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dimercur 2023-10-06 15:17:04 +02:00
parent aae905f551
commit f8f7ab84ef
30 changed files with 1693 additions and 643 deletions
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software/dumber3/.cproject
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<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">
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<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.727722516.Application/Xbee-API" name="/" resourcePath="Application/Xbee-API">
<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug.2021164284" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug" unusedChildren="">
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<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.475855176.1730312852.1578861356" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.475855176"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.802392362.1707463427.1227765991" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.802392362"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.929326971" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.991631339" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1730188417">
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</tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1561136854" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1017015985">
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.24352825" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
</tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.127663848" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.1174036490"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.972213236" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.357678379"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.1667657819" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.853583137"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.1680647921" name="MCU GCC Archiver" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.83208283"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size.1977939241" name="MCU Size" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size.1934785920"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile.618977275" name="MCU Output Converter list file" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile.890514722"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex.996506390" name="MCU Output Converter Hex" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex.1008220180"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary.1078850052" name="MCU Output Converter Binary" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary.1050410195"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog.1075520082" name="MCU Output Converter Verilog" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog.17802640"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec.139031285" name="MCU Output Converter Motorola S-rec" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec.1026641387"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.338302336" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.1426714819"/>
</toolChain>
</folderInfo>
<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"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="TestsPlans"/>
</sourceEntries>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
</storageModule> </storageModule>
<storageModule moduleId="org.eclipse.cdt.core.pathentry"/> <storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
@ -243,5 +418,8 @@
<configuration configurationName="Release"> <configuration configurationName="Release">
<resource resourceType="PROJECT" workspacePath="/Dumber3"/> <resource resourceType="PROJECT" workspacePath="/Dumber3"/>
</configuration> </configuration>
<configuration configurationName="Tests">
<resource resourceType="PROJECT" workspacePath="/Dumber3"/>
</configuration>
</storageModule> </storageModule>
</cproject> </cproject>

2
software/dumber3/.mxproject
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File diff suppressed because one or more lines are too long

15
software/dumber3/.settings/language.settings.xml
View file

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="1490091031643224932" 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="55004790486127528" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>
@ -17,7 +17,18 @@
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/> <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1490091031643224932" 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="55004790486127528" 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>
</extension>
</configuration>
<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.727722516" name="Tests">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<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="55004790486127528" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

440
software/dumber3/Application/Xbee-API/xbee.c Normal file
View file

@ -0,0 +1,440 @@
/*
* xbee.c
*
* Created on: Sep 12, 2022
* Author: dimercur
*/
#include "xbee.h"
#include "semphr.h"
#include <stdlib.h>
#include <string.h>
#include "stm32l0xx_ll_usart.h"
extern UART_HandleTypeDef hlpuart1;
extern DMA_HandleTypeDef hdma_lpuart1_tx;
extern DMA_HandleTypeDef hdma_lpuart1_rx;
/***** API2 escaped char *****/
#define XBEE_API_ESCAPE_CHAR 0x7D
#define XBEE_API_START_OF_FRAME 0x7E
#define XBEE_API_XON 0x11
#define XBEE_API_XOFF 0x13
/***** RX part *****/
/* Stuff for Xbee RX task */
StaticTask_t xTaskXbeeRX;
StackType_t xStackXbeeRX[ STACK_SIZE ];
TaskHandle_t xHandleXbeeRX = NULL;
uint8_t txBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
uint16_t txIndex;
uint16_t txDataToSend;
void XBEE_RxThread(void* params);
SemaphoreHandle_t xHandleSemaphoreRX = NULL;
StaticSemaphore_t xSemaphoreRx;
uint8_t rxBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
//uint8_t rxWaitForACK =0;
uint8_t rxPhase;
uint16_t rxFrameLength;
uint16_t rxDataToReceive;
uint16_t rxIndex;
#define XBEE_RX_PHASE_SOF 0
#define XBEE_RX_PHASE_HEADER 1
#define XBEE_RX_PHASE_BODY 2
/****** TX part ******/
SemaphoreHandle_t xHandleSemaphoreTX = NULL;
SemaphoreHandle_t xHandleSemaphoreTX_ACK = NULL;
StaticSemaphore_t xSemaphoreTX;
StaticSemaphore_t xSemaphoreTX_ACK;
void XBEE_Init(void) {
xHandleSemaphoreTX = xSemaphoreCreateBinaryStatic( &xSemaphoreTX );
xHandleSemaphoreTX_ACK = xSemaphoreCreateBinaryStatic( &xSemaphoreTX_ACK );
xSemaphoreGive(xHandleSemaphoreTX);
//xSemaphoreTake(xHandleSemaphoreTX_ACK);
xHandleSemaphoreRX = xSemaphoreCreateBinaryStatic( &xSemaphoreRx );
/* Create the task without using any dynamic memory allocation. */
xHandleXbeeRX = xTaskCreateStatic(
XBEE_RxThread, /* Function that implements the task. */
"XBEE Rx", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityMoteurs,/* Priority at which the task is created. */
xStackXbeeRX, /* Array to use as the task's stack. */
&xTaskXbeeRX); /* Variable to hold the task's data structure. */
vTaskResume(xHandleXbeeRX);
/* Enable Xbee */
HAL_GPIO_WritePin(XBEE_RESET_GPIO_Port, XBEE_RESET_Pin, GPIO_PIN_SET);
}
/**** Support functions ****/
/**
* Compute length of encoded data using escape char
*
* \param data pointer on raw data
* \param length length of raw data
* \return length of data when encoded
*/
int XBEE_GetDataLength(char* data, int length) {
int encodedLength=0;
for (int i=0; i< length; i++) {
if ((*data == (char)XBEE_API_ESCAPE_CHAR) || (*data == (char)XBEE_API_START_OF_FRAME) ||
(*data == (char)XBEE_API_XOFF) ||(*data == (char)XBEE_API_XON)) {
encodedLength++; /* Add 1 byte for escape char */
}
encodedLength++; /* Add current char in length calculation */
data++; /* move to next byte in raw buffer */
}
return encodedLength;
}
/**
* Convert raw data into escaped data. Create a new buffer that is returned
*
* \param data pointer on raw data
* \param length length of raw data
* \param encodedLength length of encoded data
* \return new buffer allocated with escaped char
*/
char* XBEE_EncodeWithEscapeChar(char* data, int length, int *encodedLength) {
char* encodedData;
*encodedLength=XBEE_GetDataLength(data, length);
encodedData = (char*)malloc(*encodedLength);
for (char* p=encodedData; p< (encodedData + *encodedLength); p++) {
if ((*data == (char)XBEE_API_ESCAPE_CHAR) || (*data == (char)XBEE_API_START_OF_FRAME) ||
(*data == (char)XBEE_API_XOFF) ||(*data == (char)XBEE_API_XON)) {
*p = (char) XBEE_API_ESCAPE_CHAR;
p++;
}
*p = *data;
data++;
}
return encodedData;
}
/**
* Get a raw buffer and convert it into a transmission frame
*
* \param data pointer on raw data
* \param length length of raw data
* \param destination address of the destination
* \param frameLength length of frame
* \return new frame (allocated) containing escaped data
*/
void XBEE_EncodeTransmissionFrame(char* data, int length, uint16_t destination, char* frame, int* frameLength) {
uint8_t checksum=0;
uint16_t localLength=0;
char* p;
localLength = length+9;
frame[0] = (char)XBEE_FRAME_SOF_CHAR;
frame[1] = (char)((uint16_t)(localLength-4)>>8);
frame[2] = (char)((uint16_t)(localLength-4));
frame[3] = (char)XBEE_TX_16BIT_REQUEST_TYPE;
frame[4] = 0x1;
frame[5] = (char)((uint16_t)(destination)>>8);
frame[6] = (char)((uint16_t)(destination));
frame[7] = 0x0;
for (p = &frame[8]; p< (data + length); p++) {
if ((*data == (char)XBEE_API_ESCAPE_CHAR) || (*data == (char)XBEE_API_START_OF_FRAME) ||
(*data == (char)XBEE_API_XOFF) ||(*data == (char)XBEE_API_XON)) {
*p = (char) XBEE_API_ESCAPE_CHAR;
p++;
*p = *data^0x20;
} else
*p = *data;
data++;
}
/* calcul du checksum */
for (int i=3; i<(localLength-1); i++) {
checksum += (uint8_t)frame[i];
}
*p = 0xFF-checksum;
*frameLength = localLength;
}
/**
* Get frame length
*
* \param frame pointer on frame header
* \return length of incoming frame
*/
uint16_t XBEE_GetFrameLength(uint8_t *frame) {
return (((uint16_t)frame[1])<<8) + (uint16_t)frame[2];
}
/**
* Get a complete frame, check if frame is correct and extract raw data
*
* \param raw_frame pointer on complete frame
* \param incomingFrame pointer to processed frame, with escape char removed
* \return status of decoding: XBEE_OK if decoding is successful, XBEE_INVALID_FRAME otherwise
*/
XBEE_Status XBEE_DecodeFrame(char* rawFrame, XBEE_INCOMING_FRAME** incomingFrame) {
uint8_t frame_type = (uint8_t)rawFrame[3];
uint16_t rawFrameLength;
uint8_t checksum;
XBEE_Status status = XBEE_OK;
int allocatedSize;
int dataSize;
int i;
if (rawFrame[0] == '~') {
rawFrameLength = (((uint16_t)rawFrame[1])<<8) + (uint16_t)rawFrame[2];
/* verification du checksum */
checksum =0;
for (i=3; i<3+rawFrameLength+1; i++) {
checksum += (uint8_t)rawFrame[i];
}
if (checksum != 0xFF)
return XBEE_INVALID_FRAME;
switch (frame_type) {
case XBEE_RX_16BIT_PACKET_TYPE:
dataSize = rawFrameLength-5; // there is 5 bytes of "other" data than truly data bytes in a frame
allocatedSize = sizeof(XBEE_INCOMING_FRAME)+dataSize;
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->type = frame_type;
/* Get source address */
(*incomingFrame)->source_addr = (((uint16_t)rawFrame[4])<<8) + (uint16_t)rawFrame[5];
//XBEE_DecodeWithoutEscapeChar(&rawFrame[8], rawFrameLength-5, (*incomingFrame)->data, &incomingDataLength); // Data = Frame length -5
(*incomingFrame)->length = (uint8_t)(dataSize);
(*incomingFrame)->ack = 0;
for (i=0; i<dataSize; i++)
(*incomingFrame)->data[i] = rawFrame[i+8];
break;
case XBEE_MODEM_STATUS_TYPE:
allocatedSize = sizeof(XBEE_INCOMING_FRAME); // no data
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->type = frame_type;
(*incomingFrame)->modem_status = rawFrame[4];
(*incomingFrame)->data[0]=0x0;
(*incomingFrame)->length = 0;
break;
case XBEE_TX_STATUS_TYPE:
allocatedSize = sizeof(XBEE_INCOMING_FRAME); // no data
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->ack = rawFrame[5];
(*incomingFrame)->data[0]=0x0;
(*incomingFrame)->length = 0;
break;
case XBEE_EXTENDED_TX_STATUS_TYPE:
allocatedSize = sizeof(XBEE_INCOMING_FRAME); // no data
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->ack = rawFrame[8];
(*incomingFrame)->data[0]=0x0;
(*incomingFrame)->length = 0;
break;
default:
*incomingFrame=NULL;
return XBEE_INVALID_FRAME;
};
} else status = XBEE_INVALID_FRAME;
return status;
}
/**** TX Part *****/
/**
* Send data. Create a transmission frame, add escape char to data and send it over UART
*
* \param data raw data to send
* \param length length of data to send
* \return status of decoding: XBEE_OK if decoding is successful,
* XBEE_TX_ERROR in case of sending error,
* XBEE_TX_TIMEOUT in case semaphore takes too long
*/
int XBEE_SendData(uint16_t address, char* data, int length) {
BaseType_t state;
int status = XBEE_OK;
// Prevents successive calls to overlap
state = xSemaphoreTake(xHandleSemaphoreTX, pdMS_TO_TICKS(XBEE_TX_SEMAPHORE_WAIT)); // wait max 500 ms (to avoid interlocking)
if (state != pdFALSE) { /* test semaphore take answer
if answer is false, it means timeout appends
We should probably reset something in "else" branch */
XBEE_EncodeTransmissionFrame(data, length, address, (char*) txBuffer, (int*)&txDataToSend);
LL_USART_TransmitData8(hlpuart1.Instance, txBuffer[0]);
txIndex =1;
LL_USART_EnableIT_TXE(hlpuart1.Instance); // enable TX Interrupt
} else status= XBEE_TX_TIMEOUT;
return status;
}
void XBEE_TX_IRQHandler(void) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
LL_USART_TransmitData8(hlpuart1.Instance, txBuffer[txIndex]);
txIndex++;
if (txIndex == txDataToSend) {
LL_USART_DisableIT_TXE(hlpuart1.Instance);
xSemaphoreGiveFromISR( xHandleSemaphoreTX, &xHigherPriorityTaskWoken );
}
if (xHigherPriorityTaskWoken) {
/* If xHigherPriorityTaskWoken is now set to pdTRUE then a context switch
should be performed to ensure the interrupt returns directly to the highest
priority task. The macro used for this purpose is dependent on the port in
use and may be called portEND_SWITCHING_ISR(). */
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
}
/***** Rx Part *****/
/**
* Reception thread. Wait for incoming frame, process it and send message to application
*
* \param params not used
*/
void XBEE_RxThread(void* params) {
XBEE_INCOMING_FRAME *incomingFrame;
rxPhase= XBEE_RX_PHASE_SOF;
rxFrameLength=0;
rxDataToReceive=1;
rxIndex=0;
while (HAL_UART_Receive_IT(&hlpuart1, rxBuffer, 1)!= HAL_OK); // try starting reception of frame
LL_USART_Disable(hlpuart1.Instance);
LL_USART_DisableOverrunDetect(hlpuart1.Instance);
LL_USART_Enable(hlpuart1.Instance);
// endless task
while (1) {
if (xSemaphoreTake(xHandleSemaphoreRX, portMAX_DELAY)==pdTRUE) { // wait forever
/* Process frame */
if (XBEE_DecodeFrame((char*) rxBuffer, &incomingFrame)==XBEE_OK) { // frame is valid
if (incomingFrame != 0x0) // frame is valid
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_XBEE_CMD, (QueueHandle_t)0x0, (void*)incomingFrame);
// if (rxBuffer[3]== XBEE_RX_16BIT_PACKET_TYPE) {
// MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_XBEE_CMD, (QueueHandle_t)0x0, (void*)0x0);
}
for (int i=0; i<XBEE_RX_BUFFER_MAX_LENGTH; i++)
rxBuffer[i]=0xFF;
}
}
}
void XBEE_RX_IRQHandler(void) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
uint8_t data;
data = LL_USART_ReceiveData8(hlpuart1.Instance); // lecture de l'octet reçu
switch (rxPhase) {
case XBEE_RX_PHASE_SOF:
if (data == XBEE_FRAME_SOF_CHAR) {
rxBuffer[0] = data;
rxPhase = XBEE_RX_PHASE_HEADER;
rxIndex = 1;
}
break;
case XBEE_RX_PHASE_HEADER:
rxBuffer[rxIndex] = data;
rxIndex ++;
if (rxIndex==3) {
// header reçu, calcul de la longueur de la frame
rxFrameLength = (((uint16_t)rxBuffer[1]) << 8) + (uint16_t)rxBuffer[2];
rxDataToReceive = rxFrameLength +1; // +1 for checksum
rxPhase = XBEE_RX_PHASE_BODY;
}
break;
case XBEE_RX_PHASE_BODY:
rxBuffer[rxIndex] = data;
if (rxBuffer[rxIndex-1] == XBEE_API_ESCAPE_CHAR)
rxBuffer[rxIndex-1] = rxBuffer[rxIndex] ^ 0x20;
else {
rxIndex++;
rxDataToReceive--;
}
if (!rxDataToReceive) {
rxIndex=0;
rxPhase = XBEE_RX_PHASE_SOF;
xSemaphoreGiveFromISR( xHandleSemaphoreRX, &xHigherPriorityTaskWoken ); /* send event to receive task to process received task */
}
break;
default:
while(1);
}
if (xHigherPriorityTaskWoken) {
/* If xHigherPriorityTaskWoken is now set to pdTRUE then a context switch
should be performed to ensure the interrupt returns directly to the highest
priority task. The macro used for this purpose is dependent on the port in
use and may be called portEND_SWITCHING_ISR(). */
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
}
/**
* DMA IRQ handler for reception. Receive a complete frame send send event to sending frame in case of acknowledge frame or to receive task otherwise
*
* \param UartHandle not used
*/
void LPUART1_IRQHandler(void) {
if (LL_USART_IsActiveFlag_RXNE(hlpuart1.Instance)) {
XBEE_RX_IRQHandler();
} else if (LL_USART_IsActiveFlag_TXE(hlpuart1.Instance)) {
XBEE_TX_IRQHandler();
} else {
if (LL_USART_IsActiveFlag_TC(hlpuart1.Instance))
LL_USART_DisableIT_TC(hlpuart1.Instance);
else if (LL_USART_IsActiveFlag_IDLE(hlpuart1.Instance))
LL_USART_ClearFlag_IDLE(hlpuart1.Instance);
else if (LL_USART_IsActiveFlag_ORE(hlpuart1.Instance)) {
LL_USART_ClearFlag_ORE(hlpuart1.Instance);
}
}
}

