From: Federica Di Lauro Date: Mon, 10 Feb 2020 10:18:44 +0000 (+0100) Subject: opening serial in non-exclusive mode works X-Git-Url: http://git.leonardobizzoni.com/?a=commitdiff_plain;h=be33a1e84ea5bf80b7f1d6387e1a8520ebca2d28;p=pioneer-stm32 opening serial in non-exclusive mode works --- diff --git a/otto_controller/.mxproject b/otto_controller/.mxproject index 2d84f4e..d4029ca 100644 --- a/otto_controller/.mxproject +++ b/otto_controller/.mxproject @@ -18,6 +18,8 @@ HeaderFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Inc/main.h SourceFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_it.c SourceFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_hal_msp.c SourceFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Src/main.c +HeaderFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Inc/main.h +SourceFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Src/main.c [PreviousLibFiles] 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; diff --git a/otto_controller/Core/Src/main.cpp b/otto_controller/Core/Src/main.cpp index be12c51..f152d59 100644 --- a/otto_controller/Core/Src/main.cpp +++ b/otto_controller/Core/Src/main.cpp @@ -198,7 +198,8 @@ void SystemClock_Config(void) { /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); - __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);/** Initializes the CPU, AHB and APB busses clocks + __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3); + /** Initializes the CPU, AHB and APB busses clocks */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; @@ -233,13 +234,13 @@ void SystemClock_Config(void) { static void MX_NVIC_Init(void) { /* TIM3_IRQn interrupt configuration */ HAL_NVIC_SetPriority(TIM3_IRQn, 2, 1); - HAL_NVIC_EnableIRQ (TIM3_IRQn); + HAL_NVIC_EnableIRQ(TIM3_IRQn); /* TIM6_DAC_IRQn interrupt configuration */ HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 2, 2); - HAL_NVIC_EnableIRQ (TIM6_DAC_IRQn); + HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn); /* USART6_IRQn interrupt configuration */ HAL_NVIC_SetPriority(USART6_IRQn, 1, 0); - HAL_NVIC_EnableIRQ (USART6_IRQn); + HAL_NVIC_EnableIRQ(USART6_IRQn); } /* USER CODE BEGIN 4 */ diff --git a/otto_controller/otto_controller.ioc b/otto_controller/otto_controller.ioc index 51bdd3c..bf656e6 100644 --- a/otto_controller/otto_controller.ioc +++ b/otto_controller/otto_controller.ioc @@ -167,7 +167,7 @@ ProjectManager.StackSize=0x400 ProjectManager.TargetToolchain=STM32CubeIDE ProjectManager.ToolChainLocation= ProjectManager.UnderRoot=true -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM2_Init-TIM2-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM4_Init-TIM4-false-HAL-true,6-MX_TIM5_Init-TIM5-false-HAL-true,7-MX_USART6_UART_Init-USART6-false-HAL-true,8-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true,9-MX_TIM6_Init-TIM6-false-HAL-true +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,1-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM2_Init-TIM2-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM4_Init-TIM4-false-HAL-true,6-MX_TIM5_Init-TIM5-false-HAL-true,7-MX_USART6_UART_Init-USART6-false-HAL-true,8-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true,9-MX_TIM6_Init-TIM6-false-HAL-true RCC.CECFreq_Value=32786.88524590164 RCC.DFSDMFreq_Value=16000000 RCC.FamilyName=M diff --git a/utils/py_serial_examples/receive.py b/utils/py_serial_examples/receive.py index 94fc687..93b974a 100644 --- a/utils/py_serial_examples/receive.py +++ b/utils/py_serial_examples/receive.py @@ -5,7 +5,8 @@ ser = serial.Serial( parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS, - rtscts=False) + rtscts=False, + exclusive=None) while (ser.is_open == False): try: ser.port = '/dev/ttyUSB0' diff --git a/utils/py_serial_examples/transmit.py b/utils/py_serial_examples/transmit.py index 63f9bc4..90aabb8 100644 --- a/utils/py_serial_examples/transmit.py +++ b/utils/py_serial_examples/transmit.py @@ -6,7 +6,8 @@ ser = serial.Serial( parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS, - rtscts=False) + rtscts=False, + exclusive=None) while (ser.is_open == False): try: ser.port = '/dev/ttyUSB0' @@ -17,9 +18,9 @@ while (ser.is_open == False): print("open port") ang_vel_cmd = 0 -lin_vel_cmd = 1 +lin_vel_cmd = 0.5 while 1: - msg_output_buffer = struct.pack('