From 7411360ffb0ce299bd95288fbf833cb65b9156f4 Mon Sep 17 00:00:00 2001
From: sfaguet <sfaguet@centumadetel.com>
Date: Sat, 20 Feb 2021 20:09:19 -0500
Subject: [PATCH] Correction pour que la communication avec JESTON fonctionne
---
Inc/main.h | 10 ++++---
MDK-ARM/RobotMaster_allRobots.uvoptx | 6 ++--
MDK-ARM/RobotMaster_allRobots.uvprojx | 2 +-
RobotMaster_allRobots.ioc | 40 ++++++++++++++-------------
Src/BoardA_handle.c | 3 +-
Src/jetson.c | 9 ++----
Src/main.c | 7 ++---
Src/stm32f4xx_it.c | 4 +--
Src/usart.c | 14 +++++-----
9 files changed, 48 insertions(+), 47 deletions(-)
diff --git a/Inc/main.h b/Inc/main.h
index b42d2e3..6a0f8b4 100644
--- a/Inc/main.h
+++ b/Inc/main.h
@@ -35,6 +35,8 @@ extern "C" {
#include "BoardA_handle.h"
#include "traitement.h"
#include "robot_configuration.h"
+#include "pilotes.h"
+#include "canon.h"
/* USER CODE END Includes */
@@ -95,10 +97,6 @@ void Error_Handler(void);
#define BOARD_LED_B_GPIO_Port GPIOG
#define BOARD_LED_C_Pin GPIO_PIN_6
#define BOARD_LED_C_GPIO_Port GPIOG
-#define JETSON_TX_Pin GPIO_PIN_7
-#define JETSON_TX_GPIO_Port GPIOF
-#define JETSON_RX_Pin GPIO_PIN_6
-#define JETSON_RX_GPIO_Port GPIOF
#define BOARD_LED_D_Pin GPIO_PIN_5
#define BOARD_LED_D_GPIO_Port GPIOG
#define BOARD_LED_E_Pin GPIO_PIN_4
@@ -111,12 +109,16 @@ void Error_Handler(void);
#define BOARD_LED_H_GPIO_Port GPIOG
#define OLED_Analog_Pin GPIO_PIN_6
#define OLED_Analog_GPIO_Port GPIOA
+#define JETSON_TX_Pin GPIO_PIN_8
+#define JETSON_TX_GPIO_Port GPIOE
#define BOARD_LED_RED_Pin GPIO_PIN_11
#define BOARD_LED_RED_GPIO_Port GPIOE
#define OLED_MOSI_Pin GPIO_PIN_7
#define OLED_MOSI_GPIO_Port GPIOA
#define BOARD_LED_GREEN_Pin GPIO_PIN_14
#define BOARD_LED_GREEN_GPIO_Port GPIOF
+#define JETSON_RX_Pin GPIO_PIN_7
+#define JETSON_RX_GPIO_Port GPIOE
#define OLED_RST_Pin GPIO_PIN_10
#define OLED_RST_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
diff --git a/MDK-ARM/RobotMaster_allRobots.uvoptx b/MDK-ARM/RobotMaster_allRobots.uvoptx
index 04ac741..4fb4b27 100644
--- a/MDK-ARM/RobotMaster_allRobots.uvoptx
+++ b/MDK-ARM/RobotMaster_allRobots.uvoptx
@@ -525,7 +525,7 @@
<Group>
<GroupName>Application/User</GroupName>
- <tvExp>0</tvExp>
+ <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -693,7 +693,7 @@
<Group>
<GroupName>Devices</GroupName>
- <tvExp>0</tvExp>
+ <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -725,7 +725,7 @@
<GroupNumber>7</GroupNumber>
<FileNumber>37</FileNumber>
<FileType>1</FileType>
- <tvExp>1</tvExp>
+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\receiver_RadioController.c</PathWithFileName>
diff --git a/MDK-ARM/RobotMaster_allRobots.uvprojx b/MDK-ARM/RobotMaster_allRobots.uvprojx
index 0f71675..d819dc3 100644
--- a/MDK-ARM/RobotMaster_allRobots.uvprojx
+++ b/MDK-ARM/RobotMaster_allRobots.uvprojx
@@ -339,7 +339,7 @@
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F427xx,USE_HAL_DRIVER,STM32F427xx</Define>
<Undefine></Undefine>
- <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include; ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy</IncludePath>
+ <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include; ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy</IncludePath>
</VariousControls>
</Cads>
<Aads>
diff --git a/RobotMaster_allRobots.ioc b/RobotMaster_allRobots.ioc
index 4d76fa0..fdad20e 100644
--- a/RobotMaster_allRobots.ioc
+++ b/RobotMaster_allRobots.ioc
@@ -1,5 +1,4 @@
#MicroXplorer Configuration settings - do not modify
-PF7.GPIOParameters=GPIO_Label
Dma.USART6_TX.3.MemInc=DMA_MINC_ENABLE
Dma.USART6_TX.3.PeriphInc=DMA_PINC_DISABLE
PE11.GPIOParameters=GPIO_Label
@@ -22,13 +21,11 @@ SH.S_TIM1_CH1.ConfNb=1
USART1.IPParameters=VirtualMode,BaudRate,Parity,Mode
PG2.GPIOParameters=GPIO_Label
PinOutPanel.RotationAngle=0
-PF6.GPIO_Label=JETSON_RX
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
Dma.UART7_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
Dma.UART7_TX.6.Direction=DMA_MEMORY_TO_PERIPH
PH5.Signal=GPIO_Output
-PF7.Signal=UART7_TX
NVIC.CAN1_TX_IRQn=true\:0\:0\:false\:false\:true\:true\:true
SPI1.Direction=SPI_DIRECTION_1LINE
RCC.APB2TimFreq_Value=168000000
@@ -104,10 +101,12 @@ NVIC.DMA2_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:true
RCC.APB1CLKDivider=RCC_HCLK_DIV4
UART8.VirtualMode=Asynchronous
Dma.UART8_TX.4.Direction=DMA_MEMORY_TO_PERIPH
+PE8.Mode=Asynchronous
Dma.UART7_RX.5.Instance=DMA1_Stream3
Dma.USART6_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
PH4.Locked=true
Dma.USART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
+PE8.GPIO_Label=JETSON_TX
PA9.Signal=S_TIM1_CH2
Dma.UART7_RX.5.FIFOMode=DMA_FIFOMODE_DISABLE
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
@@ -125,30 +124,32 @@ PD1.Mode=CAN_Activate
Dma.UART8_TX.4.PeriphInc=DMA_PINC_DISABLE
USART1.Mode=MODE_TX_RX
Mcu.Pin35=VP_SYS_VS_Systick
+PE8.Signal=UART7_TX
SPI1.Mode=SPI_MODE_MASTER
PG7.GPIO_Label=BOARD_LED_B
Dma.UART8_TX.4.FIFOMode=DMA_FIFOMODE_DISABLE
-Mcu.Pin30=PA6
+Mcu.Pin30=PE11
RCC.EthernetFreq_Value=168000000
-Mcu.Pin33=PF14
+Mcu.Pin33=PE7
Dma.UART7_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Mcu.Pin34=PB10
-Mcu.Pin31=PE11
-Mcu.Pin32=PA7
+Mcu.Pin31=PA7
+Mcu.Pin32=PF14
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+PE7.Locked=true
PA13.Mode=Serial_Wire
PG14.GPIO_Label=RefereeSystem_Tx
ProjectManager.FreePins=false
-Mcu.Pin26=PG4
-Mcu.Pin27=PG3
+Mcu.Pin26=PG2
+Mcu.Pin27=PG1
RCC.RTCHSEDivFreq_Value=6000000
-Mcu.Pin24=PF6
+Mcu.Pin24=PG4
ProjectManager.UnderRoot=false
-Mcu.Pin25=PG5
-Mcu.Pin28=PG2
-Mcu.Pin29=PG1
+Mcu.Pin25=PG3
+Mcu.Pin28=PA6
+Mcu.Pin29=PE8
Mcu.Pin22=PG6
-Mcu.Pin23=PF7
+Mcu.Pin23=PG5
Mcu.Pin20=PH5
ADC1.master=1
Mcu.Pin21=PG7
@@ -168,7 +169,6 @@ Mcu.Pin13=PH2
UART7.IPParameters=VirtualMode,BaudRate
Mcu.Pin14=PA8
Mcu.Pin19=PG8
-PF6.Mode=Asynchronous
UART7.BaudRate=230400
ProjectManager.ComputerToolchain=false
Mcu.Pin17=PH1/OSC_OUT
@@ -254,9 +254,9 @@ Mcu.IP10=USART1
NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
Mcu.IP11=USART6
Dma.USART6_RX.2.Priority=DMA_PRIORITY_LOW
-PF7.GPIO_Label=JETSON_TX
RCC.VCOInputFreq_Value=2000000
PA14.Mode=Serial_Wire
+PE8.Locked=true
File.Version=6
PB3.GPIOParameters=GPIO_Label
PH3.GPIOParameters=GPIO_Label
@@ -293,6 +293,7 @@ Dma.USART1_RX.0.Mode=DMA_CIRCULAR
Dma.Request5=UART7_RX
Dma.USART1_TX.1.Priority=DMA_PRIORITY_LOW
NVIC.DMA1_Stream0_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+PE7.Signal=UART7_RX
Dma.Request0=USART1_RX
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
Dma.USART1_RX.0.Instance=DMA2_Stream2
@@ -302,6 +303,7 @@ Dma.USART1_TX.1.Direction=DMA_MEMORY_TO_PERIPH
PB3.GPIO_Label=OLED_SCK
RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
Dma.USART1_TX.1.Instance=DMA2_Stream7
+PE8.GPIOParameters=GPIO_Label
PG7.Locked=true
PG7.Signal=GPIO_Output
PA7.Mode=Simplex_Bidirectional_Master
@@ -326,15 +328,14 @@ NVIC.USART6_IRQn=true\:0\:0\:false\:false\:true\:true\:true
PB9.GPIOParameters=GPIO_Label
PG8.GPIO_Label=BOARD_LED_A
PA13.Signal=SYS_JTMS-SWDIO
-PF7.Mode=Asynchronous
Dma.UART7_RX.5.Mode=DMA_CIRCULAR
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
PH4.Signal=GPIO_Output
CAN1.BS2=CAN_BS2_4TQ
-PF6.Signal=UART7_RX
CAN1.BS1=CAN_BS1_10TQ
ProjectManager.TargetToolchain=MDK-ARM V5.27
PB10.GPIO_Label=OLED_RST
+PE7.GPIOParameters=GPIO_Label
Dma.USART6_RX.2.MemInc=DMA_MINC_ENABLE
PB7.GPIOParameters=GPIO_Label
USART1.Parity=PARITY_EVEN
@@ -374,6 +375,7 @@ ProjectManager.AskForMigrate=true
PE0.Signal=UART8_RX
Mcu.Name=STM32F427I(G-I)Hx
PD0.Mode=CAN_Activate
+PE7.GPIO_Label=JETSON_RX
Mcu.IP8=UART7
Mcu.IP9=UART8
Dma.UART8_TX.4.Mode=DMA_NORMAL
@@ -383,6 +385,7 @@ ProjectManager.CoupleFile=true
RCC.48MHZClocksFreq_Value=84000000
PB3.Signal=SPI1_SCK
RCC.SYSCLKFreq_VALUE=168000000
+PE7.Mode=Asynchronous
PA7.GPIO_Label=OLED_MOSI
KeepUserPlacement=false
Dma.UART8_TX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
@@ -390,7 +393,6 @@ PB7.Mode=Asynchronous
Dma.UART7_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
PA14.Signal=SYS_JTCK-SWCLK
Dma.USART1_TX.1.PeriphInc=DMA_PINC_DISABLE
-PF6.GPIOParameters=GPIO_Label
Dma.USART6_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART6_TX.3.Instance=DMA2_Stream6
RCC.HSI_VALUE=16000000
diff --git a/Src/BoardA_handle.c b/Src/BoardA_handle.c
index 22e5566..4d07305 100644
--- a/Src/BoardA_handle.c
+++ b/Src/BoardA_handle.c
@@ -23,6 +23,7 @@ uint32_t signOfLife_CAN1_tick = 0;
/* On récupère les variables exterieurs pour affichage de debug */
extern motor_t motors[MAX_MOTORS];
extern receiver_RadioController_t receiver_RadioController;
+extern jetson_t jetson;
/* Gère les signes de vie, LED RED: Si le programme tourne */
void signOfLife(){
@@ -105,7 +106,7 @@ void uart_debug(){
return;
}
tickstart = HAL_GetTick();
- snprintf(buff2, 1000, "Mouse Z %i\r\n", receiver_RadioController.data.mouse.z);
+ snprintf(buff2, 1000, "%c,teta=%x,phi=%x,d=%x\r\n", jetson.robot_target_coordinates.target_located, jetson.robot_target_coordinates.teta_target_location, jetson.robot_target_coordinates.phi_target_location, jetson.robot_target_coordinates.d_target_location);
HAL_UART_Transmit_DMA(&huart8, (uint8_t*)buff2, strlen(buff2));
/*
uart_debug_command("[2J"); //Clear entire screen
diff --git a/Src/jetson.c b/Src/jetson.c
index 9ac1b2d..b6f1d5a 100644
--- a/Src/jetson.c
+++ b/Src/jetson.c
@@ -10,22 +10,22 @@
jetson_t jetson;
/* On crée le buffer de récupération de données du referee System */
-uint8_t uart7_rx_buff[UART6_RX_BUFFLEN];
+uint8_t uart7_rx_buff[UART7_RX_BUFFLEN];
/* On récupère les variables exterieurs */
extern uint32_t signOfLife_jetson_tick;
/* fonction appelée lorsqu'on recoit une unformation du récepteur */
