Firmware: PWM Servo tested with ESC

Firmware/F407V-PWMServoTester/.cproject

@@ -222,4 +222,5 @@
 			<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
 	</storageModule>
+	<storageModule moduleId="refreshScope"/>
 </cproject>

Firmware/F407V-PWMServoTester/Core/Inc/stm32f4xx_hal_conf.h

@@ -189,7 +189,7 @@
 #define  USE_HAL_SPDIFRX_REGISTER_CALLBACKS     0U /* SPDIFRX register callback disabled   */
 #define  USE_HAL_SMBUS_REGISTER_CALLBACKS       0U /* SMBUS register callback disabled     */
 #define  USE_HAL_SPI_REGISTER_CALLBACKS         1U /* SPI register callback enabled       */
-#define  USE_HAL_TIM_REGISTER_CALLBACKS         0U /* TIM register callback disabled       */
+#define  USE_HAL_TIM_REGISTER_CALLBACKS         1U /* TIM register callback enabled       */
 #define  USE_HAL_UART_REGISTER_CALLBACKS        1U /* UART register callback enabled      */
 #define  USE_HAL_USART_REGISTER_CALLBACKS       0U /* USART register callback disabled     */
 #define  USE_HAL_WWDG_REGISTER_CALLBACKS        0U /* WWDG register callback disabled      */

Firmware/F407V-PWMServoTester/Core/Inc/tim.h

@@ -32,12 +32,15 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern TIM_HandleTypeDef htim8;
+
 extern TIM_HandleTypeDef htim10;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
+void MX_TIM8_Init(void);
 void MX_TIM10_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

Firmware/F407V-PWMServoTester/Core/Src/Components/PWMServo.cpp

@@ -0,0 +1,49 @@
+/*
+ * PWMServo.cpp
+ *
+ *  Created on: Jul 30, 2024
+ *      Author: Gabriel
+ */
+
+#include "PWMServo.hpp"
+
+PWMServo::PWMServo(PWM_Pin* pwmPin, float pulseWidthMinUs, float pulseWidthMaxUs) :
+pwmPin(pwmPin), pulseWidthMinUs(pulseWidthMinUs), pulseWidthMaxUs(pulseWidthMaxUs) {
+
+}
+
+PWMServo::~PWMServo() {
+
+}
+
+int32_t PWMServo::init() {
+	if(pulseWidthMaxUs <= pulseWidthMinUs){
+		// Max pulse width not greater than min pulse width
+		return -1;
+	}
+	if(pwmPin->init()){
+		// Could not initialize PWM pin
+		return -1;
+	}
+	initialized = true;
+	return 0;
+}
+
+int32_t PWMServo::setPosition(float position) {
+	if(!initialized){
+		// Not initialized
+		return -1;
+	}
+	if(position < 0 || position > 1){
+		// position out of range
+		return -1;
+	}
+	float frequency;
+	if(pwmPin->getFrequency(&frequency)){
+		// Error getting PWM frequency
+		return -1;
+	}
+	float pulseWidthUs = pulseWidthMinUs + position*(pulseWidthMaxUs - pulseWidthMinUs);
+	float dutyCycle = pulseWidthUs*frequency/1000000;
+	return pwmPin->setDutyCycle(dutyCycle);
+}

Firmware/F407V-PWMServoTester/Core/Src/Components/PWMServo.hpp

@@ -0,0 +1,27 @@
+/*
+ * PWMServo.hpp
+ *
+ *  Created on: Jul 30, 2024
+ *      Author: Gabriel
+ */
+
+#ifndef SRC_COMPONENTS_PWMSERVO_HPP_
+#define SRC_COMPONENTS_PWMSERVO_HPP_
+
+#include <cinttypes>
+#include "PWM_Pin.hpp"
+
+class PWMServo {
+public:
+	PWMServo(PWM_Pin* pwmPin, float pulseWidthMinUs = 500, float pulseWidthMaxUs = 1500);
+	virtual ~PWMServo();
+	int32_t init();
+	int32_t setPosition(float position);
+private:
+	bool initialized = false;
+	PWM_Pin* pwmPin;
+	float pulseWidthMinUs;
+	float pulseWidthMaxUs;
+};
+
+#endif /* SRC_COMPONENTS_PWMSERVO_HPP_ */

