: * @brief Initialise les horloges du micro et de ses périphériques. * @param None * @retval None */ int main(void) { 80025f8: b580 push {r7, lr} 80025fa: af00 add r7, sp, #0 /** * Initialisation */ mainPeripheralsInit(); 80025fc: f000 f82a bl 8002654 Wait For Event is a hint instruction that permits the processor to enter a low-power state until one of a number of events occurs. */ __attribute__( ( always_inline ) ) static __INLINE void __WFE(void) { __ASM volatile ("wfe"); 8002600: bf20 wfe while (1){ __WFE(); // Bascule la puce en sleep mode if (Dumber.flagSystick == 1) 8002602: 4b12 ldr r3, [pc, #72] ; (800264c ) 8002604: 7d9b ldrb r3, [r3, #22] 8002606: 2b01 cmp r3, #1 8002608: d1fa bne.n 8002600 { Dumber.flagSystick = 0; 800260a: 4b10 ldr r3, [pc, #64] ; (800264c ) 800260c: 2200 movs r2, #0 800260e: 759a strb r2, [r3, #22] /* Gestion des niveaux de batterie */ batteryManagement(); 8002610: f7ff fc00 bl 8001e14 /* Gestion des moteurs (asservissement, .. */ motorManagement(); 8002614: f000 fa70 bl 8002af8 /* Gestion du clignotement de la led, f=100Hz*/ ledManagement(Dumber.StateSystem, Dumber.stateBattery); 8002618: 4b0c ldr r3, [pc, #48] ; (800264c ) 800261a: 791a ldrb r2, [r3, #4] 800261c: 4b0b ldr r3, [pc, #44] ; (800264c ) 800261e: 7d5b ldrb r3, [r3, #21] 8002620: 4619 mov r1, r3 8002622: 4610 mov r0, r2 8002624: f7ff ff9a bl 800255c if (Dumber.StateSystem == STATE_DISABLE) { 8002628: 4b08 ldr r3, [pc, #32] ; (800264c ) 800262a: 791b ldrb r3, [r3, #4] 800262c: 2b03 cmp r3, #3 800262e: d1e7 bne.n 8002600 cptMesureEmergencyHalt++; 8002630: 4b07 ldr r3, [pc, #28] ; (8002650 ) 8002632: 681b ldr r3, [r3, #0] 8002634: 3301 adds r3, #1 8002636: 4a06 ldr r2, [pc, #24] ; (8002650 ) 8002638: 6013 str r3, [r2, #0] if (cptMesureEmergencyHalt >= COMPTEUR_SEUIL_EMERGENCY_HALT) { 800263a: 4b05 ldr r3, [pc, #20] ; (8002650 ) 800263c: 681b ldr r3, [r3, #0] 800263e: f640 32b7 movw r2, #2999 ; 0xbb7 8002642: 4293 cmp r3, r2 8002644: d9dc bls.n 8002600 systemShutDown(); 8002646: f000 fbd1 bl 8002dec while (1); 800264a: e7fe b.n 800264a 800264c: 20000330 .word 0x20000330 8002650: 2000020c .word 0x2000020c 08002654 : /** * @brief Initialise les périphériques pour leur utilisation. * @param None * @retval None */ void mainPeripheralsInit(void) { 8002654: b580 push {r7, lr} 8002656: af00 add r7, sp, #0 mainConfigureClock(); 8002658: f000 f80c bl 8002674 systemConfigure(); 800265c: f000 fb7c bl 8002d58 motorConfigure(); 8002660: f000 f81e bl 80026a0 ledConfigure(); 8002664: f7ff ff24 bl 80024b0 usartConfigure(); 8002668: f000 fd6e bl 8003148 batteryConfigure(); 800266c: f7ff faf2 bl 8001c54 } 8002670: bf00 nop 8002672: bd80 pop {r7, pc} 08002674 : * @brief Initialise les horloges du micro et de ses périphériques. * @param None * @retval None */ void mainConfigureClock(void) { 8002674: b580 push {r7, lr} 8002676: af00 add r7, sp, #0 //Configuration de la fréquence d'horloge de l'adc */ RCC_ADCCLKConfig(RCC_PCLK2_Div2); 8002678: 2000 movs r0, #0 800267a: f7fe ff0f bl 800149c RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); 800267e: 2101 movs r1, #1 8002680: 2001 movs r0, #1 8002682: f7fe ff73 bl 800156c //Activation de l'horloge du GPIO, de A, B et C, de ADC1, de AFIO RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3|RCC_APB1Periph_TIM2|RCC_APB2Periph_USART1, ENABLE); 8002686: 2101 movs r1, #1 8002688: f244 0003 movw r0, #16387 ; 0x4003 800268c: f7fe ff8a bl 80015a4 RCC_APB2PeriphClockCmd( RCC_APB2Periph_ADC1| RCC_APB2Periph_TIM1 |RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | 8002690: 2101 movs r1, #1 8002692: f645 201d movw r0, #23069 ; 0x5a1d 8002696: f7fe ff77 bl 8001588 RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO|RCC_APB2Periph_USART1|RCC_APB2Periph_SPI1, ENABLE); } 800269a: bf00 nop 800269c: bd80 pop {r7, pc} ... 080026a0 : * @param None * @retval None * */ void motorConfigure(void) { 80026a0: b5f0 push {r4, r5, r6, r7, lr} 80026a2: b08d sub sp, #52 ; 0x34 TIM_OCInitTypeDef TIM2_Configure; TIM_ICInitTypeDef TIM_ICInitStructure; NVIC_InitTypeDef NVIC_InitStructure; // Configure les PIN A1 et A2 en output / alternate fonction Init_Structure.GPIO_Pin = GPIO_Pin_1|GPIO_Pin_2; 80026a4: 2306 movs r3, #6 80026a6: f8ad 302c strh.w r3, [sp, #44] ; 0x2c Init_Structure.GPIO_Speed = GPIO_Speed_50MHz; 80026aa: 2403 movs r4, #3 80026ac: f88d 402e strb.w r4, [sp, #46] ; 0x2e Init_Structure.GPIO_Mode = GPIO_Mode_AF_PP; 80026b0: 2318 movs r3, #24 80026b2: f88d 302f strb.w r3, [sp, #47] ; 0x2f GPIO_Init(GPIOA, &Init_Structure); 80026b6: 4d57 ldr r5, [pc, #348] ; (8002814 ) 80026b8: a90b add r1, sp, #44 ; 0x2c 80026ba: 4628 mov r0, r5 80026bc: f7fe fe46 bl 800134c // Configure les PIN B12,B13,B14, et B15 en output ppull. Init_Structure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; 80026c0: f44f 4370 mov.w r3, #61440 ; 0xf000 80026c4: f8ad 302c strh.w r3, [sp, #44] ; 0x2c Init_Structure.GPIO_Speed = GPIO_Speed_50MHz; 80026c8: f88d 402e strb.w r4, [sp, #46] ; 0x2e Init_Structure.GPIO_Mode = GPIO_Mode_Out_PP; 80026cc: 2610 movs r6, #16 80026ce: f88d 602f strb.w r6, [sp, #47] ; 0x2f GPIO_Init(GPIOB, &Init_Structure); 80026d2: a90b add r1, sp, #44 ; 0x2c 80026d4: 4850 ldr r0, [pc, #320] ; (8002818 ) 80026d6: f7fe fe39 bl 800134c // Configure les PIN A12 en output ppull - enable encodeurs Init_Structure.GPIO_Pin = GPIO_Pin_12; 80026da: f44f 5380 mov.w r3, #4096 ; 0x1000 80026de: f8ad 302c strh.w r3, [sp, #44] ; 0x2c Init_Structure.GPIO_Speed = GPIO_Speed_50MHz; 80026e2: f88d 402e strb.w r4, [sp, #46] ; 0x2e Init_Structure.GPIO_Mode = GPIO_Mode_Out_PP; 80026e6: f88d 602f strb.w r6, [sp, #47] ; 0x2f GPIO_Init(GPIOA, &Init_Structure); 80026ea: a90b add r1, sp, #44 ; 0x2c 80026ec: 4628 mov r0, r5 80026ee: f7fe fe2d bl 800134c // Configure les PIN A8,A9,A10, et A11 en input floating. Init_Structure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10|GPIO_Pin_11; 80026f2: f44f 6370 mov.w r3, #3840 ; 0xf00 80026f6: f8ad 302c strh.w r3, [sp, #44] ; 0x2c Init_Structure.GPIO_Speed = GPIO_Speed_50MHz; 80026fa: f88d 402e strb.w r4, [sp, #46] ; 0x2e Init_Structure.GPIO_Mode = GPIO_Mode_IN_FLOATING; 80026fe: 2604 movs r6, #4 8002700: f88d 602f strb.w r6, [sp, #47] ; 0x2f GPIO_Init(GPIOA, &Init_Structure); 8002704: a90b add r1, sp, #44 ; 0x2c 8002706: 4628 mov r0, r5 8002708: f7fe fe20 bl 800134c // Configuration du timer 2 (pwm moteurs* // On souhaite une résolution du PWM de 256 valeurs MOTOR1 TIM2 TIM2_TempsPWMsettings.TIM_Period = 255; 800270c: 23ff movs r3, #255 ; 0xff 800270e: f8ad 3024 strh.w r3, [sp, #36] ; 0x24 TIM2_TempsPWMsettings.TIM_Prescaler = 0; 8002712: 2400 movs r4, #0 8002714: f8ad 4020 strh.w r4, [sp, #32] TIM2_TempsPWMsettings.TIM_ClockDivision=0; 8002718: f8ad 4026 strh.w r4, [sp, #38] ; 0x26 TIM2_TempsPWMsettings.TIM_CounterMode=TIM_CounterMode_Up; 800271c: f8ad 4022 strh.w r4, [sp, #34] ; 0x22 TIM_TimeBaseInit(TIM2, &TIM2_TempsPWMsettings); 8002720: a908 add r1, sp, #32 8002722: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 8002726: f7ff f83d bl 80017a4 // Configuration du PWM sur le timer 2 TIM2_Configure.TIM_OCMode=TIM_OCMode_PWM2; 800272a: 2370 movs r3, #112 ; 0x70 800272c: f8ad 3010 strh.w r3, [sp, #16] TIM2_Configure.TIM_OutputState = TIM_OutputState_Enable; 8002730: 2501 movs r5, #1 8002732: f8ad 5012 strh.w r5, [sp, #18] TIM2_Configure.TIM_OutputNState = TIM_OutputNState_Enable; 8002736: f8ad 6014 strh.w r6, [sp, #20] TIM2_Configure.TIM_Pulse = 256; // Constante initialisée à 256, pour un rapport cyclique nul 800273a: f44f 7380 mov.w r3, #256 ; 0x100 800273e: f8ad 3016 strh.w r3, [sp, #22] TIM2_Configure.TIM_OCPolarity = TIM_OCPolarity_High; 8002742: f8ad 4018 strh.w r4, [sp, #24] TIM_OC3Init(TIM2, &TIM2_Configure); 8002746: a904 add r1, sp, #16 8002748: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 800274c: f7ff f8b8 bl 80018c0 TIM_OC3PreloadConfig(TIM2,TIM_OCPreload_Enable); 