param[in] params Initial task parameters
+ * @return None
  */
 void MOTORS_HandlerTask(void *params) {
 	MESSAGE_Typedef msg;
@@ -262,11 +284,11 @@ void MOTORS_HandlerTask(void *params) {
 			MOTORS_DiffState.turns = 0;
 
 			if (distance > 0) {
-				MOTORS_LeftMotorState.set_point = 50;
-				MOTORS_RightMotorState.set_point = 50;
+				MOTORS_LeftMotorState.setpoint = 50;
+				MOTORS_RightMotorState.setpoint = 50;
 			} else {
-				MOTORS_LeftMotorState.set_point = -50;
-				MOTORS_RightMotorState.set_point = -50;
+				MOTORS_LeftMotorState.setpoint = -50;
+				MOTORS_RightMotorState.setpoint = -50;
 			}
 
 			vTaskResume(xHandleMotorsControl);
@@ -278,11 +300,11 @@ void MOTORS_HandlerTask(void *params) {
 			MOTORS_DiffState.turns = tours;
 
 			if (tours > 0) {
-				MOTORS_LeftMotorState.set_point = -50;
-				MOTORS_RightMotorState.set_point = 50;
+				MOTORS_LeftMotorState.setpoint = -50;
+				MOTORS_RightMotorState.setpoint = 50;
 			} else {
-				MOTORS_LeftMotorState.set_point = 50;
-				MOTORS_RightMotorState.set_point = -50;
+				MOTORS_LeftMotorState.setpoint = 50;
+				MOTORS_RightMotorState.setpoint = -50;
 			}
 
 			vTaskResume(xHandleMotorsControl);
@@ -292,8 +314,8 @@ void MOTORS_HandlerTask(void *params) {
 			MOTORS_DiffState.distance = 0;
 			MOTORS_DiffState.turns = 0;
 
-			MOTORS_LeftMotorState.set_point = 0;
-			MOTORS_RightMotorState.set_point = 0;
+			MOTORS_LeftMotorState.setpoint = 0;
+			MOTORS_RightMotorState.setpoint = 0;
 			if ((MOTORS_EncoderCorrection(MOTORS_LeftMotorState) == 0)
 					&& (MOTORS_EncoderCorrection(MOTORS_RightMotorState) == 0)) {
 				// Les moteurs sont déjà arrêtés
@@ -311,10 +333,15 @@ void MOTORS_HandlerTask(void *params) {
 	}
 }
 
-/*
- * @brief Tache d'asservissement, périodique (10ms)
+/**
+ * @brief Control loop task
+ * 		Periodic task (3ms) for motor control loop
  *
- * @param params non utilisé
+ * @remark This task is started by \ref MOTORS_HandlerTask when receiving a movement message
+ *         but task kill by itself when movement has finished
+ *
+ * @param[in] params Initial task parameters
+ * @return None
  */
 void MOTORS_ControlTask(void *params) {
 	TickType_t xLastWakeTime;
@@ -343,11 +370,11 @@ void MOTORS_ControlTask(void *params) {
 		 * erreur est entre -32768 et 32767 selon la difference à apporter à la commande
 		 */
 
-		leftError = MOTORS_LeftMotorState.set_point - leftEncoder;
-		rightError = MOTORS_RightMotorState.set_point - rightEncoder;
+		leftError = MOTORS_LeftMotorState.setpoint - leftEncoder;
+		rightError = MOTORS_RightMotorState.setpoint - rightEncoder;
 
-		if (((MOTORS_RightMotorState.set_point == 0)
-				&& (MOTORS_LeftMotorState.set_point == 0))
+		if (((MOTORS_RightMotorState.setpoint == 0)
+				&& (MOTORS_LeftMotorState.setpoint == 0))
 				&& ((rightError == 0) && (leftError == 0))) {
 
 			MOTORS_PowerOff();
@@ -356,14 +383,14 @@ void MOTORS_ControlTask(void *params) {
 			vTaskSuspend(xHandleMotorsControl);
 		}
 
