diff --git a/Robot/.cproject b/Robot/.cproject index 5a116724..2872370b 100644 --- a/Robot/.cproject +++ b/Robot/.cproject @@ -30,23 +30,23 @@ - - - - - - - - - - + + + + + @@ -148,89 +148,89 @@ - - - - - - - + - - - + + - - - - - + + + + + @@ -253,5 +253,5 @@ - + diff --git a/Robot/.mxproject b/Robot/.mxproject index fa8c4cb5..1cd3a066 100644 --- a/Robot/.mxproject +++ b/Robot/.mxproject @@ -1,14 +1,14 @@ [PreviousGenFiles] -HeaderPath=C:/Users/rober/soccer-embedded/Robot/Inc +HeaderPath=D:/Users/Tyler/Documents/STM/embedded/soccer-embedded/Robot/Inc HeaderFiles=gpio.h;usart.h;stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;dma.h;FreeRTOSConfig.h;i2c.h; -SourcePath=C:/Users/rober/soccer-embedded/Robot/Src +SourcePath=D:/Users/Tyler/Documents/STM/embedded/soccer-embedded/Robot/Src SourceFiles=gpio.c;usart.c;stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;dma.c;freertos.c;i2c.c;stm32f4xx_hal_timebase_TIM.c; [PreviousLibFiles] LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f446xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h;Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h;Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h;Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h;Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOSConfig_template.h;Middlewares/Third_Party/FreeRTOS/Source/include/list.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h;Middlewares/Third_Party/FreeRTOS/Source/include/portable.h;Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h;Middlewares/Third_Party/FreeRTOS/Source/include/queue.h;Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h;Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h;Middlewares/Third_Party/FreeRTOS/Source/include/task.h;Middlewares/Third_Party/FreeRTOS/Source/include/timers.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h; [PreviousUsedSW4STM32Files] -SourceFiles=..\Src\main.c;..\Src\gpio.c;..\Src\dma.c;..\Src\freertos.c;..\Src\i2c.c;..\Src\usart.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Src\stm32f4xx_hal_timebase_TIM.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;../Middlewares/Third_Party/FreeRTOS/Source/croutine.c;../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;../Middlewares/Third_Party/FreeRTOS/Source/list.c;../Middlewares/Third_Party/FreeRTOS/Source/queue.c;../Middlewares/Third_Party/FreeRTOS/Source/tasks.c;../Middlewares/Third_Party/FreeRTOS/Source/timers.c;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;../Middlewares/Third_Party/FreeRTOS/Source/croutine.c;../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;../Middlewares/Third_Party/FreeRTOS/Source/list.c;../Middlewares/Third_Party/FreeRTOS/Source/queue.c;../Middlewares/Third_Party/FreeRTOS/Source/tasks.c;../Middlewares/Third_Party/FreeRTOS/Source/timers.c;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c; +SourceFiles=..\Src\main.c;..\Src\gpio.c;..\Src\dma.c;..\Src\freertos.c;..\Src\i2c.c;..\Src\usart.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Src\stm32f4xx_hal_timebase_TIM.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;../Middlewares/Third_Party/FreeRTOS/Source/croutine.c;../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;../Middlewares/Third_Party/FreeRTOS/Source/list.c;../Middlewares/Third_Party/FreeRTOS/Source/queue.c;../Middlewares/Third_Party/FreeRTOS/Source/tasks.c;../Middlewares/Third_Party/FreeRTOS/Source/timers.c;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;D:/Users/Tyler/Documents/STM/embedded/soccer-embedded/Robot//startup/startup_stm32f446xx.s;../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;../Middlewares/Third_Party/FreeRTOS/Source/croutine.c;../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;../Middlewares/Third_Party/FreeRTOS/Source/list.c;../Middlewares/Third_Party/FreeRTOS/Source/queue.c;../Middlewares/Third_Party/FreeRTOS/Source/tasks.c;../Middlewares/Third_Party/FreeRTOS/Source/timers.c;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c; HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Middlewares\Third_Party\FreeRTOS\Source\include;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS;..\Drivers\CMSIS\Include;..\Inc; CDefines=__weak:__attribute__((weak));__packed:__attribute__((__packed__)); diff --git a/Robot/Robot.ioc b/Robot/Robot.ioc index f733a53b..ee0dcca7 100644 --- a/Robot/Robot.ioc +++ b/Robot/Robot.ioc @@ -1,16 +1,16 @@ #MicroXplorer Configuration settings - do not modify Dma.Request0=USART3_TX Dma.Request1=USART3_RX -Dma.Request10=USART1_TX -Dma.Request11=USART1_RX +Dma.Request10=USART6_TX +Dma.Request11=USART6_RX Dma.Request2=UART4_TX Dma.Request3=UART4_RX Dma.Request4=UART5_TX Dma.Request5=UART5_RX Dma.Request6=USART2_TX Dma.Request7=USART2_RX -Dma.Request8=USART6_TX -Dma.Request9=USART6_RX +Dma.Request8=USART1_TX +Dma.Request9=USART1_RX Dma.RequestsNb=12 Dma.UART4_RX.3.Direction=DMA_PERIPH_TO_MEMORY Dma.UART4_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE @@ -52,26 +52,26 @@ Dma.UART5_TX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.UART5_TX.4.PeriphInc=DMA_PINC_DISABLE Dma.UART5_TX.4.Priority=DMA_PRIORITY_LOW Dma.UART5_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -Dma.USART1_RX.11.Direction=DMA_PERIPH_TO_MEMORY -Dma.USART1_RX.11.