8002750: 2108 movs r1, #8 8002752: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 8002756: f7ff f938 bl 80019ca TIM_OC2Init(TIM2, &TIM2_Configure); 800275a: a904 add r1, sp, #16 800275c: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 8002760: f7ff f86a bl 8001838 TIM_OC2PreloadConfig(TIM2,TIM_OCPreload_Enable); 8002764: 2108 movs r1, #8 8002766: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 800276a: f7ff f925 bl 80019b8 TIM_ARRPreloadConfig(TIM2, ENABLE); 800276e: 4629 mov r1, r5 8002770: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 8002774: f7ff f912 bl 800199c // Enable Counter TIM_Cmd(TIM2, ENABLE); 8002778: 4629 mov r1, r5 800277a: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 800277e: f7ff f8e1 bl 8001944 TIM_CtrlPWMOutputs(TIM2,ENABLE); 8002782: 4629 mov r1, r5 8002784: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 8002788: f7ff f8ea bl 8001960 // Configuration de la capture de l'encodeur 1 TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; 800278c: f8ad 4004 strh.w r4, [sp, #4] TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; 8002790: f8ad 4006 strh.w r4, [sp, #6] TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; 8002794: f8ad 5008 strh.w r5, [sp, #8] TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; 8002798: f8ad 400a strh.w r4, [sp, #10] TIM_ICInitStructure.TIM_ICFilter = 0x0; 800279c: f8ad 400c strh.w r4, [sp, #12] TIM_ICInit(TIM1, &TIM_ICInitStructure); 80027a0: 4e1e ldr r6, [pc, #120] ; (800281c ) 80027a2: a901 add r1, sp, #4 80027a4: 4630 mov r0, r6 80027a6: f7ff f94b bl 8001a40 TIM_Cmd(TIM1, ENABLE); 80027aa: 4629 mov r1, r5 80027ac: 4630 mov r0, r6 80027ae: f7ff f8c9 bl 8001944 TIM_ITConfig(TIM1, TIM_IT_CC1, ENABLE); 80027b2: 462a mov r2, r5 80027b4: 2102 movs r1, #2 80027b6: 4630 mov r0, r6 80027b8: f7ff f8e4 bl 8001984 // Configuration de la capture de l'encodeur 1 TIM_ICInitStructure.TIM_Channel = TIM_Channel_3; 80027bc: 2708 movs r7, #8 80027be: f8ad 7004 strh.w r7, [sp, #4] TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; 80027c2: f8ad 4006 strh.w r4, [sp, #6] TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; 80027c6: f8ad 5008 strh.w r5, [sp, #8] TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; 80027ca: f8ad 400a strh.w r4, [sp, #10] TIM_ICInitStructure.TIM_ICFilter = 0x0; 80027ce: f8ad 400c strh.w r4, [sp, #12] TIM_ICInit(TIM1, &TIM_ICInitStructure); 80027d2: a901 add r1, sp, #4 80027d4: 4630 mov r0, r6 80027d6: f7ff f933 bl 8001a40 TIM_Cmd(TIM1, ENABLE); 80027da: 4629 mov r1, r5 80027dc: 4630 mov r0, r6 80027de: f7ff f8b1 bl 8001944 TIM_ITConfig(TIM1, TIM_IT_CC3, ENABLE); 80027e2: 462a mov r2, r5 80027e4: 4639 mov r1, r7 80027e6: 4630 mov r0, r6 80027e8: f7ff f8cc bl 8001984 // Enable the TIM1 Capture interrupt NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn; 80027ec: 231b movs r3, #27 80027ee: f88d 3000 strb.w r3, [sp] NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; 80027f2: f88d 5001 strb.w r5, [sp, #1] NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; 80027f6: f88d 5002 strb.w r5, [sp, #2] NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 80027fa: f88d 5003 strb.w r5, [sp, #3] NVIC_Init(&NVIC_InitStructure); 80027fe: 4668 mov r0, sp 8002800: f7fe fb94 bl 8000f2c // RAZ des variables regulation_vitesseD = 0; 8002804: 4b06 ldr r3, [pc, #24] ; (8002820 ) 8002806: 801c strh r4, [r3, #0] regulation_vitesseG = 0; 8002808: 4b06 ldr r3, [pc, #24] ; (8002824 ) 800280a: 801c strh r4, [r3, #0] asservissement =0; 800280c: 4b06 ldr r3, [pc, #24] ; (8002828 ) 800280e: 801c strh r4, [r3, #0] } 8002810: b00d add sp, #52 ; 0x34 8002812: bdf0 pop {r4, r5, r6, r7, pc} 8002814: 40010800 .word 0x40010800 8002818: 40010c00 .word 0x40010c00 800281c: 40012c00 .word 0x40012c00 8002820: 2000032a .word 0x2000032a 8002824: 2000031c .word 0x2000031c 8002828: 2000031a .word 0x2000031a 0800282c : * @param Consigne de vitesse du moteur, défini par un pwm entre 0 et 255. * @retval None */ void motorCmdRight(char mod, uint16_t pwm) { 800282c: b538 push {r3, r4, r5, lr} pwm = 256 - pwm; 800282e: f5c1 7180 rsb r1, r1, #256 ; 0x100 8002832: b28c uxth r4, r1 switch (mod) { 8002834: 280c cmp r0, #12 8002836: d02a beq.n 800288e 8002838: 280d cmp r0, #13 800283a: d00b beq.n 8002854 800283c: 280b cmp r0, #11 800283e: d01a beq.n 8002876 GPIO_SetBits(GPIOB, GPIO_Pin_13); GPIO_ResetBits(GPIOB, GPIO_Pin_12); break; default: GPIO_ResetBits(GPIOB, 12); 8002840: 4d19 ldr r5, [pc, #100] ; (80028a8 ) 8002842: 210c movs r1, #12 8002844: 4628 mov r0, r5 8002846: f7fe fdd2 bl 80013ee GPIO_ResetBits(GPIOB, 13); 800284a: 210d movs r1, #13 800284c: 4628 mov r0, r5 800284e: f7fe fdce bl 80013ee 8002852: e00a b.n 800286a GPIO_SetBits(GPIOB, GPIO_Pin_12); 8002854: 4d14 ldr r5, [pc, #80] ; (80028a8 ) 8002856: f44f 5180 mov.w r1, #4096 ; 0x1000 800285a: 4628 mov r0, r5 800285c: f7fe fdc5 bl 80013ea GPIO_SetBits(GPIOB, GPIO_Pin_13); 8002860: f44f 5100 mov.w r1, #8192 ; 0x2000 8002864: 4628 mov r0, r5 8002866: f7fe fdc0 bl 80013ea } TIM_SetCompare3(TIM2, pwm); 800286a: 4621 mov r1, r4 800286c: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 8002870: f7ff f8b4 bl 80019dc 8002874: bd38 pop {r3, r4, r5, pc} GPIO_SetBits(GPIOB, GPIO_Pin_12); 8002876: 4d0c ldr r5, [pc, #48] ; (80028a8 ) 8002878: f44f 5180 mov.w r1, #4096 ; 0x1000 800287c: 4628 mov r0, r5 800287e: f7fe fdb4 bl 80013ea GPIO_ResetBits(GPIOB, GPIO_Pin_13); 8002882: f44f 5100 mov.w r1, #8192 ; 0x2000 8002886: 4628 mov r0, r5 8002888: f7fe fdb1 bl 80013ee break; 800288c: e7ed b.n 800286a GPIO_SetBits(GPIOB, GPIO_Pin_13); 800288e: 4d06 ldr r5, [pc, #24] ; (80028a8 ) 8002890: f44f 5100 mov.w r1, #8192 ; 0x2000 8002894: 4628 mov r0, r5 8002896: f7fe fda8 bl 80013ea GPIO_ResetBits(GPIOB, GPIO_Pin_12); 800289a: f44f 5180 mov.w r1, #4096 ; 0x1000 800289e: 4628 mov r0, r5 80028a0: f7fe fda5 bl 80013ee break; 80028a4: e7e1 b.n 800286a 80028a6: bf00 nop 80028a8: 40010c00 .word 0x40010c00 080028ac : * @param Mode de fonctionnement du moteur, peut être égal aux constantes BRAKE, FORWARD, REVERSE définis dans moteur.h * @param Consigne de vitesse du moteur, défini par un pwm entre 0 et 255. * @retval None */ void motorCmdLeft(char mod, uint16_t pwm) { 80028ac: b538 push {r3, r4, r5, lr} pwm = 256 - pwm; 80028ae: f5c1 7180 rsb r1, r1, #256 ; 0x100 80028b2: b28c uxth r4, r1 switch (mod) { 80028b4: 280c cmp r0, #12 80028b6: d02c beq.n 8002912 80028b8: 280d cmp r0, #13 80028ba: d00d beq.n 80028d8 80028bc: 280b cmp r0, #11 80028be: d01c beq.n 80028fa GPIO_SetBits(GPIOB, GPIO_Pin_14); GPIO_ResetBits(GPIOB, GPIO_Pin_15); break; default: GPIO_ResetBits(GPIOB, GPIO_Pin_14); 80028c0: 4d1a ldr r5, [pc, #104] ; (800292c ) 80028c2: f44f 4180 mov.w r1, #16384 ; 0x4000 80028c6: 4628 mov r0, r5 80028c8: f7fe fd91 bl 80013ee GPIO_ResetBits(GPIOB, GPIO_Pin_15); 80028cc: f44f 4100 mov.w r1, #32768 ; 0x8000 80028d0: 4628 mov r0, r5 80028d2: f7fe fd8c bl 80013ee 80028d6: e00a b.n 80028ee GPIO_SetBits(GPIOB, GPIO_Pin_14); 80028d8: 4d14 ldr r5, [pc, #80] ; (800292c ) 80028da: f44f 4180 mov.w r1, #16384 ; 0x4000 80028de: 4628 mov r0, r5 80028e0: f7fe fd83 bl 80013ea GPIO_SetBits(GPIOB, GPIO_Pin_15); 80028e4: f44f 4100 mov.w r1, #32768 ; 0x8000 80028e8: 4628 mov r0, r5 80028ea: f7fe fd7e bl 80013ea } TIM_SetCompare2(TIM2, pwm); 80028ee: 4621 mov r1, r4 80028f0: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 80028f4: f7ff f870 bl 80019d8 80028f8: bd38 pop {r3, r4, r5, pc} GPIO_SetBits(GPIOB, GPIO_Pin_15); 80028fa: 4d0c ldr r5, [pc, #48] ; (800292c ) 80028fc: f44f 4100 mov.w r1, #32768 ; 0x8000 8002900: 4628 mov r0, r5 8002902: f7fe fd72 bl 80013ea GPIO_ResetBits(GPIOB, GPIO_Pin_14); 8002906: f44f 4180 mov.w r1, #16384 ; 0x4000 800290a: 4628 mov r0, r5 800290c: f7fe fd6f bl 80013ee break; 8002910: e7ed b.n 80028ee GPIO_SetBits(GPIOB, GPIO_Pin_14); 8002912: 4d06 ldr r5, [pc, #24] ; (800292c ) 8002914: f44f 4180 