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Etape 7 : liaison UART SCI-A 57600 8N1 validee sur cible

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Emission $T,...*XX et reception $C,...*XX conformes a docs/ESP32-UART.md.
Trame mesuree a 129 caracteres, checksum XOR verifie independamment.

Corrections trouvees au bring-up sur materiel :

- StartCpuTimer0() manquant : ConfigCpuTimer() laisse le timer arrete, donc
  le tick d'emission ne se produisait jamais et rien ne partait sur la ligne.

- Suppression de "%f" dans sprintf. Sur C28x le support flottant de printf
  passe par du long double 64 bits emule (frexpl/scalbnl/L$$DIV) : le CPU
  partait a PC=0 des le premier envoi. Formatage decimal manuel a la place,
  comme le prevoyait deja PROMPT §7 etape 7.

- RXFFIENA n'etait pas arme dans SCIFFRX : aucune interruption de reception.

- Recuperation de SCIRXST.RXERROR. Un FE/OE/PE/BRKDT le latche et bloque le
  recepteur jusqu'a un SW RESET du SCI ; sans ca une seule perturbation
  arretait la reception definitivement (constate : RXERROR+FE+BRKDT latches).

- Formatage borne : clamp des valeurs (NaN et saturation) puis snprintf avec
  la capacite restante. Un champ qui ne tient pas est abandonne entierement,
  ce que le protocole autorise, plutot que de deborder s_tx_frame.

- Emission non bloquante : send_telemetry() ne fait que mettre en attente,
  uart_link_service_tx() pousse au plus une FIFO (4 octets) puis rend la
  main. L'ancienne version monopolisait 22 ms par trame, incompatible avec
  la priorite donnee a la boucle de regulation.

Plan memoire (F2802x_generic_flash.cmd) :
- les 4 secteurs flash du F28027 sont declares (32K mots au lieu de 8K)
- .ebss bascule en RAML0 : il etait colle juste apres .stack, donc tout
  debordement de pile ecrasait silencieusement les globales
- pile portee a 1024 mots, seule dans RAMM1

LED : polarite reelle confirmee active-haut (cathode commune a la masse,
anodes pilotees par GPIO12/GPIO33 a travers 1k) -> LED_ACTIVE_LOW = 0.
Repond au point ouvert §9.2 du PROMPT.

safety_init() reste desactive dans main.c : bring-up isole LED+UART, a
reactiver quand l'etage de puissance sera cable.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
This commit is contained in:
nicoboy
2026-08-02 18:38:18 +02:00
parent e717d0deec
commit d185d73422
8 changed files with 551 additions and 45 deletions
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