67
software/dumber3/Application/Xbee-API/xbee.h Normal file
View file

@ -0,0 +1,67 @@
/*
* xbee.h
*
* Created on: Sep 12, 2022
* Author: dimercur
*/
#ifndef INC_XBEE_H_
#define INC_XBEE_H_
#include "application.h"
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_Status;
#define XBEE_RX_PACKET_TYPE 0x90
#define XBEE_RX_EXPLICIT_TYPE 0x91
#define XBEE_TX_STATUS_TYPE 0x89
#define XBEE_AT_CMD_RESPONSE_TYPE 0x88
#define XBEE_MODEM_STATUS_TYPE 0x8A
#define XBEE_EXTENDED_TX_STATUS_TYPE 0x8B
#define XBEE_LOCAL_AT_CMD_TYPE 0x08
#define XBEE_TX_REQUEST_TYPE 0x10
#define XBEE_TX_EXPLICIT_TYPE 0x11
#define XBEE_TX_16BIT_REQUEST_TYPE 0x01
#define XBEE_RX_16BIT_PACKET_TYPE 0x81
#define XBEE_AT_STATUS_SUCCESS 0
#define XBEE_AT_STATUS_ERROR 1
#define XBEE_AT_STATUS_INVALID_COMMAND 2
#define XBEE_AT_STATUS_INVALID_PARAMETER 3
#define XBEE_TX_STATUS_SUCCESS 0x00
#define XBEE_TX_STATUS_NO_ACK 0x01
#define XBEE_TX_STATUS_CCA_FAILURE 0x02
#define XBEE_TX_STATUS_NETWORK_NO_ACK 0x21
#define XBEE_MODEM_STATUS_HW_RST 0x00
#define XBEE_MODEM_STATUS_JOINED 0x02
#define XBEE_RX_OPTIONS_ACKNOWLEDGED 0x01
#define XBEE_RX_OPTIONS_BRODCASTED 0x02
#define XBEE_RX_OPTIONS_PAN_BROADCASTED 0x04
#define XBEE_FRAME_SOF_CHAR 0x7E // '~'
typedef struct {
uint8_t type;
uint16_t source_addr;
uint8_t length;
char ack;
char modem_status;
char data[];
} XBEE_INCOMING_FRAME;
void XBEE_Init(void);
int XBEE_SendData(uint16_t address, char* data, int length);
#endif /* INC_XBEE_H_ */

71
software/dumber3/Application/application.c
View file

@ -94,7 +94,7 @@ void APPLICATION_Init(void) {
"APPLICATION Main", /* Text name for the task. */ "APPLICATION Main", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */ STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */ NULL, /* Parameter passed into the task. */
PriorityApplicationMain,/* Priority at which the task is created. */ PriorityApplicationHandler,/* Priority at which the task is created. */
xStackApplicationMain, /* Array to use as the task's stack. */ xStackApplicationMain, /* Array to use as the task's stack. */
&xTaskApplicationMain); /* Variable to hold the task's data structure. */ &xTaskApplicationMain); /* Variable to hold the task's data structure. */
vTaskResume(xHandleApplicationMain); vTaskResume(xHandleApplicationMain);
@ -108,14 +108,11 @@ void APPLICATION_Init(void) {
vTimerTimeoutCallback, vTimerTimeoutCallback,
&xBufferTimerTimeout); &xBufferTimerTimeout);
xTimerStart(xHandleTimerTimeout,0 ); xTimerStart(xHandleTimerTimeout,0 );
APPLICATION_TransitionToNewState(stateStartup);
} }
void APPLICATION_MainThread(void* params) { void APPLICATION_MainThread(void* params) {
MESSAGE_Typedef msg; MESSAGE_Typedef msg;
XBEE_INCOMING_FRAME *xbeeFrame; char* receivedCMD;
CMD_Generic* decodedCmd; CMD_Generic* decodedCmd;
while (1) { while (1) {
@ -123,17 +120,13 @@ void APPLICATION_MainThread(void* params) {
switch (msg.id) { switch (msg.id) {
case MSG_ID_XBEE_CMD: case MSG_ID_XBEE_CMD:
xbeeFrame = (XBEE_INCOMING_FRAME*)msg.data; receivedCMD = (char*)msg.data;
if (xbeeFrame != NULL) { if (receivedCMD != NULL) {
systemInfos.senderAddress = xbeeFrame->source_addr; decodedCmd = cmdDecode(receivedCMD,strlen(receivedCMD));
switch (xbeeFrame->type) {
case XBEE_RX_16BIT_PACKET_TYPE:
decodedCmd = cmdDecode(xbeeFrame->data,xbeeFrame->length);
if (decodedCmd==CMD_DECODE_UNKNOWN) if (decodedCmd==CMD_DECODE_UNKNOWN)
cmdSendAnswer(systemInfos.senderAddress, ANS_UNKNOWN); cmdSendAnswer(ANS_UNKNOWN);
else { else {
systemInfos.cmd = decodedCmd->type; systemInfos.cmd = decodedCmd->type;
systemTimeout.inactivityCnt = 0; systemTimeout.inactivityCnt = 0;
@ -145,19 +138,19 @@ void APPLICATION_MainThread(void* params) {
case CMD_TEST: case CMD_TEST:
case CMD_DEBUG: case CMD_DEBUG:
case CMD_POWER_OFF: case CMD_POWER_OFF:
cmdSendAnswer(systemInfos.senderAddress, ANS_OK); cmdSendAnswer(ANS_OK);
break; break;
case CMD_GET_BATTERY: case CMD_GET_BATTERY:
cmdSendBatteryLevel(systemInfos.senderAddress, systemInfos.batteryVoltage); cmdSendBatteryLevel(systemInfos.batteryVoltage);
break; break;
case CMD_GET_VERSION: case CMD_GET_VERSION:
cmdSendVersion(SYSTEM_VERSION); cmdSendVersion();
break; break;
case CMD_GET_BUSY_STATE: case CMD_GET_BUSY_STATE:
if (systemInfos.state == stateInMouvement) if (systemInfos.state == stateInMouvement)
cmdSendBusyState(systemInfos.senderAddress, 0x1); cmdSendBusyState(0x1);
else else
cmdSendBusyState(systemInfos.senderAddress, 0x0); cmdSendBusyState(0x0);
break; break;
case CMD_MOVE: case CMD_MOVE:
systemInfos.distance = ((CMD_Move*)decodedCmd)->distance; systemInfos.distance = ((CMD_Move*)decodedCmd)->distance;
@ -175,41 +168,25 @@ void APPLICATION_MainThread(void* params) {
} }
break; break;
case XBEE_TX_STATUS_TYPE:
if (xbeeFrame->ack == 0) {
if (systemInfos.rfProblem !=0)
systemInfos.rfProblem--;
} else {
if (systemInfos.rfProblem !=255)
systemInfos.rfProblem++;
}
break;
default: default:
break; break;
} }
free(xbeeFrame);
}
break; break;
case MSG_ID_BAT_NIVEAU: case MSG_ID_BAT_CHARGE_OFF:
case MSG_ID_BAT_CHARGE: case MSG_ID_BAT_CHARGE_COMPLETE:
systemInfos.batteryVoltage = *((uint16_t*)msg.data); systemInfos.batteryVoltage = *((uint16_t*)msg.data);
systemInfos.batteryUpdate = 1; systemInfos.batteryUpdate = 1;
if (msg.id == MSG_ID_BAT_CHARGE) if (msg.id == MSG_ID_BAT_CHARGE_COMPLETE)
systemInfos.inCharge =1; systemInfos.inCharge =1;
else else
systemInfos.inCharge =0; systemInfos.inCharge =0;
break; break;
case MSG_ID_BAT_CHARGEUR_ON: case MSG_ID_BAT_CHARGE_ON:
case MSG_ID_BAT_CHARGEUR_OFF:
if (msg.id == MSG_ID_BAT_CHARGEUR_ON)
systemInfos.inCharge =1; systemInfos.inCharge =1;
else
systemInfos.inCharge =0;
break; break;
case MSG_ID_MOTEURS_STOP: case MSG_ID_MOTEURS_STOP:
@ -255,16 +232,16 @@ void APPLICATION_StateMachine() {
(systemInfos.state == stateRun) || (systemInfos.state == stateRun) ||
(systemInfos.state == stateInMouvement)) { (systemInfos.state == stateInMouvement)) {
/* command RESET is only applicable in those 3 states, otherwise it is rejected */ /* command RESET is only applicable in those 3 states, otherwise it is rejected */
cmdSendAnswer(systemInfos.senderAddress, ANS_OK); cmdSendAnswer(ANS_OK);
APPLICATION_TransitionToNewState(stateIdle); APPLICATION_TransitionToNewState(stateIdle);
} else } else
cmdSendAnswer(systemInfos.senderAddress, ANS_ERR); cmdSendAnswer(ANS_ERR);
break; break;
case CMD_START_WITH_WATCHDOG: case CMD_START_WITH_WATCHDOG:
case CMD_START_WITHOUT_WATCHDOG: case CMD_START_WITHOUT_WATCHDOG:
if (systemInfos.state == stateIdle) { if (systemInfos.state == stateIdle) {
/* only state where START cmd is accepted */ /* only state where START cmd is accepted */
cmdSendAnswer(systemInfos.senderAddress, ANS_OK); cmdSendAnswer(ANS_OK);
APPLICATION_TransitionToNewState(stateRun); APPLICATION_TransitionToNewState(stateRun);
@ -274,15 +251,15 @@ void APPLICATION_StateMachine() {
systemTimeout.watchdogMissedCnt=0; systemTimeout.watchdogMissedCnt=0;
} }
} else } else
cmdSendAnswer(systemInfos.senderAddress, ANS_ERR); cmdSendAnswer(ANS_ERR);
break; break;
case CMD_RESET_WATCHDOG: case CMD_RESET_WATCHDOG:
if ((systemInfos.state == stateRun) || (systemInfos.state == stateInMouvement)) { if ((systemInfos.state == stateRun) || (systemInfos.state == stateInMouvement)) {
if ((systemTimeout.watchdogEnabled ==0 ) || if ((systemTimeout.watchdogEnabled ==0 ) ||
((systemTimeout.watchdogCnt>=APPLICATION_WATCHDOG_MIN) && (systemTimeout.watchdogCnt<=APPLICATION_WATCHDOG_MAX))) ((systemTimeout.watchdogCnt>=APPLICATION_WATCHDOG_MIN) && (systemTimeout.watchdogCnt<=APPLICATION_WATCHDOG_MAX)))
cmdSendAnswer(systemInfos.senderAddress, ANS_OK); cmdSendAnswer(ANS_OK);
else else
cmdSendAnswer(systemInfos.senderAddress, ANS_ERR); cmdSendAnswer(ANS_ERR);
systemTimeout.watchdogCnt =0; systemTimeout.watchdogCnt =0;
} }
@ -294,17 +271,17 @@ void APPLICATION_StateMachine() {
if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance !=0)) || if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance !=0)) ||
((systemInfos.cmd == CMD_TURN) && (systemInfos.turns !=0))) { ((systemInfos.cmd == CMD_TURN) && (systemInfos.turns !=0))) {
systemInfos.endOfMouvement = 0; systemInfos.endOfMouvement = 0;
cmdSendAnswer(systemInfos.senderAddress, ANS_OK); cmdSendAnswer(ANS_OK);
APPLICATION_TransitionToNewState(stateInMouvement); APPLICATION_TransitionToNewState(stateInMouvement);
} // if TURN and MOVE are sent without parameter, do nothing: we are still in run state } // if TURN and MOVE are sent without parameter, do nothing: we are still in run state
} else if (systemInfos.state == stateInMouvement) { // in this state, MOVE and TURN cmds are accepted only if they come with no parameter } else if (systemInfos.state == stateInMouvement) { // in this state, MOVE and TURN cmds are accepted only if they come with no parameter
if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) || if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) ||
((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) { ((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) {
systemInfos.endOfMouvement = 1; systemInfos.endOfMouvement = 1;
cmdSendAnswer(systemInfos.senderAddress, ANS_OK); cmdSendAnswer(ANS_OK);
} }
} else } else
cmdSendAnswer(systemInfos.senderAddress, ANS_ERR); cmdSendAnswer(ANS_ERR);
break; break;
default: // commands no common for every states default: // commands no common for every states
break; break;