mov.w r1, #16384 ; 0x4000 8002918: 4628 mov r0, r5 800291a: f7fe fd66 bl 80013ea GPIO_ResetBits(GPIOB, GPIO_Pin_15); 800291e: f44f 4100 mov.w r1, #32768 ; 0x8000 8002922: 4628 mov r0, r5 8002924: f7fe fd63 bl 80013ee break; 8002928: e7e1 b.n 80028ee 800292a: bf00 nop 800292c: 40010c00 .word 0x40010c00 08002930 : * @brief Commande de plus haut niveau pour contrôler la vitesse moteur Gauche. * * @param Consigne de vitesse du moteur, défini par un pwm entre 0 et 255. * @retval None */ void motorSpeedUpdateLeft(uint16_t pwm) { 8002930: b508 push {r3, lr} pwm = 256 - pwm; 8002932: f5c0 7180 rsb r1, r0, #256 ; 0x100 TIM_SetCompare2(TIM2, pwm); 8002936: b289 uxth r1, r1 8002938: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 800293c: f7ff f84c bl 80019d8 8002940: bd08 pop {r3, pc} 08002942 : * @brief Commande de plus haut niveau pour contrôler la vitesse moteur Droit. * * @param Consigne de vitesse du moteur, défini par un pwm entre 0 et 255. * @retval None */ void motorSpeedUpdateRight(uint16_t pwm) { 8002942: b508 push {r3, lr} pwm = 256 - pwm; 8002944: f5c0 7180 rsb r1, r0, #256 ; 0x100 TIM_SetCompare3(TIM2, pwm); 8002948: b289 uxth r1, r1 800294a: f04f 4080 mov.w r0, #1073741824 ; 0x40000000 800294e: f7ff f845 bl 80019dc 8002952: bd08 pop {r3, pc} 08002954 : * @param Vitesse de la roue de gauche. * * @retval None */ void motorRegulation(char modRight, char modLeft, uint16_t lapsRight, uint16_t lapsLeft, uint16_t speedRight, uint16_t speedLeft) { 8002954: e92d 43f8 stmdb sp!, {r3, r4, r5, r6, r7, r8, r9, lr} 8002958: 460c mov r4, r1 800295a: 4616 mov r6, r2 800295c: 4698 mov r8, r3 800295e: f8bd 5020 ldrh.w r5, [sp, #32] 8002962: f8bd 7024 ldrh.w r7, [sp, #36] ; 0x24 /*Moteur Droit*/ switch (modRight) { 8002966: 280c cmp r0, #12 8002968: d039 beq.n 80029de 800296a: 280d cmp r0, #13 800296c: d00c beq.n 8002988 800296e: 280b cmp r0, #11 8002970: d028 beq.n 80029c4 GPIO_SetBits(GPIOB, GPIO_Pin_13); GPIO_ResetBits(GPIOB, GPIO_Pin_12); break; default: GPIO_ResetBits(GPIOB, 12); 8002972: f8df 9100 ldr.w r9, [pc, #256] ; 8002a74 8002976: 210c movs r1, #12 8002978: 4648 mov r0, r9 800297a: f7fe fd38 bl 80013ee GPIO_ResetBits(GPIOB, 13); 800297e: 210d movs r1, #13 8002980: 4648 mov r0, r9 8002982: f7fe fd34 bl 80013ee 8002986: e00b b.n 80029a0 GPIO_SetBits(GPIOB, GPIO_Pin_12); 8002988: f8df 90e8 ldr.w r9, [pc, #232] ; 8002a74 800298c: f44f 5180 mov.w r1, #4096 ; 0x1000 8002990: 4648 mov r0, r9 8002992: f7fe fd2a bl 80013ea GPIO_SetBits(GPIOB, GPIO_Pin_13); 8002996: f44f 5100 mov.w r1, #8192 ; 0x2000 800299a: 4648 mov r0, r9 800299c: f7fe fd25 bl 80013ea } /* Moteur Gauche */ switch (modLeft) { 80029a0: 2c0c cmp r4, #12 80029a2: d047 beq.n 8002a34 80029a4: 2c0d cmp r4, #13 80029a6: d027 beq.n 80029f8 80029a8: 2c0b cmp r4, #11 80029aa: d037 beq.n 8002a1c GPIO_SetBits(GPIOB, GPIO_Pin_14); GPIO_ResetBits(GPIOB, GPIO_Pin_15); break; default: GPIO_ResetBits(GPIOB, GPIO_Pin_14); 80029ac: 4c31 ldr r4, [pc, #196] ; (8002a74 ) 80029ae: f44f 4180 mov.w r1, #16384 ; 0x4000 80029b2: 4620 mov r0, r4 80029b4: f7fe fd1b bl 80013ee GPIO_ResetBits(GPIOB, GPIO_Pin_15); 80029b8: f44f 4100 mov.w r1, #32768 ; 0x8000 80029bc: 4620 mov r0, r4 80029be: f7fe fd16 bl 80013ee 80029c2: e024 b.n 8002a0e GPIO_SetBits(GPIOB, GPIO_Pin_12); 80029c4: f8df 90ac ldr.w r9, [pc, #172] ; 8002a74 80029c8: f44f 5180 mov.w r1, #4096 ; 0x1000 80029cc: 4648 mov r0, r9 80029ce: f7fe fd0c bl 80013ea GPIO_ResetBits(GPIOB, GPIO_Pin_13); 80029d2: f44f 5100 mov.w r1, #8192 ; 0x2000 80029d6: 4648 mov r0, r9 80029d8: f7fe fd09 bl 80013ee break; 80029dc: e7e0 b.n 80029a0 GPIO_SetBits(GPIOB, GPIO_Pin_13); 80029de: f8df 9094 ldr.w r9, [pc, #148] ; 8002a74 80029e2: f44f 5100 mov.w r1, #8192 ; 0x2000 80029e6: 4648 mov r0, r9 80029e8: f7fe fcff bl 80013ea GPIO_ResetBits(GPIOB, GPIO_Pin_12); 80029ec: f44f 5180 mov.w r1, #4096 ; 0x1000 80029f0: 4648 mov r0, r9 80029f2: f7fe fcfc bl 80013ee break; 80029f6: e7d3 b.n 80029a0 GPIO_SetBits(GPIOB, GPIO_Pin_14); 80029f8: 4c1e ldr r4, [pc, #120] ; (8002a74 ) 80029fa: f44f 4180 mov.w r1, #16384 ; 0x4000 80029fe: 4620 mov r0, r4 8002a00: f7fe fcf3 bl 80013ea GPIO_SetBits(GPIOB, GPIO_Pin_15); 8002a04: f44f 4100 mov.w r1, #32768 ; 0x8000 8002a08: 4620 mov r0, r4 8002a0a: f7fe fcee bl 80013ea } if ((speedRight == 0 && lapsRight > 0) 8002a0e: b905 cbnz r5, 8002a12 8002a10: b91e cbnz r6, 8002a1a || (speedLeft == 0 && lapsLeft > 0)) { 8002a12: b9df cbnz r7, 8002a4c 8002a14: f1b8 0f00 cmp.w r8, #0 8002a18: d018 beq.n 8002a4c 8002a1a: e7fe b.n 8002a1a GPIO_SetBits(GPIOB, GPIO_Pin_15); 8002a1c: 4c15 ldr r4, [pc, #84] ; (8002a74 ) 8002a1e: f44f 4100 mov.w r1, #32768 ; 0x8000 8002a22: 4620 mov r0, r4 8002a24: f7fe fce1 bl 80013ea GPIO_ResetBits(GPIOB, GPIO_Pin_14); 8002a28: f44f 4180 mov.w r1, #16384 ; 0x4000 8002a2c: 4620 mov r0, r4 8002a2e: f7fe fcde bl 80013ee break; 8002a32: e7ec b.n 8002a0e GPIO_SetBits(GPIOB, GPIO_Pin_14); 8002a34: 4c0f ldr r4, [pc, #60] ; (8002a74 ) 8002a36: f44f 4180 mov.w r1, #16384 ; 0x4000 8002a3a: 4620 mov r0, r4 8002a3c: f7fe fcd5 bl 80013ea GPIO_ResetBits(GPIOB, GPIO_Pin_15); 8002a40: f44f 4100 mov.w r1, #32768 ; 0x8000 8002a44: 4620 mov r0, r4 8002a46: f7fe fcd2 bl 80013ee break; 8002a4a: e7e0 b.n 8002a0e while (1); } G_lapsLeft = lapsLeft; 8002a4c: 4b0a ldr r3, [pc, #40] ; (8002a78 ) 8002a4e: f8a3 8000 strh.w r8, [r3] G_speedLeft = speedLeft; 8002a52: 4b0a ldr r3, [pc, #40] ; (8002a7c ) 8002a54: 801f strh r7, [r3, #0] G_lapsRight = lapsRight; 8002a56: 4b0a ldr r3, [pc, #40] ; (8002a80 ) 8002a58: 801e strh r6, [r3, #0] G_speedRight = speedRight; 8002a5a: 4b0a ldr r3, [pc, #40] ; (8002a84 ) 8002a5c: 801d strh r5, [r3, #0] asservissement = 1; 8002a5e: 2201 movs r2, #1 8002a60: 4b09 ldr r3, [pc, #36] ; (8002a88 ) 8002a62: 801a strh r2, [r3, #0] tourPositionD = 0; 8002a64: 2300 movs r3, #0 8002a66: 4a09 ldr r2, [pc, #36] ; (8002a8c ) 8002a68: 8013 strh r3, [r2, #0] tourPositionG = 0; 8002a6a: 4a09 ldr r2, [pc, #36] ; (8002a90 ) 8002a6c: 8013 strh r3, [r2, #0] 8002a6e: e8bd 83f8 ldmia.w sp!, {r3, r4, r5, r6, r7, r8, r9, pc} 8002a72: bf00 nop 8002a74: 40010c00 .word 0x40010c00 8002a78: 2000031e .word 0x2000031e 8002a7c: 20000014 .word 0x20000014 8002a80: 2000032c .word 0x2000032c 8002a84: 20000016 .word 0x20000016 8002a88: 2000031a .word 0x2000031a 8002a8c: 20000318 .word 0x20000318 8002a90: 20000328 .word 0x20000328 08002a94 : * de tour des deux roues. * * @param None * @retval None */ void TIM1_CC_IRQHandler(void) { 8002a94: b508 push {r3, lr} if (TIM_GetITStatus(TIM1, TIM_IT_CC1) == SET) { 8002a96: 2102 movs r1, #2 8002a98: 4812 ldr r0, [pc, #72] ; (8002ae4 ) 8002a9a: f7ff f802 bl 8001aa2 8002a9e: 2801 cmp r0, #1 8002aa0: d006 beq.n 8002ab0 TIM_ClearITPendingBit(TIM1, TIM_IT_CC1); tourD++; tourPositionD++; } if (TIM_GetITStatus(TIM1, TIM_IT_CC3) == SET) { 8002aa2: 2108 movs r1, #8 8002aa4: 480f ldr r0, [pc, #60] ; (8002ae4 ) 8002aa6: f7fe fffc bl 8001aa2 8002aaa: 2801 cmp r0, #1 8002aac: d00d beq.n 8002aca 8002aae: bd08 pop {r3, pc} TIM_ClearITPendingBit(TIM1, TIM_IT_CC1); 8002ab0: 2102 movs r1, #2 8002ab2: 480c ldr r0, [pc, #48] ; (8002ae4 ) 8002ab4: f7ff f801 bl 8001aba tourD++; 8002ab8: 4a0b ldr r2, [pc, #44] ; (8002ae8 ) 8002aba: 8813 ldrh r3, [r2, #0] 8002abc: 3301 adds r3, #1 8002abe: 8013 strh r3, [r2, #0] tourPositionD++; 8002ac0: 4a0a ldr r2, [pc, #40] ; (8002aec ) 8002ac2: 8813 ldrh r3, [r2, #0] 8002ac4: 3301 adds r3, #1 8002ac6: 8013 strh r3, [r2, #0] 8002ac8: e7eb b.n 8002aa2 TIM_ClearITPendingBit(TIM1, TIM_IT_CC3); 8002aca: 2108 movs r1, #8 8002acc: 4805 ldr r0, [pc, #20] ; (8002ae4 ) 8002ace: f7fe fff4 bl 8001aba tourG++; 8002ad2: 4a07 ldr r2, [pc, #28] ; (8002af0 ) 8002ad4: 8813 ldrh r3, [r2, #0] 8002ad6: 3301 adds r3, #1 8002ad8: 8013 strh r3, [r2, #0] tourPositionG++; 8002ada: 4a06 ldr r2, [pc, #24] ; (8002af4 ) 8002adc: 8813 ldrh r3, [r2, #0] 8002ade: 3301 adds r3, #1 8002ae0: 8013 strh r3, [r2, #0] } } 