-		if (MOTORS_LeftMotorState.set_point == 0)
+		if (MOTORS_LeftMotorState.setpoint == 0)
 			MOTORS_LeftMotorState.output = 0;
 		else {
 			if (leftError != 0) {
 				//locCmdG = (int32_t)MOTEURS_EtatMoteurGauche.commande + ((int32_t)MOTEUR_Kp*(int32_t)erreurG)/100;
 				locCmdG = ((int32_t) MOTOR_Kp * (int32_t) leftError) / 100;
 
-				if (MOTORS_LeftMotorState.set_point >= 0) {
+				if (MOTORS_LeftMotorState.setpoint >= 0) {
 					if (locCmdG < 0)
 						MOTORS_LeftMotorState.output = 0;
 					else if (locCmdG > SHRT_MAX)
@@ -381,14 +408,14 @@ void MOTORS_ControlTask(void *params) {
 			}
 		}
 
-		if (MOTORS_RightMotorState.set_point == 0)
+		if (MOTORS_RightMotorState.setpoint == 0)
 			MOTORS_RightMotorState.output = 0;
 		else {
 			if (rightError != 0) {
 				//locCmdD = (int32_t)MOTEURS_EtatMoteurDroit.commande + ((int32_t)MOTEUR_Kp*(int32_t)erreurD)/100;
 				locCmdD = ((int32_t) MOTOR_Kp * (int32_t) rightError) / 100;
 
-				if (MOTORS_RightMotorState.set_point >= 0) {
+				if (MOTORS_RightMotorState.setpoint >= 0) {
 					if (locCmdD < 0)
 						MOTORS_RightMotorState.output = 0;
 					else if (locCmdD > SHRT_MAX)
@@ -416,13 +443,29 @@ void MOTORS_ControlTask(void *params) {
 	}
 }
 
+/** Structure for encoder convertion
+ * The structure store a equivalent state point, associating a raw encoder value to a linearized corrected value
+ */
 typedef struct {
-	uint16_t encoder;
-	uint16_t correction;
+	uint16_t encoder;		/**< Raw encoder value*/
+	uint16_t correction;	/**< Corrected, linearized value, equivalent to raw encoder*/
 } MOTORS_CorrectionPoint;
 
+/**
+ * Number max of correction points for encoder
+ */
 #define MOTORS_MAX_CORRECTION_POINTS 16
 
+/**
+ * Array of correction points, associating a raw encoder value and a linearized correction.
+ *
+ * Basically, encoders return delay between two signal edges. If motor is stopped, encoder return 65535 (\ref MOTORS_MAX_ENCODER).
+ * Then value tends towards zero as the motor accelerates. Resulting encoder output is not linear and
+ * reversed with respect to the setpoint.
+ *
+ * This table give several corresponding points, associating a raw, non linear and inverted encoder value to a linerized,
+ * corrected value that can be compared to setpoint
+ */
 const MOTORS_CorrectionPoint MOTORS_CorrectionPoints[MOTORS_MAX_CORRECTION_POINTS] =
 { { MOTORS_MAX_ENCODER - 1, 1 }, { 42000, 100 }, { 22000, 2500 }, {
 		18000, 5000 }, { 16500, 7500 }, { 15500, 10000 },
@@ -432,11 +475,13 @@ const MOTORS_CorrectionPoint MOTORS_CorrectionPoints[MOTORS_MAX_CORRECTION_POINT
 								SHRT_MAX } // 32767
 };
 
-/*
- * @brief Fonction de conversion des valeurs brutes de l'encodeur en valeur linearisées
+/**
+ * @brief Function for converting raw encoder values to linearized values
  *
- * @param encodeur valeur brute de l'encodeur
- * @return valeur linéarisée (entre -32768 et 32767)
+ * @remark This function use \ref MOTORS_CorrectionPoints for its conversion
+ *
+ * @param[in] state Current state of a motor, including raw encoder value
+ * @return Linearized value, from -32768 (full backward) to 32767 (full forward)
  */
 int16_t MOTORS_EncoderCorrection(MOTORS_MotorState state) {
 	int16_t correction = 0;
@@ -474,17 +519,17 @@ int16_t MOTORS_EncoderCorrection(MOTORS_MotorState state) {
 	/*
 	 * Selon le sens de rotation du moteur (commande > 0 ou < 0), on corrige le signe du capteur
 	 */
-	if (state.set_point < 0)
+	if (state.setpoint < 0)
 		correction = -correction;
 
 	return correction;
 }
 
 /**
- * @brief  Function for initializing motors driver
+ * @brief  Power off motor, disabling power regulator
  *
  * @param  None
- * @retval None
+ * @return None
  */
 void MOTORS_PowerOff(void) {
 	LL_TIM_DisableCounter(TIM3);
@@ -508,10 +553,10 @@ void MOTORS_PowerOff(void) {
 }
 
