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correction de bugs lorsque le watchdog est actif ainsi que les moteurs + bug lorsque la batterie est faible

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This commit is contained in:
dimercur 2024-03-21 11:28:53 +01:00
parent 61c791bf24
commit c380a780b1
17 changed files with 5006 additions and 1439 deletions
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2
hardware/pcb/Dumber/dumber-v3/cpu.kicad_sch
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@ -7,7 +7,7 @@
(title_block (title_block
(title "CPU + Com + Motors") (title "CPU + Com + Motors")
(date "2023-03-29") (date "2023-03-29")
(rev "2.1") (rev "2.2")
(company "INSA - GEI") (company "INSA - GEI")
) )

3459
hardware/pcb/Dumber/dumber-v3/dumber-v3.kicad_pcb
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3
hardware/pcb/Dumber/dumber-v3/dumber-v3.kicad_sch
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@ -5,8 +5,9 @@
(paper "A4") (paper "A4")
(title_block (title_block
(title "Dumber-3")
(date "2022-06-08") (date "2022-06-08")
(rev "1.0") (rev "2.2")
(company "INSA - GEI") (company "INSA - GEI")
) )

BIN
hardware/pcb/Dumber/dumber-v3/dumber-v3.pdf
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2
hardware/pcb/Dumber/dumber-v3/power_charge.kicad_sch
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@ -7,7 +7,7 @@
(title_block (title_block
(title "Power & Charge") (title "Power & Charge")
(date "2023-04-14") (date "2023-04-14")
(rev "2.1") (rev "2.2")
(company "INSA - GEI") (company "INSA - GEI")
) )

1593
hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.kicad_pcb Normal file
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77
hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.kicad_prl Normal file
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246
hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.kicad_pro Normal file
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hardware/pcb/Shield-Pi-Xbee/shield-Pi-Xbee/shield-Pi-Xbee.kicad_pcb Normal file
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(kicad_pcb (version 20221018) (generator pcbnew)
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77
hardware/pcb/Shield-Pi-Xbee/shield-Pi-Xbee/shield-Pi-Xbee.kicad_prl Normal file
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"vrml": ""
},
"page_layout_descr_file": ""
},
"schematic": {
"annotate_start_num": 0,
"drawing": {
"dashed_lines_dash_length_ratio": 12.0,
"dashed_lines_gap_length_ratio": 3.0,
"default_line_thickness": 6.0,
"default_text_size": 50.0,
"field_names": [],
"intersheets_ref_own_page": false,
"intersheets_ref_prefix": "",
"intersheets_ref_short": false,
"intersheets_ref_show": false,
"intersheets_ref_suffix": "",
"junction_size_choice": 3,
"label_size_ratio": 0.375,
"pin_symbol_size": 25.0,
"text_offset_ratio": 0.15
},
"legacy_lib_dir": "",
"legacy_lib_list": [],
"meta": {
"version": 1
},
"net_format_name": "",
"page_layout_descr_file": "",
"plot_directory": "",
"spice_current_sheet_as_root": false,
"spice_external_command": "spice \"%I\"",
"spice_model_current_sheet_as_root": true,
"spice_save_all_currents": false,
"spice_save_all_voltages": false,
"subpart_first_id": 65,
"subpart_id_separator": 0
},
"sheets": [],
"text_variables": {}
}

5
hardware/pcb/Shield-Pi-Xbee/shield-Pi-Xbee/shield-Pi-Xbee.kicad_sch Normal file
View file

@ -0,0 +1,5 @@
(kicad_sch (version 20230121) (generator eeschema)
(paper "A4")
(lib_symbols)
(symbol_instances)
)

37
software/monitor/monitor-python-qt/monitor-python.spec Normal file
View file

@ -0,0 +1,37 @@
# -*- mode: python ; coding: utf-8 -*-
a = Analysis(
['monitor-python.py'],
pathex=[],
binaries=[],
datas=[],
hiddenimports=[],
hookspath=[],
hooksconfig={},
runtime_hooks=[],
excludes=[],
noarchive=False,
)
pyz = PYZ(a.pure)
exe = EXE(
pyz,
a.scripts,
a.binaries,
a.datas,
[],
name='monitor-python',
debug=False,
bootloader_ignore_signals=False,
strip=False,
upx=True,
upx_exclude=[],
runtime_tmpdir=None,
console=True,
disable_windowed_traceback=False,
argv_emulation=False,
target_arch=None,
codesign_identity=None,
entitlements_file=None,
)

