Suppression de la tache par defaut créé par Cube MX qui pose probleme quand elle se termine, passage de la memoire dynamique de 1024 octets à 10240 octets, ajout du support du temps d'execution des taches et de la visualisation des queues et semaphore, reduction du nombre de priorité à 12

Corrections de quelques bugs liés à la gestion des commandes + modifications cosmetiques
2025-06-08 22:00:49 +02:00 · 2024-01-12 16:58:43 +01:00 · 2024-01-11 17:13:19 +01:00
14 changed files with 341 additions and 39 deletions
--- a/.gitignore
+++ b/.gitignore
@ -54,6 +54,19 @@ GUI
 *.7z
 *.rar

+# Images
+*.jpg
+*.png
+*.gif
+*.bmp
+*.jpeg
+*.tiff
+*.svg
+
+# Documents
+*.pdf
+*.chm
+
 # Trucs de MDK
 *.uvgui*
 *.bak
@ -70,4 +83,7 @@ GUI
 /software/dumber3/Tests/
 /software/dumber3/workspace/

+/hardware/meca/Dumber_2022/Pieces/
+/hardware/meca/Dumber_2022/OldVersions/
+
 /doc/Doc\ robot/doxygen/
--- a/hardware/meca/Dumber_2022/Dumber_2022_git.ipj
+++ b/hardware/meca/Dumber_2022/Dumber_2022_git.ipj
--- a/software/dumber3/.cproject
+++ b/software/dumber3/.cproject
@ -22,6 +22,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1508870668" name="Core" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.475855176" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.802392362" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32L071CBTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32L0xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32L0xx/Include | ../Drivers/STM32L0xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0 ||  ||  || USE_HAL_DRIVER | STM32L010x6 ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32L071CBTx_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.1064254422" name="Runtime library" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.runtimelibrary_c.value.nano_c" valueType="enumerated"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1582271634" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/Dumber3}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1329460993" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.635805233" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@ -33,7 +34,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.620486962" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2040942504" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o2" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2040942504" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1441075970" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
--- a/software/dumber3/Application/application.c
+++ b/software/dumber3/Application/application.c
@ -35,6 +35,10 @@
 * Robot is basically controlled by a supervisor program and move depending on commands send by supervisor.
 * Movements are controlled by a camera.
 *
+ * @warning Very important information: robot is use a 2.5V power supply so
+ *          XBEE MODULES FROM S1 GENERATION DON'T WORK
+ *          Use, at least, module from S2 generation
+ *
 * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
 * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
 *
@ -66,6 +70,7 @@
 #include "battery.h"

 #include "panic.h"
+#include "rtos_support.h"

 /** @addtogroup Application_Software
  * @{
@ -123,7 +128,7 @@ StaticTask_t xTaskApplicationMain;
 /* 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 xStackApplicationMain[ STACK_SIZE ];
+StackType_t xStackApplicationMain[ STACK_SIZE*2 ];
 TaskHandle_t xHandleApplicationMain = NULL;

 StaticTimer_t xBufferTimerTimeout;
@ -144,6 +149,9 @@ APPLICATION_Timeout systemTimeout = {0};
  * @return None
  */
 void APPLICATION_Init(void) {
+	/* Init du support RTOS (notamment le timer de run time) */
+	//RTOS_SUPPORT_Init(); /* <- used for freertos run time usage */
+
 	/* Init des messages box */
 	MESSAGE_Init();