 /**
- * @brief  Function for initializing motors driver
+ * @brief  Power on motor, enabling power regulator
  *
  * @param  None
- * @retval None
+ * @return None
  */
 void MOTORS_PowerOn(void) {
 	LL_TIM_EnableCounter(TIM3);
@@ -535,16 +580,21 @@ void MOTORS_PowerOn(void) {
 }
 
 /**
- * @brief Active les encodeurs et le régulateur des moteur si nécessaire et
- *        règle la commande du moteur (entre -MOTEURS_MAX_COMMANDE et +MOTEURS_MAX_COMMANDE)
- *        On applique une "regle de 3"
- *        pour SHRT_MAX -> MOTEURS_MAX_COMMANDE
- *        pour 0 -> 0
- *        pour une commande C dans l'interval [0 .. 32767], la commande est
- *        	commande = (C * MOTEURS_MAX_COMMANDE)/32767
+ * @brief Set command to motor
  *
- * @param[in] cmdGauche blablabla
- * @param[in] cmdDroit blablabla
+ * This function drive motors directly. Values applied are output from regulation law.
+ * If power supply is not enabled (for motor and encoders), the function will enable it.
+ *
+ * Values provided are in the range [-SHRT_MAX; SHRT_MAX] and motor command must be
+ * in the range [-MOTORS_MAX_COMMAND et +MOTORS_MAX_COMMAND].
+ * The corresponding rule is used :
+ * 	- for SHRT_MAX -> MOTORS_MAX_COMMAND
+ *  - for 0 -> 0
+ *  - for a request R in range [0 .. SHRT_MAX], command = (R * MOTEURS_MAX_COMMANDE)/SHRT_MAX
+ *
+ * @param[in] leftMotor Request command for left motor
+ * @param[in] rightMotor Request command for right motor
+ * @return None
  */
 void MOTORS_Set(int16_t leftMotor, int16_t rightMotor) {
 	int32_t leftValue, rightValue;
@@ -576,10 +626,15 @@ void MOTORS_Set(int16_t leftMotor, int16_t rightMotor) {
 	}
 }
 
-/*
- * @brief Recupere les mesures brutes des encodeurs et les enregistre dans la structure moteur correspondante
+/**
+ * @brief Get raw values from encoders and store them in corresponding motor state
  *
- * @param[in] htim pointeur sur la reference du timer qui generé l'interruption
+ * @remark Encoder values are in fact timer counting time between to encoder pulses
+ *
+ * Also, manage distance and turn counter used for overall motor control
+ *
+ * @param[in] htim Pointer to timer reference that trigger interrupt
+ * @return None
  */
 void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
 	if (htim->Instance == TIM21) { /* moteur gauche */
@@ -604,8 +659,8 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
 				else MOTORS_DiffState.distance++;
 
 				if (MOTORS_DiffState.distance==0) {
-					MOTORS_LeftMotorState.set_point=0;
-					MOTORS_RightMotorState.set_point=0;
+					MOTORS_LeftMotorState.setpoint=0;
+					MOTORS_RightMotorState.setpoint=0;
 				}
 			}
 
@@ -614,8 +669,8 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
 				else MOTORS_DiffState.turns++;
 
 				if (MOTORS_DiffState.turns==0) {
-					MOTORS_LeftMotorState.set_point=0;
-					MOTORS_RightMotorState.set_point=0;
+					MOTORS_LeftMotorState.setpoint=0;
+					MOTORS_RightMotorState.setpoint=0;
 				}
 			}
 