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART1_RX.11.Instance=DMA2_Stream2 -Dma.USART1_RX.11.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART1_RX.11.MemInc=DMA_MINC_ENABLE -Dma.USART1_RX.11.Mode=DMA_NORMAL -Dma.USART1_RX.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART1_RX.11.PeriphInc=DMA_PINC_DISABLE -Dma.USART1_RX.11.Priority=DMA_PRIORITY_LOW -Dma.USART1_RX.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -Dma.USART1_TX.10.Direction=DMA_MEMORY_TO_PERIPH -Dma.USART1_TX.10.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART1_TX.10.Instance=DMA2_Stream7 -Dma.USART1_TX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART1_TX.10.MemInc=DMA_MINC_ENABLE -Dma.USART1_TX.10.Mode=DMA_NORMAL -Dma.USART1_TX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART1_TX.10.PeriphInc=DMA_PINC_DISABLE -Dma.USART1_TX.10.Priority=DMA_PRIORITY_LOW -Dma.USART1_TX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART1_RX.9.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART1_RX.9.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART1_RX.9.Instance=DMA2_Stream2 +Dma.USART1_RX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART1_RX.9.MemInc=DMA_MINC_ENABLE +Dma.USART1_RX.9.Mode=DMA_NORMAL +Dma.USART1_RX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART1_RX.9.PeriphInc=DMA_PINC_DISABLE +Dma.USART1_RX.9.Priority=DMA_PRIORITY_LOW +Dma.USART1_RX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART1_TX.8.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART1_TX.8.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART1_TX.8.Instance=DMA2_Stream7 +Dma.USART1_TX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART1_TX.8.MemInc=DMA_MINC_ENABLE +Dma.USART1_TX.8.Mode=DMA_NORMAL +Dma.USART1_TX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART1_TX.8.PeriphInc=DMA_PINC_DISABLE +Dma.USART1_TX.8.Priority=DMA_PRIORITY_LOW +Dma.USART1_TX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode Dma.USART2_RX.7.Direction=DMA_PERIPH_TO_MEMORY Dma.USART2_RX.7.FIFOMode=DMA_FIFOMODE_DISABLE Dma.USART2_RX.7.Instance=DMA1_Stream5 @@ -112,35 +112,33 @@ Dma.USART3_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART3_TX.0.PeriphInc=DMA_PINC_DISABLE Dma.USART3_TX.0.Priority=DMA_PRIORITY_LOW Dma.USART3_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -Dma.USART6_RX.9.Direction=DMA_PERIPH_TO_MEMORY -Dma.USART6_RX.9.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART6_RX.9.Instance=DMA2_Stream1 -Dma.USART6_RX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART6_RX.9.MemInc=DMA_MINC_ENABLE -Dma.USART6_RX.9.Mode=DMA_NORMAL -Dma.USART6_RX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART6_RX.9.PeriphInc=DMA_PINC_DISABLE -Dma.USART6_RX.9.Priority=DMA_PRIORITY_LOW -Dma.USART6_RX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -Dma.USART6_TX.8.Direction=DMA_MEMORY_TO_PERIPH -Dma.USART6_TX.8.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART6_TX.8.Instance=DMA2_Stream6 -Dma.USART6_TX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE -Dma.USART6_TX.8.MemInc=DMA_MINC_ENABLE -Dma.USART6_TX.8.Mode=DMA_NORMAL -Dma.USART6_TX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE -Dma.USART6_TX.8.PeriphInc=DMA_PINC_DISABLE -Dma.USART6_TX.8.Priority=DMA_PRIORITY_LOW -Dma.USART6_TX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART6_RX.11.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART6_RX.11.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART6_RX.11.Instance=DMA2_Stream1 +Dma.USART6_RX.11.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART6_RX.11.MemInc=DMA_MINC_ENABLE +Dma.USART6_RX.11.Mode=DMA_NORMAL +Dma.USART6_RX.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART6_RX.11.PeriphInc=DMA_PINC_DISABLE +Dma.USART6_RX.11.Priority=DMA_PRIORITY_LOW +Dma.USART6_RX.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART6_TX.10.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART6_TX.10.