8002ae2: e7e4 b.n 8002aae 8002ae4: 40012c00 .word 0x40012c00 8002ae8: 20000224 .word 0x20000224 8002aec: 20000318 .word 0x20000318 8002af0: 20000226 .word 0x20000226 8002af4: 20000328 .word 0x20000328 08002af8 : * @brief Gestion de l'asservissement des moteurs * * @param None * @retval None */ void motorManagement(void) { 8002af8: b5f8 push {r3, r4, r5, r6, r7, lr} if (regulation_vitesseD) { 8002afa: 4b68 ldr r3, [pc, #416] ; (8002c9c ) 8002afc: 881b ldrh r3, [r3, #0] 8002afe: 2b00 cmp r3, #0 8002b00: d045 beq.n 8002b8e erreurD = (signed int) G_speedRight - (signed int) tourD; 8002b02: 4b67 ldr r3, [pc, #412] ; (8002ca0 ) 8002b04: 8818 ldrh r0, [r3, #0] 8002b06: 4b67 ldr r3, [pc, #412] ; (8002ca4 ) 8002b08: 881b ldrh r3, [r3, #0] 8002b0a: 1ac0 subs r0, r0, r3 8002b0c: 4b66 ldr r3, [pc, #408] ; (8002ca8 ) 8002b0e: 6018 str r0, [r3, #0] motD = kp * erreurD + integration1; 8002b10: f7fd ffd2 bl 8000ab8 <__aeabi_i2f> 8002b14: 4607 mov r7, r0 8002b16: 4965 ldr r1, [pc, #404] ; (8002cac ) 8002b18: f7fe f822 bl 8000b60 <__aeabi_fmul> 8002b1c: 4d64 ldr r5, [pc, #400] ; (8002cb0 ) 8002b1e: 682e ldr r6, [r5, #0] 8002b20: 4631 mov r1, r6 8002b22: f7fd ff15 bl 8000950 <__addsf3> 8002b26: 4604 mov r4, r0 8002b28: 4b62 ldr r3, [pc, #392] ; (8002cb4 ) 8002b2a: 6018 str r0, [r3, #0] integration1 += ki * erreurD; 8002b2c: f04f 517f mov.w r1, #1069547520 ; 0x3fc00000 8002b30: 4638 mov r0, r7 8002b32: f7fe f815 bl 8000b60 <__aeabi_fmul> 8002b36: 4601 mov r1, r0 8002b38: 4630 mov r0, r6 8002b3a: f7fd ff09 bl 8000950 <__addsf3> 8002b3e: 6028 str r0, [r5, #0] if (motD > 255) motD = 255; 8002b40: 495d ldr r1, [pc, #372] ; (8002cb8 ) 8002b42: 4620 mov r0, r4 8002b44: f7fe f9c8 bl 8000ed8 <__aeabi_fcmpgt> 8002b48: b110 cbz r0, 8002b50 8002b4a: 4a5b ldr r2, [pc, #364] ; (8002cb8 ) 8002b4c: 4b59 ldr r3, [pc, #356] ; (8002cb4 ) 8002b4e: 601a str r2, [r3, #0] if (motD < 0) motD = 0; 8002b50: 2100 movs r1, #0 8002b52: 4b58 ldr r3, [pc, #352] ; (8002cb4 ) 8002b54: 6818 ldr r0, [r3, #0] 8002b56: f7fe f9a1 bl 8000e9c <__aeabi_fcmplt> 8002b5a: 2800 cmp r0, #0 8002b5c: d168 bne.n 8002c30 motD = (uint16_t) motD; 8002b5e: 4d55 ldr r5, [pc, #340] ; (8002cb4 ) 8002b60: 6828 ldr r0, [r5, #0] 8002b62: f7fe f9c3 bl 8000eec <__aeabi_f2uiz> 8002b66: b284 uxth r4, r0 8002b68: 4620 mov r0, r4 8002b6a: f7fd ffa1 bl 8000ab0 <__aeabi_ui2f> 8002b6e: 6028 str r0, [r5, #0] motorSpeedUpdateRight(motD); 8002b70: 4620 mov r0, r4 8002b72: f7ff fee6 bl 8002942 tourD = 0; 8002b76: 2300 movs r3, #0 8002b78: 4a4a ldr r2, [pc, #296] ; (8002ca4 ) 8002b7a: 8013 strh r3, [r2, #0] regulation_vitesseD = 0; 8002b7c: 4a47 ldr r2, [pc, #284] ; (8002c9c ) 8002b7e: 8013 strh r3, [r2, #0] if (G_lapsRight - tourPositionD < 0) { 8002b80: 4b4e ldr r3, [pc, #312] ; (8002cbc ) 8002b82: 881b ldrh r3, [r3, #0] 8002b84: 4a4e ldr r2, [pc, #312] ; (8002cc0 ) 8002b86: 8812 ldrh r2, [r2, #0] 8002b88: 1a9b subs r3, r3, r2 8002b8a: 2b00 cmp r3, #0 8002b8c: db54 blt.n 8002c38 motorCmdRight(BRAKE, 255); } } if (regulation_vitesseG) { 8002b8e: 4b4d ldr r3, [pc, #308] ; (8002cc4 ) 8002b90: 881b ldrh r3, [r3, #0] 8002b92: 2b00 cmp r3, #0 8002b94: d044 beq.n 8002c20 erreurG = (signed int) G_speedLeft - (signed int) tourG; 8002b96: 4b4c ldr r3, [pc, #304] ; (8002cc8 ) 8002b98: 8818 ldrh r0, [r3, #0] 8002b9a: 4b4c ldr r3, [pc, #304] ; (8002ccc ) 8002b9c: 881b ldrh r3, [r3, #0] 8002b9e: 1ac0 subs r0, r0, r3 8002ba0: 4b4b ldr r3, [pc, #300] ; (8002cd0 ) 8002ba2: 6018 str r0, [r3, #0] motG = kp * erreurG + integration2; 8002ba4: f7fd ff88 bl 8000ab8 <__aeabi_i2f> 8002ba8: 4607 mov r7, r0 8002baa: 4940 ldr r1, [pc, #256] ; (8002cac ) 8002bac: f7fd ffd8 bl 8000b60 <__aeabi_fmul> 8002bb0: 4d48 ldr r5, [pc, #288] ; (8002cd4 ) 8002bb2: 682e ldr r6, [r5, #0] 8002bb4: 4631 mov r1, r6 8002bb6: f7fd fecb bl 8000950 <__addsf3> 8002bba: 4604 mov r4, r0 8002bbc: 4b46 ldr r3, [pc, #280] ; (8002cd8 ) 8002bbe: 6018 str r0, [r3, #0] integration2 += ki * erreurG; 8002bc0: f04f 517f mov.w r1, #1069547520 ; 0x3fc00000 8002bc4: 4638 mov r0, r7 8002bc6: f7fd ffcb bl 8000b60 <__aeabi_fmul> 8002bca: 4601 mov r1, r0 8002bcc: 4630 mov r0, r6 8002bce: f7fd febf bl 8000950 <__addsf3> 8002bd2: 6028 str r0, [r5, #0] if (motG > 255) motG = 255; 8002bd4: 4938 ldr r1, [pc, #224] ; (8002cb8 ) 8002bd6: 4620 mov r0, r4 8002bd8: f7fe f97e bl 8000ed8 <__aeabi_fcmpgt> 8002bdc: b110 cbz r0, 8002be4 8002bde: 4a36 ldr r2, [pc, #216] ; (8002cb8 ) 8002be0: 4b3d ldr r3, [pc, #244] ; (8002cd8 ) 8002be2: 601a str r2, [r3, #0] if (motG < 0) motG = 0; 8002be4: 2100 movs r1, #0 8002be6: 4b3c ldr r3, [pc, #240] ; (8002cd8 ) 8002be8: 6818 ldr r0, [r3, #0] 8002bea: f7fe f957 bl 8000e9c <__aeabi_fcmplt> 8002bee: bb40 cbnz r0, 8002c42 motG = (uint16_t) motG; 8002bf0: 4d39 ldr r5, [pc, #228] ; (8002cd8 ) 8002bf2: 6828 ldr r0, [r5, #0] 8002bf4: f7fe f97a bl 8000eec <__aeabi_f2uiz> 8002bf8: b284 uxth r4, r0 8002bfa: 4620 mov r0, r4 8002bfc: f7fd ff58 bl 8000ab0 <__aeabi_ui2f> 8002c00: 6028 str r0, [r5, #0] motorSpeedUpdateLeft(motG); 8002c02: 4620 mov r0, r4 8002c04: f7ff fe94 bl 8002930 tourG = 0; 8002c08: 2300 movs r3, #0 8002c0a: 4a30 ldr r2, [pc, #192] ; (8002ccc ) 8002c0c: 8013 strh r3, [r2, #0] regulation_vitesseG = 0; 8002c0e: 4a2d ldr r2, [pc, #180] ; (8002cc4 ) 8002c10: 8013 strh r3, [r2, #0] if (G_lapsLeft - tourPositionG < 0) { 8002c12: 4b32 ldr r3, [pc, #200] ; (8002cdc ) 8002c14: 881b ldrh r3, [r3, #0] 8002c16: 4a32 ldr r2, [pc, #200] ; (8002ce0 ) 8002c18: 8812 ldrh r2, [r2, #0] 8002c1a: 1a9b subs r3, r3, r2 8002c1c: 2b00 cmp r3, #0 8002c1e: db14 blt.n 8002c4a motorCmdLeft(BRAKE, 255); } } if (G_lapsLeft - tourPositionG < 0 && G_lapsRight - tourPositionD < 0 8002c20: 4b2e ldr r3, [pc, #184] ; (8002cdc ) 8002c22: 881b ldrh r3, [r3, #0] 8002c24: 4a2e ldr r2, [pc, #184] ; (8002ce0 ) 8002c26: 8812 ldrh r2, [r2, #0] 8002c28: 1a9b subs r3, r3, r2 8002c2a: 2b00 cmp r3, #0 8002c2c: db12 blt.n 8002c54 8002c2e: bdf8 pop {r3, r4, r5, r6, r7, pc} if (motD < 0) motD = 0; 8002c30: 2200 movs r2, #0 8002c32: 4b20 ldr r3, [pc, #128] ; (8002cb4 ) 8002c34: 601a str r2, [r3, #0] 8002c36: e792 b.n 8002b5e motorCmdRight(BRAKE, 255); 8002c38: 21ff movs r1, #255 ; 0xff 8002c3a: 200d movs r0, #13 8002c3c: f7ff fdf6 bl 800282c 8002c40: e7a5 b.n 8002b8e if (motG < 0) motG = 0; 8002c42: 2200 movs r2, #0 8002c44: 4b24 ldr r3, [pc, #144] ; (8002cd8 ) 8002c46: 601a str r2, [r3, #0] 8002c48: e7d2 b.n 8002bf0 motorCmdLeft(BRAKE, 255); 8002c4a: 21ff movs r1, #255 ; 0xff 8002c4c: 200d movs r0, #13 8002c4e: f7ff fe2d bl 80028ac 8002c52: e7e5 b.n 8002c20 if (G_lapsLeft - tourPositionG < 0 && G_lapsRight - tourPositionD < 0 8002c54: 4b19 ldr r3, [pc, #100] ; (8002cbc ) 8002c56: 881b ldrh r3, [r3, #0] 8002c58: 4a19 ldr r2, [pc, #100] ; (8002cc0 ) 8002c5a: 8812 ldrh r2, [r2, #0] 8002c5c: 1a9b subs r3, r3, r2 8002c5e: 2b00 cmp r3, #0 8002c60: dae5 bge.n 8002c2e && asservissement == 1) { 8002c62: 4b20 ldr r3, [pc, #128] ; (8002ce4 ) 8002c64: 881b ldrh r3, [r3, #0] 8002c66: 2b01 cmp r3, #1 8002c68: d1e1 bne.n 8002c2e motorCmdLeft(BRAKE, 255); 8002c6a: 21ff movs r1, #255 ; 0xff 8002c6c: 200d movs r0, #13 8002c6e: f7ff fe1d bl 80028ac motorCmdRight(BRAKE, 255); 8002c72: 21ff movs r1, #255 ; 0xff 8002c74: 200d movs r0, #13 8002c76: f7ff fdd9 bl 800282c asservissement = 0; 8002c7a: 2300 movs r3, #0 8002c7c: 4a19 ldr r2, [pc, #100] ; (8002ce4 ) 8002c7e: 8013 strh r3, [r2, #0] erreurD = 0; 8002c80: 4a09 ldr r2, [pc, #36] ; (8002ca8 ) 8002c82: 6013 str r3, [r2, #0] erreurG = 0; 8002c84: 4a12 ldr r2, [pc, #72] ; (8002cd0 ) 8002c86: 6013 str r3, [r2, #0] integration1 = 0; 8002c88: 2200 movs r2, #0 8002c8a: 4909 ldr r1, [pc, #36] ; (8002cb0 ) 8002c8c: 600a str r2, [r1, #0] integration2 = 0; 8002c8e: 4911 ldr r1, [pc, #68] ; (8002cd4 ) 8002c90: 600a str r2, [r1, #0] Dumber.busyState = FALSE; 8002c92: 4a15 ldr r2, [pc, #84] ; (8002ce8 ) 8002c94: 2132 movs r1, #50 ; 0x32 8002c96: 73d1 strb