@@ -640,13 +695,15 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
 	}
 }
 
-/*
- * @brief Gestionnaire d'interruption "overflow"
- * 		  Lorsque deux interruptions "overflow" sont arrivées sans que l'interruption capture n'arrive,
- * 		  cela signifie que le moteur est à l'arret.
- * 		  On met la valeur de l'encodeur à MOTEURS_MAX_ENCODEUR
+/**
+ * @brief "overflow" interrupt handler
  *
- * @param[in] htim pointeur sur la reference du timer qui generé l'interruption
+ * 		  When two "overflow" interrupts occure without an encoder interrupt happened,
+ * 		  this means motor is halted.
+ * 		  So, we set encoder value to MOTEURS_MAX_ENCODEUR
+ *
+ * @param[in] htim Pointer to timer reference that trigger interrupt
+ * @return None
  */
 void MOTORS_TimerEncodeurUpdate(TIM_HandleTypeDef *htim) {
 	if (htim->Instance == TIM21) { /* moteur gauche */
diff --git a/software/dumber3/Application/motors.h b/software/dumber3/Application/motors.h
index 62012f4..b8e7d8f 100644
--- a/software/dumber3/Application/motors.h
+++ b/software/dumber3/Application/motors.h
@@ -1,6 +1,6 @@
 /**
  ******************************************************************************
- * @file motors.c
+ * @file motors.h
  * @brief motors driver header
  * @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
  * @date December 2023
diff --git a/software/dumber3/Application/panic.c b/software/dumber3/Application/panic.c
index 6d9eaf8..8f308a0 100644
--- a/software/dumber3/Application/panic.c
+++ b/software/dumber3/Application/panic.c
@@ -1,8 +1,31 @@
-/*
- * panic.c
+/**
+ ******************************************************************************
+ * @file panic.c
+ * @brief panic handler body
+ * @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
+ * @date December 2023
  *
- *  Created on: Oct 11, 2023
- *      Author: dimercur
+ ******************************************************************************
+ * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
+ * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
+ *
+ * @copyright This file is part of "Dumber" project
+ *
+ * @copyright This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * @copyright This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+
+ * @copyright You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ ******************************************************************************
  */
 
 #include "application.h"
@@ -11,8 +34,24 @@
 #include "panic.h"
 #include "leds.h"
 
+/** @addtogroup Application_Software
+  * @{
+  */
+
+/** @addtogroup PANIC
+ * Panic module handles non recoverable error and display an error message on leds
+ * @{
+ */
+
+/** @addtogroup PANIC_Private Private
+ * @{
+ */
+
 void PANIC_StopTasksAndWait(void);
+
+/** @cond DOXYGEN_IGNORE_REF */
 void MOTORS_PowerOff(void);
+/** @endcond */
 
 extern TaskHandle_t xHandleLedsHandler;
 extern TaskHandle_t xHandleLedsAction;
@@ -25,6 +64,14 @@ extern TaskHandle_t xHandleMotorsControl;
 extern TaskHandle_t xHandleXbeeTXHandler;
 extern TaskHandle_t xHandleXbeeRX;
 
+/**
+ * @brief  Handle an unrecoverable error and display corresponding error on leds
+ *
+ * @param[in] panicId Panic error (as found in \ref PANIC_Typedef)
+ * @return None
+ *
+ * @remark This function will never return (as it calls \ref PANIC_StopTasksAndWait).
+ */
 void PANIC_Raise(PANIC_Typedef panicId) {
 	switch (panicId) {
 	case panic_adc_err:
@@ -44,6 +91,17 @@ void PANIC_Raise(PANIC_Typedef panicId) {
 	PANIC_StopTasksAndWait();
 }
 
+/**
+ * @brief  Stop all task and stop system
+ *
+ * All tasks are stopped except led animation (otherwise animation will stop)
+ * and, at end, system enter power saving mode.
+ *
+ * @param None
+ * @return None
+ *
+ * @remark This function will never return (as it calls \ref PANIC_StopTasksAndWait).
+ */
 void PANIC_StopTasksAndWait(void){
 	TaskHandle_t currentTask;
 	currentTask = xTaskGetCurrentTaskHandle();
@@ -92,3 +150,15 @@ void PANIC_StopTasksAndWait(void){
 		__WFE(); /* Attente infinie */
 	}
 }
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
diff --git a/software/dumber3/Application/panic.h b/software/dumber3/Application/panic.h
index 36366e2..da8a6f6 100644
--- a/software/dumber3/Application/panic.h
+++ b/software/dumber3/Application/panic.h
@@ -1,19 +1,67 @@
-/*
- * panic.h
+/**
+ ******************************************************************************
+ * @file panic.h
+ * @brief panic handler header
+ * @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
+ * @date December 2023
  *
- *  Created on: Oct 11, 2023
- *      Author: dimercur
+ ******************************************************************************
+ * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
+ * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
+ *
+ * @copyright This file is part of "Dumber" project
+ *
+ * @copyright This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * @copyright This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+
+ * @copyright You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ ******************************************************************************
  */
 
 #ifndef PANIC_H_
 #define PANIC_H_
 
+/** @addtogroup Application_Software
+  * @{
+  */
+
+/** @addtogroup PANIC
+  * @{
+  */
+
+/** @addtogroup PANIC_Public Public
+  * @{
+  */
+
+/** Enumeration class defining possible panic sources */
 typedef enum {
-	panic_charger_err=1,  // erreur 1
-	panic_adc_err,        // erreur 2
-	panic_malloc          // erreur 3
+	panic_charger_err=1,  /**< error related to battery charging */
+	panic_adc_err,        /**< error related to battery voltage conversion */
+	panic_malloc          /**< memory allocation failed (memory exhausted) */
 } PANIC_Typedef;
 
 void PANIC_Raise(PANIC_Typedef panicId);
 
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
 #endif /* PANIC_H_ */
diff --git a/software/dumber3/Application/xbee.c b/software/dumber3/Application/xbee.c
index c35e1d8..d52a8ba 100644
--- a/software/dumber3/Application/xbee.c
+++ b/software/dumber3/Application/xbee.c
@@ -1,10 +1,32 @@
-/*
- * xbee.c
+/**
+ ******************************************************************************
+ * @file xbee.c
+ * @brief xbee driver body
+ * @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
+ * @date December 2023
  *
- *  Created on: Sep 12, 2022
- *      Author: dimercur
- */
+ ******************************************************************************
+ * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
+ * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
+ *
+ * @copyright This file is part of "Dumber" project
+ *
+ * @copyright This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * @copyright This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
 
+ * @copyright You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ ******************************************************************************
+ */
 
 #include "xbee.h"
 #include "semphr.h"
@@ -12,17 +34,43 @@
 #include <string.h>
 #include "stm32l0xx_ll_usart.h"
 
+/** @addtogroup Application_Software
+  * @{
+  */
+
+/** @addtogroup XBEE
+ * Xbee driver handles RF communications with supervisor
+ * @{
+ */
+
+/** @addtogroup XBEE_Private Private
+ * @{
+ */
+
 extern UART_HandleTypeDef hlpuart1;
 extern DMA_HandleTypeDef hdma_lpuart1_tx;
 extern DMA_HandleTypeDef hdma_lpuart1_rx;
 
-/***** API2 escaped char *****/
+/**
+ * @anchor xbee_api2_escape_chars
+ * @name XBEE API2 Escape characters
+ * List of escaped characters, not used yet (transparent mode)
+ */
+///@{
 #define XBEE_API_ESCAPE_CHAR	0x7D
 #define XBEE_API_START_OF_FRAME 0x7E
 #define XBEE_API_XON			0x11
 #define XBEE_API_XOFF			0x13
+///@}
 
+/**
+ * @anchor xbee_ending_char
+ * @name XBEE command ending char
+ * Ending character used in protocol between supervisor and robot
+ */
+///@{
 #define XBEE_ENDING_CHAR		'\r'
+///@}
 
 /***** TX part *****/
 void XBEE_TxHandlerThread(void* params);
@@ -66,6 +114,12 @@ SemaphoreHandle_t xHandleSemaphoreTX = NULL;
 StaticSemaphore_t xSemaphoreTX;
 //StaticSemaphore_t xSemaphoreTX_ACK;
 