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART6_TX.10.Instance=DMA2_Stream6 +Dma.USART6_TX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART6_TX.10.MemInc=DMA_MINC_ENABLE +Dma.USART6_TX.10.Mode=DMA_NORMAL +Dma.USART6_TX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART6_TX.10.PeriphInc=DMA_PINC_DISABLE +Dma.USART6_TX.10.Priority=DMA_PRIORITY_LOW +Dma.USART6_TX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode FREERTOS.FootprintOK=true FREERTOS.INCLUDE_vTaskDelayUntil=1 -<<<<<<< HEAD -FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01,MEMORY_ALLOCATION,Mutexes01,INCLUDE_vTaskDelayUntil -======= -FREERTOS.IPParameters=Tasks01,FootprintOK,MEMORY_ALLOCATION ->>>>>>> master +FREERTOS.IPParameters=Tasks01,FootprintOK,MEMORY_ALLOCATION,INCLUDE_vTaskDelayUntil,Queues01,Mutexes01 FREERTOS.MEMORY_ALLOCATION=2 -FREERTOS.Tasks01=defaultTask,-3,128,StartDefaultTask,Default,NULL,Static,defaultTaskBuffer,defaultTaskControlBlock +FREERTOS.Mutexes01=PCUART,Static,PCUARTControlBlock +FREERTOS.Queues01=UART1_req,16,UARTcmd_t,0,Static,UART1_reqBuffer,UART1_reqControlBlock;UART2_req,16,UARTcmd_t,0,Static,UART2_reqBuffer,UART2_reqControlBlock;UART3_req,16,UARTcmd_t,0,Static,UART3_reqBuffer,UART3_reqControlBlock;UART4_req,16,UARTcmd_t,0,Static,UART4_reqBuffer,UART4_reqControlBlock;UART6_req,16,UARTcmd_t,0,Static,UART6_reqBuffer,UART6_reqControlBlock;TXQueue,32,TXData_t,0,Static,TXQueueBuffer,TXQueueControlBlock +FREERTOS.Tasks01=defaultTask,-3,128,StartDefaultTask,Default,NULL,Static,defaultTaskBuffer,defaultTaskControlBlock;UART1Task,0,128,StartUART1Task,As external,NULL,Static,UART1TaskBuffer,UART1TaskControlBlock;UART2Task,0,128,StartUART2Task,As external,NULL,Static,UART2TaskBuffer,UART2TaskControlBlock;UART3Task,0,128,StartUART3Task,As external,NULL,Static,UART3TaskBuffer,UART3TaskControlBlock;UART4Task,0,128,StartUART4Task,As external,NULL,Static,UART4TaskBuffer,UART4TaskControlBlock;UART6Task,0,128,StartUART6Task,As external,NULL,Static,UART6TaskBuffer,UART6TaskControlBlock;IMUTask,0,128,StartIMUTask,As external,NULL,Static,IMUTaskBuffer,IMUTaskControlBlock;CommandTask,0,512,StartCommandTask,As external,NULL,Static,CommandTaskBuffer,CommandTaskControlBlock;RxTask,3,512,StartRxTask,As external,NULL,Static,RxTaskBuffer,RxTaskControlBlock;TxTask,2,512,StartTxTask,As external,NULL,Static,TxTaskBuffer,TxTaskControlBlock File.Version=6 I2C1.I2C_Mode=I2C_Fast I2C1.IPParameters=I2C_Mode diff --git a/Robot/Src/UART_Handler.c b/Robot/Src/UART_Handler.c index d980f91b..e7179de6 100644 --- a/Robot/Src/UART_Handler.c +++ b/Robot/Src/UART_Handler.c @@ -25,7 +25,7 @@ * Sensor data queue. This module writes current positions of motors into this * queue */ -extern osMessageQId UART_rxHandle; +extern osMessageQId TXQueueHandle; @@ -45,7 +45,7 @@ void UART_ProcessEvent(UARTcmd_t* cmdPtr, TXData_t* DataToSend){ case cmdReadPosition: Dynamixel_GetPosition(cmdPtr->motorHandle); DataToSend->pData = cmdPtr->motorHandle; - xQueueSend(UART_rxHandle, DataToSend, 0); + xQueueSend(TXQueueHandle, DataToSend, 0); break; case cmdWritePosition: Dynamixel_SetGoalPosition(cmdPtr->motorHandle, cmdPtr->value); diff --git a/Robot/Src/freertos.c b/Robot/Src/freertos.c index edfdca0a..9c579727 100644 --- a/Robot/Src/freertos.c +++ b/Robot/Src/freertos.c @@ -1,54 +1,45 @@ /** - ****************************************************************************** - * @file freertos.c - * @brief Code for freertos application - * @author Gokul - * @author Tyler - * @author Izaak - * - * @defgroup FreeRTOS FreeRTOS - * @brief Everything related to FreeRTOS ****************************************************************************** * File Name : freertos.c * Description : Code for freertos applications ****************************************************************************** * This notice applies to any and all portions of this file * that are not between comment pairs USER CODE BEGIN and - * USER CODE END. Other portions of this file, whether + * USER CODE END. Other portions of this file, whether * inserted by the user or by software development tools * are owned by their respective copyright owners. * - * Copyright (c) 2018 STMicroelectronics International N.V. + * Copyright (c) 2018 STMicroelectronics International N.V. * All rights reserved. * - * Redistribution and use in source and binary forms, with or without + * Redistribution and use in source and binary forms, with or without * modification, are permitted, provided that the following conditions are met: * - * 1. Redistribution of source code must retain the above copyright notice, + * 1. Redistribution of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. - * 3. Neither the name of STMicroelectronics nor the names of other - * contributors to this software may be used to endorse or promote products + * 3. Neither the name of STMicroelectronics nor the names of other + * contributors to this software may be used to endorse or promote products * derived from this software without specific written permission. - * 4. This software, including modifications and/or derivative works of this + * 4. This software, including modifications and/or derivative works of this * software, must execute solely and exclusively on microcontroller or * microprocessor devices manufactured by or for STMicroelectronics. - * 5. Redistribution and use of this software other than as permitted under - * this license is void and will automatically terminate your rights under - * this license. + * 