mirror of
https://github.com/yoboujon/dumber.git
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Documentation finie, reprise potentielle a prevoir pour retirer des balises inutiles
This commit is contained in:
dimercur
parent
d21c4b2ea3
commit
ae59f19ecc
13 changed files with 715 additions and 207 deletions
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@ -74,54 +74,6 @@
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@ -341,7 +293,7 @@
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@ -5,7 +5,7 @@
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@ -16,7 +16,7 @@
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<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
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<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} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
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@ -27,7 +27,7 @@
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||||
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||||
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@ -1,13 +1,49 @@
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/*
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* messages.c
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/**
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******************************************************************************
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* @file messages.c
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* @brief messages handler body
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* @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
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* @date December 2023
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*
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* Created on: 14 sept. 2022
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* Author: dimercur
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******************************************************************************
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* @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
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* @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
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*
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* @copyright This file is part of "Dumber" project
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*
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* @copyright This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* @copyright This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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* @copyright You should have received a copy of the GNU Lesser General Public License
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||||
* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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******************************************************************************
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*/
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#include "messages.h"
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#include "stdlib.h"
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/** @addtogroup Application_Software
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* @{
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*/
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/** @addtogroup MESSAGES
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* Messages module handles mailbox and messages communication support between tasks
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* @{
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*/
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/** @addtogroup MESSAGES_Private Private
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* @{
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*/
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#define QUEUE_SIZE 5
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QueueHandle_t LEDS_Mailbox;
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@ -15,6 +51,12 @@ QueueHandle_t MOTORS_Mailbox;
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QueueHandle_t APPLICATION_Mailbox;
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QueueHandle_t XBEE_Mailbox;
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/**
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* @brief Function for initializing messaging system
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*
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* @param None
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* @return None
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*/
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void MESSAGE_Init(void) {
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LEDS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
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MOTORS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
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@ -22,6 +64,15 @@ void MESSAGE_Init(void) {
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XBEE_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
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}
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/**
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* @brief Return first message a given mailbox
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*
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* @param[in] mbx Mailbox reference
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* @return First message in mailbox
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*
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* @remark This function is blocking until a message is received.
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* If mailbox is not empty when calling the function, return immediatly with first message in mailbox
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*/
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MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx) {
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MESSAGE_Typedef msg= {0};
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char msg_received =0;
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@ -37,6 +88,16 @@ MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx) {
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return msg;
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}
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/**
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* @brief Return first message a given mailbox (non blocking)
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*
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* @param[in] mbx Mailbox reference
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* @return First message in mailbox
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*
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* @remark This function is non blocking.
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* If mailbox is empty when calling the function, a message structure is still returned with \ref MSG_ID_NO_MESSAGE
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* in message id field
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*/
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MESSAGE_Typedef MESSAGE_ReadMailboxNoDelay(QueueHandle_t mbx) {
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MESSAGE_Typedef msg= {0};
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@ -46,6 +107,18 @@ MESSAGE_Typedef MESSAGE_ReadMailboxNoDelay(QueueHandle_t mbx) {
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return msg;
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}
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/**
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* @brief Post a message in a mailbox with given id and data
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*
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* @param[in] mbx_dest Destination mailbox
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* @param[in] id id of message (as found in \ref msg_id_def "Message ID definitions")
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* @param[in] mbx_sender Sender mailbox (may be null if no answer is expected)
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* @param[in] data Reference to data to store in message structure
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* @return None
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*
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* @remark This function is non blocking.