15
software/robot/Application/application.c
View file

@ -485,7 +485,12 @@ void APPLICATION_TransitionToNewState(APPLICATION_State new_state) {
MOTORS_Stop(); MOTORS_Stop();
break; break;
case stateInMouvement: case stateInMouvement:
// evoxx-bug-watchdog-avec-moteurs : mauvaise gestion des leds dans le cas où le watchdog est actif
if (systemTimeout.watchdogEnabled)
ledState = leds_run_with_watchdog;
else
ledState = leds_run; ledState = leds_run;
LEDS_Set(ledState); LEDS_Set(ledState);
if (systemInfos.cmd == CMD_MOVE) { if (systemInfos.cmd == CMD_MOVE) {
@ -502,19 +507,24 @@ void APPLICATION_TransitionToNewState(APPLICATION_State new_state) {
case stateWatchdogDisable: case stateWatchdogDisable:
ledState = leds_watchdog_expired; ledState = leds_watchdog_expired;
LEDS_Set(ledState); LEDS_Set(ledState);
MOTORS_Stop(); // evoxx-bug-watchdog-avec-moteurs : oublie d'arreter les moteurs
systemTimeout.watchdogEnabled=0; systemTimeout.watchdogEnabled=0;
break; break;
case stateLowBatDisable: case stateLowBatDisable:
ledState = leds_bat_critical_low; ledState = leds_bat_critical_low;
LEDS_Set(ledState); LEDS_Set(ledState);
MOTORS_Stop(); // evoxx-bug-watchdog-avec-moteurs : oublie d'arreter les moteurs
systemTimeout.watchdogEnabled=0; systemTimeout.watchdogEnabled=0;
vTaskDelay(pdMS_TO_TICKS(4000)); // wait 4s // evoxx-bug-watchdog-avec-moteurs : le systeme ne s'arrete pas quand la batterie est tres faible:
// envoi du message en priorité, sinon la mailbox se remplie de message et celui-ci est perdu
/* send a message Button_Pressed to enable power off */ /* send a message Button_Pressed to enable power off */
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BUTTON_PRESSED, APPLICATION_Mailbox, (void*)NULL); MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BUTTON_PRESSED, APPLICATION_Mailbox, (void*)NULL);
vTaskDelay(pdMS_TO_TICKS(4000)); // wait 4s
break; break;
default: default:
break; break;
@ -532,9 +542,6 @@ void APPLICATION_TransitionToNewState(APPLICATION_State new_state) {
* @return None * @return None
*/ */
void APPLICATION_PowerOff(void) { void APPLICATION_PowerOff(void) {
/*
* TODO: a decommenter quand le code sera debuggé
*/
HAL_GPIO_WritePin(SHUTDOWN_GPIO_Port, SHUTDOWN_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(SHUTDOWN_GPIO_Port, SHUTDOWN_Pin, GPIO_PIN_RESET);
while (1){ while (1){

10
software/robot/Application/config.h
View file

@ -44,8 +44,8 @@
* Version in plain text and as a numeric value * Version in plain text and as a numeric value
*/ */
///@{ ///@{
#define SYSTEM_VERSION_STR "3.2" #define SYSTEM_VERSION_STR "3.3"
#define SYSTEM_VERSION 0x0302 // Upper byte: major version, lower byte: minor version #define SYSTEM_VERSION 0x0303 // Upper byte: major version, lower byte: minor version
///@} ///@}
#define STACK_SIZE 96 #define STACK_SIZE 96
@ -61,9 +61,9 @@
#define PriorityLedsHandler (configMAX_PRIORITIES -4) #define PriorityLedsHandler (configMAX_PRIORITIES -4)
#define PriorityApplicationHandler (configMAX_PRIORITIES -5) #define PriorityApplicationHandler (configMAX_PRIORITIES -5)
#define PriorityBatteryHandler (configMAX_PRIORITIES -6) #define PriorityBatteryHandler (configMAX_PRIORITIES -6)
#define PriorityMotorsAsservissement (configMAX_PRIORITIES -7) #define PriorityMotorsHandler (configMAX_PRIORITIES -7) // evoxx-bug-watchdog-avec-moteurs : changement de priorité
#define PriorityMotorsHandler (configMAX_PRIORITIES -8) #define PrioritySequenceurTimeout (configMAX_PRIORITIES -8) // evoxx-bug-watchdog-avec-moteurs : changement de priorité
#define PrioritySequenceurTimeout (configMAX_PRIORITIES -9) #define PriorityMotorsAsservissement (configMAX_PRIORITIES -9) // evoxx-bug-watchdog-avec-moteurs : changement de priorité
#define PriorityTestsHandler (configMAX_PRIORITIES -10) #define PriorityTestsHandler (configMAX_PRIORITIES -10)
///@} ///@}

6
software/update-fw.sh
View file

@ -2,8 +2,8 @@
# Script for updating firmware of dumber robot # Script for updating firmware of dumber robot
# Author: S. DI MERCURIO # Author: S. DI MERCURIO
# Date : 16-01-2024 # Date : 13-02-2024
# Version 1.0 # Version 1.0-21.03.24
# Create temporary directory # Create temporary directory
mkdir ./tmp-robot mkdir ./tmp-robot
@ -11,7 +11,7 @@ cd ./tmp-robot
# Get firmware from server # Get firmware from server
echo "" echo ""
wget --no-check-certificate https://download-gei.insa-toulouse.fr/Dumber/firmware-robot/dumber3-3.1-16.01.24.hex.zip wget --no-check-certificate https://download-gei.insa-toulouse.fr/Dumber/firmware-robot/dumber3-3.3-21.03.24.hex.zip
# Unzip firmware # Unzip firmware
echo "" echo ""