r1, [r2, #15] Dumber.cpt_inactivity = 0; 8002c98: 6113 str r3, [r2, #16] } } 8002c9a: e7c8 b.n 8002c2e 8002c9c: 2000032a .word 0x2000032a 8002ca0: 20000016 .word 0x20000016 8002ca4: 20000224 .word 0x20000224 8002ca8: 20000320 .word 0x20000320 8002cac: 41700000 .word 0x41700000 8002cb0: 20000214 .word 0x20000214 8002cb4: 2000021c .word 0x2000021c 8002cb8: 437f0000 .word 0x437f0000 8002cbc: 2000032c .word 0x2000032c 8002cc0: 20000318 .word 0x20000318 8002cc4: 2000031c .word 0x2000031c 8002cc8: 20000014 .word 0x20000014 8002ccc: 20000226 .word 0x20000226 8002cd0: 20000324 .word 0x20000324 8002cd4: 20000218 .word 0x20000218 8002cd8: 20000220 .word 0x20000220 8002cdc: 2000031e .word 0x2000031e 8002ce0: 20000328 .word 0x20000328 8002ce4: 2000031a .word 0x2000031a 8002ce8: 20000330 .word 0x20000330 08002cec : /******************************************************************************/ /** * @brief This function handles NMI exception. */ void NMI_Handler(void) { 8002cec: b480 push {r7} 8002cee: af00 add r7, sp, #0 } 8002cf0: bf00 nop 8002cf2: 46bd mov sp, r7 8002cf4: bc80 pop {r7} 8002cf6: 4770 bx lr 08002cf8 : /** * @brief This function handles Hard Fault exception. */ void HardFault_Handler(void) { 8002cf8: b480 push {r7} 8002cfa: af00 add r7, sp, #0 /* Go to infinite loop when Hard Fault exception occurs */ while (1) { 8002cfc: e7fe b.n 8002cfc 08002cfe : } /** * @brief This function handles Memory Manage exception. */ void MemManage_Handler(void) { 8002cfe: b480 push {r7} 8002d00: af00 add r7, sp, #0 /* Go to infinite loop when Memory Manage exception occurs */ while (1) { 8002d02: e7fe b.n 8002d02 08002d04 : /** * @brief This function handles Bus Fault exception. */ void BusFault_Handler(void) { 8002d04: b480 push {r7} 8002d06: af00 add r7, sp, #0 /* Go to infinite loop when Bus Fault exception occurs */ while (1) { 8002d08: e7fe b.n 8002d08 08002d0a : } /** * @brief This function handles Usage Fault exception. */ void UsageFault_Handler(void) { 8002d0a: b480 push {r7} 8002d0c: af00 add r7, sp, #0 /* Go to infinite loop when Usage Fault exception occurs */ while (1) { 8002d0e: e7fe b.n 8002d0e 08002d10 : } /** * @brief This function handles SVCall exception. */ void SVC_Handler(void) { 8002d10: b480 push {r7} 8002d12: af00 add r7, sp, #0 } 8002d14: bf00 nop 8002d16: 46bd mov sp, r7 8002d18: bc80 pop {r7} 8002d1a: 4770 bx lr 08002d1c : /** * @brief This function handles Debug Monitor exception. */ void DebugMon_Handler(void) { 8002d1c: b480 push {r7} 8002d1e: af00 add r7, sp, #0 } 8002d20: bf00 nop 8002d22: 46bd mov sp, r7 8002d24: bc80 pop {r7} 8002d26: 4770 bx lr 08002d28 : /** * @brief This function handles PendSVC exception. */ void PendSV_Handler(void) { 8002d28: b480 push {r7} 8002d2a: af00 add r7, sp, #0 } 8002d2c: bf00 nop 8002d2e: 46bd mov sp, r7 8002d30: bc80 pop {r7} 8002d32: 4770 bx lr 08002d34 <_sbrk>: errno = ENOSYS; return -1; } void * _sbrk(int32_t incr) { 8002d34: 4603 mov r3, r0 extern char end; /* Set by linker. */ static char * heap_end; char * prev_heap_end; if (heap_end == 0) { 8002d36: 4a06 ldr r2, [pc, #24] ; (8002d50 <_sbrk+0x1c>) 8002d38: 6812 ldr r2, [r2, #0] 8002d3a: b122 cbz r2, 8002d46 <_sbrk+0x12> heap_end = & end; } prev_heap_end = heap_end; 8002d3c: 4a04 ldr r2, [pc, #16] ; (8002d50 <_sbrk+0x1c>) 8002d3e: 6810 ldr r0, [r2, #0] heap_end += incr; 8002d40: 4403 add r3, r0 8002d42: 6013 str r3, [r2, #0] return (void *) prev_heap_end; } 8002d44: 4770 bx lr heap_end = & end; 8002d46: 4903 ldr r1, [pc, #12] ; (8002d54 <_sbrk+0x20>) 8002d48: 4a01 ldr r2, [pc, #4] ; (8002d50 <_sbrk+0x1c>) 8002d4a: 6011 str r1, [r2, #0] 8002d4c: e7f6 b.n 8002d3c <_sbrk+0x8> 8002d4e: bf00 nop 8002d50: 20000228 .word 0x20000228 8002d54: 20000394 .word 0x20000394 08002d58 : * Liaison série : USART *@param None *@retval None */ void systemConfigure(void) { 8002d58: b510 push {r4, lr} 8002d5a: b082 sub sp, #8 GPIO_InitTypeDef Init_Structure; // Configure le systick pour générer des interruptions toutes les 10ms. SysTick_Config(SystemCoreClock / 100); //configuration du systick à 10ms 8002d5c: 4b1d ldr r3, [pc, #116] ; (8002dd4 ) 8002d5e: 681b ldr r3, [r3, #0] 8002d60: 4a1d ldr r2, [pc, #116] ; (8002dd8 ) 8002d62: fba2 2303 umull r2, r3, r2, r3 8002d66: 095b lsrs r3, r3, #5 \return 0 Function succeeded \return 1 Function failed */ static __INLINE uint32_t SysTick_Config(uint32_t ticks) { if (ticks > SysTick_LOAD_RELOAD_Msk) return (1); /* Reload value impossible */ 8002d68: f1b3 7f80 cmp.w r3, #16777216 ; 0x1000000 8002d6c: d20c bcs.n 8002d88 SysTick->LOAD = (ticks & SysTick_LOAD_RELOAD_Msk) - 1; /* set reload register */ 8002d6e: f023 437f bic.w r3, r3, #4278190080 ; 0xff000000 8002d72: 3b01 subs r3, #1 8002d74: 4a19 ldr r2, [pc, #100] ; (8002ddc ) 8002d76: 6053 str r3, [r2, #4] SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M System Interrupts */ 8002d78: 21f0 movs r1, #240 ; 0xf0 8002d7a: 4b19 ldr r3, [pc, #100] ; (8002de0 ) 8002d7c: f883 1023 strb.w r1, [r3, #35] ; 0x23 NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1); /* set Priority for Cortex-M0 System Interrupts */ SysTick->VAL = 0; /* Load the SysTick Counter Value */ 8002d80: 2300 movs r3, #0 8002d82: 6093 str r3, [r2, #8] SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | 8002d84: 2307 movs r3, #7 8002d86: 6013 str r3, [r2, #0] // Assigne et défini le GPIO necessaire pour la gestion du shutdown. Init_Structure.GPIO_Pin = GPIO_Pin_5; 8002d88: 2120 movs r1, #32 8002d8a: f8ad 1004 strh.w r1, [sp, #4] Init_Structure.GPIO_Mode = GPIO_Mode_Out_PP; 8002d8e: 2310 movs r3, #16 8002d90: f88d 3007 strb.w r3, [sp, #7] Init_Structure.GPIO_Speed = GPIO_Speed_50MHz; 8002d94: 2303 movs r3, #3 8002d96: f88d 3006 strb.w r3, [sp, #6] GPIO_SetBits(GPIOB, GPIO_Pin_5); 8002d9a: 4c12 ldr r4, [pc, #72] ; (8002de4 ) 8002d9c: 4620 mov r0, r4 8002d9e: f7fe fb24 bl 80013ea GPIO_Init(GPIOB, &Init_Structure); 8002da2: a901 add r1, sp, #4 8002da4: 4620 mov r0, r4 8002da6: f7fe fad1 bl 800134c // Initialise la structure system Dumber Dumber.BatteryPercentage = UNDEFINED; 8002daa: 4b0f ldr r3, [pc, #60] ; (8002de8 ) 8002dac: 2265 movs r2, #101 ; 0x65 8002dae: 801a strh r2, [r3, #0] Dumber.BatteryCurrent = UNDEFINED; 8002db0: 805a strh r2, [r3, #2] // Retourne le pourcentage de charge de la batterie Dumber.StateSystem = STATE_IDLE; // État de la MAE 8002db2: 2100 movs r1, #0 8002db4: 7119 strb r1, [r3, #4] Dumber.AddOn = FALSE; // Un AddOn a été détecté 8002db6: 2232 movs r2, #50 ; 0x32 8002db8: 715a strb r2, [r3, #5] Dumber.BatterieChecking = FALSE; // On doit vérifier la valeur de la batterie 8002dba: 719a strb r2, [r3, #6] Dumber.WatchDogStartEnable = FALSE; // Le Robot a été lancé en mode WithWatchDog ou WithoutWatchDog 8002dbc: 729a strb r2, [r3, #10] Dumber.InvalidWatchdogResetCpt=0; 8002dbe: 7399 strb r1, [r3, #14] Dumber.cpt_watchdog = 0; 8002dc0: 8199 strh r1, [r3, #12] Dumber.cpt_systick = 0; 8002dc2: 8119 strh r1, [r3, #8] Dumber.cpt_inactivity = 0; 8002dc4: 6119 str r1, [r3, #16] Dumber.acquisition = FALSE; 8002dc6: 751a strb r2, [r3, #20] Dumber.busyState = FALSE; 8002dc8: 73da strb r2, [r3, #15] Dumber.stateBattery = 2; 8002dca: 2202 movs r2, #2 8002dcc: 755a strb r2, [r3, #21] } 8002dce: b002 add sp, #8 8002dd0: bd10 pop {r4, pc} 8002dd2: bf00 nop 8002dd4: 20000018 .word 0x20000018 8002dd8: 51eb851f .word 0x51eb851f 8002ddc: e000e010 .word 0xe000e010 8002de0: e000ed00 .word 0xe000ed00 8002de4: 40010c00 .word 0x40010c00 8002de8: 20000330 .word 0x20000330 08002dec : /** * @brief Désactive les interruptions et entre dans une boucle while (1) en attendant l'extinction du CPU. * @param None */ void systemShutDown(void) { 8002dec: b508 push {r3, lr} This function disables IRQ interrupts by setting the I-bit in the CPSR. Can only be executed in Privileged modes. */ __attribute__( ( always_inline ) ) static __INLINE void __disable_irq(void) { __ASM volatile ("cpsid i"); 8002dee: b672 cpsid i __disable_irq(); GPIO_ResetBits(GPIOB, GPIO_Pin_5); 8002df0: 2120 movs r1, #32 8002df2: 4802 ldr r0, [pc, #8] ; (8002dfc ) 8002df4: f7fe fafb bl 80013ee 8002df8: e7fe b.n 8002df8 8002dfa: bf00 nop 8002dfc: 40010c00 .word 0x40010c00 08002e00 : * @brief Bascule le système dans un état. * * @param state: Nouvel état * @retval None */ void systemChangeState(States state) { 8002e00: b510 push {r4, lr} switch (state) 8002e02: 2804 cmp r0, #4 8002e04: d85e bhi.n 8002ec4 8002e06: e8df f000 tbb [pc, r0] 8002e0a: 1903 .short 0x1903 8002e0c: 2f24 .short 0x2f24 8002e0e: 4a .byte 0x4a 8002e0f: 00 .byte 0x00 { case STATE_IDLE: Dumber.StateSystem = STATE_IDLE; 8002e10: 4b2e ldr r3, [pc, #184] ; (8002ecc ) 8002e12: 2400 movs r4, #0 8002e14: 711c strb r4, [r3, #4] Dumber.WatchDogStartEnable = FALSE; 8002e16: 2232 movs r2, #50 ; 0x32 8002e18: 729a strb r2, [r3, #10] Dumber.cpt_watchdog = 0; 8002e1a: 819c strh r4, [r3, #12] Dumber.InvalidWatchdogResetCpt=0; 8002e1c: 739c strb r4, [r3, #14] Dumber.cpt_systick = 0; 8002e1e: 811c strh r4, [r3, #8] GPIO_SetBits(GPIOA,GPIO_Pin_12); // Désactive les encodeurs 8002e20: f44f 5180 mov.w r1, #4096 ; 0x1000 8002e24: 482a ldr r0, [pc, #168] ; (8002ed0 ) 8002e26: f7fe fae0 bl 80013ea motorCmdLeft(BRAKE, 0); 8002e2a: 4621 mov r1, r4 8002e2c: 200d movs r0, #13 8002e2e: f7ff fd3d bl 80028ac motorCmdRight(BRAKE, 0); 8002e32: 4621 mov r1, r4 8002e34: 200d movs r0, #13 8002e36: f7ff fcf9 bl 800282c break; 8002e3a: bd10 pop {r4, pc} case STATE_RUN: Dumber.StateSystem=STATE_RUN; 8002e3c: 4c23 ldr r4, [pc, #140] ; (8002ecc ) 8002e3e: 2301 movs r3, #1 8002e40: 7123 strb r3, [r4, #4] GPIO_ResetBits(GPIOA,GPIO_Pin_12); // Active les encodeurs 8002e42: f44f 5180 mov.w r1, #4096 ; 0x1000 8002e46: 4822 ldr r0, [pc, #136] ; (8002ed0 ) 8002e48: f7fe fad1 bl 80013ee Dumber.cpt_watchdog=0; 8002e4c: 2300 movs r3, #0 8002e4e: 81a3 strh r3, [r4, #12] break; 8002e50: bd10 pop {r4, pc} case STATE_LOW: Dumber.StateSystem=STATE_LOW; 8002e52: 4c1e ldr r4, [pc, #120] ; (8002ecc ) 8002e54: 2302 movs r3, #2 8002e56: 7123 strb r3, [r4, #4] GPIO_ResetBits(GPIOA,GPIO_Pin_12); // Active les encodeurs 8002e58: f44f 5180 mov.w r1, #4096 ; 0x1000 8002e5c: 481c ldr r0, [pc, #112] ; (8002ed0 ) 8002e5e: f7fe fac6 bl 80013ee Dumber.cpt_watchdog=0; 8002e62: 2300 movs r3, #0 8002e64: 81a3 strh r3, [r4, #12] break; 8002e66: bd10 pop {r4, pc} case STATE_DISABLE: Dumber.StateSystem=STATE_DISABLE; 8002e68: 4c18 ldr r4, [pc, #96] ; (8002ecc ) 8002e6a: 2303 movs r3, #3 8002e6c: 7123 strb r3, [r4, #4] GPIO_SetBits(GPIOA,GPIO_Pin_12); // Désactive les encodeurs 8002e6e: f44f 5180 mov.w r1, #4096 ; 0x1000 8002e72: 4817 ldr r0, [pc, #92] ; (8002ed0 ) 8002e74: f7fe fab9 bl 80013ea motorCmdRight(BRAKE,0); 8002e78: 2100 movs r1, #0 8002e7a: 200d movs r0, #13 8002e7c: f7ff fcd6 bl 800282c motorCmdLeft(BRAKE,0); 8002e80: 2100 movs r1, #0 8002e82: 200d movs r0, #13 8002e84: f7ff fd12 bl 80028ac Dumber.WatchDogStartEnable = FALSE; 8002e88: 2332 movs r3, #50 ; 0x32 8002e8a: 72a3 strb r3, [r4, #10] cptMesureHigh=0; 8002e8c: 2300 movs r3, #0 8002e8e: 4a11 ldr r2, [pc, #68] ; (8002ed4 ) 8002e90: 7013 strb r3, [r2, #0] cptMesureLow=0; 8002e92: 4a11 ldr r2, [pc, #68] ; (8002ed8 ) 8002e94: 7013 strb r3, [r2, #0] cptMesureDisable=0; 8002e96: 4a11 ldr r2, [pc, #68] ; (8002edc ) 8002e98: 7013 strb r3, [r2, #0] Dumber.stateBattery= 0; 8002e9a: 7563 strb r3, [r4, #21] break; 8002e9c: bd10 pop {r4, pc} case STATE_WATCHDOG_DISABLE: Dumber.StateSystem=STATE_WATCHDOG_DISABLE; 8002e9e: 4c0b ldr r4, [pc, #44] ; (8002ecc ) 8002ea0: 2304 movs r3, #4 8002ea2: 7123 strb r3, [r4, #4] GPIO_SetBits(GPIOA,GPIO_Pin_12); // Désactive les encodeurs 8002ea4: f44f 5180 mov.w r1, #4096 ; 0x1000 8002ea8: 4809 ldr r0, [pc, #36] ; (8002ed0 ) 8002eaa: f7fe fa9e bl 80013ea motorCmdRight(BRAKE,0); 8002eae: 2100 movs r1, #0 8002eb0: 200d movs r0, #13 8002eb2: f7ff fcbb bl 800282c motorCmdLeft(BRAKE,0); 8002eb6: 2100 movs r1, #0 8002eb8: 200d movs r0, #13 8002eba: f7ff fcf7 bl 80028ac Dumber.WatchDogStartEnable = FALSE; 8002ebe: 2332 movs r3, #50 ; 0x32 8002ec0: 72a3 strb r3, [r4, #10] break; 8002ec2: bd10 pop {r4, pc} default: /* Unknown state -> go into DISABLE */ systemChangeState(STATE_DISABLE); 8002ec4: 2003 movs r0, #3 8002ec6: f7ff ff9b bl 8002e00 8002eca: bd10 pop {r4, pc} 8002ecc: 20000330 .word 0x20000330 8002ed0: 40010800 .word 0x40010800 8002ed4: 20000210 .word 0x20000210 8002ed8: 20000211 .word 0x20000211 8002edc: 20000208 .word 0x20000208 08002ee0 : * @brief Remise à zéro du watchdog, en fonction de l'état en cours. * * @param None * @retval None */ char systemResetWatchdog(void) { 8002ee0: b508 push {r3, lr} char resultat =0; if ((Dumber.StateSystem == STATE_RUN) || (Dumber.StateSystem == STATE_LOW)) { // si on est actif 8002ee2: 4b14 ldr r3, [pc, #80] ; (8002f34 ) 8002ee4: 791b ldrb r3, [r3, #4] 8002ee6: 3b01 subs r3, #1 8002ee8: b2db uxtb r3, r3 8002eea: 2b01 cmp r3, #1 8002eec: d901 bls.n 8002ef2 char resultat =0; 8002eee: 2000 movs r0, #0 8002ef0: bd08 pop {r3, pc} if (Dumber.WatchDogStartEnable == TRUE) { // si le watchdog est lancé 8002ef2: 4b10 ldr r3, [pc, #64] ; (8002f34 ) 8002ef4: 7a9b ldrb r3, [r3, #10] 8002ef6: 2b28 cmp r3, #40 ; 0x28 8002ef8: d001 beq.n 8002efe char resultat =0; 8002efa: 2000 movs r0, #0 resultat=1; } } return resultat; } 8002efc: bd08 pop {r3, pc} if ((Dumber.cpt_watchdog >= WATCHDOG_MIN) && (Dumber.cpt_watchdog <= WATCHDOG_MAX)) { // si le watchdog est dans sa plage réarmable 8002efe: 4b0d ldr r3, [pc, #52] ; (8002f34 ) 8002f00: 899b ldrh r3, [r3, #12] 8002f02: f2a3 33ca subw r3, r3, #970 ; 0x3ca 8002f06: b29b uxth r3, r3 8002f08: 2b3c cmp r3, #60 ; 0x3c 8002f0a: d807 bhi.n 8002f1c Dumber.InvalidWatchdogResetCpt=0; // on remet le compteur d'erreur à zéro 8002f0c: 2200 movs r2, #0 8002f0e: 4b09 ldr r3, [pc, #36] ; (8002f34 ) 8002f10: 739a strb r2, [r3, #14] Dumber.cpt_watchdog = 0; // on remet le watchdog à zéro 8002f12: 2200 movs r2, #0 8002f14: 4b07 ldr r3, [pc, #28] ; (8002f34 ) 8002f16: 819a strh r2, [r3, #12] resultat=1; 8002f18: 2001 movs r0, #1 8002f1a: bd08 pop {r3, pc} Dumber.InvalidWatchdogResetCpt++; // on incrémente le compteur d'erreur 8002f1c: 4a05 ldr r2, [pc, #20] ; (8002f34 ) 8002f1e: 7b93 ldrb r3, [r2, #14] 8002f20: 3301 adds r3, #1 8002f22: b2db uxtb r3, r3 8002f24: 7393 strb r3, [r2, #14] if (Dumber.InvalidWatchdogResetCpt>WATCHDOG_INVALID_COUNTER_MAX) // on a atteint le max d'erreur possible 8002f26: 2b03 cmp r3, #3 8002f28: d9f3 bls.n 8002f12 systemChangeState(STATE_WATCHDOG_DISABLE); // le système est désactivé 8002f2a: 2004 movs r0, #4 8002f2c: f7ff ff68 bl 8002e00 8002f30: e7ef b.n 8002f12 8002f32: bf00 nop 8002f34: 20000330 .word 0x20000330 08002f38 : * Défini les valeurs d'inactivités. * Défini la valeur de clignotement de la LED. * * @note Tout ces temps sont calculés sous base du systick. */ void SysTick_Handler(void){ 8002f38: b508 push {r3, lr} Dumber.cpt_systick+=10; 8002f3a: 492f ldr r1, [pc, #188] ; (8002ff8 ) 8002f3c: 890b ldrh r3, [r1, #8] 8002f3e: 330a adds r3, #10 8002f40: b29a uxth r2, r3 8002f42: 810a strh r2, [r1, #8] Dumber.cpt_inactivity+=10; 8002f44: 690b ldr r3, [r1, #16] 8002f46: 330a adds r3, #10 8002f48: 610b str r3, [r1, #16] if(asservissement == 1){ 8002f4a: 4b2c ldr r3, [pc, #176] ; (8002ffc ) 8002f4c: 881b ldrh r3, [r3, #0] 8002f4e: 2b01 cmp r3, #1 8002f50: d038 beq.n 8002fc4 regulation_vitesseD =1; regulation_vitesseG =1; } if(Dumber.cpt_systick % TIMER_1s==0) Dumber.cpt_systick=0; 8002f52: 4b2b ldr r3, [pc, #172] ; (8003000 ) 8002f54: fba3 1302 umull r1, r3, r3, r2 8002f58: 099b lsrs r3, r3, #6 8002f5a: f44f 717a mov.w r1, #1000 ; 0x3e8 8002f5e: fb01 2313 mls r3, r1, r3, r2 8002f62: b29b uxth r3, r3 8002f64: b913 cbnz r3, 8002f6c 8002f66: 2200 movs r2, #0 8002f68: 4b23 ldr r3, [pc, #140] ; (8002ff8 ) 8002f6a: 811a strh r2, [r3, #8] /* Gestion du watchdog */ if((Dumber.WatchDogStartEnable == TRUE) && (Dumber.StateSystem != STATE_IDLE)) 8002f6c: 4b22 ldr r3, [pc, #136] ; (8002ff8 ) 8002f6e: 7a9b ldrb r3, [r3, #10] 8002f70: 2b28 cmp r3, #40 ; 0x28 8002f72: d02c beq.n 8002fce Dumber.cpt_watchdog+=10; else Dumber.cpt_watchdog=0; 8002f74: 2200 movs r2, #0 8002f76: 4b20 ldr r3, [pc, #128] ; (8002ff8 ) 8002f78: 819a strh r2, [r3, #12] if (Dumber.cpt_watchdog > WATCHDOG_MAX) { 8002f7a: 4b1f ldr r3, [pc, #124] ; (8002ff8 ) 8002f7c: 899a ldrh r2, [r3, #12] 8002f7e: f240 4306 movw r3, #1030 ; 0x406 8002f82: 429a cmp r2, r3 8002f84: d905 bls.n 8002f92 Dumber.cpt_watchdog=30; // pour avoir toujours un watchdog cadancé à 1000 ms, et pas 1030ms 8002f86: 4b1c ldr r3, [pc, #112] ; (8002ff8 ) 8002f88: 221e movs r2, #30 8002f8a: 819a strh r2, [r3, #12] Dumber.InvalidWatchdogResetCpt++; 8002f8c: 7b9a ldrb r2, [r3, #14] 8002f8e: 3201 adds r2, #1 8002f90: 739a strb r2, [r3, #14] } if (Dumber.InvalidWatchdogResetCpt > WATCHDOG_INVALID_COUNTER_MAX) { 8002f92: 4b19 ldr r3, [pc, #100] ; (8002ff8 ) 8002f94: 7b9b ldrb r3, [r3, #14] 8002f96: 2b03 cmp r3, #3 8002f98: d822 bhi.n 8002fe0 systemChangeState(STATE_WATCHDOG_DISABLE); } if(Dumber.cpt_systick % 500 == 0){ 8002f9a: 4b17 ldr r3, [pc, #92] ; (8002ff8 ) 8002f9c: 891a ldrh r2, [r3, #8] 8002f9e: 4b18 ldr r3, [pc, #96] ; (8003000 ) 8002fa0: fba3 1302 umull r1, r3, r3, r2 8002fa4: 095b lsrs r3, r3, #5 8002fa6: f44f 71fa mov.w r1, #500 ; 0x1f4 8002faa: fb01 2313 mls r3, r1, r3, r2 8002fae: b29b uxth r3, r3 8002fb0: b1d3 cbz r3, 8002fe8 if (etatLED ==12) etatLED = 0; }*/ #if !defined (__NO_INACTIVITY_SHUTDOWN__) if(Dumber.cpt_inactivity>=120000){ 8002fb2: 4b11 ldr r3, [pc, #68] ; (8002ff8 ) 8002fb4: 691a ldr r2, [r3, #16] 8002fb6: 4b13 ldr r3, [pc, #76] ; (8003004 ) 8002fb8: 429a cmp r2, r3 8002fba: dc1b bgt.n 8002ff4 } #else #warning "Shutdown after inactivity period disabled! Not for production !!!" #endif /* __NO_INACTIVITY_SHUTDOWN__ */ Dumber.flagSystick=1; 8002fbc: 2201 movs r2, #1 8002fbe: 4b0e ldr r3, [pc, #56] ; (8002ff8 ) 8002fc0: 759a strb r2, [r3, #22] 8002fc2: bd08 pop {r3, pc} regulation_vitesseD =1; 8002fc4: 4910 ldr r1, [pc, #64] ; (8003008 ) 8002fc6: 800b strh r3, [r1, #0] regulation_vitesseG =1; 8002fc8: 4910 ldr r1, [pc, #64] ; (800300c ) 8002fca: 800b strh r3, [r1, #0] 8002fcc: e7c1 b.n 8002f52 if((Dumber.WatchDogStartEnable == TRUE) && (Dumber.StateSystem != STATE_IDLE)) 8002fce: 4b0a ldr r3, [pc, #40] ; (8002ff8 ) 8002fd0: 791b ldrb r3, [r3, #4] 8002fd2: 2b00 cmp r3, #0 8002fd4: d0ce beq.n 8002f74 Dumber.cpt_watchdog+=10; 8002fd6: 4a08 ldr r2, [pc, #32] ; (8002ff8 ) 8002fd8: 8993 ldrh r3, [r2, #12] 8002fda: 330a adds r3, #10 8002fdc: 8193 strh r3, [r2, #12] 8002fde: e7cc b.n 8002f7a systemChangeState(STATE_WATCHDOG_DISABLE); 8002fe0: 2004 movs r0, #4 8002fe2: f7ff ff0d bl 8002e00 8002fe6: e7d8 b.n 8002f9a Dumber.acquisition=VOLTAGE; 8002fe8: 2262 movs r2, #98 ; 0x62 8002fea: 4b03 ldr r3, [pc, #12] ; (8002ff8 ) 8002fec: 751a strb r2, [r3, #20] batteryRefreshData(); 8002fee: f7fe fefb bl 8001de8 8002ff2: e7de b.n 8002fb2 systemShutDown(); 8002ff4: f7ff fefa bl 8002dec 8002ff8: 20000330 .word 0x20000330 8002ffc: 2000031a .word 0x2000031a 8003000: 10624dd3 .word 0x10624dd3 8003004: 0001d4bf .word 0x0001d4bf 8003008: 2000032a .word 0x2000032a 800300c: 2000031c .word 0x2000031c 08003010 : ** Abstract: Convert integer to ascii ** Returns: void **--------------------------------------------------------------------------- */ void ts_itoa(char **buf, unsigned int d, int base) { 8003010: b470 push {r4, r5, r6} int div = 1; 8003012: 2301 movs r3, #1 while (d/div >= base) 8003014: e001 b.n 800301a div *= base; 8003016: fb02 f303 mul.w r3, r2, r3 while (d/div >= base) 800301a: fbb1 f4f3 udiv r4, r1, r3 800301e: 4294 cmp r4, r2 8003020: d2f9 bcs.n 8003016 8003022: e004 b.n 800302e d = d%div; div /= base; if (num > 9) *((*buf)++) = (num-10) + 'A'; else *((*buf)++) = num + '0'; 8003024: 6805 ldr r5, [r0, #0] 8003026: 1c6e adds r6, r5, #1 8003028: 6006 str r6, [r0, #0] 800302a: 3430 adds r4, #48 ; 0x30 800302c: 702c strb r4, [r5, #0] while (div != 0) 800302e: b16b cbz r3, 800304c int num = d/div; 8003030: fbb1 f4f3 udiv r4, r1, r3 d = d%div; 8003034: fb03 1114 mls r1, r3, r4, r1 div /= base; 8003038: fb93 f3f2 sdiv r3, r3, r2 if (num > 9) 800303c: 2c09 cmp r4, #9 800303e: ddf1 ble.n 8003024 *((*buf)++) = (num-10) + 'A'; 8003040: 6805 ldr r5, [r0, #0] 8003042: 1c6e adds r6, r5, #1 8003044: 6006 str r6, [r0, #0] 8003046: 3437 adds r4, #55 ; 0x37 8003048: 702c strb r4, [r5, #0] 800304a: e7f0 b.n 800302e } } 800304c: bc70 pop {r4, r5, r6} 800304e: 4770 bx lr 08003050 : ** Abstract: Writes arguments va to buffer buf according to format fmt ** Returns: Length of string **--------------------------------------------------------------------------- */ int ts_formatstring(char *buf, const char *fmt, va_list va) { 8003050: b530 push {r4, r5, lr} 8003052: b083 sub sp, #12 8003054: 9001 str r0, [sp, #4] 8003056: 460c mov r4, r1 8003058: 9200 str r2, [sp, #0] char *start_buf = buf; 800305a: 4605 mov r5, r0 while(*fmt) 800305c: e03e b.n 80030dc { /* Character needs formating? */ if (*fmt == '%') { switch (*(++fmt)) 800305e: 7863 ldrb r3, [r4, #1] 8003060: 2b64 cmp r3, #100 ; 0x64 8003062: d01c beq.n 800309e 8003064: d90d bls.n 8003082 8003066: 2b73 cmp r3, #115 ; 0x73 8003068: d04a beq.n 8003100 800306a: d916 bls.n 800309a 800306c: 2b75 cmp r3, #117 ; 0x75 800306e: d121 bne.n 80030b4 *buf++ = *arg++; } } break; case 'u': ts_itoa(&buf, va_arg(va, unsigned int), 10); 8003070: 9b00 ldr r3, [sp, #0] 8003072: 1d1a adds r2, r3, #4 8003074: 9200 str r2, [sp, #0] 8003076: 220a movs r2, #10 8003078: 6819 ldr r1, [r3, #0] 800307a: a801 add r0, sp, #4 800307c: f7ff ffc8 bl 8003010 break; 8003080: e02b b.n 80030da switch (*(++fmt)) 8003082: 2b58 cmp r3, #88 ; 0x58 8003084: d018 beq.n 80030b8 8003086: 2b63 cmp r3, #99 ; 0x63 8003088: d01f beq.n 80030ca 800308a: 2b25 cmp r3, #37 ; 0x25 800308c: d125 bne.n 80030da case 'x': case 'X': ts_itoa(&buf, va_arg(va, int), 16); break; case '%': *buf++ = '%'; 800308e: 9b01 ldr r3, [sp, #4] 8003090: 1c5a adds r2, r3, #1 8003092: 9201 str r2, [sp, #4] 8003094: 2225 movs r2, #37 ; 0x25 8003096: 701a strb r2, [r3, #0] break; 8003098: e01f b.n 80030da switch (*(++fmt)) 800309a: 2b69 cmp r3, #105 ; 0x69 800309c: d11d bne.n 80030da signed int val = va_arg(va, signed int); 800309e: 9b00 ldr r3, [sp, #0] 80030a0: 1d1a adds r2, r3, #4 80030a2: 9200 str r2, [sp, #0] 80030a4: 6819 ldr r1, [r3, #0] if (val < 0) 80030a6: 2900 cmp r1, #0 80030a8: db23 blt.n 80030f2 ts_itoa(&buf, val, 10); 80030aa: 220a movs r2, #10 80030ac: a801 add r0, sp, #4 80030ae: f7ff ffaf bl 8003010 break; 80030b2: e012 b.n 80030da switch (*(++fmt)) 80030b4: 2b78 cmp r3, #120 ; 0x78 80030b6: d110 bne.n 80030da ts_itoa(&buf, va_arg(va, int), 16); 80030b8: 9b00 ldr r3, [sp, #0] 80030ba: 1d1a adds r2, r3, #4 80030bc: 9200 str r2, [sp, #0] 80030be: 2210 movs r2, #16 80030c0: 6819 ldr r1, [r3, #0] 80030c2: a801 add r0, sp, #4 80030c4: f7ff ffa4 bl 8003010 break; 80030c8: e007 b.n 80030da *buf++ = va_arg(va, int); 80030ca: 9b01 ldr r3, [sp, #4] 80030cc: 1c5a adds r2, r3, #1 80030ce: 9201 str r2, [sp, #4] 80030d0: 9a00 ldr r2, [sp, #0] 80030d2: 1d11 adds r1, r2, #4 80030d4: 9100 str r1, [sp, #0] 80030d6: 6812 ldr r2, [r2, #0] 80030d8: 701a strb r2, [r3, #0] } fmt++; 80030da: 3402 adds r4, #2 while(*fmt) 80030dc: 7823 ldrb r3, [r4, #0] 80030de: b1f3 cbz r3, 800311e if (*fmt == '%') 80030e0: 2b25 cmp r3, #37 ; 0x25 80030e2: d0bc beq.n 800305e } /* Else just copy */ else { *buf++ = *fmt++; 80030e4: 9b01 ldr r3, [sp, #4] 80030e6: 1c5a adds r2, r3, #1 80030e8: 9201 str r2, [sp, #4] 80030ea: 7822 ldrb r2, [r4, #0] 80030ec: 701a strb r2, [r3, #0] 80030ee: 3401 adds r4, #1 80030f0: e7f4 b.n 80030dc val *= -1; 80030f2: 4249 negs r1, r1 *buf++ = '-'; 80030f4: 9b01 ldr r3, [sp, #4] 80030f6: 1c5a adds r2, r3, #1 