+/**
+ * @brief  Function for initializing xbee system
+ *
+ * @param  None
+ * @return None
+ */
 void XBEE_Init(void) {
 	xHandleSemaphoreTX = xSemaphoreCreateBinaryStatic( &xSemaphoreTX );
 	//xHandleSemaphoreTX_ACK = xSemaphoreCreateBinaryStatic( &xSemaphoreTX_ACK );
@@ -103,7 +157,13 @@ void XBEE_Init(void) {
 /**** Support functions ****/
 
 /**** TX Part *****/
-
+/**
+ * @brief Handler task for message to transmit (send to supervisor)
+ *        Manage XBEE mailbox and send messages
+ *
+ * @param[in] params Initial task parameters
+ * @return None
+ */
 void XBEE_TxHandlerThread(void* params) {
 	MESSAGE_Typedef msg;
 
@@ -119,12 +179,19 @@ void XBEE_TxHandlerThread(void* params) {
 }
 
 /**
- * Send data. Create a transmission frame, add escape char to data and send it over UART
+ * @brief Send data.
  *
- * \param data raw data to send
- * \return status of decoding: XBEE_OK if decoding is successful,
- *                             XBEE_TX_ERROR in case of sending error,
- *                             XBEE_TX_TIMEOUT in case semaphore takes too long
+ * Create a transmission frame, add escape char to data and send it over UART
+ *
+ * @remark Function is non blocking unless another transmission is still in progress
+ *
+ * @todo Change return status type from "int" to "\ref XBEE_Status"
+ *
+ * @param[in] data reference to raw data to send
+ * @return status of decoding (see \ref XBEE_Status)
+ * - XBEE_OK if decoding is successful,
+ * - XBEE_TX_ERROR in case of sending error,
+ * - XBEE_TX_TIMEOUT in case semaphore takes too long
  */
 int XBEE_SendData(char* data) {
 	BaseType_t state;
@@ -157,6 +224,15 @@ int XBEE_SendData(char* data) {
 	return status;
 }
 
+/**
+ * @brief Transmission interrupt handler
+ *
+ * 		  This ISR is called when USART transmit register is empty, ready for a new char to be sent
+ * 		  A Semaphore is used to signal end of transmission to \ref XBEE_SendData function
+ *
+ * @param None
+ * @return None
+ */
 void XBEE_TX_IRQHandler(void) {
 	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 
@@ -181,9 +257,12 @@ void XBEE_TX_IRQHandler(void) {
 /***** Rx Part *****/
 
 /**
- * Reception thread. Wait for incoming frame, process it and send message to application
+ * @brief Handler task for message reception (received from supervisor)
  *
- * \param params not used
+ * Wait for incoming message and send them to application mailbox
+ *
+ * @param[in] params Initial task parameters
+ * @return None
  */
 void XBEE_RxThread(void* params) {
 	char* incomingData;
@@ -213,6 +292,15 @@ void XBEE_RxThread(void* params) {
 	}
 }
 
+/**
+ * @brief Reception interrupt handler
+ *
+ * 		  This ISR is called when USART reception register is full, containing a newly received char
+ * 		  A Semaphore is used to signal end of frame reception to \ref XBEE_RxThread function
+ *
+ * @param None
+ * @return None
+ */
 void XBEE_RX_IRQHandler(void) {
 	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
 	uint8_t data;
@@ -243,9 +331,10 @@ void XBEE_RX_IRQHandler(void) {
 }
 
 /**
- * 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
+ * @brief IRQ handler for UART.
+ *
+ * Dispatch IRQ event to transmission ISR (\ref XBEE_TX_IRQHandler), reception ISR (\ref XBEE_RX_IRQHandler) or clear errors flags
  *
- * \param UartHandle not used
  */
 void LPUART1_IRQHandler(void) {
 
@@ -268,3 +357,16 @@ void LPUART1_IRQHandler(void) {
 		}
 	}
 }
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
diff --git a/software/dumber3/Application/xbee.h b/software/dumber3/Application/xbee.h
index feee3a6..dc92f72 100644
--- a/software/dumber3/Application/xbee.h
+++ b/software/dumber3/Application/xbee.h
@@ -1,8 +1,31 @@
-/*
- * xbee.h
+/**
+ ******************************************************************************
+ * @file xbee.h
+ * @brief xbee driver header
+ * @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
+ * @date December 2023
  *
- *  Created on: Sep 12, 2022
- *      Author: dimercur
+ ******************************************************************************
+ * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
+ * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
+ *
+ * @copyright This file is part of "Dumber" project
+ *
+ * @copyright This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * @copyright This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+
+ * @copyright You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ ******************************************************************************
  */
 