95
software/dumber3/Application/batterie.c
View file

@ -6,6 +6,16 @@
*/ */
#include "batterie.h" #include "batterie.h"
#include "stm32l0xx.h"
#include "stm32l0xx_ll_gpio.h"
#include "timers.h"
typedef enum {
CHARGEUR_NOT_PLUGGED,
CHARGEUR_IN_CHARGE,
CHARGEUR_CHARGE_COMPLETE,
CHARGEUR_ERROR
} BATTERIE_StatusChargerTypedef;
extern ADC_HandleTypeDef hadc; extern ADC_HandleTypeDef hadc;
uint8_t conversion_complete; uint8_t conversion_complete;
@ -21,6 +31,17 @@ TaskHandle_t xHandleBatterie = NULL;
TaskHandle_t task_handler; TaskHandle_t task_handler;
TaskHandle_t charger_thread_handler; TaskHandle_t charger_thread_handler;
/* TimerButton sert à attendre ~ 3secondes avant de prendre en compte les IT bouton
* En effet, au demarrage, le bouton est appuyé pour lancer le systeme. ceci genere alors une IT bouton,
* ammenant à envoyer le message MSG_ID_BUTTON_PRESSED, demandant l'arret du systeme
*
* De ce fait, avec cette tempo, on s'assure de ne pas prendre en compte les IT dans les 3 premieres secondes.
*/
StaticTimer_t xBufferTimerButton;
TimerHandle_t xHandleTimerButton = NULL;
void vTimerButtonCallback( TimerHandle_t xTimer );
uint8_t BUTTON_Inactivity=1; //start with button on/off inactive
void BATTERIE_VoltageThread(void* params); void BATTERIE_VoltageThread(void* params);
void BATTERIE_Init(void) { void BATTERIE_Init(void) {
@ -33,12 +54,44 @@ void BATTERIE_Init(void) {
"BATTERIE Voltage", /* Text name for the task. */ "BATTERIE Voltage", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */ STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */ NULL, /* Parameter passed into the task. */
PriorityLeds,/* Priority at which the task is created. */ PriorityBatterieHandler,/* Priority at which the task is created. */
xStackBatterie, /* Array to use as the task's stack. */ xStackBatterie, /* Array to use as the task's stack. */
&xTaskBatterie); /* Variable to hold the task's data structure. */ &xTaskBatterie); /* Variable to hold the task's data structure. */
/* Create a periodic task without using any dynamic memory allocation. */
xHandleTimerButton = xTimerCreateStatic(
"Inactivity Button Timer",
pdMS_TO_TICKS(BUTTON_INACTIVITY_PERIODE),
pdTRUE,
( void * ) 0,
vTimerButtonCallback,
&xBufferTimerButton);
xTimerStart(xHandleTimerButton,0 );
vTaskResume(xHandleBatterie); vTaskResume(xHandleBatterie);
} }
/*
* Lit les pins GPIO
*/
BATTERIE_StatusChargerTypedef BATTERIE_LireStatusChargeur(void) {
uint32_t st2 = LL_GPIO_ReadInputPort(CHARGER_ST2_GPIO_Port) & CHARGER_ST2_Pin;
uint32_t st1 = LL_GPIO_ReadInputPort(CHARGER_ST1_GPIO_Port) & CHARGER_ST1_Pin;
BATTERIE_StatusChargerTypedef status;
if (st1 && st2)
status = CHARGEUR_NOT_PLUGGED;
else if (st1 && !st2)
status = CHARGEUR_CHARGE_COMPLETE;
else if (!st1 && st2)
status = CHARGEUR_IN_CHARGE;
else /* !st1 && !st2 */
status = CHARGEUR_ERROR;
return status;
}
int BATTERIE_LireTension(uint16_t *val) { int BATTERIE_LireTension(uint16_t *val) {
uint32_t ulNotificationValue; uint32_t ulNotificationValue;
conversion_complete = 0; conversion_complete = 0;
@ -66,6 +119,8 @@ int BATTERIE_LireTension(uint16_t *val) {
void BATTERIE_VoltageThread(void* params) { void BATTERIE_VoltageThread(void* params) {
static uint16_t tension; static uint16_t tension;
BATTERIE_StatusChargerTypedef currentStatus;
TickType_t xLastWakeTime; TickType_t xLastWakeTime;
// Initialise the xLastWakeTime variable with the current time. // Initialise the xLastWakeTime variable with the current time.
@ -73,10 +128,16 @@ void BATTERIE_VoltageThread(void* params) {
while (1) { while (1) {
if (BATTERIE_LireTension(&tension) ==0) { if (BATTERIE_LireTension(&tension) ==0) {
if (HAL_GPIO_ReadPin(GPIOB, USB_SENSE_Pin)==GPIO_PIN_SET) // le chargeur est branché
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BAT_CHARGE, (QueueHandle_t)0x0, (void*)&tension); currentStatus = BATTERIE_LireStatusChargeur();
if (currentStatus == CHARGEUR_ERROR)
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BAT_CHARGE_ERR, (QueueHandle_t)0x0, (void*)NULL);
else if (currentStatus == CHARGEUR_IN_CHARGE)
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BAT_CHARGE_ON, (QueueHandle_t)0x0, (void*)&tension);
else if (currentStatus == CHARGEUR_CHARGE_COMPLETE)
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BAT_CHARGE_COMPLETE, (QueueHandle_t)0x0, (void*)&tension);
else else
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BAT_NIVEAU, (QueueHandle_t)0x0, (void*)&tension); MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BAT_CHARGE_OFF, (QueueHandle_t)0x0, (void*)&tension);
} else { } else {
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BAT_ADC_ERR, (QueueHandle_t)0x0, (void*)0x0); MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BAT_ADC_ERR, (QueueHandle_t)0x0, (void*)0x0);
} }
@ -106,22 +167,32 @@ void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc) {
} }
} }
void vTimerButtonCallback( TimerHandle_t xTimer ) {
BUTTON_Inactivity=0;
xTimerStop(xHandleTimerButton,0 );
}
/** /**
* @brief This function handles EXTI line0 interrupt. * @brief This function handles EXTI line0 interrupt.
*/ */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (GPIO_Pin == USB_SENSE_Pin) { // Le chargeur vient d'etre branché ou debranché // if (GPIO_Pin == USB_SENSE_Pin) { // Le chargeur vient d'etre branché ou debranché
if (HAL_GPIO_ReadPin(GPIOB, GPIO_Pin)==GPIO_PIN_SET) // le chargeur est branché // if (HAL_GPIO_ReadPin(USB_SENSE_GPIO_Port, GPIO_Pin)==GPIO_PIN_SET) // le chargeur est branché
MESSAGE_SendMailboxFromISR(APPLICATION_Mailbox, MSG_ID_BAT_CHARGEUR_ON, (QueueHandle_t)0x0, 0x0, &xHigherPriorityTaskWoken); // MESSAGE_SendMailboxFromISR(APPLICATION_Mailbox, MSG_ID_BAT_CHARGE_ON, (QueueHandle_t)0x0, 0x0, &xHigherPriorityTaskWoken);
else // else
MESSAGE_SendMailboxFromISR(APPLICATION_Mailbox, MSG_ID_BAT_CHARGEUR_OFF, (QueueHandle_t)0x0, 0x0, &xHigherPriorityTaskWoken); // MESSAGE_SendMailboxFromISR(APPLICATION_Mailbox, MSG_ID_BAT_CHARGE_OFF, (QueueHandle_t)0x0, 0x0, &xHigherPriorityTaskWoken);
} // }
else if (GPIO_Pin == BUTTON_SENSE_Pin) { // on vient d'appuyer sur le bouton on/off // else
if (HAL_GPIO_ReadPin(GPIOB, GPIO_Pin)==GPIO_PIN_SET) // le chargeur est branché
if (GPIO_Pin == BUTTON_SENSE_Pin) { // on vient d'appuyer sur le bouton on/off
if (!BUTTON_Inactivity) {
if (HAL_GPIO_ReadPin(BUTTON_SENSE_GPIO_Port, GPIO_Pin)==GPIO_PIN_RESET) // GPIOB.3 = 0 => le bouton est appuyé
MESSAGE_SendMailboxFromISR(APPLICATION_Mailbox, MSG_ID_BUTTON_PRESSED, (QueueHandle_t)0x0, 0x0, &xHigherPriorityTaskWoken); MESSAGE_SendMailboxFromISR(APPLICATION_Mailbox, MSG_ID_BUTTON_PRESSED, (QueueHandle_t)0x0, 0x0, &xHigherPriorityTaskWoken);
} }
}
if (xHigherPriorityTaskWoken) { if (xHigherPriorityTaskWoken) {
/* If xHigherPriorityTaskWoken is now set to pdTRUE then a context switch /* If xHigherPriorityTaskWoken is now set to pdTRUE then a context switch

278
software/dumber3/Application/commands.c
View file

@ -7,40 +7,204 @@
#include "commands.h" #include "commands.h"
#include <stdlib.h> #include <stdlib.h>
#include <string.h>
/* Definition des commandes */ /* Definition des commandes */
#define PingCMD 'p'
#define ResetCMD 'r'
#define SetMotorCMD 'm'
#define StartWWatchDogCMD 'W'
#define ResetWatchdogCMD 'w'
#define GetBatteryVoltageCMD 'v'
#define GetVersionCMD 'V'
#define StartWithoutWatchCMD 'u'
#define MoveCMD 'M'
#define TurnCMD 'T'
#define BusyStateCMD 'b'
#define TestCMD 't'
#define DebugCMD 'a'
#define PowerOffCMD 'z'
#define OK_ANS "O\r"
#define ERR_ANS "E\r"
#define UNKNOW_ANS "C\r"
#define BAT_OK "2\r"
#define BAT_LOW "1\r"
#define BAT_EMPTY "0\r"
char* cmdAddChecksum(const char* str);
char cmdVerifyChecksum(char* str);
/** @addtogroup Checksum
* @{
*/
/**
* @brief Inclut le checksum à sendString
*
* Parcours str pour y calculer le checksum ( xor sur chaque caractére)
* et inclut le resultat en fin de chaine.
*
* @param string sans checksum
* @retval string avec checksum
*
*/
char* cmdAddChecksum(const char* str) {
uint16_t j;
unsigned char checksum=0;
char *outstr = (char*) malloc(strlen(str)+2); // +1 for checksum to add, +1 for zero ending
for (j = 0; str[j] != '\r'; j++) {
outstr[j] = str[j];
checksum ^= str[j];
}
if (checksum == '\r')
checksum++;
outstr[j] = checksum;
outstr[j + 1] = '\r';
outstr[j + 2] = 0;
return outstr;
}
/**
* @brief Verifie le checksum de la variable global recepitString
*
* Vérifie le dernier carctére de str sensé être le checksum.
* Si celui-ci est bon, ll retournera 0 et supprimera le checksum de str
* sinon il retournera 1 sans faire de modification.
* @param None
* @retval 0 ou 1
*
*/
char cmdVerifyChecksum(char* str) {
uint16_t j;
uint16_t length;
unsigned char checksum=0;
length = strlen(str);
for (j = 0; j < length - 2; j++) {
checksum ^= str[j];
}
if (checksum == '\r')
checksum++;
if (str[j] == checksum) {
str[length - 2] = 13;
str[length - 1] = 0;
str[length] = 0;
return 0;
} else
return 1;
}
/**
* @}
*/
//CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
// CMD_Generic* decodedCmd;
// char cmd_type = cmd[0];
//
// switch (cmd_type)
// {
// case CMD_MOVE:
// decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Move));
// decodedCmd->type = CMD_MOVE;
// ((CMD_Move*)decodedCmd)->distance = ((int16_t)cmd[1]<<8) + (int16_t)cmd[2];
// break;
//
// case CMD_TURN:
// decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Turn));
// decodedCmd->type = CMD_TURN;
// ((CMD_Turn*)decodedCmd)->turns = ((int16_t)cmd[1]<<8) + (int16_t)cmd[2];
// break;
//
// case CMD_PING:
// case CMD_RESET:
// case CMD_START_WITHOUT_WATCHDOG:
// case CMD_START_WITH_WATCHDOG:
// case CMD_RESET_WATCHDOG:
// case CMD_GET_BATTERY:
// case CMD_GET_BUSY_STATE:
// case CMD_GET_VERSION:
// case CMD_TEST:
// case CMD_DEBUG:
// case CMD_POWER_OFF:
// decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
// decodedCmd->type = cmd_type;
// break;
//
// default:
// decodedCmd = CMD_DECODE_UNKNOWN;
// }
//
// return decodedCmd;
//}
CMD_Generic* cmdDecode(char* cmd, uint8_t length) { CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
CMD_Generic* decodedCmd; CMD_Generic* decodedCmd;
char cmd_type = cmd[0]; char cmd_type = cmd[0];
switch (cmd_type) switch (cmd_type)
{ {
case CMD_MOVE: case MoveCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Move)); decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Move));
decodedCmd->type = CMD_MOVE; decodedCmd->type = CMD_MOVE;
((CMD_Move*)decodedCmd)->distance = ((int16_t)cmd[1]<<8) + (int16_t)cmd[2]; ((CMD_Move*)decodedCmd)->distance = ((int16_t)cmd[1]<<8) + (int16_t)cmd[2];
break; break;
case CMD_TURN: case TurnCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Turn)); decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Turn));
decodedCmd->type = CMD_TURN; decodedCmd->type = CMD_TURN;
((CMD_Turn*)decodedCmd)->turns = ((int16_t)cmd[1]<<8) + (int16_t)cmd[2]; ((CMD_Turn*)decodedCmd)->turns = ((int16_t)cmd[1]<<8) + (int16_t)cmd[2];
break; break;
case CMD_PING: case PingCMD:
case CMD_RESET:
case CMD_START_WITHOUT_WATCHDOG:
case CMD_START_WITH_WATCHDOG:
case CMD_RESET_WATCHDOG:
case CMD_GET_BATTERY:
case CMD_GET_BUSY_STATE:
case CMD_GET_VERSION:
case CMD_TEST:
case CMD_DEBUG:
case CMD_POWER_OFF:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic)); decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = cmd_type; decodedCmd->type = CMD_PING;
break;
case ResetCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = CMD_RESET;
break;
case StartWWatchDogCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = CMD_START_WITH_WATCHDOG;
break;
case StartWithoutWatchCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = CMD_START_WITHOUT_WATCHDOG;
break;
case ResetWatchdogCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = CMD_RESET_WATCHDOG;
break;
case GetBatteryVoltageCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = CMD_GET_BATTERY;
break;
case GetVersionCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = CMD_GET_VERSION;
break;
case BusyStateCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = CMD_GET_BUSY_STATE;
break;
case TestCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = CMD_TEST;
break;
case DebugCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = CMD_DEBUG;
break;
case PowerOffCMD:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = CMD_POWER_OFF;
break; break;
default: default:
@ -50,42 +214,82 @@ CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
return decodedCmd; return decodedCmd;
} }
void cmdSendAnswer(uint16_t address, uint8_t ans) { void cmdSendAnswer(uint8_t ans) {
ANS_Generic answer; char* answer;
answer.ans = ans; switch (ans) {
XBEE_SendData(address, (char*)&answer, sizeof (answer)); case ANS_OK:
answer = cmdAddChecksum(OK_ANS);
break;
case ANS_ERR:
answer = cmdAddChecksum(ERR_ANS);
break;
default:
answer = cmdAddChecksum(UNKNOW_ANS);
break;
} }
void cmdSendBatteryLevel(uint16_t address, char level) { MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (char*) answer);
ANS_Battery answer; }
void cmdSendString(char *str) {
char* answer;
int strlength = strlen(str);
char localstr[strlength+2];
strncpy(localstr, str, strlength+2);
if (localstr[strlength-1]!='\r') { // \r n'est pas present
localstr[strlength]='\r';
localstr[strlength+1]=0;
}
answer = cmdAddChecksum(localstr);
MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (char*) answer);
}
void cmdSendBatteryLevel(char level) {
char* answer;
char localLevel=level; char localLevel=level;
if (localLevel<0) localLevel=0; if (localLevel<0) localLevel=0;
else if (localLevel>2) localLevel=2; else if (localLevel>2) localLevel=2;
answer.ans = ANS_OK; switch (localLevel) {
answer.bat_level = localLevel; case 2:
answer = cmdAddChecksum("2\r");
XBEE_SendData(address, (char*)&answer, sizeof (answer)); break;
case 1:
answer = cmdAddChecksum("1\r");
break;
default:
answer = cmdAddChecksum("0\r");
break;
} }
void cmdSendVersion(uint16_t address) { MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (char*) answer);
ANS_Version answer;
answer.ans = ANS_OK;
answer.version=SYSTEM_VERSION;
XBEE_SendData(address, (char*)&answer, sizeof (answer));
} }
void cmdSendBusyState(uint16_t address, uint8_t state) { void cmdSendVersion(void) {
ANS_Busy_State answer; int versionlength = strlen(SYSTEM_VERSION_STR);
char versionstr[versionlength+2];
char* answer;
answer.ans = ANS_OK; strncpy(versionstr,SYSTEM_VERSION_STR,versionlength+2);
answer.state = state; versionstr[versionlength] = '\r';
versionstr[versionlength+1]=0; // zero ending string
if (answer.state >1) answer.state=0; answer = cmdAddChecksum(versionstr);
XBEE_SendData(address, (char*)&answer, sizeof (answer)); MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (char*) answer);
}
void cmdSendBusyState(uint8_t state) {
char* answer;
if (state)
answer = cmdAddChecksum("1\r");
else
answer = cmdAddChecksum("0\r");
MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (char*) answer);
} }