@ -159,7 +167,7 @@ void APPLICATION_Init(void) {
 	xHandleApplicationMain = xTaskCreateStatic(
 			APPLICATION_Thread,       /* Function that implements the task. */
 			"APPLICATION Thread",          /* Text name for the task. */
-			STACK_SIZE,      /* Number of indexes in the xStack array. */
+			STACK_SIZE*2,      /* Number of indexes in the xStack array. */
 			NULL,    /* Parameter passed into the task. */
 			PriorityApplicationHandler,/* Priority at which the task is created. */
 			xStackApplicationMain,          /* Array to use as the task's stack. */
@ -216,6 +224,7 @@ void APPLICATION_Thread(void* params) {
 					case CMD_TEST:
 					case CMD_DEBUG:
 						cmdSendAnswer(ANS_OK);
+						break;
 					case CMD_POWER_OFF:
 						systemInfos.powerOffRequired=1;
 						cmdSendAnswer(ANS_OK);
@ -405,10 +414,15 @@ void APPLICATION_StateMachine(void) {
 				if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance !=0)) ||
 						((systemInfos.cmd == CMD_TURN) && (systemInfos.turns !=0))) {
 					systemInfos.endOfMouvement = 0;
-					cmdSendAnswer(ANS_OK);
 					APPLICATION_TransitionToNewState(stateInMouvement);
-				} // if TURN and MOVE are sent without parameter, do nothing: we are still in run state
-			} else if (systemInfos.state == stateInMouvement) { // in this state, MOVE and TURN cmds are accepted only if they come with no parameter
+				} else {
+					if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) || // This case (M=0 or T=0) correspond to STOP
+						((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) {
+						systemInfos.endOfMouvement = 1;
+					}
+				}
+				cmdSendAnswer(ANS_OK);
+			} else if (systemInfos.state == stateInMouvement) { // in this state, MOVE and TURN cmds are accepted only if they come with no parameter (0)
 				if (((systemInfos.cmd == CMD_MOVE) && (systemInfos.distance ==0)) ||
 						((systemInfos.cmd == CMD_TURN) && (systemInfos.turns ==0))) {
 					systemInfos.endOfMouvement = 1;
--- a/software/dumber3/Application/application.h
+++ b/software/dumber3/Application/application.h
@ -41,6 +41,8 @@
 #include "xbee.h"
 #include "commands.h"

+#include "rtos_support.h"
+
 #include "main.h"

 /** @addtogroup Application_Software
--- a/software/dumber3/Application/config.h
+++ b/software/dumber3/Application/config.h
@ -44,11 +44,11 @@
 *  Version in plain text and as a numeric value
 */
 ///@{
-#define SYSTEM_VERSION_STR			"2.1"
-#define SYSTEM_VERSION				0x0201	// Upper byte: major version, lower byte: minor version
+#define SYSTEM_VERSION_STR			"2.3"
+#define SYSTEM_VERSION				0x0203	// Upper byte: major version, lower byte: minor version
 ///@}

-#define STACK_SIZE 					0x100
+#define STACK_SIZE 					64

 /** @name Tasks priority constants
 *  Priority is based on configMAX_PRIORITIES which represent highest task priority.
--- a/software/dumber3/Application/messages.c
+++ b/software/dumber3/Application/messages.c
@ -62,6 +62,12 @@ void  MESSAGE_Init(void) {
 	MOTORS_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
 	APPLICATION_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
 	XBEE_Mailbox = xQueueCreate(QUEUE_SIZE, sizeof(MESSAGE_Typedef));
+
+	/* Add queues to registry in order to view them in stm32cube ide */
+	vQueueAddToRegistry(LEDS_Mailbox,"LEDS Mailbox");
+	vQueueAddToRegistry(MOTORS_Mailbox,"MOTORS Mailbox");
+	vQueueAddToRegistry(APPLICATION_Mailbox,"APPLICATION Mailbox");
+	vQueueAddToRegistry(XBEE_Mailbox,"XBEE Mailbox");
 }