5. Redistribution and use of this software other than as permitted under + * this license is void and will automatically terminate your rights under + * this license. * - * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A + * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY - * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT + * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT - * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, - * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF - * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * @@ -61,6 +52,17 @@ #include "cmsis_os.h" /* USER CODE BEGIN Includes */ +/** + * @file freertos.c + * @brief Code for freertos application + * @author Gokul + * @author Tyler + * @author Izaak + * + * @defgroup FreeRTOS FreeRTOS + * @brief Everything related to FreeRTOS + */ + #include #include #include @@ -74,42 +76,39 @@ #include "UART_Handler.h" #include "../Drivers/Dynamixel/DynamixelProtocolV1.h" #include "../Drivers/Communication/Communication.h" - /* USER CODE END Includes */ /* Variables -----------------------------------------------------------------*/ osThreadId defaultTaskHandle; uint32_t defaultTaskBuffer[ 128 ]; osStaticThreadDef_t defaultTaskControlBlock; - -/* USER CODE BEGIN Variables */ -osThreadId commandTaskHandle; -uint32_t commandTaskBuffer[ 512 ]; -osStaticThreadDef_t commandTaskControlBlock; -osThreadId UART1_Handle; -uint32_t UART1_Buffer[ 128 ]; -osStaticThreadDef_t UART1_ControlBlock; -osThreadId UART2_Handle; -uint32_t UART2_Buffer[ 128 ]; -osStaticThreadDef_t UART2_ControlBlock; -osThreadId UART3_Handle; -uint32_t UART3_Buffer[ 128 ]; -osStaticThreadDef_t UART3_ControlBlock; -osThreadId UART4_Handle; -uint32_t UART4_Buffer[ 128 ]; -osStaticThreadDef_t UART4_ControlBlock; -osThreadId UART6_Handle; -uint32_t UART6_Buffer[ 128 ]; -osStaticThreadDef_t UART6_ControlBlock; +osThreadId UART1TaskHandle; +uint32_t UART1TaskBuffer[ 128 ]; +osStaticThreadDef_t UART1TaskControlBlock; +osThreadId UART2TaskHandle; +uint32_t UART2TaskBuffer[ 128 ]; +osStaticThreadDef_t UART2TaskControlBlock; +osThreadId UART3TaskHandle; +uint32_t UART3TaskBuffer[ 128 ]; +osStaticThreadDef_t UART3TaskControlBlock; +osThreadId UART4TaskHandle; +uint32_t UART4TaskBuffer[ 128 ]; +osStaticThreadDef_t UART4TaskControlBlock; +osThreadId UART6TaskHandle; +uint32_t UART6TaskBuffer[ 128 ]; +osStaticThreadDef_t UART6TaskControlBlock; osThreadId IMUTaskHandle; uint32_t IMUTaskBuffer[ 128 ]; osStaticThreadDef_t IMUTaskControlBlock; -osThreadId rxTaskHandle; -uint32_t rxTaskBuffer[ 512 ]; -osStaticThreadDef_t rxTaskControlBlock; -osThreadId txTaskHandle; -uint32_t txTaskBuffer[ 512 ]; -osStaticThreadDef_t txTaskControlBlock; +osThreadId CommandTaskHandle; +uint32_t CommandTaskBuffer[ 512 ]; +osStaticThreadDef_t CommandTaskControlBlock; +osThreadId RxTaskHandle; +uint32_t RxTaskBuffer[ 512 ]; +osStaticThreadDef_t RxTaskControlBlock; +osThreadId TxTaskHandle; +uint32_t TxTaskBuffer[ 512 ]; +osStaticThreadDef_t TxTaskControlBlock; osMessageQId UART1_reqHandle; uint8_t UART1_reqBuffer[ 16 * sizeof( UARTcmd_t ) ]; osStaticMessageQDef_t UART1_reqControlBlock; @@ -125,12 +124,13 @@ osStaticMessageQDef_t UART4_reqControlBlock; osMessageQId UART6_reqHandle; uint8_t UART6_reqBuffer[ 16 * sizeof( UARTcmd_t ) ]; osStaticMessageQDef_t UART6_reqControlBlock; -osMessageQId UART_rxHandle; -uint8_t UART_rxBuffer[ 32 * sizeof( UARTcmd_t ) ]; -osStaticMessageQDef_t UART_rxControlBlock; +osMessageQId TXQueueHandle; +uint8_t TXQueueBuffer[ 32 * sizeof( TXData_t ) ]; +osStaticMessageQDef_t TXQueueControlBlock; osMutexId PCUARTHandle; osStaticMutexDef_t PCUARTControlBlock; +/* USER CODE BEGIN Variables */ enum motorNames {MOTOR1, MOTOR2, MOTOR3, MOTOR4, MOTOR5, MOTOR6, MOTOR7, MOTOR8, MOTOR9, MOTOR10, MOTOR11, MOTOR12, MOTOR13, MOTOR14, MOTOR15, @@ -150,19 +150,19 @@ static volatile uint32_t error; /* Function prototypes -------------------------------------------------------*/ void StartDefaultTask(void const * argument); +extern void StartUART1Task(void const * argument); +extern void StartUART2Task(void const * argument); +extern void StartUART3Task(void const * argument); +extern void StartUART4Task(void const * argument); +extern void StartUART6Task(void const * argument); +extern void StartIMUTask(void const * argument); +extern void StartCommandTask(void const * argument); +extern void StartRxTask(void const * argument); +extern void StartTxTask(void const * argument); void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ /* USER CODE BEGIN FunctionPrototypes */ -void StartCommandTask(void const * argument); -void UART1_Handler(void const * argument); -void UART2_Handler(void const * argument); -void UART3_Handler(void const * argument); -void UART4_Handler(void const * argument); -void UART6_Handler(void const * argument); -void StartIMUTask(void const * argument); -void