Firmware/F407V-PWMServoTester/Core/Src/Components/PWM_Pin.hpp

@@ -0,0 +1,21 @@
+/*
+ * PWM_Pin.hpp
+ *
+ *  Created on: Jul 30, 2024
+ *      Author: Gabriel
+ */
+
+#ifndef SRC_COMPONENTS_PWM_PIN_HPP_
+#define SRC_COMPONENTS_PWM_PIN_HPP_
+
+#include <cinttypes>
+
+class PWM_Pin {
+public:
+	virtual int32_t init() = 0;
+	virtual int32_t setDutyCycle(float dutyCycle) = 0;
+	virtual int32_t getFrequency(float* frequency) = 0;
+	virtual int32_t reset() = 0;
+};
+
+#endif /* SRC_COMPONENTS_PWM_PIN_HPP_ */

Firmware/F407V-PWMServoTester/Core/Src/Components/PWM_Pin_STM32.cpp

@@ -0,0 +1,60 @@
+/*
+ * PWM_Pin_STM32.cpp
+ *
+ *  Created on: Jul 30, 2024
+ *      Author: Gabriel
+ */
+
+#include "PWM_Pin_STM32.hpp"
+
+PWM_Pin_STM32::PWM_Pin_STM32(TIM_HandleTypeDef* htim, uint32_t channel) : htim(htim), channel(channel) {
+
+}
+
+PWM_Pin_STM32::~PWM_Pin_STM32() {
+
+}
+
+int32_t PWM_Pin_STM32::init() {
+	if(HAL_TIM_PWM_Start(htim, channel) == HAL_OK){
+		return 0;
+	}else{
+		return -1;
+	}
+}
+
+int32_t PWM_Pin_STM32::setDutyCycle(float dutyCycle) {
+	if(dutyCycle<0 || dutyCycle>1){
+		// dutyCycle out of range
+		return -1;
+	}
+	uint32_t arr = __HAL_TIM_GET_AUTORELOAD(htim);
+	uint32_t ccr = dutyCycle*arr;
+	__HAL_TIM_SET_COMPARE(htim, channel, ccr);
+	return 0;
+}
+
+int32_t PWM_Pin_STM32::getFrequency(float* frequency){
+	// FIXME: May work only on STM32F4
+	float timClkFreq;
+	if((uint32_t*)htim->Instance >= (uint32_t*)APB1PERIPH_BASE && (uint32_t*)htim->Instance < (uint32_t*)APB2PERIPH_BASE){
+		// Timer on APB1
+		timClkFreq = HAL_RCC_GetPCLK1Freq()*2;
+	}else if((uint32_t*)htim->Instance > (uint32_t*)APB2PERIPH_BASE){
+		// Timer on APB2
+		timClkFreq = HAL_RCC_GetPCLK2Freq()*2;
+	}else{
+		// Unknown bus
+		return -1;
+	}
+	if(frequency){
+		*frequency = timClkFreq/((htim->Instance->ARR+1) * (htim->Instance->PSC+1));
+	}
+	return 0;
+}
+
+int32_t PWM_Pin_STM32::reset(){
+	// TODO: test if this implementation works to force reload
+	__HAL_TIM_SET_COUNTER(htim, 0);
+	return 0;
+}

Firmware/F407V-PWMServoTester/Core/Src/Components/PWM_Pin_STM32.hpp

@@ -0,0 +1,27 @@
+/*
+ * PWM_Pin_STM32.hpp
+ *
+ *  Created on: Jul 30, 2024
+ *      Author: Gabriel
+ */
+
+#ifndef SRC_COMPONENTS_PWM_PIN_STM32_HPP_
+#define SRC_COMPONENTS_PWM_PIN_STM32_HPP_
+
+#include "main.h"
+#include "PWM_Pin.hpp"
+
+class PWM_Pin_STM32 : public PWM_Pin {
+public:
+	PWM_Pin_STM32(TIM_HandleTypeDef* htim, uint32_t channel);
+	virtual ~PWM_Pin_STM32();
+	int32_t init();
+	int32_t setDutyCycle(float dutyCycle);
+	int32_t getFrequency(float* frequency);
+	int32_t reset();
+private:
+	TIM_HandleTypeDef* htim;
+	uint32_t channel;
+};
+
+#endif /* SRC_COMPONENTS_PWM_PIN_STM32_HPP_ */

Firmware/F407V-PWMServoTester/Core/Src/Components/start.cpp

@@ -11,6 +11,8 @@
 #include "GPIO_Pin_STM32.hpp"
 #include "BinLeds.hpp"
 #include "LogDriver.hpp"
+#include "PWMServo.hpp"
+#include "PWM_Pin_STM32.hpp"
 
 GPIO_Pin_STM32 ledOrange(GPIOD, GPIO_PIN_13);
 GPIO_Pin_STM32 ledGreen(GPIOD, GPIO_PIN_12);
@@ -18,7 +20,9 @@ GPIO_Pin_STM32 ledRed(GPIOD, GPIO_PIN_14);
 GPIO_Pin_STM32 ledBlue(GPIOD, GPIO_PIN_15);
 BinLeds discoveryLeds((GPIO_Pin*[]){&ledOrange, &ledGreen, &ledRed, &ledBlue}, 4);
 