9
software/dumber3/Application/commands.h
View file

@ -81,9 +81,10 @@ typedef struct __attribute__((packed)) {
#define CMD_DECODE_UNKNOWN ((CMD_Generic*)UINT32_MAX) #define CMD_DECODE_UNKNOWN ((CMD_Generic*)UINT32_MAX)
CMD_Generic* cmdDecode(char* cmd, uint8_t length); CMD_Generic* cmdDecode(char* cmd, uint8_t length);
void cmdSendAnswer(uint16_t address, uint8_t ans); void cmdSendAnswer(uint8_t ans);
void cmdSendBatteryLevel(uint16_t address, char level); void cmdSendString(char* str);
void cmdSendVersion(uint16_t address); void cmdSendBatteryLevel(char level);
void cmdSendBusyState(uint16_t address, uint8_t state); void cmdSendVersion(void);
void cmdSendBusyState(uint8_t state);
#endif /* INC_CMD_H_ */ #endif /* INC_CMD_H_ */

25
software/dumber3/Application/config.h
View file

@ -16,20 +16,32 @@
#define PriorityMoteursAsservissement (configMAX_PRIORITIES -1) #define PriorityMoteursAsservissement (configMAX_PRIORITIES -1)
#define PriorityXbeeRX (configMAX_PRIORITIES -2) #define PriorityXbeeRX (configMAX_PRIORITIES -2)
#define PriorityXbeeTX (configMAX_PRIORITIES -3) #define PriorityXbeeTX (configMAX_PRIORITIES -3)
#define PriorityMoteurs (configMAX_PRIORITIES -4) #define PriorityMoteursHandler (configMAX_PRIORITIES -4)
#define PriorityBatterie (configMAX_PRIORITIES -5) #define PriorityBatterieHandler (configMAX_PRIORITIES -5)
#define PriorityApplicationMain (configMAX_PRIORITIES -6) #define PriorityApplicationHandler (configMAX_PRIORITIES -6)
#define PrioritySequenceurTimeout (configMAX_PRIORITIES -7) #define PrioritySequenceurTimeout (configMAX_PRIORITIES -7)
#define PriorityLeds (configMAX_PRIORITIES -8) #define PriorityLedsAction (configMAX_PRIORITIES -8)
#define PriorityLedsHandler (configMAX_PRIORITIES -9)
#define PriorityTestsHandler (configMAX_PRIORITIES -10)
/* Périodes des taches périodiques (en ms) */ /* Périodes des taches périodiques (en ms) */
#define MOTEURS_PERIODE_ASSERVISSEMENT (2) #define MOTEURS_PERIODE_ASSERVISSEMENT (2)
#define APPLICATION_PERIODE (100) #define APPLICATION_PERIODE (100)
#define BATTERIE_PERIODE_SCRUTATION (1000) #define BATTERIE_PERIODE_SCRUTATION (1000)
#define LEDS_PERIODE (100) #define LEDS_PERIODE (100)
#define BUTTON_INACTIVITY_PERIODE (1500)
#define TESTS_PERIODE (5000)
#define XBEE_TX_SEMAPHORE_WAIT 500 #define XBEE_TX_SEMAPHORE_WAIT 500
#ifdef TESTS
#define XBEE_RX_BUFFER_MAX_LENGTH 100
#define XBEE_TX_BUFFER_MAX_LENGTH 100
#else
#define XBEE_RX_BUFFER_MAX_LENGTH 50 #define XBEE_RX_BUFFER_MAX_LENGTH 50
#define XBEE_TX_BUFFER_MAX_LENGTH 50
#endif /* TESTS */
#define BATTERY_EMPTY_LEVEL 128 #define BATTERY_EMPTY_LEVEL 128
#define BATTERY_LOW_LEVEL 140 #define BATTERY_LOW_LEVEL 140
@ -37,7 +49,12 @@
/* /*
* Revoir les délais : c'est en 100 ms, pas ms * Revoir les délais : c'est en 100 ms, pas ms
*/ */
#ifdef TESTS
#define APPLICATION_INACTIVITY_TIMEOUT (0xFFFFFFFF) // Max U32, infinite timeout
#else
#define APPLICATION_INACTIVITY_TIMEOUT (2*60*1000) // 2 minutes, expressed in ms #define APPLICATION_INACTIVITY_TIMEOUT (2*60*1000) // 2 minutes, expressed in ms
#endif /* TESTS */
#define APPLICATION_WATCHDOG_MIN (900) // minimum time to wait before resetting watchdog, expressed in ms #define APPLICATION_WATCHDOG_MIN (900) // minimum time to wait before resetting watchdog, expressed in ms
#define APPLICATION_WATCHDOG_MAX (1100) // maximum time to wait before resetting watchdog, expressed in ms #define APPLICATION_WATCHDOG_MAX (1100) // maximum time to wait before resetting watchdog, expressed in ms
#define APPLICATION_WATCHDOG_MISSED_MAX (3) // Maximum missed timeout reset before entering watchdog disabled state #define APPLICATION_WATCHDOG_MISSED_MAX (3) // Maximum missed timeout reset before entering watchdog disabled state

81
software/dumber3/Application/leds.c
View file

@ -108,17 +108,26 @@ uint16_t LEDS_Patterns [LED_MAX_PATTERNS][4]= {
LEDS_State LEDS_Animation; LEDS_State LEDS_Animation;
LEDS_State LEDS_AnimationAncien; LEDS_State LEDS_AnimationAncien;
StaticTask_t xTaskLeds; StaticTask_t xTaskLedsHandler;
/* Buffer that the task being created will use as its stack. Note this is /* Buffer that the task being created will use as its stack. Note this is
an array of StackType_t variables. The size of StackType_t is dependent on an array of StackType_t variables. The size of StackType_t is dependent on
the RTOS port. */ the RTOS port. */
StackType_t xStackLeds[ STACK_SIZE ]; StackType_t xStackLedsHandler[ STACK_SIZE ];
TaskHandle_t xHandleLeds = NULL; TaskHandle_t xHandleLedsHandler = NULL;
void LEDS_AnimationThread(void* params); StaticTask_t xTaskLedsAction;
/* Buffer that the task being created will use as its stack. Note this is
an array of StackType_t variables. The size of StackType_t is dependent on
the RTOS port. */
StackType_t xStackLedsAction[ STACK_SIZE ];
TaskHandle_t xHandleLedsAction = NULL;
void LEDS_ActionThread(void* params);
void LEDS_ShowPattern(uint8_t pattern); void LEDS_ShowPattern(uint8_t pattern);
void LEDS_Tests(void* params); void LEDS_Tests(void* params);
void LEDS_HandlerThread(void* params);
void LEDS_Init(void) { void LEDS_Init(void) {
LEDS_Eteint_Tout(); LEDS_Eteint_Tout();
@ -129,15 +138,16 @@ void LEDS_Init(void) {
/* Mailbox is created in messages.c */ /* Mailbox is created in messages.c */
/* Create the task without using any dynamic memory allocation. */ /* Create the task without using any dynamic memory allocation. */
xHandleLeds = xTaskCreateStatic( xHandleLedsHandler = xTaskCreateStatic(
LEDS_AnimationThread, /* Function that implements the task. */ LEDS_HandlerThread, /* Function that implements the task. */
"LEDS Animation", /* Text name for the task. */ "LEDS Handler", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */ STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */ NULL, /* Parameter passed into the task. */
PriorityLeds,/* Priority at which the task is created. */ PriorityLedsHandler,/* Priority at which the task is created. */
xStackLeds, /* Array to use as the task's stack. */ xStackLedsHandler, /* Array to use as the task's stack. */
&xTaskLeds); /* Variable to hold the task's data structure. */ &xTaskLedsHandler); /* Variable to hold the task's data structure. */
vTaskResume(xHandleLeds);
vTaskResume(xHandleLedsHandler);
} }
void LEDS_ShowPattern(uint8_t pattern) { void LEDS_ShowPattern(uint8_t pattern) {
@ -166,20 +176,12 @@ void LEDS_Tests(void* params) {
} }
} }
void LEDS_AnimationThread(void* params) { void LEDS_HandlerThread(void* params) {
MESSAGE_Typedef msg; MESSAGE_Typedef msg;
uint8_t cnt=0;
TickType_t xLastWakeTime;
// Initialise the xLastWakeTime variable with the current time.
xLastWakeTime = xTaskGetTickCount();
while (1) { while (1) {
// Wait for the next cycle.
vTaskDelayUntil( &xLastWakeTime, pdMS_TO_TICKS(LEDS_PERIODE));
msg = MESSAGE_ReadMailboxNoDelay(LEDS_Mailbox); msg = MESSAGE_ReadMailbox(LEDS_Mailbox);
cnt++;
if (msg.id == MSG_ID_LED_ETAT) { // Si c'est bien un message de changement d'etat LEDS if (msg.id == MSG_ID_LED_ETAT) { // Si c'est bien un message de changement d'etat LEDS
LEDS_Animation = *((LEDS_State*)msg.data); LEDS_Animation = *((LEDS_State*)msg.data);
@ -188,10 +190,35 @@ void LEDS_AnimationThread(void* params) {
// dans ce cas, on eteint les leds pour repartir sur une base saine // dans ce cas, on eteint les leds pour repartir sur une base saine
LEDS_AnimationAncien = LEDS_Animation; LEDS_AnimationAncien = LEDS_Animation;
/* If action task is running, destroy it first */
if (xHandleLedsAction!= NULL) vTaskDelete(xHandleLedsAction);
/* Create the task without using any dynamic memory allocation. */
xHandleLedsAction = xTaskCreateStatic(
LEDS_ActionThread, /* Function that implements the task. */
"LEDS Action", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityLedsAction,/* Priority at which the task is created. */
xStackLedsAction, /* Array to use as the task's stack. */
&xTaskLedsAction); /* Variable to hold the task's data structure. */
vTaskResume(xHandleLedsAction);
}
}
}
}
void LEDS_ActionThread(void* params) {
uint8_t cnt=0;
TickType_t xLastWakeTime;
// Initialise the xLastWakeTime variable with the current time.
xLastWakeTime = xTaskGetTickCount();
LEDS_Eteint_Tout(); LEDS_Eteint_Tout();
cnt=0;
} while (1) {
}
switch (LEDS_Animation) { switch (LEDS_Animation) {
case leds_off: case leds_off:
@ -342,5 +369,11 @@ void LEDS_AnimationThread(void* params) {
default: default:
break; break;
} }
// Wait for the next cycle.
vTaskDelayUntil( &xLastWakeTime, pdMS_TO_TICKS(LEDS_PERIODE));
cnt++;
} }
} }