 /**
--- a/software/dumber3/Application/rtos_support.c
+++ b/software/dumber3/Application/rtos_support.c
@ -0,0 +1,115 @@
+/**
+ ******************************************************************************
+ * @file motors.c
+ * @brief motors driver body
+ * @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
+ * @date December 2023
+ *
+ ******************************************************************************
+ * @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
+ * @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
+ *
+ * @copyright This file is part of "Dumber" project
+ *
+ * @copyright This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3 of the License, or (at your option) any later version.
+ *
+ * @copyright This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+
+ * @copyright You should have received a copy of the GNU Lesser General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ ******************************************************************************
+ */
+
+#include "rtos_support.h"
+
+#include "stm32l0xx_ll_tim.h"
+
+/** @addtogroup Application_Software
+  * @{
+  */
+
+/** @addtogroup RTOS_SUPPORT
+ * RTOS support module provide several functions for task run time measurement.
+ * @{
+ */
+
+/** @addtogroup RTOS_SUPPORT_Private Private
+ * @{
+ */
+
+uint16_t RTOS_SUPPORT_counter16bitUpper=0;
+
+/**
+ * @brief TIM7 Initialization Function
+ */
+void RTOS_SUPPORT_Init(void) {
+	TIM_ClockConfigTypeDef sClockSourceConfig = { 0 };
+	TIM_HandleTypeDef htim7;
+
+	__HAL_RCC_TIM7_CLK_ENABLE();
+
+	htim7.Instance = TIM7;
+	htim7.Init.Prescaler = 0;
+	htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
+	htim7.Init.Period = 65535;
+	htim7.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+	htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+	if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
+	{
+		Error_Handler();
+	}
+
+	sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+	if (HAL_TIM_ConfigClockSource(&htim7, &sClockSourceConfig) != HAL_OK) {
+		Error_Handler();
+	}
+
+	/* TIM7 interrupt Init */
+	LL_TIM_EnableIT_UPDATE(TIM7);
+	HAL_NVIC_SetPriority(TIM7_IRQn, 1, 0);
+	HAL_NVIC_EnableIRQ(TIM7_IRQn);
+
+	RTOS_SUPPORT_counter16bitUpper=0;
+	LL_TIM_EnableCounter(TIM7);
+}
+
+/**
+ * @brief Get 32bit emulated timer based on TIM7
+ *
+ * @return 32bit timer
+ */
+uint32_t RTOS_SUPPORT_GetTimer(void) {
+
+	uint16_t currentVal=LL_TIM_GetCounter(TIM7);
+
+	return (uint32_t)((((uint32_t)RTOS_SUPPORT_counter16bitUpper)<<16) + (uint32_t)currentVal);
+}
+
+/**
+  * @brief This function handles TIM7 update interrupt for 32bit
+  */
+void TIM7_IRQHandler(void) {
+  LL_TIM_ClearFlag_UPDATE(TIM7);
+
+  RTOS_SUPPORT_counter16bitUpper++;
+}
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
--- a/software/dumber3/Application/rtos_support.h
+++ b/software/dumber3/Application/rtos_support.h
@ -0,0 +1,40 @@
+/*
+ * rtos_support.h
+ *
+ *  Created on: Jan 12, 2024
+ *      Author: dimercur
+ */
+
+#ifndef RTOS_SUPPORT_H_
+#define RTOS_SUPPORT_H_
+
+#include "application.h"
+
+/** @addtogroup Application_Software
+  * @{
+  */
+
+/** @addtogroup RTOS_SUPPORT
+ * @{
+ */
+
+/** @addtogroup RTOS_SUPPORT_Public Public
+ * @{
+ */
+
+void RTOS_SUPPORT_Init(void);
+uint32_t RTOS_SUPPORT_GetTimer(void);
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#endif /* RTOS_SUPPORT_H_ */
--- a/software/dumber3/Application/xbee.c
+++ b/software/dumber3/Application/xbee.c
@ -40,6 +40,11 @@

 /** @addtogroup XBEE
 * Xbee driver handles RF communications with supervisor
+ *
+ * @warning Very important information: robot is use a 2.5V power supply so
+ *          XBEE MODULES FROM S1 GENERATION DON'T WORK
+ *          Use, at least, module from S2 generation
+ *
 * @{
 */

@ -98,7 +103,6 @@ StackType_t xStackXbeeRX[ STACK_SIZE ];
 TaskHandle_t xHandleXbeeRX = NULL;

 uint8_t rxBuffer[XBEE_RX_BUFFER_MAX_LENGTH]={0};
-//uint8_t rxWaitForACK =0;
 uint8_t rxPhase;
 uint16_t rxCmdLength;
 uint16_t rxDataToReceive;
@ -110,9 +114,7 @@ uint16_t rxIndex;

 /****** TX part ******/
 SemaphoreHandle_t xHandleSemaphoreTX = NULL;
-//SemaphoreHandle_t xHandleSemaphoreTX_ACK = NULL;
 StaticSemaphore_t xSemaphoreTX;
-//StaticSemaphore_t xSemaphoreTX_ACK;

 /**
 * @brief  Function for initializing xbee system
@ -122,12 +124,14 @@ StaticSemaphore_t xSemaphoreTX;
 */
 void XBEE_Init(void) {
 	xHandleSemaphoreTX = xSemaphoreCreateBinaryStatic( &xSemaphoreTX );
-	//xHandleSemaphoreTX_ACK = xSemaphoreCreateBinaryStatic( &xSemaphoreTX_ACK );
 	xSemaphoreGive(xHandleSemaphoreTX);
-	//xSemaphoreTake(xHandleSemaphoreTX_ACK);

 	xHandleSemaphoreRX = xSemaphoreCreateBinaryStatic( &xSemaphoreRx );