 #ifndef INC_XBEE_H_
@@ -10,17 +33,36 @@
 
 #include "application.h"
 
+/** @addtogroup Application_Software
+  * @{
+  */
+
+/** @addtogroup XBEE
+  * @{
+  */
+
+/** @addtogroup XBEE_Public Public
+  * @{
+  */
+
+/** Enumeration class defining status code (only used by \ref XBEE_SendData)*/
 typedef enum {
-	XBEE_OK=0,
-	XBEE_CONFIG_ERROR=-1,
-	XBEE_TX_ACK_ERROR=-2,
-	XBEE_RX_TIMEOUT=-3,
-	XBEE_RX_ERROR=-4,
-	XBEE_TX_ERROR=-5,
-	XBEE_INVALID_FRAME=-6,
-	XBEE_TX_TIMEOUT=-7,
+	XBEE_OK=0,				/**< Function is successful */
+	XBEE_CONFIG_ERROR=-1, 	/**< Configuration of XBEE gets an error (not used) */
+	XBEE_TX_ACK_ERROR=-2,	/**< Tx transmission doesn't  received acknowledgment (not used in transparent mode) */
+	XBEE_RX_TIMEOUT=-3,		/**< Rx frame doesn't complete in time (not used in transparent mode) */
+	XBEE_RX_ERROR=-4,		/**< Rx frame error while receiving (not used in transparent mode) */
+	XBEE_TX_ERROR=-5,		/**< Tx frame error while sending */
+	XBEE_INVALID_FRAME=-6,	/**< Rx frame is invalid  (not used in transparent mode) */
+	XBEE_TX_TIMEOUT=-7,		/**< Tx frame not sent in time */
 } XBEE_Status;
 
+/**
+ * @anchor xbee_frame_type
+ * @name XBEE API mode frame type
+ * List of message frame used in API mode (not used now)
+ */
+///@{
 #define XBEE_RX_PACKET_TYPE					0x90
 #define XBEE_RX_EXPLICIT_TYPE				0x91
 #define XBEE_TX_STATUS_TYPE					0x89
@@ -51,16 +93,30 @@ typedef enum {
 #define XBEE_RX_OPTIONS_PAN_BROADCASTED		0x04
 
 #define XBEE_FRAME_SOF_CHAR					0x7E // '~'
+///@}
 
+/** Structure class defining received frame (only for API mode, not used now)*/
 typedef struct {
-	uint8_t  	type;
-	uint16_t 	source_addr;
-	uint8_t 	length;
-	char  		ack;
-	char		modem_status;
-	char 		data[];
+	uint8_t  	type;			/**< Frame type (see \ref xbee_frame_type "XBEE API mode frame type") */
+	uint16_t 	source_addr;	/**< Address of sender */
+	uint8_t 	length;			/**< Length of data part */
+	char  		ack;			/**< ?? */
+	char		modem_status;	/**< ?? */
+	char 		data[];			/**< Data buffer */
 } XBEE_INCOMING_FRAME;
 
 void XBEE_Init(void);
 