-uint8_t recvBuffer[12];
+extern TIM_HandleTypeDef htim8;
+PWM_Pin_STM32 escPin(&htim8, TIM_CHANNEL_3);
+PWMServo esc(&escPin, 1000, 2000);
 
 void executableDispatch(void* _executable){
 	Executable* executable = static_cast<Executable*>(_executable);
@@ -43,5 +47,13 @@ void start(){
 	LogDriver::getInstance()->init();
 	TaskHandle_t hTaskLogDriver;
 	xTaskCreate(executableDispatch, "LogDriver", 256, LogDriver::getInstance(), 20, &hTaskLogDriver);
+	esc.init();
+	esc.setPosition(0);
+	vTaskDelay(10000);
+	esc.setPosition(1);
+	vTaskDelay(10000);
+	esc.setPosition(0);
+	vTaskDelay(10000);
+	esc.setPosition(0.5);
 	vTaskDelete(nullptr);
 }

Firmware/F407V-PWMServoTester/Core/Src/main.c

@@ -103,6 +103,7 @@ int main(void)
   MX_TIM10_Init();
   MX_USART2_UART_Init();
   MX_USB_OTG_FS_PCD_Init();
+  MX_TIM8_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */

Firmware/F407V-PWMServoTester/Core/Src/tim.c

@@ -24,8 +24,79 @@
 
 /* USER CODE END 0 */
 
+TIM_HandleTypeDef htim8;
 TIM_HandleTypeDef htim10;
 
+/* TIM8 init function */
+void MX_TIM8_Init(void)
+{
+
+  /* USER CODE BEGIN TIM8_Init 0 */
+
+  /* USER CODE END TIM8_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM8_Init 1 */
+
+  /* USER CODE END TIM8_Init 1 */
+  htim8.Instance = TIM8;
+  htim8.Init.Prescaler = 50;
+  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim8.Init.Period = 65535;
+  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim8.Init.RepetitionCounter = 0;
+  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM8_Init 2 */
+
+  /* USER CODE END TIM8_Init 2 */
+  HAL_TIM_MspPostInit(&htim8);
+
+}
 /* TIM10 init function */
 void MX_TIM10_Init(void)
 {
@@ -71,7 +142,18 @@ void MX_TIM10_Init(void)
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM10)
+  if(tim_baseHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspInit 0 */
+
+  /* USER CODE END TIM8_MspInit 0 */
+    /* TIM8 clock enable */
+    __HAL_RCC_TIM8_CLK_ENABLE();
+  /* USER CODE BEGIN TIM8_MspInit 1 */
+
+  /* USER CODE END TIM8_MspInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM10)
   {
   /* USER CODE BEGIN TIM10_MspInit 0 */
 
@@ -87,7 +169,27 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(timHandle->Instance==TIM10)
+  if(timHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspPostInit 0 */
+
+  /* USER CODE END TIM8_MspPostInit 0 */
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**TIM8 GPIO Configuration
+    PC8     ------> TIM8_CH3
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_8;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM8_MspPostInit 1 */
+
+  /* USER CODE END TIM8_MspPostInit 1 */
+  }
+  else if(timHandle->Instance==TIM10)
   {
   /* USER CODE BEGIN TIM10_MspPostInit 0 */
 
@@ -114,7 +216,18 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM10)
+  if(tim_baseHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+
+  /* USER CODE END TIM8_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM8_CLK_DISABLE();
+  /* USER CODE BEGIN TIM8_MspDeInit 1 */
+
+  /* USER CODE END TIM8_MspDeInit 1 */
+  }
+  else if(tim_baseHandle->Instance==TIM10)
   {
   /* USER CODE BEGIN TIM10_MspDeInit 0 */
 