+	/* Add semaphores to registry in order to view them in stm32cube ide */
+	vQueueAddToRegistry(xHandleSemaphoreTX,"XBEE TX sem");
+	vQueueAddToRegistry(xHandleSemaphoreRX,"XBEE RX sem");
+
 	/* Create the task without using any dynamic memory allocation. */
 	xHandleXbeeRX = xTaskCreateStatic(
 			XBEE_RxThread,       /* Function that implements the task. */
@ -204,10 +208,6 @@ int XBEE_SendData(char* data) {
 	                           if answer is false, it means timeout appends
 	                           We should probably reset something in "else" branch */

-		//	while (LL_USART_IsEnabledIT_TXE(hlpuart1.Instance)) {
-		//		vTaskDelay(pdMS_TO_TICKS(1));
-		//	}
-
 		strncpy((char*)txBuffer,data,XBEE_TX_BUFFER_MAX_LENGTH-1);
 		txBuffer[XBEE_TX_BUFFER_MAX_LENGTH-1]=0;
 		txRemainingData = strlen((char*)txBuffer);
@ -261,6 +261,12 @@ void XBEE_TX_IRQHandler(void) {
 *
 * Wait for incoming message and send them to application mailbox
 *
+ * @warning Very important information: robot is use a 2.5V power supply so
+ *          XBEE MODULES FROM S1 GENERATION DON'T WORK
+ *          Use, at least, module from S2 generation
+ *          Behavior of using S1 generation is that you receive only two '0' chars than nothing. In
+ *          case of this behavior, check module generation
+ *
 * @param[in] params Initial task parameters
 * @return None
 */
@ -298,6 +304,12 @@ void XBEE_RxThread(void* params) {
 * 		  This ISR is called when USART reception register is full, containing a newly received char
 * 		  A Semaphore is used to signal end of frame reception to \ref XBEE_RxThread function
 *
+ * @warning Very important information: robot is use a 2.5V power supply so
+ *          XBEE MODULES FROM S1 GENERATION DON'T WORK
+ *          Use, at least, module from S2 generation
+ *          Behavior of using S1 generation is that you receive only two '0' chars than nothing. In
+ *          case of this behavior, check module generation
+ *
 * @param None
 * @return None
 */
@ -306,6 +318,11 @@ void XBEE_RX_IRQHandler(void) {
 	uint8_t data;

 	data = LL_USART_ReceiveData8(hlpuart1.Instance); // lecture de l'octet reçu
+	/*
+	 * In case you only receive '0' chars (than nothing), check you XBEE module generation
+	 * XBEE MODULES FROM S1 GENERATION DON'T WORK because robot is 2.5V and modules need more
+	 * Use, at least, module from S2 generation
+	 */

 	if (data != XBEE_ENDING_CHAR) { // end of command not received
 		rxBuffer[rxIndex] = data;
--- a/software/dumber3/Core/Inc/FreeRTOSConfig.h
+++ b/software/dumber3/Core/Inc/FreeRTOSConfig.h
@ -31,6 +31,9 @@
 #ifndef FREERTOS_CONFIG_H
 #define FREERTOS_CONFIG_H

+extern void RTOS_SUPPORT_Init(void);
+extern uint32_t RTOS_SUPPORT_GetTimer(void);
+
 /*-----------------------------------------------------------
 * Application specific definitions.
 *
@ -62,9 +65,9 @@
 #define configUSE_TICK_HOOK                      0
 #define configCPU_CLOCK_HZ                       ( SystemCoreClock )
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
-#define configMAX_PRIORITIES                     ( 56 )
+#define configMAX_PRIORITIES                     ( 12 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)1024)
+#define configTOTAL_HEAP_SIZE                    ((size_t)10240)
 #define configMAX_TASK_NAME_LEN                  ( 25 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0
@ -82,13 +85,13 @@

 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES                    0
-#define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )
+#define configMAX_CO_ROUTINE_PRIORITIES          ( 1 )