2
software/dumber3/Application/messages.c
View file

@ -13,13 +13,13 @@
QueueHandle_t LEDS_Mailbox; QueueHandle_t LEDS_Mailbox;
QueueHandle_t MOTEURS_Mailbox; QueueHandle_t MOTEURS_Mailbox;
QueueHandle_t APPLICATION_Mailbox; QueueHandle_t APPLICATION_Mailbox;
QueueHandle_t BATTERIE_Mailbox;
QueueHandle_t XBEE_Mailbox; QueueHandle_t XBEE_Mailbox;
void MESSAGE_Init(void) { void MESSAGE_Init(void) {
LEDS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef)); LEDS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
MOTEURS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef)); MOTEURS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
APPLICATION_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef)); APPLICATION_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
XBEE_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
} }
MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx) { MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx) {

13
software/dumber3/Application/messages.h
View file

@ -20,17 +20,17 @@ typedef struct {
extern QueueHandle_t LEDS_Mailbox; extern QueueHandle_t LEDS_Mailbox;
extern QueueHandle_t MOTEURS_Mailbox; extern QueueHandle_t MOTEURS_Mailbox;
extern QueueHandle_t APPLICATION_Mailbox; extern QueueHandle_t APPLICATION_Mailbox;
extern QueueHandle_t XBEE_Mailbox;
#define MSG_ID_NO_MESSAGE 0x00 #define MSG_ID_NO_MESSAGE 0x00
#define MSG_ID_LED_ETAT 0x10 #define MSG_ID_LED_ETAT 0x10
#define MSG_ID_BAT_NIVEAU 0x20 #define MSG_ID_BAT_CHARGE_COMPLETE 0x20
#define MSG_ID_BAT_CHARGE 0x21 #define MSG_ID_BAT_CHARGE_ON 0x21
#define MSG_ID_BAT_CHARGEUR_ON 0x22 #define MSG_ID_BAT_CHARGE_OFF 0x22
#define MSG_ID_BAT_CHARGEUR_OFF 0x23 #define MSG_ID_BAT_CHARGE_ERR 0x23
#define MSG_ID_BAT_CHARGEUR_ERR 0x24 #define MSG_ID_BAT_ADC_ERR 0x24
#define MSG_ID_BAT_ADC_ERR 0x25
#define MSG_ID_BUTTON_PRESSED 0x30 #define MSG_ID_BUTTON_PRESSED 0x30
@ -39,6 +39,7 @@ extern QueueHandle_t APPLICATION_Mailbox;
#define MSG_ID_MOTEURS_TURN 0x42 #define MSG_ID_MOTEURS_TURN 0x42
#define MSG_ID_XBEE_CMD 0x50 #define MSG_ID_XBEE_CMD 0x50
#define MSG_ID_XBEE_ANS 0x51
void MESSAGE_Init(void); void MESSAGE_Init(void);
MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx); MESSAGE_Typedef MESSAGE_ReadMailbox(QueueHandle_t mbx);

2
software/dumber3/Application/moteurs.c
View file

@ -83,7 +83,7 @@ void MOTEURS_Init(void) {
"MOTEURS Principale", /* Text name for the task. */ "MOTEURS Principale", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */ STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */ NULL, /* Parameter passed into the task. */
PriorityMoteurs,/* Priority at which the task is created. */ PriorityMoteursHandler,/* Priority at which the task is created. */
xStackMoteurs, /* Array to use as the task's stack. */ xStackMoteurs, /* Array to use as the task's stack. */
&xTaskMoteurs); /* Variable to hold the task's data structure. */ &xTaskMoteurs); /* Variable to hold the task's data structure. */
vTaskResume(xHandleMoteurs); vTaskResume(xHandleMoteurs);