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
 #endif /* INC_XBEE_H_ */
diff --git a/software/dumber3/Doxyfile b/software/dumber3/Doxyfile
index d915477..914cf02 100644
--- a/software/dumber3/Doxyfile
+++ b/software/dumber3/Doxyfile
@@ -996,13 +996,14 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = /home/dimercur/Documents/Travail/Depots-Git/dumber/software/dumber3/Drivers \
-                         /home/dimercur/Documents/Travail/Depots-Git/dumber/software/dumber3/Tests \
-                         /home/dimercur/Documents/Travail/Depots-Git/dumber/software/dumber3/TestsPlans \
-                         /home/dimercur/Documents/Travail/Depots-Git/dumber/software/dumber3/Debug \
-                         /home/dimercur/Documents/Travail/Depots-Git/dumber/software/dumber3/Release \
-                         /home/dimercur/Documents/Travail/Depots-Git/dumber/software/dumber3/workspace \
-                         Middlewares
+EXCLUDE                = Drivers \
+                         Tests \
+                         TestsPlans \
+                         Debug \
+                         Release \
+                         workspace \
+                         Middlewares \
+                         Application/Xbee-API
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
diff --git a/software/dumber3/Dumber3 Debug.cfg b/software/dumber3/Dumber3 Debug.cfg
new file mode 100644
index 0000000..2fca4be
--- /dev/null
+++ b/software/dumber3/Dumber3 Debug.cfg	
@@ -0,0 +1,44 @@
+# This is an genericBoard board with a single STM32L071CBTx chip
+#
+# Generated by STM32CubeIDE
+# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
+
+source [find interface/stlink-dap.cfg]
+
+
+set WORKAREASIZE 0x5000
+
+transport select "dapdirect_swd"
+
+set CHIPNAME STM32L071CBTx
+set BOARDNAME genericBoard
+
+# Enable debug when in low power modes
+set ENABLE_LOW_POWER 1
+
+# Stop Watchdog counters when halt
+set STOP_WATCHDOG 1
+
+# STlink Debug clock frequency
+set CLOCK_FREQ 8000
+
+# Reset configuration
+# use hardware reset, connect under reset
+# connect_assert_srst needed if low power mode application running (WFI...)
+reset_config srst_only srst_nogate connect_assert_srst
+set CONNECT_UNDER_RESET 1
+set CORE_RESET 0
+
+# ACCESS PORT NUMBER
+set AP_NUM 0
+# GDB PORT
+set GDB_PORT 3333
+
+
+
+
+
+# BCTM CPU variables
+
+source [find target/stm32l0x.cfg]
+
diff --git a/software/dumber3/Dumber3 Debug.launch b/software/dumber3/Dumber3 Debug.launch
index ec8e61b..d7cc674 100644
--- a/software/dumber3/Dumber3 Debug.launch	
+++ b/software/dumber3/Dumber3 Debug.launch	
@@ -1,5 +1,20 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.device" value="STM32L071CB"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.endian" value="little"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.init_speed" value="4000"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_check_serial_number" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_script_path" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_script_used" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.jlink_txt_serial_number" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.reset_strategy" value="type_0_normal"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.restart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Type 0: Normal&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Type 0: Normal&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Type 0: Normal&quot;,&quot;fLaunchAttribute&quot;:&quot;type_0_normal&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\n&quot;],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.rtos_implementation" value="1"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.scan_chain_auto" value="true"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.scan_chain_irpre" value="0"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.scan_chain_pos" value="0"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.jlink.selected_rtos" value="RTOSPlugin_Azure"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.jlinkenable_rtos" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.cubeprog_external_loaders" value="[]"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_certif_path" value=""/>
@@ -20,11 +35,25 @@
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="3344"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_ALLOW_HALT" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_SIGNAL_HALT" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE" value="Swd"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE_FREQUENCY" value="8000000.0"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_LOW_POWER_MODE_ALLOWED" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_RESET_MODE" value="connect_under_reset"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_STOP_WATCHDOG_THEN_HALTED_ALLOWED" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_GENERATOR_OPTION" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_NAME" value="&quot;${stm32cubeide_openocd_path}/openocd&quot;"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_RESTART_CONFIGURATIONS" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset halt&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset init&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&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.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}/Dumber3 Debug.cfg"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="automated"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocdenable_rtos" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
@@ -32,7 +61,7 @@
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="/home/dimercur/Travail/git/dumber/software/dumber3/Debug/st-link_gdbserver_log.txt"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="/home/dimercur/Documents/Travail/Depots-Git/dumber/software/dumber3/Debug/st-link_gdbserver_log.txt"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
@@ -41,7 +70,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="enable"/>
     <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}]}"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="freertos"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
@@ -51,9 +80,9 @@
     <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
     <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
     <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.openocd"/>
     <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
-    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
+    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="3333"/>
     <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
     <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
     <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>