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Merge pull request #49 from utra-robosoccer/Add_FreeRTOS_Config_To_Cube
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Add FreeRTOS config to Cube
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@tygamvrelis
tygamvrelis authored Aug 5, 2018
2 parents 9b994fe + 4b2efe8 commit b10e14d
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186 changes: 93 additions & 93 deletions Robot/.cproject
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6 changes: 3 additions & 3 deletions Robot/.mxproject
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Original file line number Diff line number Diff line change
@@ -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__));

98 changes: 48 additions & 50 deletions Robot/Robot.ioc
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Original file line number Diff line number Diff line change
@@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
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4 changes: 2 additions & 2 deletions Robot/Src/UART_Handler.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
* Sensor data queue. This module writes current positions of motors into this
* queue
*/
extern osMessageQId UART_rxHandle;
extern osMessageQId TXQueueHandle;



Expand All @@ -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);
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