StartRxTask(void const * argument); -void StartTxTask(void const * argument); /* USER CODE END FunctionPrototypes */ @@ -191,11 +191,13 @@ void MX_FREERTOS_Init(void) { /* USER CODE END Init */ - /* USER CODE BEGIN RTOS_MUTEX */ - /* add mutexes, ... */ + /* Create the mutex(es) */ /* definition and creation of PCUART */ osMutexStaticDef(PCUART, &PCUARTControlBlock); PCUARTHandle = osMutexCreate(osMutex(PCUART)); + + /* USER CODE BEGIN RTOS_MUTEX */ + /* add mutexes, ... */ /* USER CODE END RTOS_MUTEX */ /* USER CODE BEGIN RTOS_SEMAPHORES */ @@ -211,48 +213,47 @@ void MX_FREERTOS_Init(void) { osThreadStaticDef(defaultTask, StartDefaultTask, osPriorityIdle, 0, 128, defaultTaskBuffer, &defaultTaskControlBlock); defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL); - /* USER CODE BEGIN RTOS_THREADS */ - /* add threads, ... */ - - /* definition and creation of commandTask */ - osThreadStaticDef(commandTask, StartCommandTask, osPriorityLow, 0, 512, commandTaskBuffer, &commandTaskControlBlock); - commandTaskHandle = osThreadCreate(osThread(commandTask), NULL); + /* definition and creation of UART1Task */ + osThreadStaticDef(UART1Task, StartUART1Task, osPriorityNormal, 0, 128, UART1TaskBuffer, &UART1TaskControlBlock); + UART1TaskHandle = osThreadCreate(osThread(UART1Task), NULL); - /* definition and creation of UART1_ */ - osThreadStaticDef(UART1_, UART1_Handler, osPriorityNormal, 0, 128, UART1_Buffer, &UART1_ControlBlock); - UART1_Handle = osThreadCreate(osThread(UART1_), NULL); + /* definition and creation of UART2Task */ + osThreadStaticDef(UART2Task, StartUART2Task, osPriorityNormal, 0, 128, UART2TaskBuffer, &UART2TaskControlBlock); + UART2TaskHandle = osThreadCreate(osThread(UART2Task), NULL); - /* definition and creation of UART2_ */ - osThreadStaticDef(UART2_, UART2_Handler, osPriorityNormal, 0, 128, UART2_Buffer, &UART2_ControlBlock); - UART2_Handle = osThreadCreate(osThread(UART2_), NULL); + /* definition and creation of UART3Task */ + osThreadStaticDef(UART3Task, StartUART3Task, osPriorityNormal, 0, 128, UART3TaskBuffer, &UART3TaskControlBlock); + UART3TaskHandle = osThreadCreate(osThread(UART3Task), NULL); - /* definition and creation of UART3_ */ - osThreadStaticDef(UART3_, UART3_Handler, osPriorityNormal, 0, 128, UART3_Buffer, &UART3_ControlBlock); - UART3_Handle = osThreadCreate(osThread(UART3_), NULL); + /* definition and creation of UART4Task */ + osThreadStaticDef(UART4Task, StartUART4Task, osPriorityNormal, 0, 128, UART4TaskBuffer, &UART4TaskControlBlock); + UART4TaskHandle = osThreadCreate(osThread(UART4Task), NULL); - /* definition and creation of UART4_ */ - osThreadStaticDef(UART4_, UART4_Handler, osPriorityNormal, 0, 128, UART4_Buffer, &UART4_ControlBlock); - UART4_Handle = osThreadCreate(osThread(UART4_), NULL); - - /* definition and creation of UART6_ */ - osThreadStaticDef(UART6_, UART6_Handler, osPriorityNormal, 0, 128, UART6_Buffer, &UART6_ControlBlock); - UART6_Handle = osThreadCreate(osThread(UART6_), NULL); + /* definition and creation of UART6Task */ + osThreadStaticDef(UART6Task, StartUART6Task, osPriorityNormal, 0, 128, UART6TaskBuffer, &UART6TaskControlBlock); + UART6TaskHandle = osThreadCreate(osThread(UART6Task), NULL); /* definition and creation of IMUTask */ osThreadStaticDef(IMUTask, StartIMUTask, osPriorityNormal, 0, 128, IMUTaskBuffer, &IMUTaskControlBlock); IMUTaskHandle = osThreadCreate(osThread(IMUTask), NULL); - /* definition and creation of rxTask */ - osThreadStaticDef(rxTask, StartRxTask, osPriorityRealtime, 0, 512, rxTaskBuffer, &rxTaskControlBlock); - rxTaskHandle = osThreadCreate(osThread(rxTask), NULL); + /* definition and creation of CommandTask */ + osThreadStaticDef(CommandTask, StartCommandTask, osPriorityNormal, 0, 512, CommandTaskBuffer, &CommandTaskControlBlock); + CommandTaskHandle = osThreadCreate(osThread(CommandTask), NULL); + + /* definition and creation of RxTask */ + osThreadStaticDef(RxTask, StartRxTask, osPriorityRealtime, 0, 512, RxTaskBuffer, &RxTaskControlBlock); + RxTaskHandle = osThreadCreate(osThread(RxTask), NULL); + + /* definition and creation of TxTask */ + osThreadStaticDef(TxTask, StartTxTask, osPriorityHigh, 0, 512, TxTaskBuffer, &TxTaskControlBlock); + TxTaskHandle = osThreadCreate(osThread(TxTask), NULL); - /* definition and creation of txTask */ - osThreadStaticDef(txTask, StartTxTask, osPriorityHigh, 0, 512, txTaskBuffer, &txTaskControlBlock); - txTaskHandle = osThreadCreate(osThread(txTask), NULL); + /* USER CODE BEGIN RTOS_THREADS */ + /* add threads, ... */ /* USER CODE END RTOS_THREADS */ - /* USER CODE BEGIN RTOS_QUEUES */ - /* add queues, ... */ + /* Create the queue(s) */ /* definition and creation of UART1_req */ osMessageQStaticDef(UART1_req, 16, UARTcmd_t, UART1_reqBuffer, &UART1_reqControlBlock); UART1_reqHandle = osMessageCreate(osMessageQ(UART1_req), NULL); @@ -273,9 +274,12 @@ void