356
software/dumber3/Application/xbee.c
View file

@ -22,26 +22,37 @@ extern DMA_HandleTypeDef hdma_lpuart1_rx;
#define XBEE_API_XON 0x11 #define XBEE_API_XON 0x11
#define XBEE_API_XOFF 0x13 #define XBEE_API_XOFF 0x13
#define XBEE_ENDING_CHAR '\r'
/***** TX part *****/
void XBEE_TxHandlerThread(void* params);
int XBEE_SendData(char* data);
/* Stuff for Xbee TX task */
StaticTask_t xTaskXbeeTXHandler;
StackType_t xStackXbeeTXHandler[ STACK_SIZE ];
TaskHandle_t xHandleXbeeTXHandler = NULL;
uint8_t txBuffer[XBEE_TX_BUFFER_MAX_LENGTH]={0};
uint16_t txIndex;
uint16_t txRemainingData;
uint16_t txDataToSend;
/***** RX part *****/ /***** RX part *****/
void XBEE_RxThread(void* params);
SemaphoreHandle_t xHandleSemaphoreRX = NULL;
StaticSemaphore_t xSemaphoreRx;
/* Stuff for Xbee RX task */ /* Stuff for Xbee RX task */
StaticTask_t xTaskXbeeRX; StaticTask_t xTaskXbeeRX;
StackType_t xStackXbeeRX[ STACK_SIZE ]; StackType_t xStackXbeeRX[ STACK_SIZE ];
TaskHandle_t xHandleXbeeRX = NULL; TaskHandle_t xHandleXbeeRX = NULL;
uint8_t txBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
uint16_t txIndex;
uint16_t txDataToSend;
void XBEE_RxThread(void* params);
SemaphoreHandle_t xHandleSemaphoreRX = NULL;
StaticSemaphore_t xSemaphoreRx;
uint8_t rxBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0}; uint8_t rxBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
//uint8_t rxWaitForACK =0; //uint8_t rxWaitForACK =0;
uint8_t rxPhase; uint8_t rxPhase;
uint16_t rxFrameLength; uint16_t rxCmdLength;
uint16_t rxDataToReceive; uint16_t rxDataToReceive;
uint16_t rxIndex; uint16_t rxIndex;
@ -51,13 +62,13 @@ uint16_t rxIndex;
/****** TX part ******/ /****** TX part ******/
SemaphoreHandle_t xHandleSemaphoreTX = NULL; SemaphoreHandle_t xHandleSemaphoreTX = NULL;
SemaphoreHandle_t xHandleSemaphoreTX_ACK = NULL; //SemaphoreHandle_t xHandleSemaphoreTX_ACK = NULL;
StaticSemaphore_t xSemaphoreTX; StaticSemaphore_t xSemaphoreTX;
StaticSemaphore_t xSemaphoreTX_ACK; //StaticSemaphore_t xSemaphoreTX_ACK;
void XBEE_Init(void) { void XBEE_Init(void) {
xHandleSemaphoreTX = xSemaphoreCreateBinaryStatic( &xSemaphoreTX ); xHandleSemaphoreTX = xSemaphoreCreateBinaryStatic( &xSemaphoreTX );
xHandleSemaphoreTX_ACK = xSemaphoreCreateBinaryStatic( &xSemaphoreTX_ACK ); //xHandleSemaphoreTX_ACK = xSemaphoreCreateBinaryStatic( &xSemaphoreTX_ACK );
xSemaphoreGive(xHandleSemaphoreTX); xSemaphoreGive(xHandleSemaphoreTX);
//xSemaphoreTake(xHandleSemaphoreTX_ACK); //xSemaphoreTake(xHandleSemaphoreTX_ACK);
@ -69,224 +80,53 @@ void XBEE_Init(void) {
"XBEE Rx", /* Text name for the task. */ "XBEE Rx", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */ STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */ NULL, /* Parameter passed into the task. */
PriorityMoteurs,/* Priority at which the task is created. */ PriorityXbeeRX,/* Priority at which the task is created. */
xStackXbeeRX, /* Array to use as the task's stack. */ xStackXbeeRX, /* Array to use as the task's stack. */
&xTaskXbeeRX); /* Variable to hold the task's data structure. */ &xTaskXbeeRX); /* Variable to hold the task's data structure. */
vTaskResume(xHandleXbeeRX); vTaskResume(xHandleXbeeRX);
/* Create the task without using any dynamic memory allocation. */
xHandleXbeeTXHandler = xTaskCreateStatic(
XBEE_TxHandlerThread, /* Function that implements the task. */
"XBEE Tx", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityXbeeTX,/* Priority at which the task is created. */
xStackXbeeTXHandler, /* Array to use as the task's stack. */
&xTaskXbeeTXHandler); /* Variable to hold the task's data structure. */
vTaskResume(xHandleXbeeTXHandler);
/* Enable Xbee */ /* Enable Xbee */
HAL_GPIO_WritePin(XBEE_RESET_GPIO_Port, XBEE_RESET_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(XBEE_RESET_GPIO_Port, XBEE_RESET_Pin, GPIO_PIN_SET);
} }
/**** Support functions ****/ /**** Support functions ****/
/**
* Compute length of encoded data using escape char
*
* \param data pointer on raw data
* \param length length of raw data
* \return length of data when encoded
*/
int XBEE_GetDataLength(char* data, int length) {
int encodedLength=0;
for (int i=0; i< length; i++) {
if ((*data == (char)XBEE_API_ESCAPE_CHAR) || (*data == (char)XBEE_API_START_OF_FRAME) ||
(*data == (char)XBEE_API_XOFF) ||(*data == (char)XBEE_API_XON)) {
encodedLength++; /* Add 1 byte for escape char */
}
encodedLength++; /* Add current char in length calculation */
data++; /* move to next byte in raw buffer */
}
return encodedLength;
}
/**
* Convert raw data into escaped data. Create a new buffer that is returned
*
* \param data pointer on raw data
* \param length length of raw data
* \param encodedLength length of encoded data
* \return new buffer allocated with escaped char
*/
char* XBEE_EncodeWithEscapeChar(char* data, int length, int *encodedLength) {
char* encodedData;
*encodedLength=XBEE_GetDataLength(data, length);
encodedData = (char*)malloc(*encodedLength);
for (char* p=encodedData; p< (encodedData + *encodedLength); p++) {
if ((*data == (char)XBEE_API_ESCAPE_CHAR) || (*data == (char)XBEE_API_START_OF_FRAME) ||
(*data == (char)XBEE_API_XOFF) ||(*data == (char)XBEE_API_XON)) {
*p = (char) XBEE_API_ESCAPE_CHAR;
p++;
}
*p = *data;
data++;
}
return encodedData;
}
/**
* Get a raw buffer and convert it into a transmission frame
*
* \param data pointer on raw data
* \param length length of raw data
* \param destination address of the destination
* \param frameLength length of frame
* \return new frame (allocated) containing escaped data
*/
void XBEE_EncodeTransmissionFrame(char* data, int length, uint16_t destination, char* frame, int* frameLength) {
uint8_t checksum=0;
uint16_t localLength=0;
char* p;
localLength = length+9;
frame[0] = (char)XBEE_FRAME_SOF_CHAR;
frame[1] = (char)((uint16_t)(localLength-4)>>8);
frame[2] = (char)((uint16_t)(localLength-4));
frame[3] = (char)XBEE_TX_16BIT_REQUEST_TYPE;
frame[4] = 0x1;
frame[5] = (char)((uint16_t)(destination)>>8);
frame[6] = (char)((uint16_t)(destination));
frame[7] = 0x0;
for (p = &frame[8]; p< (data + length); p++) {
if ((*data == (char)XBEE_API_ESCAPE_CHAR) || (*data == (char)XBEE_API_START_OF_FRAME) ||
(*data == (char)XBEE_API_XOFF) ||(*data == (char)XBEE_API_XON)) {
*p = (char) XBEE_API_ESCAPE_CHAR;
p++;
*p = *data^0x20;
} else
*p = *data;
data++;
}
/* calcul du checksum */
for (int i=3; i<(localLength-1); i++) {
checksum += (uint8_t)frame[i];
}
*p = 0xFF-checksum;
*frameLength = localLength;
}
/**
* Get frame length
*
* \param frame pointer on frame header
* \return length of incoming frame
*/
uint16_t XBEE_GetFrameLength(uint8_t *frame) {
return (((uint16_t)frame[1])<<8) + (uint16_t)frame[2];
}
/**
* Get a complete frame, check if frame is correct and extract raw data
*
* \param raw_frame pointer on complete frame
* \param incomingFrame pointer to processed frame, with escape char removed
* \return status of decoding: XBEE_OK if decoding is successful, XBEE_INVALID_FRAME otherwise
*/
XBEE_Status XBEE_DecodeFrame(char* rawFrame, XBEE_INCOMING_FRAME** incomingFrame) {
uint8_t frame_type = (uint8_t)rawFrame[3];
uint16_t rawFrameLength;
uint8_t checksum;
XBEE_Status status = XBEE_OK;
int allocatedSize;
int dataSize;
int i;
if (rawFrame[0] == '~') {
rawFrameLength = (((uint16_t)rawFrame[1])<<8) + (uint16_t)rawFrame[2];
/* verification du checksum */
checksum =0;
for (i=3; i<3+rawFrameLength+1; i++) {
checksum += (uint8_t)rawFrame[i];
}
if (checksum != 0xFF)
return XBEE_INVALID_FRAME;
switch (frame_type) {
case XBEE_RX_16BIT_PACKET_TYPE:
dataSize = rawFrameLength-5; // there is 5 bytes of "other" data than truly data bytes in a frame
allocatedSize = sizeof(XBEE_INCOMING_FRAME)+dataSize;
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->type = frame_type;
/* Get source address */
(*incomingFrame)->source_addr = (((uint16_t)rawFrame[4])<<8) + (uint16_t)rawFrame[5];
//XBEE_DecodeWithoutEscapeChar(&rawFrame[8], rawFrameLength-5, (*incomingFrame)->data, &incomingDataLength); // Data = Frame length -5
(*incomingFrame)->length = (uint8_t)(dataSize);
(*incomingFrame)->ack = 0;
for (i=0; i<dataSize; i++)
(*incomingFrame)->data[i] = rawFrame[i+8];
break;
case XBEE_MODEM_STATUS_TYPE:
allocatedSize = sizeof(XBEE_INCOMING_FRAME); // no data
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->type = frame_type;
(*incomingFrame)->modem_status = rawFrame[4];
(*incomingFrame)->data[0]=0x0;
(*incomingFrame)->length = 0;
break;
case XBEE_TX_STATUS_TYPE:
allocatedSize = sizeof(XBEE_INCOMING_FRAME); // no data
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->ack = rawFrame[5];
(*incomingFrame)->data[0]=0x0;
(*incomingFrame)->length = 0;
break;
case XBEE_EXTENDED_TX_STATUS_TYPE:
allocatedSize = sizeof(XBEE_INCOMING_FRAME); // no data
*incomingFrame = (XBEE_INCOMING_FRAME*) malloc(allocatedSize); /* Allocate a generic frame struct */
(*incomingFrame)->ack = rawFrame[8];
(*incomingFrame)->data[0]=0x0;
(*incomingFrame)->length = 0;
break;
default:
*incomingFrame=NULL;
return XBEE_INVALID_FRAME;
};
} else status = XBEE_INVALID_FRAME;
return status;
}
/**** TX Part *****/ /**** TX Part *****/
void XBEE_TxHandlerThread(void* params) {
MESSAGE_Typedef msg;
while (1) {
msg = MESSAGE_ReadMailbox(XBEE_Mailbox);
if (msg.id == MSG_ID_XBEE_ANS) {
XBEE_SendData((char*)msg.data); // block function during send
free(msg.data);
}
}
}
/** /**
* Send data. Create a transmission frame, add escape char to data and send it over UART * Send data. Create a transmission frame, add escape char to data and send it over UART
* *
* \param data raw data to send * \param data raw data to send
* \param length length of data to send
* \return status of decoding: XBEE_OK if decoding is successful, * \return status of decoding: XBEE_OK if decoding is successful,
* XBEE_TX_ERROR in case of sending error, * XBEE_TX_ERROR in case of sending error,
* XBEE_TX_TIMEOUT in case semaphore takes too long * XBEE_TX_TIMEOUT in case semaphore takes too long
*/ */
int XBEE_SendData(uint16_t address, char* data, int length) { int XBEE_SendData(char* data) {
BaseType_t state; BaseType_t state;
int status = XBEE_OK; int status = XBEE_OK;
@ -297,11 +137,17 @@ int XBEE_SendData(uint16_t address, char* data, int length) {
if answer is false, it means timeout appends if answer is false, it means timeout appends
We should probably reset something in "else" branch */ We should probably reset something in "else" branch */
XBEE_EncodeTransmissionFrame(data, length, address, (char*) txBuffer, (int*)&txDataToSend); strncpy((char*)txBuffer,data,XBEE_TX_BUFFER_MAX_LENGTH-1);
txBuffer[XBEE_TX_BUFFER_MAX_LENGTH-1]=0;
txRemainingData = strlen((char*)txBuffer);
if (txRemainingData!=0) {
txIndex =1;
txRemainingData=txRemainingData-1;
LL_USART_TransmitData8(hlpuart1.Instance, txBuffer[0]); LL_USART_TransmitData8(hlpuart1.Instance, txBuffer[0]);
txIndex =1;
LL_USART_EnableIT_TXE(hlpuart1.Instance); // enable TX Interrupt LL_USART_EnableIT_TXE(hlpuart1.Instance); // enable TX Interrupt
}
} else status= XBEE_TX_TIMEOUT; } else status= XBEE_TX_TIMEOUT;
return status; return status;
@ -310,11 +156,13 @@ int XBEE_SendData(uint16_t address, char* data, int length) {
void XBEE_TX_IRQHandler(void) { void XBEE_TX_IRQHandler(void) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
LL_USART_TransmitData8(hlpuart1.Instance, txBuffer[txIndex]); if (txRemainingData==0) { // No more data, disable TXE bit
txIndex++;
if (txIndex == txDataToSend) {
LL_USART_DisableIT_TXE(hlpuart1.Instance); LL_USART_DisableIT_TXE(hlpuart1.Instance);
xSemaphoreGiveFromISR( xHandleSemaphoreTX, &xHigherPriorityTaskWoken ); xSemaphoreGiveFromISR( xHandleSemaphoreTX, &xHigherPriorityTaskWoken );
} else {
LL_USART_TransmitData8(hlpuart1.Instance, txBuffer[txIndex]);
txIndex++;
txRemainingData--;
} }
if (xHigherPriorityTaskWoken) { if (xHigherPriorityTaskWoken) {
@ -334,11 +182,9 @@ void XBEE_TX_IRQHandler(void) {
* \param params not used * \param params not used
*/ */
void XBEE_RxThread(void* params) { void XBEE_RxThread(void* params) {
XBEE_INCOMING_FRAME *incomingFrame; //XBEE_INCOMING_FRAME *incomingFrame;
char* incomingData;
rxPhase= XBEE_RX_PHASE_SOF; rxCmdLength=0;
rxFrameLength=0;
rxDataToReceive=1;
rxIndex=0; rxIndex=0;
while (HAL_UART_Receive_IT(&hlpuart1, rxBuffer, 1)!= HAL_OK); // try starting reception of frame while (HAL_UART_Receive_IT(&hlpuart1, rxBuffer, 1)!= HAL_OK); // try starting reception of frame
@ -350,16 +196,13 @@ void XBEE_RxThread(void* params) {
while (1) { while (1) {
if (xSemaphoreTake(xHandleSemaphoreRX, portMAX_DELAY)==pdTRUE) { // wait forever if (xSemaphoreTake(xHandleSemaphoreRX, portMAX_DELAY)==pdTRUE) { // wait forever
/* Process frame */ incomingData = (char*)malloc(rxCmdLength+1); // +1 for ending zero !
if (XBEE_DecodeFrame((char*) rxBuffer, &incomingFrame)==XBEE_OK) { // frame is valid strncpy (incomingData, (char*)rxBuffer, XBEE_RX_BUFFER_MAX_LENGTH);
if (incomingFrame != 0x0) // frame is valid
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_XBEE_CMD, (QueueHandle_t)0x0, (void*)incomingFrame);
// if (rxBuffer[3]== XBEE_RX_16BIT_PACKET_TYPE) {
// MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_XBEE_CMD, (QueueHandle_t)0x0, (void*)0x0);
}
for (int i=0; i<XBEE_RX_BUFFER_MAX_LENGTH; i++) rxCmdLength=0; // reset counters for next command
rxBuffer[i]=0xFF; rxIndex=0;
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_XBEE_CMD, (QueueHandle_t)0x0, (void*)incomingData);
} }
} }
} }
@ -370,43 +213,19 @@ void XBEE_RX_IRQHandler(void) {
data = LL_USART_ReceiveData8(hlpuart1.Instance); // lecture de l'octet reçu data = LL_USART_ReceiveData8(hlpuart1.Instance); // lecture de l'octet reçu
switch (rxPhase) { if (data != XBEE_ENDING_CHAR) { // end of command not received
case XBEE_RX_PHASE_SOF:
if (data == XBEE_FRAME_SOF_CHAR) {
rxBuffer[0] = data;
rxPhase = XBEE_RX_PHASE_HEADER;
rxIndex = 1;
}
break;
case XBEE_RX_PHASE_HEADER:
rxBuffer[rxIndex] = data; rxBuffer[rxIndex] = data;
rxIndex++; rxIndex++;
if (rxIndex>=XBEE_RX_BUFFER_MAX_LENGTH)
if (rxIndex==3) {
// header reçu, calcul de la longueur de la frame
rxFrameLength = (((uint16_t)rxBuffer[1]) << 8) + (uint16_t)rxBuffer[2];
rxDataToReceive = rxFrameLength +1; // +1 for checksum
rxPhase = XBEE_RX_PHASE_BODY;
}
break;
case XBEE_RX_PHASE_BODY:
rxBuffer[rxIndex] = data;
if (rxBuffer[rxIndex-1] == XBEE_API_ESCAPE_CHAR)
rxBuffer[rxIndex-1] = rxBuffer[rxIndex] ^ 0x20;
else {
rxIndex++;
rxDataToReceive--;
}
if (!rxDataToReceive) {
rxIndex=0; rxIndex=0;
rxPhase = XBEE_RX_PHASE_SOF;
rxCmdLength++;
if (rxCmdLength>=XBEE_RX_BUFFER_MAX_LENGTH)
rxCmdLength=0;
} else { // end of command received
rxBuffer[rxIndex] = 0; // ending zero for C string
xSemaphoreGiveFromISR( xHandleSemaphoreRX, &xHigherPriorityTaskWoken ); /* send event to receive task to process received task */ xSemaphoreGiveFromISR( xHandleSemaphoreRX, &xHigherPriorityTaskWoken ); /* send event to receive task to process received task */
} }
break;
default:
while(1);
}
if (xHigherPriorityTaskWoken) { if (xHigherPriorityTaskWoken) {
/* If xHigherPriorityTaskWoken is now set to pdTRUE then a context switch /* If xHigherPriorityTaskWoken is now set to pdTRUE then a context switch
@ -426,15 +245,20 @@ void LPUART1_IRQHandler(void) {
if (LL_USART_IsActiveFlag_RXNE(hlpuart1.Instance)) { if (LL_USART_IsActiveFlag_RXNE(hlpuart1.Instance)) {
XBEE_RX_IRQHandler(); XBEE_RX_IRQHandler();
} else if (LL_USART_IsActiveFlag_TXE(hlpuart1.Instance)) { } else if ((LL_USART_IsEnabledIT_TXE(hlpuart1.Instance)) && (LL_USART_IsActiveFlag_TXE(hlpuart1.Instance))) {
XBEE_TX_IRQHandler(); XBEE_TX_IRQHandler();
} else { } else {
if (LL_USART_IsActiveFlag_TC(hlpuart1.Instance)) if ((LL_USART_IsEnabledIT_TC(hlpuart1.Instance)) && (LL_USART_IsActiveFlag_TC(hlpuart1.Instance)))
LL_USART_DisableIT_TC(hlpuart1.Instance); LL_USART_DisableIT_TC(hlpuart1.Instance);
else if (LL_USART_IsActiveFlag_IDLE(hlpuart1.Instance)) else if ((LL_USART_IsEnabledIT_IDLE(hlpuart1.Instance)) && (LL_USART_IsActiveFlag_IDLE(hlpuart1.Instance)))
LL_USART_ClearFlag_IDLE(hlpuart1.Instance); LL_USART_ClearFlag_IDLE(hlpuart1.Instance);
else if (LL_USART_IsActiveFlag_ORE(hlpuart1.Instance)) { else {
LL_USART_ClearFlag_ORE(hlpuart1.Instance); LL_USART_ClearFlag_ORE(hlpuart1.Instance);
LL_USART_ClearFlag_FE(hlpuart1.Instance);
LL_USART_ClearFlag_PE(hlpuart1.Instance);
LL_USART_ClearFlag_NE(hlpuart1.Instance);
LL_USART_DisableIT_ERROR(hlpuart1.Instance);
LL_USART_DisableIT_PE(hlpuart1.Instance);
} }
} }
} }

1
software/dumber3/Application/xbee.h
View file

@ -62,6 +62,5 @@ typedef struct {
} XBEE_INCOMING_FRAME; } XBEE_INCOMING_FRAME;
void XBEE_Init(void); void XBEE_Init(void);
int XBEE_SendData(uint16_t address, char* data, int length);
#endif /* INC_XBEE_H_ */ #endif /* INC_XBEE_H_ */

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

@ -86,7 +86,7 @@
/* Software timer definitions. */ /* Software timer definitions. */
#define configUSE_TIMERS 1 #define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 2 ) #define configTIMER_TASK_PRIORITY ( 3 )
#define configTIMER_QUEUE_LENGTH 10 #define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 256 #define configTIMER_TASK_STACK_DEPTH 256

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

@ -67,8 +67,6 @@ void Error_Handler(void);
#define ENC_PHA_GAUCHE_GPIO_Port GPIOA #define ENC_PHA_GAUCHE_GPIO_Port GPIOA
#define ENC_PHA_DROIT_Pin GPIO_PIN_2 #define ENC_PHA_DROIT_Pin GPIO_PIN_2
#define ENC_PHA_DROIT_GPIO_Port GPIOA #define ENC_PHA_DROIT_GPIO_Port GPIOA
#define ENC_PHB_DROIT_Pin GPIO_PIN_4
#define ENC_PHB_DROIT_GPIO_Port GPIOA
#define ENC_PHB_GAUCHE_Pin GPIO_PIN_5 #define ENC_PHB_GAUCHE_Pin GPIO_PIN_5
#define ENC_PHB_GAUCHE_GPIO_Port GPIOA #define ENC_PHB_GAUCHE_GPIO_Port GPIOA
#define PWM_B_GAUCHE_Pin GPIO_PIN_6 #define PWM_B_GAUCHE_Pin GPIO_PIN_6

1
software/dumber3/Core/Inc/stm32l0xx_it.h
View file

@ -51,7 +51,6 @@ void NMI_Handler(void);
void HardFault_Handler(void); void HardFault_Handler(void);
void EXTI2_3_IRQHandler(void); void EXTI2_3_IRQHandler(void);
void EXTI4_15_IRQHandler(void); void EXTI4_15_IRQHandler(void);
void DMA1_Channel2_3_IRQHandler(void);
void ADC1_COMP_IRQHandler(void); void ADC1_COMP_IRQHandler(void);
void TIM2_IRQHandler(void); void TIM2_IRQHandler(void);
void TIM6_IRQHandler(void); void TIM6_IRQHandler(void);

1
software/dumber3/Core/Src/freertos.c
View file

@ -57,6 +57,7 @@
__weak void PreSleepProcessing(uint32_t *ulExpectedIdleTime) __weak void PreSleepProcessing(uint32_t *ulExpectedIdleTime)
{ {
/* place for user code */ /* place for user code */
*ulExpectedIdleTime=0;
} }
__weak void PostSleepProcessing(uint32_t *ulExpectedIdleTime) __weak void PostSleepProcessing(uint32_t *ulExpectedIdleTime)