 /* Software timer definitions. */
 #define configUSE_TIMERS                         1
-#define configTIMER_TASK_PRIORITY                ( 3 )
+#define configTIMER_TASK_PRIORITY                ( 1 )
 #define configTIMER_QUEUE_LENGTH                 10
-#define configTIMER_TASK_STACK_DEPTH             256
+#define configTIMER_TASK_STACK_DEPTH             64

 /* The following flag must be enabled only when using newlib */
 #define configUSE_NEWLIB_REENTRANT          1
@ -152,4 +155,8 @@ placed into the low power state respectively. */
 #define configPOST_SLEEP_PROCESSING                       PostSleepProcessing
 #endif /* configUSE_TICKLESS_IDLE == 1 */

+#define configGENERATE_RUN_TIME_STATS       		1
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() RTOS_SUPPORT_Init()
+#define portGET_RUN_TIME_COUNTER_VALUE() RTOS_SUPPORT_GetTimer()
+
 #endif /* FREERTOS_CONFIG_H */
--- a/software/dumber3/Core/Src/main.c
+++ b/software/dumber3/Core/Src/main.c
@ -55,12 +55,12 @@ TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim21;

 /* Definitions for defaultTask */
-osThreadId_t defaultTaskHandle;
-const osThreadAttr_t defaultTask_attributes = {
-  .name = "defaultTask",
-  .stack_size = 128 * 4,
-  .priority = (osPriority_t) osPriorityNormal,
-};
+//osThreadId_t defaultTaskHandle;
+//const osThreadAttr_t defaultTask_attributes = {
+//  .name = "defaultTask",
+//  .stack_size = 128 * 4,
+//  .priority = (osPriority_t) osPriorityNormal,
+//};
 /* USER CODE BEGIN PV */

 /* USER CODE END PV */
@ -146,7 +146,7 @@ int main(void)

  /* Create the thread(s) */
  /* creation of defaultTask */
-  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+//defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
 	/* add threads, ... */
@ -644,9 +644,9 @@ TickType_t msToTicks(TickType_t ms) {
 * @retval None
 */
 /* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void *argument)
-{
-  /* USER CODE BEGIN 5 */
+//void StartDefaultTask(void *argument)
+//{
+//  /* USER CODE BEGIN 5 */
 //	LEDS_State state = leds_off;
 //
 //	/* Infinite loop */
@ -660,8 +660,13 @@ void StartDefaultTask(void *argument)
 //
 //		vTaskDelay(pdMS_TO_TICKS(5000));
 //	}
-  /* USER CODE END 5 */
-}
+//  /* USER CODE END 5 */
+//
+//	while (1)
+//	{
+//		//vTaskDelay(pdMS_TO_TICKS(50));
+//	}
+//}

 /**
  * @brief  Period elapsed callback in non blocking mode
--- a/software/dumber3/Dumber3
+++ b/software/dumber3/Dumber3
@ -35,10 +35,11 @@
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="3344"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_ALLOW_HALT" value="false"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_SIGNAL_HALT" value="false"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
@ -70,7 +71,7 @@
    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="enable"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="true"/>
    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="true"/>
    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="freertos"/>
    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
@ -80,9 +81,9 @@
    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.openocd"/>
+    <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="3333"/>
+    <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"/>
--- a/software/robot/robot
+++ b/software/robot/robot
@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.cubeprog_external_loaders" value="[]"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
+    <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;Debug/robot.elf&quot;,&quot;fProjectName&quot;:&quot;robot&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"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="/home/dimercur/Travail/git/dumber/software/robot/Release/st-link_gdbserver_log.txt"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
+    <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="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="cortex_m0"/>
+    <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="Debug/robot.elf"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="robot"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.412926795"/>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
+        <listEntry value="/robot"/>
+    </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"/>
+</launchConfiguration>
Author	SHA1	Message	Date
dimercur	bbc6c85192	Suppression de la tache par defaut créé par Cube MX qui pose probleme quand elle se termine, passage de la memoire dynamique de 1024 octets à 10240 octets, ajout du support du temps d'execution des taches et de la visualisation des queues et semaphore, reduction du nombre de priorité à 12	2024-01-12 16:58:43 +01:00
dimercur	1d1b2a7e52	Corrections de quelques bugs liés à la gestion des commandes + modifications cosmetiques	2024-01-11 17:13:19 +01:00