MX_FREERTOS_Init(void) { osMessageQStaticDef(UART6_req, 16, UARTcmd_t, UART6_reqBuffer, &UART6_reqControlBlock); UART6_reqHandle = osMessageCreate(osMessageQ(UART6_req), NULL); - /* definition and creation of UART_rx */ - osMessageQStaticDef(UART_rx, 32, UARTcmd_t, UART_rxBuffer, &UART_rxControlBlock); - UART_rxHandle = osMessageCreate(osMessageQ(UART_rx), NULL); + /* definition and creation of TXQueue */ + osMessageQStaticDef(TXQueue, 32, TXData_t, TXQueueBuffer, &TXQueueControlBlock); + TXQueueHandle = osMessageCreate(osMessageQ(TXQueue), NULL); + + /* USER CODE BEGIN RTOS_QUEUES */ + /* add queues, ... */ /* USER CODE END RTOS_QUEUES */ } @@ -301,7 +305,6 @@ void StartDefaultTask(void const * argument) * @ingroup FreeRTOS */ -/* StartCommandTask function */ /** * @brief This function is executed in the context of the commandTask * thread. It initializes all data structures and peripheral @@ -314,7 +317,6 @@ void StartDefaultTask(void const * argument) */ void StartCommandTask(void const * argument) { - /* USER CODE BEGIN StartCommandTask */ Dynamixel_SetIOType(IO_POLL); // Configure IO Dynamixel_Init(&Motor12, 12, &huart6, GPIOC, GPIO_PIN_8, MX28TYPE); @@ -391,16 +393,15 @@ void StartCommandTask(void const * argument) // Set setupIsDone and unblock the higher-priority tasks setupIsDone = true; - xTaskNotify(rxTaskHandle, 1UL, eNoAction); - xTaskNotify(txTaskHandle, 1UL, eNoAction); - xTaskNotify(UART1_Handle, 1UL, eNoAction); - xTaskNotify(UART2_Handle, 1UL, eNoAction); - xTaskNotify(UART3_Handle, 1UL, eNoAction); - xTaskNotify(UART4_Handle, 1UL, eNoAction); - xTaskNotify(UART6_Handle, 1UL, eNoAction); + xTaskNotify(RxTaskHandle, 1UL, eNoAction); + xTaskNotify(TxTaskHandle, 1UL, eNoAction); + xTaskNotify(UART1TaskHandle, 1UL, eNoAction); + xTaskNotify(UART2TaskHandle, 1UL, eNoAction); + xTaskNotify(UART3TaskHandle, 1UL, eNoAction); + xTaskNotify(UART4TaskHandle, 1UL, eNoAction); + xTaskNotify(UART6TaskHandle, 1UL, eNoAction); xTaskNotify(IMUTaskHandle, 1UL, eNoAction); - /* Infinite loop */ uint32_t numIterations = 0; uint8_t i; float positions[18]; @@ -482,10 +483,8 @@ void StartCommandTask(void const * argument) numIterations++; } - /* USER CODE END StartCommandTask */ } -/* UART1_Handler function */ /** * @brief This function is executed in the context of the UART1_ * thread. It processes all commands for the motors @@ -499,14 +498,12 @@ void StartCommandTask(void const * argument) * * @ingroup Threads */ -void UART1_Handler(void const * argument) +void StartUART1Task(void const * argument) { - /* USER CODE BEGIN UART1_Handler */ // Here, we use task notifications to block this task from running until a notification // is received. This allows one-time setup to complete in a low-priority task. xTaskNotifyWait(UINT32_MAX, UINT32_MAX, NULL, portMAX_DELAY); - /* Infinite loop */ UARTcmd_t cmdMessage; TXData_t dataToSend; dataToSend.eDataType = eMotorData; @@ -516,10 +513,8 @@ void UART1_Handler(void const * argument) while(xQueueReceive(UART1_reqHandle, &cmdMessage, portMAX_DELAY) != pdTRUE); UART_ProcessEvent(&cmdMessage, &dataToSend); } - /* USER CODE END UART1_Handler */ } -/* UART2_Handler function */ /** * @brief This function is executed in the context of the UART2_ * thread. It processes all commands for the motors @@ -533,14 +528,12 @@ void UART1_Handler(void const * argument) * * @ingroup Threads */ -void UART2_Handler(void const * argument) +void StartUART2Task(void const * argument) { - /* USER CODE BEGIN UART2_Handler */ // Here, we use task notifications to block this task from running until a notification // is received. This allows one-time setup to complete in a low-priority task. xTaskNotifyWait(UINT32_MAX, UINT32_MAX, NULL, portMAX_DELAY); - /* Infinite loop */ UARTcmd_t cmdMessage; TXData_t dataToSend; dataToSend.eDataType = eMotorData; @@ -550,10 +543,8 @@ void UART2_Handler(void const * argument) while(xQueueReceive(UART2_reqHandle, &cmdMessage, portMAX_DELAY) != pdTRUE); UART_ProcessEvent(&cmdMessage, &dataToSend); } - /* USER CODE END UART2_Handler */ } -/* UART3_Handler function */ /** * @brief This function is executed in the context of the UART3_ * thread. It processes all commands for the motors @@ -567,14 +558,12 @@ void UART2_Handler(void const * argument) * * @ingroup Threads */ -void UART3_Handler(void const * argument) +void StartUART3Task(void const * argument) { - /* USER CODE BEGIN UART3_Handler */ // Here, we use task notifications to block this task from running until a notification // is received. This allows one-time setup to complete in a low-priority task. xTaskNotifyWait(UINT32_MAX, UINT32_MAX, NULL, portMAX_DELAY); - /* Infinite loop */ UARTcmd_t cmdMessage; TXData_t dataToSend; dataToSend.eDataType = eMotorData; @@ -584,10 +573,8 @@ void UART3_Handler(void const * argument) while(xQueueReceive(UART3_reqHandle, &cmdMessage, portMAX_DELAY) != pdTRUE); UART_ProcessEvent(&cmdMessage, &dataToSend); } - /* USER