80030f8: 9201 str r2, [sp, #4] 80030fa: 222d movs r2, #45 ; 0x2d 80030fc: 701a strb r2, [r3, #0] 80030fe: e7d4 b.n 80030aa char * arg = va_arg(va, char *); 8003100: 9b00 ldr r3, [sp, #0] 8003102: 1d1a adds r2, r3, #4 8003104: 9200 str r2, [sp, #0] 8003106: 681b ldr r3, [r3, #0] while (*arg) 8003108: e005 b.n 8003116 *buf++ = *arg++; 800310a: 9a01 ldr r2, [sp, #4] 800310c: 1c51 adds r1, r2, #1 800310e: 9101 str r1, [sp, #4] 8003110: 7819 ldrb r1, [r3, #0] 8003112: 7011 strb r1, [r2, #0] 8003114: 3301 adds r3, #1 while (*arg) 8003116: 781a ldrb r2, [r3, #0] 8003118: 2a00 cmp r2, #0 800311a: d1f6 bne.n 800310a 800311c: e7dd b.n 80030da } } *buf = 0; 800311e: 2200 movs r2, #0 8003120: 9b01 ldr r3, [sp, #4] 8003122: 701a strb r2, [r3, #0] return (int)(buf - start_buf); } 8003124: 9801 ldr r0, [sp, #4] 8003126: 1b40 subs r0, r0, r5 8003128: b003 add sp, #12 800312a: bd30 pop {r4, r5, pc} 0800312c : ** given character string according to the format parameter. ** Returns: Number of bytes written **=========================================================================== */ int siprintf(char *buf, const char *fmt, ...) { 800312c: b40e push {r1, r2, r3} 800312e: b500 push {lr} 8003130: b082 sub sp, #8 8003132: aa03 add r2, sp, #12 8003134: f852 1b04 ldr.w r1, [r2], #4 int length; va_list va; va_start(va, fmt); 8003138: 9201 str r2, [sp, #4] length = ts_formatstring(buf, fmt, va); 800313a: f7ff ff89 bl 8003050 va_end(va); return length; } 800313e: b002 add sp, #8 8003140: f85d eb04 ldr.w lr, [sp], #4 8003144: b003 add sp, #12 8003146: 4770 bx lr 08003148 : * @param Aucun * @retval Aucun */ void usartConfigure(void) { 8003148: b5f0 push {r4, r5, r6, r7, lr} 800314a: b087 sub sp, #28 GPIO_InitTypeDef Init_Structure; NVIC_InitTypeDef NVIC_InitStructure; // Configure les lignes d'E/S // Configure Output ALTERNATE FONCTION PPULL PORT B6 Tx Init_Structure.GPIO_Pin = GPIO_Pin_6; 800314c: 2340 movs r3, #64 ; 0x40 800314e: f8ad 3004 strh.w r3, [sp, #4] Init_Structure.GPIO_Mode = GPIO_Mode_AF_PP; 8003152: 2318 movs r3, #24 8003154: f88d 3007 strb.w r3, [sp, #7] Init_Structure.GPIO_Speed=GPIO_Speed_50MHz; 8003158: 2303 movs r3, #3 800315a: f88d 3006 strb.w r3, [sp, #6] GPIO_Init(GPIOB, &Init_Structure); 800315e: 4c23 ldr r4, [pc, #140] ; (80031ec ) 8003160: a901 add r1, sp, #4 8003162: 4620 mov r0, r4 8003164: f7fe f8f2 bl 800134c // Configure B7 Rx Init_Structure.GPIO_Pin = GPIO_Pin_7; 8003168: 2780 movs r7, #128 ; 0x80 800316a: f8ad 7004 strh.w r7, [sp, #4] Init_Structure.GPIO_Mode = GPIO_Mode_IN_FLOATING; 800316e: 2604 movs r6, #4 8003170: f88d 6007 strb.w r6, [sp, #7] GPIO_Init(GPIOB, &Init_Structure); 8003174: eb0d 0106 add.w r1, sp, r6 8003178: 4620 mov r0, r4 800317a: f7fe f8e7 bl 800134c // Configure l'USART USART_InitStructure.USART_BaudRate = 9600; 800317e: f44f 5316 mov.w r3, #9600 ; 0x2580 8003182: 9302 str r3, [sp, #8] USART_InitStructure.USART_WordLength = USART_WordLength_8b; 8003184: 2400 movs r4, #0 8003186: f8ad 400c strh.w r4, [sp, #12] USART_InitStructure.USART_StopBits = USART_StopBits_1; 800318a: f8ad 400e strh.w r4, [sp, #14] USART_InitStructure.USART_Parity = USART_Parity_No; 800318e: f8ad 4010 strh.w r4, [sp, #16] USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; 8003192: f8ad 4014 strh.w r4, [sp, #20] USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; 8003196: 230c movs r3, #12 8003198: f8ad 3012 strh.w r3, [sp, #18] USART_Init(USART1, &USART_InitStructure); 800319c: 4d14 ldr r5, [pc, #80] ; (80031f0 ) 800319e: a902 add r1, sp, #8 80031a0: 4628 mov r0, r5 80031a2: f7fe fc8f bl 8001ac4 USART_DMACmd(USART1, USART_DMAReq_Tx, ENABLE); 80031a6: 2201 movs r2, #1 80031a8: 4639 mov r1, r7 80031aa: 4628 mov r0, r5 80031ac: f7fe fd18 bl 8001be0 USART_Cmd(USART1, ENABLE); 80031b0: 2101 movs r1, #1 80031b2: 4628 mov r0, r5 80031b4: f7fe fcea bl 8001b8c GPIO_PinRemapConfig(GPIO_Remap_USART1,ENABLE); 80031b8: 2101 movs r1, #1 80031ba: 4630 mov r0, r6 80031bc: f7fe f91a bl 80013f4 USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); 80031c0: 2201 movs r2, #1 80031c2: f240 5125 movw r1, #1317 ; 0x525 80031c6: 4628 mov r0, r5 80031c8: f7fe fcee bl 8001ba8 // configure les interruptions de l'USART NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; 80031cc: 2325 movs r3, #37 ; 0x25 80031ce: f88d 3000 strb.w r3, [sp] NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; 80031d2: f88d 4001 strb.w r4, [sp, #1] NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; 80031d6: f88d 4002 strb.w r4, [sp, #2] NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 80031da: 2301 movs r3, #1 80031dc: f88d 3003 strb.w r3, [sp, #3] NVIC_Init(&NVIC_InitStructure); 80031e0: 4668 mov r0, sp 80031e2: f7fd fea3 bl 8000f2c } 80031e6: b007 add sp, #28 80031e8: bdf0 pop {r4, r5, r6, r7, pc} 80031ea: bf00 nop 80031ec: 40010c00 .word 0x40010c00 80031f0: 40013800 .word 0x40013800 080031f4 : * * @param Aucun * @retval Aucun */ void usartInitDMA(uint16_t bufferSize) { 80031f4: b530 push {r4, r5, lr} 80031f6: b08d sub sp, #52 ; 0x34 80031f8: 4605 mov r5, r0 DMA_InitTypeDef DMA_InitStructure; DMA_DeInit(DMA1_Channel4); 80031fa: 4c0e ldr r4, [pc, #56] ; (8003234 ) 80031fc: 4620 mov r0, r4 80031fe: f7fd ff63 bl 80010c8 DMA_InitStructure.DMA_PeripheralBaseAddr = 0x40013804; 8003202: 4b0d ldr r3, [pc, #52] ; (8003238 ) 8003204: 9301 str r3, [sp, #4] DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)sendString; 8003206: 4b0d ldr r3, [pc, #52] ; (800323c ) 8003208: 9302 str r3, [sp, #8] DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST; 800320a: 2310 movs r3, #16 800320c: 9303 str r3, [sp, #12] DMA_InitStructure.DMA_BufferSize = bufferSize; 800320e: 9504 str r5, [sp, #16] DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; 8003210: 2300 movs r3, #0 8003212: 9305 str r3, [sp, #20] DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; 8003214: 2280 movs r2, #128 ; 0x80 8003216: 9206 str r2, [sp, #24] DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; 8003218: 9307 str r3, [sp, #28] DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; 800321a: 9308 str r3, [sp, #32] DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; 800321c: 9309 str r3, [sp, #36] ; 0x24 DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh; 800321e: f44f 5240 mov.w r2, #12288 ; 0x3000 8003222: 920a str r2, [sp, #40] ; 0x28 DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; 8003224: 930b str r3, [sp, #44] ; 0x2c DMA_Init(DMA1_Channel4, &DMA_InitStructure); 8003226: a901 add r1, sp, #4 8003228: 4620 mov r0, r4 800322a: f7fd ffe1 bl 80011f0 } 800322e: b00d add sp, #52 ; 0x34 8003230: bd30 pop {r4, r5, pc} 8003232: bf00 nop 8003234: 40020044 .word 0x40020044 8003238: 40013804 .word 0x40013804 800323c: 20000370 .word 0x20000370 08003240 : * @brief Chargement du buffer Tx dans la DMA et envoi via l'UART * * @param Aucun * @retval Aucun */ void usartSendData(void){ 8003240: b508 push {r3, lr} int taille; for(taille = 0; sendString[taille]!= '\r'; taille++); 8003242: 2000 movs r0, #0 8003244: e000 b.n 8003248 8003246: 3001 adds r0, #1 8003248: 4b10 ldr r3, [pc, #64] ; (800328c ) 800324a: 5c1b ldrb r3, [r3, r0] 800324c: 2b0d cmp r3, #13 800324e: d1fa bne.n 8003246 usartInitDMA(taille+1); 8003250: 3001 adds r0, #1 8003252: b280 uxth r0, r0 8003254: f7ff ffce bl 80031f4 DMA_Cmd(DMA1_Channel4, ENABLE); 8003258: 2101 movs r1, #1 800325a: 480d ldr r0, [pc, #52] ; (8003290 ) 800325c: f7fd ffe7 bl 800122e while (DMA_GetFlagStatus(DMA1_FLAG_TC4) == RESET); 8003260: f44f 5000 mov.w r0, #8192 ; 0x2000 8003264: f7fd fffa bl 800125c 8003268: 2800 cmp r0, #0 800326a: d0f9 beq.n 8003260 for(i=0; i) 8003270: 801a strh r2, [r3, #0] 8003272: e005 b.n 8003280 sendString[i]=0; 8003274: 2100 movs r1, #0 8003276: 4a05 ldr r2, [pc, #20] ; (800328c ) 8003278: 54d1 strb r1, [r2, r3] for(i=0; i) 800327e: 8013 strh r3, [r2, #0] 8003280: 4b04 ldr r3, [pc, #16] ; (8003294