105
software/dumber3/Core/Src/main.c
View file

@ -24,6 +24,7 @@
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "application.h" #include "application.h"
#include "tests.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
@ -45,12 +46,10 @@
ADC_HandleTypeDef hadc; ADC_HandleTypeDef hadc;
UART_HandleTypeDef hlpuart1; UART_HandleTypeDef hlpuart1;
DMA_HandleTypeDef hdma_lpuart1_tx;
TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3; TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim21; TIM_HandleTypeDef htim21;
TIM_HandleTypeDef htim22;
/* Definitions for defaultTask */ /* Definitions for defaultTask */
osThreadId_t defaultTaskHandle; osThreadId_t defaultTaskHandle;
@ -66,13 +65,11 @@ const osThreadAttr_t defaultTask_attributes = {
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void); void SystemClock_Config(void);
static void MX_GPIO_Init(void); static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_LPUART1_UART_Init(void); static void MX_LPUART1_UART_Init(void);
static void MX_TIM2_Init(void); static void MX_TIM2_Init(void);
static void MX_TIM3_Init(void); static void MX_TIM3_Init(void);
static void MX_TIM21_Init(void); static void MX_TIM21_Init(void);
static void MX_ADC_Init(void); static void MX_ADC_Init(void);
static void MX_TIM22_Init(void);
void StartDefaultTask(void *argument); void StartDefaultTask(void *argument);
/* USER CODE BEGIN PFP */ /* USER CODE BEGIN PFP */
@ -112,15 +109,17 @@ int main(void)
/* Initialize all configured peripherals */ /* Initialize all configured peripherals */
MX_GPIO_Init(); MX_GPIO_Init();
MX_DMA_Init();
MX_LPUART1_UART_Init(); MX_LPUART1_UART_Init();
MX_TIM2_Init(); MX_TIM2_Init();
MX_TIM3_Init(); MX_TIM3_Init();
MX_TIM21_Init(); MX_TIM21_Init();
MX_ADC_Init(); MX_ADC_Init();
MX_TIM22_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
#ifdef TESTS
TESTS_Init();
#else
APPLICATION_Init(); APPLICATION_Init();
#endif /* TESTS */
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Init scheduler */ /* Init scheduler */
@ -292,7 +291,7 @@ static void MX_LPUART1_UART_Init(void)
/* USER CODE END LPUART1_Init 1 */ /* USER CODE END LPUART1_Init 1 */
hlpuart1.Instance = LPUART1; hlpuart1.Instance = LPUART1;
hlpuart1.Init.BaudRate = 115200; hlpuart1.Init.BaudRate = 9600;
hlpuart1.Init.WordLength = UART_WORDLENGTH_8B; hlpuart1.Init.WordLength = UART_WORDLENGTH_8B;
hlpuart1.Init.StopBits = UART_STOPBITS_1; hlpuart1.Init.StopBits = UART_STOPBITS_1;
hlpuart1.Init.Parity = UART_PARITY_NONE; hlpuart1.Init.Parity = UART_PARITY_NONE;
@ -354,7 +353,7 @@ static void MX_TIM2_Init(void)
sSlaveConfig.InputTrigger = TIM_TS_TI1FP1; sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING; sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1; sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
sSlaveConfig.TriggerFilter = 0; sSlaveConfig.TriggerFilter = 3;
if (HAL_TIM_SlaveConfigSynchro(&htim2, &sSlaveConfig) != HAL_OK) if (HAL_TIM_SlaveConfigSynchro(&htim2, &sSlaveConfig) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
@ -362,14 +361,13 @@ static void MX_TIM2_Init(void)
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING; sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI; sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1; sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = TIM_CCMR1_IC1F_3; sConfigIC.ICFilter = 3;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING; sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI; sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
sConfigIC.ICFilter = TIM_CCMR1_IC2F_3;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK) if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
@ -504,7 +502,7 @@ static void MX_TIM21_Init(void)
sSlaveConfig.InputTrigger = TIM_TS_TI1FP1; sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING; sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1; sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
sSlaveConfig.TriggerFilter = 0; sSlaveConfig.TriggerFilter = 3;
if (HAL_TIM_SlaveConfigSynchro(&htim21, &sSlaveConfig) != HAL_OK) if (HAL_TIM_SlaveConfigSynchro(&htim21, &sSlaveConfig) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
@ -512,14 +510,13 @@ static void MX_TIM21_Init(void)
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING; sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI; sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1; sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = TIM_CCMR1_IC1F_3; sConfigIC.ICFilter = 3;
if (HAL_TIM_IC_ConfigChannel(&htim21, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) if (HAL_TIM_IC_ConfigChannel(&htim21, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING; sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI; sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
sConfigIC.ICFilter = TIM_CCMR1_IC2F_3;
if (HAL_TIM_IC_ConfigChannel(&htim21, &sConfigIC, TIM_CHANNEL_2) != HAL_OK) if (HAL_TIM_IC_ConfigChannel(&htim21, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
@ -536,70 +533,6 @@ static void MX_TIM21_Init(void)
} }
/**
* @brief TIM22 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM22_Init(void)
{
/* USER CODE BEGIN TIM22_Init 0 */
/* USER CODE END TIM22_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM22_Init 1 */
/* USER CODE END TIM22_Init 1 */
htim22.Instance = TIM22;
htim22.Init.Prescaler = 0;
htim22.Init.CounterMode = TIM_COUNTERMODE_UP;
htim22.Init.Period = 65535;
htim22.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim22.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim22) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_ETRMODE2;
sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED;
sClockSourceConfig.ClockPrescaler = TIM_CLOCKPRESCALER_DIV1;
sClockSourceConfig.ClockFilter = 0;
if (HAL_TIM_ConfigClockSource(&htim22, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim22, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM22_Init 2 */
/* USER CODE END TIM22_Init 2 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel2_3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
}
/** /**
* @brief GPIO Initialization Function * @brief GPIO Initialization Function
* @param None * @param None
@ -608,6 +541,8 @@ static void MX_DMA_Init(void)
static void MX_GPIO_Init(void) static void MX_GPIO_Init(void)
{ {
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */ /* GPIO Ports Clock Enable */
__HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE();
@ -653,11 +588,11 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(BUTTON_SENSE_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(BUTTON_SENSE_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : USB_SENSE_Pin */ // /*Configure GPIO pin : USB_SENSE_Pin */
GPIO_InitStruct.Pin = USB_SENSE_Pin; // GPIO_InitStruct.Pin = USB_SENSE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING; // GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL; // GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(USB_SENSE_GPIO_Port, &GPIO_InitStruct); // HAL_GPIO_Init(USB_SENSE_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : CHARGER_ST2_Pin CHARGER_ST1_Pin */ /*Configure GPIO pins : CHARGER_ST2_Pin CHARGER_ST1_Pin */
GPIO_InitStruct.Pin = CHARGER_ST2_Pin|CHARGER_ST1_Pin; GPIO_InitStruct.Pin = CHARGER_ST2_Pin|CHARGER_ST1_Pin;
@ -676,9 +611,11 @@ static void MX_GPIO_Init(void)
HAL_NVIC_SetPriority(EXTI2_3_IRQn, 3, 0); HAL_NVIC_SetPriority(EXTI2_3_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(EXTI2_3_IRQn); HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);
HAL_NVIC_SetPriority(EXTI4_15_IRQn, 3, 0); // HAL_NVIC_SetPriority(EXTI4_15_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn); // HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
} }
/* USER CODE BEGIN 4 */ /* USER CODE BEGIN 4 */

67
software/dumber3/Core/Src/stm32l0xx_hal_msp.c
View file

@ -21,10 +21,10 @@
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_lpuart1_tx;
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */ /* USER CODE BEGIN TD */
@ -177,29 +177,11 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
GPIO_InitStruct.Alternate = GPIO_AF4_LPUART1; GPIO_InitStruct.Alternate = GPIO_AF4_LPUART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* LPUART1 DMA Init */
/* LPUART1_TX Init */
hdma_lpuart1_tx.Instance = DMA1_Channel2;
hdma_lpuart1_tx.Init.Request = DMA_REQUEST_5;
hdma_lpuart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_lpuart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_lpuart1_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_lpuart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_lpuart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_lpuart1_tx.Init.Mode = DMA_NORMAL;
hdma_lpuart1_tx.Init.Priority = DMA_PRIORITY_HIGH;
if (HAL_DMA_Init(&hdma_lpuart1_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(huart,hdmatx,hdma_lpuart1_tx);
/* LPUART1 interrupt Init */ /* LPUART1 interrupt Init */
HAL_NVIC_SetPriority(LPUART1_IRQn, 3, 0); HAL_NVIC_SetPriority(LPUART1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(LPUART1_IRQn); HAL_NVIC_EnableIRQ(LPUART1_IRQn);
/* USER CODE BEGIN LPUART1_MspInit 1 */ /* USER CODE BEGIN LPUART1_MspInit 1 */
HAL_NVIC_SetPriority(LPUART1_IRQn, 2, 0); //HAL_NVIC_SetPriority(LPUART1_IRQn, 3, 0);
/* USER CODE END LPUART1_MspInit 1 */ /* USER CODE END LPUART1_MspInit 1 */
} }
@ -227,9 +209,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
*/ */
HAL_GPIO_DeInit(GPIOB, USART_TX_Pin|USART_RX_Pin); HAL_GPIO_DeInit(GPIOB, USART_TX_Pin|USART_RX_Pin);
/* LPUART1 DMA DeInit */
HAL_DMA_DeInit(huart->hdmatx);
/* LPUART1 interrupt DeInit */ /* LPUART1 interrupt DeInit */
HAL_NVIC_DisableIRQ(LPUART1_IRQn); HAL_NVIC_DisableIRQ(LPUART1_IRQn);
/* USER CODE BEGIN LPUART1_MspDeInit 1 */ /* USER CODE BEGIN LPUART1_MspDeInit 1 */
@ -311,29 +290,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
/* USER CODE END TIM21_MspInit 1 */ /* USER CODE END TIM21_MspInit 1 */
} }
else if(htim_base->Instance==TIM22)
{
/* USER CODE BEGIN TIM22_MspInit 0 */
/* USER CODE END TIM22_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM22_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM22 GPIO Configuration
PA4 ------> TIM22_ETR
*/
GPIO_InitStruct.Pin = ENC_PHB_DROIT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_TIM22;
HAL_GPIO_Init(ENC_PHB_DROIT_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM22_MspInit 1 */
/* USER CODE END TIM22_MspInit 1 */
}
} }
@ -431,23 +387,6 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
/* USER CODE END TIM21_MspDeInit 1 */ /* USER CODE END TIM21_MspDeInit 1 */
} }
else if(htim_base->Instance==TIM22)
{
/* USER CODE BEGIN TIM22_MspDeInit 0 */
/* USER CODE END TIM22_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM22_CLK_DISABLE();
/**TIM22 GPIO Configuration
PA4 ------> TIM22_ETR
*/
HAL_GPIO_DeInit(ENC_PHB_DROIT_GPIO_Port, ENC_PHB_DROIT_Pin);
/* USER CODE BEGIN TIM22_MspDeInit 1 */
/* USER CODE END TIM22_MspDeInit 1 */
}
} }

1
software/dumber3/Core/Src/stm32l0xx_hal_timebase_tim.c
View file

@ -77,6 +77,7 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
htim6.Instance = TIM6; htim6.Instance = TIM6;
/* Initialize TIMx peripheral as follow: /* Initialize TIMx peripheral as follow:
+ Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base. + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock. + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ ClockDivision = 0 + ClockDivision = 0

19
software/dumber3/Core/Src/stm32l0xx_it.c
View file

@ -57,7 +57,6 @@
/* External variables --------------------------------------------------------*/ /* External variables --------------------------------------------------------*/
extern ADC_HandleTypeDef hadc; extern ADC_HandleTypeDef hadc;
extern DMA_HandleTypeDef hdma_lpuart1_tx;
extern UART_HandleTypeDef hlpuart1; extern UART_HandleTypeDef hlpuart1;
extern TIM_HandleTypeDef htim2; extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim21; extern TIM_HandleTypeDef htim21;
@ -135,20 +134,6 @@ void EXTI4_15_IRQHandler(void)
/* USER CODE END EXTI4_15_IRQn 1 */ /* USER CODE END EXTI4_15_IRQn 1 */
} }
/**
* @brief This function handles DMA1 channel 2 and channel 3 interrupts.
*/
//void DMA1_Channel2_3_IRQHandler(void)
//{
// /* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
//
// /* USER CODE END DMA1_Channel2_3_IRQn 0 */
// HAL_DMA_IRQHandler(&hdma_lpuart1_tx);
// /* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
//
// /* USER CODE END DMA1_Channel2_3_IRQn 1 */
//}
/** /**
* @brief This function handles ADC, COMP1 and COMP2 interrupts (COMP interrupts through EXTI lines 21 and 22). * @brief This function handles ADC, COMP1 and COMP2 interrupts (COMP interrupts through EXTI lines 21 and 22).
*/ */
@ -211,11 +196,11 @@ void TIM21_IRQHandler(void)
//void LPUART1_IRQHandler(void) //void LPUART1_IRQHandler(void)
//{ //{
// /* USER CODE BEGIN LPUART1_IRQn 0 */ // /* USER CODE BEGIN LPUART1_IRQn 0 */
// ////
// /* USER CODE END LPUART1_IRQn 0 */ // /* USER CODE END LPUART1_IRQn 0 */
// HAL_UART_IRQHandler(&hlpuart1); // HAL_UART_IRQHandler(&hlpuart1);
// /* USER CODE BEGIN LPUART1_IRQn 1 */ // /* USER CODE BEGIN LPUART1_IRQn 1 */
// ////
// /* USER CODE END LPUART1_IRQn 1 */ // /* USER CODE END LPUART1_IRQn 1 */
//} //}

79
software/dumber3/Dumber3 Tests.launch Normal file
View file

@ -0,0 +1,79 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Tests/Dumber3.elf&quot;,&quot;fProjectName&quot;:&quot;Dumber3&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="49FF67064970535516370687"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="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"/>
<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"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="ARM_CM0"/>
<intAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyPort" value="60000"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
<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.pcRegister" value=""/>
<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
<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"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Tests/Dumber3.elf"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="Dumber3"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value=""/>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
<listEntry value="/Dumber3"/>
</listAttribute>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
<listEntry value="4"/>
</listAttribute>
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
<stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
<stringAttribute key="saved_expressions&lt;seperator&gt;Unknown" value="rxBuffer"/>
</launchConfiguration>