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* If mailbox is full when calling the function, error will be ignored silently
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*/
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void MESSAGE_SendMailbox(QueueHandle_t mbx_dest, uint16_t id, QueueHandle_t mbx_sender, void *data){
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MESSAGE_Typedef msg;
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@ -58,6 +131,19 @@ void MESSAGE_SendMailbox(QueueHandle_t mbx_dest, uint16_t id, QueueHandle_t mbx_
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}
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}
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/**
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* @brief Post, from an ISR, a message in a mailbox with given id and data
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*
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* @param[in] mbx_dest Destination mailbox
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* @param[in] id id of message (as found in \ref msg_id_def "Message ID definitions")
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* @param[in] mbx_sender Sender mailbox (may be null if no answer is expected)
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* @param[in] data Reference to data to store in message structure
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* @param[in] xHigherPriorityTaskWoken Reference to flag indicating if a context switch is to be done at end of ISR
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* @return None
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*
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* @remark This function is non blocking.
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* If mailbox is full when calling the function, error will be ignored silently
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*/
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void MESSAGE_SendMailboxFromISR(QueueHandle_t mbx_dest, uint16_t id, QueueHandle_t mbx_sender, void *data, BaseType_t *xHigherPriorityTaskWoken) {
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MESSAGE_Typedef msg;
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@ -70,5 +156,14 @@ void MESSAGE_SendMailboxFromISR(QueueHandle_t mbx_dest, uint16_t id, QueueHandle
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}
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}
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/**
|
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* @}
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*/
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/**
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* @}
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*/
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/**
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* @}
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*/
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@ -1,8 +1,31 @@
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/*
|
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* messages.h
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/**
|
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******************************************************************************
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* @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_ */
|
||||
|
|
|
|||
|
|
@ -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 */
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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 */
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -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_ */
|
||||
|
|
|
|||
|
|
@ -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) {
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
|
|
|||
|
|
@ -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_ */
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
44
software/dumber3/Dumber3 Debug.cfg
Normal file
44
software/dumber3/Dumber3 Debug.cfg
Normal file
|
|
@ -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]
|
||||
|
||||
|
|
@ -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="{"fVersion":1,"fItems":[{"fDisplayName":"Type 0: Normal","fIsSuppressible":false,"fResetAttribute":"Type 0: Normal","fResetStrategies":[{"fDisplayName":"None","fLaunchAttribute":"no_reset","fGdbCommands":[],"fCmdOptions":[]},{"fDisplayName":"Type 0: Normal","fLaunchAttribute":"type_0_normal","fGdbCommands":["monitor reset\n"],"fCmdOptions":[]}],"fGdbCommandGroup":{"name":"Additional commands","commands":[]},"fStartApplication":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=""${stm32cubeide_openocd_path}/openocd""/>
|
||||
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
|
||||
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_RESTART_CONFIGURATIONS" value="{"fVersion":1,"fItems":[{"fDisplayName":"Reset halt","fIsSuppressible":false,"fResetAttribute":"Reset halt","fResetStrategies":[{"fDisplayName":"Reset halt","fLaunchAttribute":"monitor reset halt","fGdbCommands":["monitor reset halt"],"fCmdOptions":[]},{"fDisplayName":"Reset init","fLaunchAttribute":"monitor reset init","fGdbCommands":["monitor reset init"],"fCmdOptions":[]},{"fDisplayName":"None","fLaunchAttribute":"","fGdbCommands":[],"fCmdOptions":[]}],"fGdbCommandGroup":{"name":"Additional commands","commands":[]},"fStartApplication":true},{"fDisplayName":"Reset init","fIsSuppressible":false,"fResetAttribute":"Reset init","fResetStrategies":[{"fDisplayName":"Reset halt","fLaunchAttribute":"monitor reset halt","fGdbCommands":["monitor reset halt"],"fCmdOptions":[]},{"fDisplayName":"Reset init","fLaunchAttribute":"monitor reset init","fGdbCommands":["monitor reset init"],"fCmdOptions":[]},{"fDisplayName":"None","fLaunchAttribute":"","fGdbCommands":[],"fCmdOptions":[]}],"fGdbCommandGroup":{"name":"Additional commands","commands":[]},"fStartApplication":true}]}"/>
|
||||
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${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="{"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="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"/>
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue