add hardware flow control for computer->st transmission

diff --git a/otto_controller/.mxproject b/otto_controller/.mxproject
index 68ed7a12fb3dbf32b9c71532404e712a0889a145..f127757b3e681c5e8d2be83913f4e71350fa7fb3 100644 (file)
--- a/otto_controller/.mxproject
+++ b/otto_controller/.mxproject
@@ -1,31 +1,33 @@
+[PreviousLibFiles]\r
+LibFiles=Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;\r
+\r
+[PreviousUsedCubeIDEFiles]\r
+SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/dma.c;Core/Src/tim.c;Core/Src/usart.c;Core/Src/stm32f7xx_it.c;Core/Src/stm32f7xx_hal_msp.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;;\r
+HeaderPath=Drivers/STM32F7xx_HAL_Driver/Inc;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32F7xx/Include;Drivers/CMSIS/Include;Core/Inc;\r
+CDefines=USE_HAL_DRIVER;STM32F767xx;USE_HAL_DRIVER;USE_HAL_DRIVER;\r
+\r
 [PreviousGenFiles]\r
 AdvancedFolderStructure=true\r
 HeaderFileListSize=7\r
 HeaderFiles#0=/home/fdila/Projects/otto/otto_controller/Core/Inc/gpio.h\r
 HeaderFiles#1=/home/fdila/Projects/otto/otto_controller/Core/Inc/dma.h\r
 HeaderFiles#2=/home/fdila/Projects/otto/otto_controller/Core/Inc/tim.h\r
+HeaderFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Inc/usart.h\r
+HeaderFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_it.h\r
+HeaderFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_hal_conf.h\r
+HeaderFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Inc/main.h\r
 HeaderFolderListSize=1\r
 HeaderPath#0=/home/fdila/Projects/otto/otto_controller/Core/Inc\r
+HeaderFiles=;\r
 SourceFileListSize=7\r
 SourceFiles#0=/home/fdila/Projects/otto/otto_controller/Core/Src/gpio.c\r
 SourceFiles#1=/home/fdila/Projects/otto/otto_controller/Core/Src/dma.c\r
 SourceFiles#2=/home/fdila/Projects/otto/otto_controller/Core/Src/tim.c\r
-SourceFolderListSize=1\r
-SourcePath#0=/home/fdila/Projects/otto/otto_controller/Core/Src\r
-HeaderFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Inc/usart.h\r
-HeaderFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_it.h\r
-HeaderFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_hal_conf.h\r
 SourceFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Src/usart.c\r
 SourceFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_it.c\r
 SourceFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_hal_msp.c\r
-HeaderFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Inc/main.h\r
 SourceFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Src/main.c\r
-\r
-[PreviousLibFiles]\r
-LibFiles=Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;\r
-\r
-[PreviousUsedCubeIDEFiles]\r
-SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/dma.c;Core/Src/tim.c;Core/Src/usart.c;Core/Src/stm32f7xx_it.c;Core/Src/stm32f7xx_hal_msp.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;;\r
-HeaderPath=Drivers/STM32F7xx_HAL_Driver/Inc;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32F7xx/Include;Drivers/CMSIS/Include;Core/Inc;\r
-CDefines=USE_HAL_DRIVER;STM32F767xx;USE_HAL_DRIVER;USE_HAL_DRIVER;\r
+SourceFolderListSize=1\r
+SourcePath#0=/home/fdila/Projects/otto/otto_controller/Core/Src\r
+SourceFiles=;\r
 \r

diff --git a/otto_controller/.settings/language.settings.xml b/otto_controller/.settings/language.settings.xml
index c67809ccb246f94bb5b89677e9a972080f6cfd7f..c07f012c3dd9a3142e3c270e7d17eefd05a2153e 100644 (file)
--- a/otto_controller/.settings/language.settings.xml
+++ b/otto_controller/.settings/language.settings.xml
@@ -6,7 +6,7 @@
                        <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
                        <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
                        <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1436046405535356377" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1052066115134395671" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
                                <language-scope id="org.eclipse.cdt.core.gcc"/>
                                <language-scope id="org.eclipse.cdt.core.g++"/>
                        </provider>
@@ -18,7 +18,7 @@
                        <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
                        <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
                        <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1436046405535356377" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1052066115134395671" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
                                <language-scope id="org.eclipse.cdt.core.gcc"/>
                                <language-scope id="org.eclipse.cdt.core.g++"/>
                        </provider>

diff --git a/otto_controller/Core/Src/gpio.c b/otto_controller/Core/Src/gpio.c
index 799896215f387e3698128f99dd96440cbd0d0860..0a6f6853ba9aa952bd2e0ef0566c37d23aed472c 100644 (file)
--- a/otto_controller/Core/Src/gpio.c
+++ b/otto_controller/Core/Src/gpio.c
@@ -48,6 +48,7 @@ void MX_GPIO_Init(void)
   __HAL_RCC_GPIOF_CLK_ENABLE();\r
   __HAL_RCC_GPIOE_CLK_ENABLE();\r
   __HAL_RCC_GPIOD_CLK_ENABLE();\r
+  __HAL_RCC_GPIOG_CLK_ENABLE();\r
   __HAL_RCC_GPIOB_CLK_ENABLE();\r
 \r
   /*Configure GPIO pin Output Level */\r

diff --git a/otto_controller/Core/Src/main.cpp b/otto_controller/Core/Src/main.cpp
index 9d51e08f1e7e730ff5d34eb42b12b07a5c95fb64..cd22b809edeaa7aee0b9e7a0bd66cfac42d411a1 100644 (file)
--- a/otto_controller/Core/Src/main.cpp
+++ b/otto_controller/Core/Src/main.cpp
@@ -96,24 +96,25 @@ sleep2_Pin,
                            dir2_Pin,\r
                            &htim4, TIM_CHANNEL_3);\r
 \r
-//Communication\r
-int mode = 0;  //setup mode\r
-\r
 uint8_t proto_buffer_rx[50];\r
 pb_istream_t in_pb_stream;\r
 \r
 VelocityCommand vel_cmd;\r
-size_t velocity_cmd_length;\r
 bool rx_status;\r
 \r
 uint8_t proto_buffer_tx[100];\r
 pb_ostream_t out_pb_stream;\r
 \r
 StatusMessage status_msg;\r
-size_t status_msg_length;\r
 bool tx_status;\r
 float previous_tx_millis;\r
 \r
+ConfigCommand config_cmd;\r
+\r
+int otto_status = 0;\r
+\r
+int test = 0;\r
+\r
 /* USER CODE END PV */\r
 \r
 /* Private function prototypes -----------------------------------------------*/\r
@@ -129,12 +130,14 @@ static void MX_NVIC_Init(void);
 /* USER CODE END 0 */\r
 \r
 /**\r
- * @brief  The application entry point.\r
- * @retval int\r
- */\r
-int main(void) {\r
+  * @brief  The application entry point.\r
+  * @retval int\r
+  */\r
+int main(void)\r
+{\r
   /* USER CODE BEGIN 1 */\r
   /* USER CODE END 1 */\r
+  \r
 \r
   /* MCU Configuration--------------------------------------------------------*/\r
 \r
@@ -187,9 +190,6 @@ int main(void) {
   vel_cmd = VelocityCommand_init_zero;\r
   status_msg = StatusMessage_init_zero;\r
 \r
-  //Enables TIM6 interrupt (used for periodic transmission of the odometry)\r
-  HAL_TIM_Base_Start_IT(&htim6);\r
-\r
   //Enables UART RX interrupt\r
   HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,\r
   VelocityCommand_size);\r
@@ -207,51 +207,56 @@ int main(void) {
 }\r
 \r
 /**\r
- * @brief System Clock Configuration\r
- * @retval None\r
- */\r
-void SystemClock_Config(void) {\r
-  RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };\r
-  RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };\r
-  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = { 0 };\r
+  * @brief System Clock Configuration\r
+  * @retval None\r
+  */\r
+void SystemClock_Config(void)\r
+{\r
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};\r
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};\r
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};\r
 \r
   /** Configure the main internal regulator output voltage \r
-   */\r
+  */\r
   __HAL_RCC_PWR_CLK_ENABLE();\r
   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);\r
   /** Initializes the CPU, AHB and APB busses clocks \r
-   */\r
+  */\r
   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;\r
   RCC_OscInitStruct.HSIState = RCC_HSI_ON;\r
   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;\r
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;\r
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {\r
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)\r
+  {\r
     Error_Handler();\r
   }\r
   /** Initializes the CPU, AHB and APB busses clocks \r
-   */\r
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK\r
-      | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;\r
+  */\r
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK\r
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;\r
   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;\r
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;\r
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;\r
   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;\r
 \r
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {\r
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)\r
+  {\r
     Error_Handler();\r
   }\r
   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART6;\r
   PeriphClkInitStruct.Usart6ClockSelection = RCC_USART6CLKSOURCE_PCLK2;\r
-  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) {\r
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)\r
+  {\r
     Error_Handler();\r
   }\r
 }\r
 \r
 /**\r
- * @brief NVIC Configuration.\r
- * @retval None\r
- */\r
-static void MX_NVIC_Init(void) {\r
+  * @brief NVIC Configuration.\r
+  * @retval None\r
+  */\r
+static void MX_NVIC_Init(void)\r
+{\r
   /* TIM3_IRQn interrupt configuration */\r
   HAL_NVIC_SetPriority(TIM3_IRQn, 2, 1);\r
   HAL_NVIC_EnableIRQ(TIM3_IRQn);\r
@@ -313,13 +318,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 }\r
 \r
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {\r
-//  size_t buffer_size = sizeof(proto_buffer_rx);\r
-//  uint8_t buffer_copy[buffer_size];\r
-//  memcpy((void *) &buffer_copy, &proto_buffer_rx, buffer_size);\r
-//\r
-//  HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,\r
-//                         velocity_cmd_length);\r
-//  mode++;\r
+\r
+  test++;\r
 \r
   float linear_velocity;\r
   float angular_velocity;\r
@@ -327,9 +327,9 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
   pb_istream_t stream = pb_istream_from_buffer(proto_buffer_rx,\r
   VelocityCommand_size);\r
 \r
-  bool status = pb_decode(&stream, VelocityCommand_fields, &vel_cmd);\r
+  bool decode_status = pb_decode(&stream, VelocityCommand_fields, &vel_cmd);\r
 \r
-  if (status) {\r
+  if (decode_status) {\r
     linear_velocity = vel_cmd.linear_velocity;\r
     angular_velocity = vel_cmd.angular_velocity;\r
 \r
@@ -346,6 +346,14 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
 \r
   }\r
 \r
+  if (otto_status == 0) {\r
+    //Enables TIM6 interrupt (used for periodic transmission of the odometry)\r
+    HAL_TIM_Base_Start_IT(&htim6);\r
+\r
+    //Enables TIM3 interrupt (used for PID control)\r
+    HAL_TIM_Base_Start_IT(&htim3);\r
+  }\r
+\r
   HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,\r
   VelocityCommand_size);\r
 }\r
@@ -353,12 +361,7 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {\r
   //Blue user button on the NUCLEO board\r
   if (GPIO_Pin == user_button_Pin) {\r
-    if (mode == 0) {\r
-      mode = 1;\r
-      //Enables TIM3 interrupt (used for PID control)\r
-      HAL_TIM_Base_Start_IT(&htim3);\r
-    }\r
-\r
+    //TODO ci può servire il bottone blu?\r
   } else if (GPIO_Pin == fault1_Pin) {\r
     left_motor.brake();\r
     right_motor.brake();\r
@@ -383,7 +386,8 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
     StatusMessage_size);\r
 \r
     //loops forever, manual reset is needed\r
-    while (1);\r
+    while (1)\r
+      ;\r
 \r
   } else if (GPIO_Pin == fault2_Pin) {\r
     left_motor.brake();\r
@@ -409,17 +413,19 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
     StatusMessage_size);\r
 \r
     //loops forever, manual reset is needed\r
-    while (1);\r
+    while (1)\r
+      ;\r
   }\r
 \r
 }\r
 /* USER CODE END 4 */\r
 \r
 /**\r
- * @brief  This function is executed in case of error occurrence.\r
- * @retval None\r
- */\r
-void Error_Handler(void) {\r
+  * @brief  This function is executed in case of error occurrence.\r
+  * @retval None\r
+  */\r
+void Error_Handler(void)\r
+{\r
   /* USER CODE BEGIN Error_Handler_Debug */\r
   /* User can add his own implementation to report the HAL error return state */\r
 \r

diff --git a/otto_controller/Core/Src/usart.c b/otto_controller/Core/Src/usart.c
index 351f86b32806a372dc44133ff84e37309becece8..3217f9a67b37c8f0f6c748f69cc0fcac5b867229 100644 (file)
--- a/otto_controller/Core/Src/usart.c
+++ b/otto_controller/Core/Src/usart.c
@@ -39,7 +39,7 @@ void MX_USART6_UART_Init(void)
   huart6.Init.StopBits = UART_STOPBITS_1;\r
   huart6.Init.Parity = UART_PARITY_NONE;\r
   huart6.Init.Mode = UART_MODE_TX_RX;\r
-  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;\r
+  huart6.Init.HwFlowCtl = UART_HWCONTROL_RTS;\r
   huart6.Init.OverSampling = UART_OVERSAMPLING_16;\r
   huart6.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;\r
   huart6.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;\r
@@ -62,11 +62,20 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     /* USART6 clock enable */\r
     __HAL_RCC_USART6_CLK_ENABLE();\r
   \r
+    __HAL_RCC_GPIOG_CLK_ENABLE();\r
     __HAL_RCC_GPIOC_CLK_ENABLE();\r
     /**USART6 GPIO Configuration    \r
+    PG8     ------> USART6_RTS\r
     PC6     ------> USART6_TX\r
     PC7     ------> USART6_RX \r
     */\r
+    GPIO_InitStruct.Pin = GPIO_PIN_8;\r
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;\r
+    GPIO_InitStruct.Pull = GPIO_NOPULL;\r
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;\r
+    GPIO_InitStruct.Alternate = GPIO_AF8_USART6;\r
+    HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);\r
+\r
     GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;\r
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;\r
     GPIO_InitStruct.Pull = GPIO_NOPULL;\r
@@ -129,9 +138,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     __HAL_RCC_USART6_CLK_DISABLE();\r
   \r
     /**USART6 GPIO Configuration    \r
+    PG8     ------> USART6_RTS\r
     PC6     ------> USART6_TX\r
     PC7     ------> USART6_RX \r
     */\r
+    HAL_GPIO_DeInit(GPIOG, GPIO_PIN_8);\r
+\r
     HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);\r
 \r
     /* USART6 DMA DeInit */\r