void jetson_callback_handler(int8_t lenght){
+
/* frame_header (5-byte) */
uint8_t SOF = uart7_rx_buff[0];
uint16_t cmd_id = (uart7_rx_buff[1] << 8 | uart7_rx_buff[2]);
uint16_t data_length = uart7_rx_buff[3];
- if(SOF != 0xA5) return;
+ if(SOF != 0xFC) return;
signOfLife_jetson_tick = HAL_GetTick();
-
/* data (n-byte) */
switch(cmd_id){
case 0x0002:
@@ -36,9 +36,6 @@ void jetson_callback_handler(int8_t lenght){
break;
default: return;
}
-
- /* frame_tail (2-byte, CRC16, whole package check) */
- //uint16_t crc16 = (uart6_rx_buff[7+data_length] << 8 | uart6_rx_buff[7+data_length+1]);
}
/**
diff --git a/Src/main.c b/Src/main.c
index 57de24d..a3958c3 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -26,12 +26,10 @@
#include "tim.h"
#include "usart.h"
#include "gpio.h"
-#include "pilotes.h"
-#include "canon.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
-#include "main.h"
+
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -114,6 +112,7 @@ int main(void)
robotInit(5); //Initialise le robot comme un standard, l'objectif c'est que l'initialisation de fasse par le referee system
extern motor_t motors[MAX_MOTORS];
extern pilote_t pilote;
+ extern jetson_t jetson;
piloteInit(PILOTE_ANTONIN);
/* USER CODE END 2 */
@@ -123,7 +122,7 @@ int main(void)
{
signOfLife(); //LEDs BLINK
//oled_debug(); //Display debug menu on OLED
- uart_debug(); //Display debug menu on UART
+ //uart_debug(); //Display debug menu on UART
traitement_1(); //Calcul les consignes des moteurs
traitement_shoot(); //Traitement du canon
traitement_pids_compute(); //Calcul les commandes des moteurs
diff --git a/Src/stm32f4xx_it.c b/Src/stm32f4xx_it.c
index d7e88db..7532023 100644
--- a/Src/stm32f4xx_it.c
+++ b/Src/stm32f4xx_it.c
@@ -420,8 +420,8 @@ void UART7_IRQHandler(void)
jetson_callback_handler(UART7_MAX_LEN - dma_data_counter);
/* restart dma transmission */
- __HAL_DMA_SET_COUNTER(huart6.hdmarx, UART7_MAX_LEN);
- __HAL_DMA_ENABLE(huart6.hdmarx);
+ __HAL_DMA_SET_COUNTER(huart7.hdmarx, UART7_MAX_LEN);
+ __HAL_DMA_ENABLE(huart7.hdmarx);
}
/* USER CODE END UART7_IRQn 0 */
HAL_UART_IRQHandler(&huart7);
diff --git a/Src/usart.c b/Src/usart.c
index 8cbb0d5..3b3f57f 100644
--- a/Src/usart.c
+++ b/Src/usart.c
@@ -123,17 +123,17 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
/* UART7 clock enable */
__HAL_RCC_UART7_CLK_ENABLE();
- __HAL_RCC_GPIOF_CLK_ENABLE();
+ __HAL_RCC_GPIOE_CLK_ENABLE();
/**UART7 GPIO Configuration
- PF7 ------> UART7_TX
- PF6 ------> UART7_RX
+ PE8 ------> UART7_TX
+ PE7 ------> UART7_RX
*/
GPIO_InitStruct.Pin = JETSON_TX_Pin|JETSON_RX_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF8_UART7;
- HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* UART7 DMA Init */
/* UART7_RX Init */
@@ -370,10 +370,10 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
__HAL_RCC_UART7_CLK_DISABLE();
/**UART7 GPIO Configuration
- PF7 ------> UART7_TX
- PF6 ------> UART7_RX
+ PE8 ------> UART7_TX
+ PE7 ------> UART7_RX
*/
- HAL_GPIO_DeInit(GPIOF, JETSON_TX_Pin|JETSON_RX_Pin);
+ HAL_GPIO_DeInit(GPIOE, JETSON_TX_Pin|JETSON_RX_Pin);
/* UART7 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
--
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