17
software/dumber3/Dumber3.ioc
View file

@ -10,17 +10,18 @@ FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1
FREERTOS.INCLUDE_xTaskAbortDelay=1 FREERTOS.INCLUDE_xTaskAbortDelay=1
FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1 FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
FREERTOS.INCLUDE_xTaskGetHandle=1 FREERTOS.INCLUDE_xTaskGetHandle=1
FREERTOS.IPParameters=Tasks01,configTICK_RATE_HZ,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetHandle,INCLUDE_xTaskAbortDelay,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,configTOTAL_HEAP_SIZE,configUSE_NEWLIB_REENTRANT,configMAX_TASK_NAME_LEN FREERTOS.IPParameters=Tasks01,configTICK_RATE_HZ,configUSE_TICKLESS_IDLE,INCLUDE_xTaskGetHandle,INCLUDE_xTaskAbortDelay,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_pcTaskGetTaskName,INCLUDE_xTaskGetCurrentTaskHandle,configTOTAL_HEAP_SIZE,configUSE_NEWLIB_REENTRANT,configMAX_TASK_NAME_LEN,configTIMER_TASK_PRIORITY
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configMAX_TASK_NAME_LEN=25 FREERTOS.configMAX_TASK_NAME_LEN=25
FREERTOS.configTICK_RATE_HZ=1000 FREERTOS.configTICK_RATE_HZ=1000
FREERTOS.configTIMER_TASK_PRIORITY=3
FREERTOS.configTOTAL_HEAP_SIZE=1024 FREERTOS.configTOTAL_HEAP_SIZE=1024
FREERTOS.configUSE_NEWLIB_REENTRANT=1 FREERTOS.configUSE_NEWLIB_REENTRANT=1
FREERTOS.configUSE_TICKLESS_IDLE=1 FREERTOS.configUSE_TICKLESS_IDLE=1
File.Version=6 File.Version=6
GPIO.groupedBy=Group By Peripherals GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false KeepUserPlacement=false
LPUART1.BaudRate=115200 LPUART1.BaudRate=9600
LPUART1.DMADisableonRxErrorParam=UART_ADVFEATURE_DMA_DISABLEONRXERROR LPUART1.DMADisableonRxErrorParam=UART_ADVFEATURE_DMA_DISABLEONRXERROR
LPUART1.IPParameters=BaudRate,WordLength,DMADisableonRxErrorParam LPUART1.IPParameters=BaudRate,WordLength,DMADisableonRxErrorParam
LPUART1.WordLength=UART_WORDLENGTH_8B LPUART1.WordLength=UART_WORDLENGTH_8B
@ -75,14 +76,14 @@ Mcu.PinsNb=33
Mcu.ThirdPartyNb=0 Mcu.ThirdPartyNb=0
Mcu.UserConstants= Mcu.UserConstants=
Mcu.UserName=STM32L071CBTx Mcu.UserName=STM32L071CBTx
MxCube.Version=6.7.0 MxCube.Version=6.9.2
MxDb.Version=DB.6.0.70 MxDb.Version=DB.6.0.92
NVIC.ADC1_COMP_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true NVIC.ADC1_COMP_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.EXTI2_3_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true NVIC.EXTI2_3_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.EXTI4_15_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true NVIC.EXTI4_15_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.LPUART1_IRQn=true\:3\:0\:false\:false\:true\:true\:true\:true\:true NVIC.LPUART1_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.PendSV_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:false\:false NVIC.PendSV_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.SVC_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:true NVIC.SVC_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:true
@ -92,7 +93,7 @@ NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:true\:false NVIC.SysTick_IRQn=true\:3\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM21_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true NVIC.TIM21_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true
NVIC.TIM2_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true NVIC.TIM2_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true\:true
NVIC.TIM6_IRQn=true\:3\:0\:false\:false\:true\:false\:false\:true\:true NVIC.TIM6_IRQn=true\:3\:0\:true\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM6_IRQn NVIC.TimeBase=TIM6_IRQn
NVIC.TimeBaseIP=TIM6 NVIC.TimeBaseIP=TIM6
PA0.GPIOParameters=GPIO_Label PA0.GPIOParameters=GPIO_Label
@ -242,10 +243,13 @@ ProjectManager.PreviousToolchain=
ProjectManager.ProjectBuild=false ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=Dumber3.ioc ProjectManager.ProjectFileName=Dumber3.ioc
ProjectManager.ProjectName=Dumber3 ProjectManager.ProjectName=Dumber3
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack= ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x200 ProjectManager.StackSize=0x200
ProjectManager.TargetToolchain=STM32CubeIDE ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation= ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_TIM21_Init-TIM21-false-HAL-true,7-MX_ADC_Init-ADC-false-HAL-true ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_TIM21_Init-TIM21-false-HAL-true,7-MX_ADC_Init-ADC-false-HAL-true
RCC.ADCFreq_Value=4000000 RCC.ADCFreq_Value=4000000
@ -324,4 +328,5 @@ VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
board=custom board=custom
rtos.0.ip=FREERTOS
isbadioc=false isbadioc=false

256
software/dumber3/TestsPlans/tests.c Normal file
View file

@ -0,0 +1,256 @@
/*
* tests.c
*
* Created on: 28 sept. 2023
* Author: dimercur
*/
#include "tests.h"
#include "application.h"
#include "timers.h"
#include "string.h"
#include <stdlib.h>
#include <stdio.h>
#include "moteurs.h"
#include "leds.h"
#include "xbee.h"
#include "batterie.h"
#include "messages.h"
StaticTask_t xTaskBasicTests;
/* Buffer that the task being created will use as its stack. Note this is
an array of StackType_t variables. The size of StackType_t is dependent on
the RTOS port. */
StackType_t xStackBasicTests[ STACK_SIZE ];
TaskHandle_t xHandleBasicTests = NULL;
typedef enum {
LED_Tests=1,
XBEE_Tests,
COMMANDS_Tests,
BATTERY_Tests,
MOTEURS_Tests,
MISC_Tests
} TESTS_Type;
TESTS_Type TESTS_Nbr=COMMANDS_Tests; // Number indicating which test is being run
void TESTS_BasicTests(void* params);
void TESTS_Init(void) {
/* Init Application */
/* Init des messages box */
MESSAGE_Init();
/* Init de l'afficheur */
LEDS_Init();
/* Init de la partie RF / reception des messages */
XBEE_Init();
BATTERIE_Init();
MOTEURS_Init();
/* Tests starts here */
xHandleBasicTests = xTaskCreateStatic(
TESTS_BasicTests, /* Function that implements the task. */
"TESTS Basic", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityTestsHandler,/* Priority at which the task is created. */
xStackBasicTests, /* Array to use as the task's stack. */
&xTaskBasicTests); /* Variable to hold the task's data structure. */
vTaskResume(xHandleBasicTests);
}
void TESTS_BasicTests(void* params) {
static LEDS_State ledsStates = leds_off;
MESSAGE_Typedef msg;
CMD_Generic* cmd;
char* ans;
ledsStates = leds_run;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledsStates); // show program is running
switch (TESTS_Nbr) {
case LED_Tests: //Leds tests
while (ledsStates<=leds_state_unknown) {
ledsStates++;
MESSAGE_SendMailbox(LEDS_Mailbox, MSG_ID_LED_ETAT, APPLICATION_Mailbox, (void*)&ledsStates);
vTaskDelay(pdMS_TO_TICKS(TESTS_PERIODE)); // wait 10s
}
break;
case XBEE_Tests: // Xbee tests
while (1) {
int length;
msg = MESSAGE_ReadMailbox(APPLICATION_Mailbox); // Wait for a message from Xbee
if (msg.id == MSG_ID_XBEE_CMD) {
length = strlen((char*)msg.data) + strlen("Data received: ") +2;
ans = (char*)malloc(length);
ans[0] = 0; // empty string
strncat(ans, "Data received: ", length);
strncat(ans, (char *)msg.data, length);
ans[length-2] = '\r';
ans[length-1] = 0;
MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (void*)ans);
free(msg.data);
}
}
break;
case COMMANDS_Tests:
while (1) {
int length;
char* str;
msg = MESSAGE_ReadMailbox(APPLICATION_Mailbox); // Wait for a message from Xbee
if (msg.id == MSG_ID_XBEE_CMD) {
length = strlen((char*)msg.data) + strlen("Data received: ") +2;
ans = (char*)malloc(length);
ans[0] = 0; // empty string
strncat(ans, "Data received: ", length);
strncat(ans, (char *)msg.data, length);
ans[length-2] = '\r';
ans[length-1] = 0;
MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (void*)ans);
cmd = cmdDecode((char*)msg.data, strlen((char*)msg.data));
free(msg.data);
str = (char*)malloc(100);
str[0] = 0; // empty string
switch (cmd->type) {
case CMD_PING:
snprintf(str, 99, "PING received\r");
cmdSendAnswer(ANS_OK);
break;
case CMD_RESET:
snprintf(str, 99, "RESET received\r");
cmdSendAnswer(ANS_OK);
break;
case CMD_START_WITH_WATCHDOG:
snprintf(str, 99, "START with Watchdog received\r");
cmdSendAnswer(ANS_OK);
break;
case CMD_RESET_WATCHDOG:
snprintf(str, 99, "RESET Watchdog received\r");
cmdSendAnswer(ANS_OK);
break;
case CMD_GET_BATTERY:
snprintf(str, 99, "GET_BATTERY received\r");
cmdSendBatteryLevel(ANS_BAT_OK);
break;
case CMD_GET_VERSION:
snprintf(str, 99, "GET_VERSION received\r");
cmdSendVersion();
break;
case CMD_START_WITHOUT_WATCHDOG:
snprintf(str, 99, "START without Watchdog received\r");
cmdSendAnswer(ANS_OK);
break;
case CMD_MOVE:
snprintf(str, 99, "MOVE received\r");
cmdSendAnswer(ANS_OK);
break;
case CMD_TURN:
snprintf(str, 99, "TURN received\r");
cmdSendAnswer(ANS_OK);
break;
case CMD_GET_BUSY_STATE:
snprintf(str, 99, "GET_BUSY_STATE received\r");
cmdSendBusyState(ANS_STATE_BUSY);
break;
case CMD_TEST:
snprintf(str, 99, "TEST received\r");
cmdSendAnswer(ANS_OK);
break;
case CMD_DEBUG:
snprintf(str, 99, "DEBUG received\r");
cmdSendAnswer(ANS_OK);
break;
case CMD_POWER_OFF:
snprintf(str, 99, "POWER_OFF received\r");
cmdSendAnswer(ANS_OK);
break;
default:
snprintf(str, 99, "Unknown command\r");
cmdSendAnswer(ANS_UNKNOWN);
break;
}
MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (void*)str);
}
}
break;
case BATTERY_Tests:
while (1) {
char* str;
msg = MESSAGE_ReadMailbox(APPLICATION_Mailbox); // Wait for a message from Xbee
str = (char*)malloc(100); /* allocate a buffer of 100 bytes */
str[0]=0;
switch (msg.id) {
case MSG_ID_BAT_ADC_ERR:
snprintf(str, 99, "ADC error received\r");
break;
case MSG_ID_BAT_CHARGE_COMPLETE:
snprintf(str, 99, "Charge complete (plug in) [Level = %u]\r", *((uint16_t*)msg.data));
break;
case MSG_ID_BAT_CHARGE_ON:
snprintf(str, 99, "Charging (plug in) [Level = %u]\r", *((uint16_t*)msg.data));
break;
case MSG_ID_BAT_CHARGE_OFF:
snprintf(str, 99, "Not in charge (plug removed) [Level = %u]\r", *((uint16_t*)msg.data));
break;
case MSG_ID_BAT_CHARGE_ERR:
snprintf(str, 99, "Charge error (plug in)\r");
break;
default:
free(str); // buffer alloué non utilisé
break;
}
MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (void*)str);
}
break;
case MOTEURS_Tests:
break;
case MISC_Tests: // test du bouton on/off
while (1) {
char* str;
msg = MESSAGE_ReadMailbox(APPLICATION_Mailbox); // Wait for a message from button
if (msg.id == MSG_ID_BUTTON_PRESSED) {
str = (char*)malloc(100); /* allocate a buffer of 100 bytes */
str[0]=0;
snprintf(str, 99, "Bouton on/off appuyé\r");
MESSAGE_SendMailbox(XBEE_Mailbox, MSG_ID_XBEE_ANS, APPLICATION_Mailbox, (void*)str);
}
}
break;
default:
break;
}
}

13
software/dumber3/TestsPlans/tests.h Normal file
View file

@ -0,0 +1,13 @@
/*
* tests.h
*
* Created on: 28 sept. 2023
* Author: dimercur
*/
#ifndef TESTS_H_
#define TESTS_H_
void TESTS_Init(void);
#endif /* TESTS_H_ */

15
software/dumber3/commands.xml Normal file
View file

@ -0,0 +1,15 @@
<?xml version="1.0" encoding="UTF-8"?>
<data>
<loop>false</loop>
<repeat_times>1</repeat_times>
<repeat_period>500</repeat_period>
<packets_list>
<packet name="Ping">
<payload>70700D</payload>
</packet>
<packet name="Reset">
<payload>72720D</payload>
</packet>
</packets_list>
</data>

5
software/dumber3/mx.scratch
View file

@ -27,8 +27,8 @@
<cpucore>Arm Cortex-M0+</cpucore> <cpucore>Arm Cortex-M0+</cpucore>
<fpu>None</fpu> <fpu>None</fpu>
<memories> <memories>
<memory access="xrw" name="RAM" size="20" start="0x20000000" /> <memory access="xrw" name="RAM" size="20480" start="0x20000000" />
<memory access="rx" name="FLASH" size="128" start="0x8000000" /> <memory access="rx" name="FLASH" size="131072" start="0x8000000" />
</memories> </memories>
<startup>/home/dimercur/STM32Cube/Repository/STM32Cube_FW_L0_V1.12.2/Drivers/CMSIS/Device\ST\STM32L0xx\Source\Templates\gcc\startup_stm32l071xx.s</startup> <startup>/home/dimercur/STM32Cube/Repository/STM32Cube_FW_L0_V1.12.2/Drivers/CMSIS/Device\ST\STM32L0xx\Source\Templates\gcc\startup_stm32l071xx.s</startup>
<LinkSettings> <LinkSettings>
@ -63,7 +63,6 @@
<Adefines /> <Adefines />
<Cdefines> <Cdefines>
<define>USE_FULL_LL_DRIVER</define> <define>USE_FULL_LL_DRIVER</define>
<define>MBEDTLS_CONFIG_FILE="mbedtls_config.h"</define>
<define>USE_FULL_ASSERT=1U</define> <define>USE_FULL_ASSERT=1U</define>
</Cdefines> </Cdefines>
<Ldefines /> <Ldefines />