CODE END UART3_Handler */ } -/* UART4_Handler function */ /** * @brief This function is executed in the context of the UART4_ * thread. It processes all commands for the motors @@ -601,14 +588,12 @@ void UART3_Handler(void const * argument) * * @ingroup Threads */ -void UART4_Handler(void const * argument) +void StartUART4Task(void const * argument) { - /* USER CODE BEGIN UART4_Handler */ // Here, we use task notifications to block this task from running until a notification // is received. This allows one-time setup to complete in a low-priority task. xTaskNotifyWait(UINT32_MAX, UINT32_MAX, NULL, portMAX_DELAY); - /* Infinite loop */ UARTcmd_t cmdMessage; TXData_t dataToSend; dataToSend.eDataType = eMotorData; @@ -618,10 +603,8 @@ void UART4_Handler(void const * argument) while(xQueueReceive(UART4_reqHandle, &cmdMessage, portMAX_DELAY) != pdTRUE); UART_ProcessEvent(&cmdMessage, &dataToSend); } - /* USER CODE END UART4_Handler */ } -/* UART6_Handler function */ /** * @brief This function is executed in the context of the UART6_ * thread. It processes all commands for the motors @@ -635,9 +618,8 @@ void UART4_Handler(void const * argument) * * @ingroup Threads */ -void UART6_Handler(void const * argument) +void StartUART6Task(void const * argument) { - /* USER CODE BEGIN UART6_Handler */ // Here, we use task notifications to block this task from running until a notification // is received. This allows one-time setup to complete in a low-priority task. xTaskNotifyWait(UINT32_MAX, UINT32_MAX, NULL, portMAX_DELAY); @@ -652,10 +634,8 @@ void UART6_Handler(void const * argument) while(xQueueReceive(UART6_reqHandle, &cmdMessage, portMAX_DELAY) != pdTRUE); UART_ProcessEvent(&cmdMessage, &dataToSend); } - /* USER CODE END UART6_Handler */ } -/* StartIMUTask function */ /** * @brief This function is executed in the context of the * IMUTask thread. During each control cycle, this thread @@ -669,7 +649,6 @@ void UART6_Handler(void const * argument) */ void StartIMUTask(void const * argument) { - /* USER CODE BEGIN StartIMUTask */ // Here, we use task notifications to block this task from running until a notification // is received. This allows one-time setup to complete in a low-priority task. xTaskNotifyWait(UINT32_MAX, UINT32_MAX, NULL, portMAX_DELAY); @@ -686,7 +665,6 @@ void StartIMUTask(void const * argument) MPUFilter_InitAllFilters(); - /* Infinite loop */ for(;;) { // Service this thread every 2 ms for a 500 Hz sample rate @@ -710,12 +688,10 @@ void StartIMUTask(void const * argument) i++; dataToSend.pData = &IMUdata; - xQueueSend(UART_rxHandle, &dataToSend, 0); + xQueueSend(TXQueueHandle, &dataToSend, 0); } - /* USER CODE END StartIMUTask */ } -/* StartRxTask function */ /** * @brief This function is executed in the context of the RxTask * thread. It initiates DMA-based receptions of RobotGoals @@ -728,7 +704,6 @@ void StartIMUTask(void const * argument) */ void StartRxTask(void const * argument) { - /* USER CODE BEGIN StartRxTask */ uint8_t robotGoalData[sizeof(RobotGoal)]; uint8_t *robotGoalDataPtr; uint8_t buffRx[92]; @@ -754,7 +729,6 @@ void StartRxTask(void const * argument) HAL_UART_Receive_DMA(&huart5, (uint8_t*)buffRx, sizeof(buffRx)); - /* Infinite loop */ for (;;) { // Wait until notified from ISR. Clear no bits on entry in case the notification @@ -801,7 +775,7 @@ void StartRxTask(void const * argument) startSeqCount = 0; totalBytesRead = 0; - xTaskNotify(commandTaskHandle, NOTIFIED_FROM_TASK, eSetBits); // Wake control task + xTaskNotify(CommandTaskHandle, NOTIFIED_FROM_TASK, eSetBits); // Wake control task xTaskNotify(IMUTaskHandle, NOTIFIED_FROM_TASK, eSetBits); // Wake MPU task continue; } @@ -815,10 +789,8 @@ void StartRxTask(void const * argument) } } } - /* USER CODE END StartRxTask */ } -/* StartTxTask function */ /** * @brief This function is executed in the context of the TxTask * thread. This thread is blocked until all sensor data @@ -833,7 +805,6 @@ void StartRxTask(void const * argument) */ void StartTxTask(void const * argument) { - /* USER CODE BEGIN StartTxTask */ xTaskNotifyWait(UINT32_MAX, UINT32_MAX, NULL, portMAX_DELAY); TXData_t receivedData; @@ -845,18 +816,15 @@ void StartTxTask(void const * argument) uint32_t notification; uint32_t dataReadyFlags = 0; // Bits in this are set based on which sensor data is ready - // TODO: In the future, this "12" should be replaced with NUM_MOTORS. We will - // be ready for this once all 18 motors can be read from. uint32_t NOTIFICATION_MASK = 0x80000000; for(uint8_t i = 1; i <= 12; i++){ NOTIFICATION_MASK |= (1 << i); } - /* Infinite loop */ for(;;) { while((dataReadyFlags & NOTIFICATION_MASK) != NOTIFICATION_MASK){ - while(xQueueReceive(UART_rxHandle, &receivedData, portMAX_DELAY) != pdTRUE); + while(xQueueReceive(TXQueueHandle, &receivedData, portMAX_DELAY) != pdTRUE); switch(receivedData.eDataType){ case eMotorData: @@ -909,7 +877,6 @@ void StartTxTask(void const * argument) xTaskNotifyWait(0, NOTIFIED_FROM_TX_ISR, ¬ification, portMAX_DELAY); }while((notification & NOTIFIED_FROM_TX_ISR) != NOTIFIED_FROM_TX_ISR); } - /* USER CODE END StartTxTask */ } /** @@ -958,22 +925,22 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef* huart){ if(setupIsDone){ BaseType_t xHigherPriorityTaskWoken = pdFALSE; if(huart == &huart5){ - xTaskNotifyFromISR(txTaskHandle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(TxTaskHandle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); } if(huart == &huart1){ - xTaskNotifyFromISR(UART1_Handle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(UART1TaskHandle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); } else if(huart == &huart2){ - xTaskNotifyFromISR(UART2_Handle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(UART2TaskHandle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); } else if(huart == &huart3){ - xTaskNotifyFromISR(UART3_Handle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(UART3TaskHandle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); } else if(huart == &huart4){ - xTaskNotifyFromISR(UART4_Handle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(UART4TaskHandle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); } else if(huart == &huart6){ - xTaskNotifyFromISR(UART6_Handle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(UART6TaskHandle, NOTIFIED_FROM_TX_ISR, eSetBits, &xHigherPriorityTaskWoken); } portYIELD_FROM_ISR(xHigherPriorityTaskWoken); } @@ -995,22 +962,22 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef* huart){ void HAL_UART_RxCpltCallback(UART_HandleTypeDef * huart) { BaseType_t xHigherPriorityTaskWoken = pdFALSE; if (huart == &huart5) { - xTaskNotifyFromISR(rxTaskHandle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(RxTaskHandle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); } if(huart == &huart1){ - xTaskNotifyFromISR(UART1_Handle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(UART1TaskHandle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); } else if(huart == &huart2){ - xTaskNotifyFromISR(UART2_Handle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(UART2TaskHandle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); } else if(huart == &huart3){ - xTaskNotifyFromISR(UART3_Handle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(UART3TaskHandle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); } else if(huart == &huart4){ - xTaskNotifyFromISR(UART4_Handle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(UART4TaskHandle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); } else if(huart == &huart6){ - xTaskNotifyFromISR(UART6_Handle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); + xTaskNotifyFromISR(UART6TaskHandle, NOTIFIED_FROM_RX_ISR, eSetBits, &xHigherPriorityTaskWoken); } portYIELD_FROM_ISR(xHigherPriorityTaskWoken); } diff --git a/Robot/Src/stm32f4xx_it.c b/Robot/Src/stm32f4xx_it.c index a6acb91f..8d30b14a 100644 --- a/Robot/Src/stm32f4xx_it.c +++ b/Robot/Src/stm32f4xx_it.c @@ -479,27 +479,27 @@ void USART6_IRQHandler(void) /* USER CODE BEGIN 1 */ void pop_registers_from_fault_stack(unsigned int * hardfault_args) { -volatile unsigned int stacked_r0; -volatile unsigned int stacked_r1; -volatile unsigned int stacked_r2; -volatile unsigned int stacked_r3; -volatile unsigned int stacked_r12; -volatile unsigned int stacked_lr; -volatile unsigned int stacked_pc; -volatile unsigned int stacked_psr; - -stacked_r0 = ((unsigned long) hardfault_args[0]); -stacked_r1 = ((unsigned long) hardfault_args[1]); -stacked_r2 = ((unsigned long) hardfault_args[2]); -stacked_r3 = ((unsigned long) hardfault_args[3]); - -stacked_r12 = ((unsigned long) hardfault_args[4]); -stacked_lr = ((unsigned long) hardfault_args[5]); -stacked_pc = ((unsigned long) hardfault_args[6]); -stacked_psr = ((unsigned long) hardfault_args[7]); - -/* Inspect stacked_pc to locate the offending instruction. */ -for( ;; ); + volatile unsigned int stacked_r0; + volatile unsigned int stacked_r1; + volatile unsigned int stacked_r2; + volatile unsigned int stacked_r3; + volatile unsigned int stacked_r12; + volatile unsigned int stacked_lr; + volatile unsigned int stacked_pc; + volatile unsigned int stacked_psr; + + stacked_r0 = ((unsigned long) hardfault_args[0]); + stacked_r1 = ((unsigned long) hardfault_args[1]); + stacked_r2 = ((unsigned long) hardfault_args[2]); + stacked_r3 = ((unsigned long) hardfault_args[3]); + + stacked_r12 = ((unsigned long) hardfault_args[4]); + stacked_lr = ((unsigned long) hardfault_args[5]); + stacked_pc = ((unsigned long) hardfault_args[6]); + stacked_psr = ((unsigned long) hardfault_args[7]); + + /* Inspect stacked_pc to locate the offending instruction. */ + for( ;; ); } /* USER CODE END 1 */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/