diff --git a/otto_controller/otto_controller.ioc b/otto_controller/otto_controller.ioc
index 2f5322d29522bb63d562d2d9bdbb87244722e86e..337ab1d9460fd10d266abc85c605bd6b8bd98310 100644 (file)
--- a/otto_controller/otto_controller.ioc
+++ b/otto_controller/otto_controller.ioc
@@ -45,16 +45,17 @@ Mcu.Pin10=PF15
 Mcu.Pin11=PE9
 Mcu.Pin12=PD14
 Mcu.Pin13=PD15
-Mcu.Pin14=PC6
-Mcu.Pin15=PC7
-Mcu.Pin16=PA13
-Mcu.Pin17=PA14
-Mcu.Pin18=PB3
-Mcu.Pin19=VP_SYS_VS_Systick
+Mcu.Pin14=PG8
+Mcu.Pin15=PC6
+Mcu.Pin16=PC7
+Mcu.Pin17=PA13
+Mcu.Pin18=PA14
+Mcu.Pin19=PB3
 Mcu.Pin2=PA0/WKUP
-Mcu.Pin20=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin21=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin22=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin20=VP_SYS_VS_Systick
+Mcu.Pin21=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin22=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin23=VP_TIM6_VS_ClockSourceINT
 Mcu.Pin3=PA1
 Mcu.Pin4=PA3
 Mcu.Pin5=PA5
@@ -62,7 +63,7 @@ Mcu.Pin6=PA6
 Mcu.Pin7=PF12
 Mcu.Pin8=PF13
 Mcu.Pin9=PF14
-Mcu.PinsNb=23
+Mcu.PinsNb=24
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F767ZITx
@@ -127,14 +128,6 @@ PC6.Mode=Asynchronous
 PC6.Signal=USART6_TX
 PC7.Mode=Asynchronous
 PC7.Signal=USART6_RX
-PCC.Checker=false
-PCC.Line=STM32F7x7
-PCC.MCU=STM32F767ZITx
-PCC.PartNumber=STM32F767ZITx
-PCC.Seq0=0
-PCC.Series=STM32F7
-PCC.Temperature=25
-PCC.Vdd=3.3
 PD14.GPIOParameters=GPIO_Label
 PD14.GPIO_Label=pwm2
 PD14.Locked=true
@@ -170,6 +163,8 @@ PF15.GPIO_PuPd=GPIO_PULLUP
 PF15.Locked=true
 PF15.PinState=GPIO_PIN_SET
 PF15.Signal=GPIO_Output
+PG8.Mode=RTS_Only
+PG8.Signal=USART6_RTS
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
 ProjectManager.BackupPrevious=false

diff --git a/utils/catkin_ws/src/serial_bridge/scripts/serial_transmitter.py b/utils/catkin_ws/src/serial_bridge/scripts/serial_transmitter.py
index bb3146b864d2a6dc11b0c88a2f7993eff769f190..a1774c3744feff11e3b36f266873143c34f601ae 100755 (executable)
--- a/utils/catkin_ws/src/serial_bridge/scripts/serial_transmitter.py
+++ b/utils/catkin_ws/src/serial_bridge/scripts/serial_transmitter.py
@@ -10,7 +10,7 @@ ser = serial.Serial(
         parity=serial.PARITY_NONE,
         stopbits=serial.STOPBITS_ONE,
         bytesize=serial.EIGHTBITS,
-        rtscts=False,
+        rtscts=True,
         exclusive=None)
 
 def callback(data):
@@ -21,7 +21,10 @@ def callback(data):
     my_velocity.angular_velocity = angular;
     rospy.logdebug('Cmd vel transmitted %f %f', linear, angular)
     out_buffer = my_velocity.SerializeToString()
-    ser.write(out_buffer)
+    if(ser.cts == True):
+        ser.write(out_buffer)
+    else:
+        rospy.logwarn('ST not ready to receive velocity cmd')
     ser.reset_output_buffer()
     
 def listener():