Failed try to send data from computer to robot

Code/STM32/Core/Inc/stm32f1xx_it.h

@@ -57,6 +57,7 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void DMA1_Channel7_IRQHandler(void);
 void TIM4_IRQHandler(void);
+void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 

Code/STM32/Core/Src/Components/ESP8266.cpp

@@ -17,10 +17,14 @@ ESP8266::~ESP8266() {
 	// TODO Auto-generated destructor stub
 }
 
+void ESP8266::uart_callback(){
+	uart_receive_until_termination_byte(interruptPayload, MAX_BUFFER_SIZE, '\n', 2);
+}
+
 void ESP8266::init(){
 	command("AT+CWMODE=1,1\r\n");
 	command("AT+CWJAP=\"Gabriel_2G\",\"gabrielwifi\"\r\n");
-	command("AT+CWLAP\r\n");
+	//command("AT+CWLAP\r\n");
 	command("AT+CIPMUX=1\r\n");
 	command("AT+CIPSTART=0,\"UDP\",\"239.0.0.1\",10001,11001,0\r\n");
 }
@@ -113,25 +117,37 @@ HAL_StatusTypeDef ESP8266::uart_receive_until_termination_byte(uint8_t *pData, u
 }
 
 ESP8266::statusTypeDef ESP8266::wait_until_ok() {
+	HAL_UART_AbortReceive_IT(huart);
 	while(uart_receive_until_termination_byte(buffer, MAX_BUFFER_SIZE, '\n', OK_TIMEOUT) != HAL_TIMEOUT){
 		if(!strcmp((char*) buffer, "OK\r\n")){
+			HAL_UART_Receive_IT(huart, interruptHeader, 9);
 			return STATUS_OK;
 		}
 		if(!strcmp((char*) buffer, "ERROR\r\n")){
+			HAL_UART_Receive_IT(huart, interruptHeader, 9);
 			return STATUS_ERROR;
 		}
+		if(buffer[0] == '+'){
+
+		}
 	}
 	return STATUS_TIMEOUT;
 }
 
 ESP8266::statusTypeDef ESP8266::wait_until_send_ok() {
+	HAL_UART_AbortReceive_IT(huart);
 	while(uart_receive_until_termination_byte(buffer, MAX_BUFFER_SIZE, '\n', OK_TIMEOUT) != HAL_TIMEOUT){
 		if(!strcmp((char*) buffer, "SEND OK\r\n")){
+			HAL_UART_Receive_IT(huart, interruptHeader, 9);
 			return STATUS_OK;
 		}
 		if(!strcmp((char*) buffer, "SEND ERROR\r\n")){
+			HAL_UART_Receive_IT(huart, interruptHeader, 9);
 			return STATUS_ERROR;
 		}
+		if(buffer[0] == '+'){
+
+		}
 	}
 	return STATUS_TIMEOUT;
 }

Code/STM32/Core/Src/Components/ESP8266.hpp

@@ -21,6 +21,7 @@ public:
 
 	ESP8266(UART_HandleTypeDef* huart);
 	virtual ~ESP8266();
+	void uart_callback();
 	void init();
 	statusTypeDef command(const char* command);
 	void send_uint32(const char* name, uint32_t value);
@@ -28,6 +29,8 @@ private:
 	static const uint32_t MAX_BUFFER_SIZE = 256;
 	static const uint32_t OK_TIMEOUT = 5000;
 
+	uint8_t interruptHeader[9];
+	uint8_t interruptPayload[MAX_BUFFER_SIZE];
 	statusTypeDef send(const char* data);
 	HAL_StatusTypeDef wait_on_flag_until_timeout(uint32_t Flag, FlagStatus Status, uint32_t Tickstart, uint32_t Timeout);
 	HAL_StatusTypeDef uart_receive_until_termination_byte(uint8_t *pData, uint16_t Size, uint8_t terminationByte, uint32_t Timeout);

Code/STM32/Core/Src/Components/Start.cpp

@@ -23,6 +23,12 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
 	}
 }
 
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
+	if(huart == &huart1){
+		esp0.uart_callback();
+	}
+}
+
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
 	if(huart == &huart2){
 		debug.serialTxCpltCallback();
@@ -57,14 +63,14 @@ void start(){
 		debug.debug("ATE0 TIMEOUT");
 		break;
 	}
+	esp0.init();
 	//+IPD,0,14:Hello World 01\r\n
 	debug.info("Init ESP8266 end");
 	while(true){
-		HAL_GPIO_WritePin(LED_BUILTIN_GPIO_Port, LED_BUILTIN_Pin, (GPIO_PinState)(TIM1->CNT & 0b00000000000000000000000000000001));
 		esp0.send_uint32("TIM1->CNT", TIM1->CNT);
-		sprintf(buf, "TIM1->CNT: %lu", TIM1->CNT);
-		debug.debug(buf);
-		HAL_Delay(10);
+		/*sprintf(buf, "TIM1->CNT: %lu", TIM1->CNT);
+		debug.debug(buf);*/
+		//HAL_Delay(10);
 	}
 }
 

Code/STM32/Core/Src/stm32f1xx_hal_msp.c

@@ -349,6 +349,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 
     __HAL_AFIO_REMAP_USART1_ENABLE();
 
+    /* USART1 interrupt Init */
+    HAL_NVIC_SetPriority(USART1_IRQn, 7, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspInit 1 */
 
   /* USER CODE END USART1_MspInit 1 */
@@ -425,6 +428,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
     */
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7);
 
+    /* USART1 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspDeInit 1 */
 
   /* USER CODE END USART1_MspDeInit 1 */

Code/STM32/Core/Src/stm32f1xx_it.c

@@ -57,6 +57,7 @@
 /* External variables --------------------------------------------------------*/
 extern TIM_HandleTypeDef htim4;
 extern DMA_HandleTypeDef hdma_usart2_tx;
+extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
 /* USER CODE BEGIN EV */
 
@@ -228,6 +229,20 @@ void TIM4_IRQHandler(void)
   /* USER CODE END TIM4_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART2 global interrupt.
   */

Code/STM32/F103C8-PFC.ioc

@@ -74,6 +74,7 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:false\:true\:false
 NVIC.TIM4_IRQn=true\:15\:0\:true\:false\:true\:true\:true\:true
+NVIC.USART1_IRQn=true\:7\:0\:true\:false\:true\:true\:true\:true
 NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA11.Mode=Device