Firmware/F407V-PWMServoTester/F407V-PWMServoTester.ioc

@@ -66,8 +66,9 @@ Mcu.CPN=STM32F407VGT6
 Mcu.Family=STM32F4
 Mcu.IP0=DMA
 Mcu.IP1=FREERTOS
-Mcu.IP10=USART2
+Mcu.IP10=TIM10
-Mcu.IP11=USB_OTG_FS
+Mcu.IP11=USART2
+Mcu.IP12=USB_OTG_FS
 Mcu.IP2=I2C1
 Mcu.IP3=I2S3
 Mcu.IP4=NVIC
@@ -75,8 +76,8 @@ Mcu.IP5=RCC
 Mcu.IP6=SPI1
 Mcu.IP7=SPI2
 Mcu.IP8=SYS
-Mcu.IP9=TIM10
+Mcu.IP9=TIM8
-Mcu.IPNb=12
+Mcu.IPNb=13
 Mcu.Name=STM32F407V(E-G)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE3
@@ -116,38 +117,40 @@ Mcu.Pin39=PD15
 Mcu.Pin4=PH1-OSC_OUT
 Mcu.Pin40=PC6
 Mcu.Pin41=PC7
-Mcu.Pin42=PC9
+Mcu.Pin42=PC8
-Mcu.Pin43=PA8
+Mcu.Pin43=PC9
-Mcu.Pin44=PA9
+Mcu.Pin44=PA8
-Mcu.Pin45=PA10
+Mcu.Pin45=PA9
-Mcu.Pin46=PA11
+Mcu.Pin46=PA10
-Mcu.Pin47=PA12
+Mcu.Pin47=PA11
-Mcu.Pin48=PA13
+Mcu.Pin48=PA12
-Mcu.Pin49=PA14
+Mcu.Pin49=PA13
 Mcu.Pin5=PC0
-Mcu.Pin50=PA15
+Mcu.Pin50=PA14
-Mcu.Pin51=PC10
+Mcu.Pin51=PA15
-Mcu.Pin52=PC12
+Mcu.Pin52=PC10
-Mcu.Pin53=PD4
+Mcu.Pin53=PC12
-Mcu.Pin54=PD5
+Mcu.Pin54=PD4
-Mcu.Pin55=PD6
+Mcu.Pin55=PD5
-Mcu.Pin56=PD7
+Mcu.Pin56=PD6
-Mcu.Pin57=PB3
+Mcu.Pin57=PD7
-Mcu.Pin58=PB4
+Mcu.Pin58=PB3
-Mcu.Pin59=PB5
+Mcu.Pin59=PB4
 Mcu.Pin6=PC3
-Mcu.Pin60=PB6
+Mcu.Pin60=PB5
-Mcu.Pin61=PB7
+Mcu.Pin61=PB6
-Mcu.Pin62=PB8
+Mcu.Pin62=PB7
-Mcu.Pin63=PB9
+Mcu.Pin63=PB8
-Mcu.Pin64=PE1
+Mcu.Pin64=PB9
-Mcu.Pin65=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin65=PE1
-Mcu.Pin66=VP_SYS_VS_tim7
+Mcu.Pin66=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin67=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin67=VP_SYS_VS_tim7
+Mcu.Pin68=VP_TIM8_VS_ClockSourceINT
+Mcu.Pin69=VP_TIM10_VS_ClockSourceINT
 Mcu.Pin7=PA0-WKUP
 Mcu.Pin8=PA2
 Mcu.Pin9=PA3
-Mcu.PinsNb=68
+Mcu.PinsNb=70
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
@@ -416,6 +419,8 @@ PC7.GPIO_Speed=GPIO_SPEED_FREQ_LOW
 PC7.Locked=true
 PC7.Mode=Master_Clock_Activated
 PC7.Signal=I2S3_MCK
+PC8.Locked=true
+PC8.Signal=S_TIM8_CH3
 PC9.GPIOParameters=GPIO_Label
 PC9.GPIO_Label=NRF24_B_CE
 PC9.Locked=true
@@ -564,7 +569,7 @@ ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=F407V-PWMServoTester.ioc
 ProjectManager.ProjectName=F407V-PWMServoTester
 ProjectManager.ProjectStructure=
-ProjectManager.RegisterCallBack=SPI,ADC,I2C,UART
+ProjectManager.RegisterCallBack=ADC,I2C,SPI,TIM,UART
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=STM32CubeIDE
 ProjectManager.ToolChainLocation=
@@ -626,6 +631,8 @@ SH.GPXTI9.0=GPIO_EXTI9
 SH.GPXTI9.ConfNb=1
 SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
 SH.S_TIM10_CH1.ConfNb=1
+SH.S_TIM8_CH3.0=TIM8_CH3,PWM Generation3 CH3
+SH.S_TIM8_CH3.ConfNb=1
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
 SPI1.BaudRatePrescaler-Full_Duplex_Master=SPI_BAUDRATEPRESCALER_2
 SPI1.CalculateBaudRate=328.125 KBits/s
@@ -643,6 +650,10 @@ SPI2.Mode=SPI_MODE_MASTER
 SPI2.VirtualType=VM_MASTER
 TIM10.Channel=TIM_CHANNEL_1
 TIM10.IPParameters=Channel
+TIM8.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
+TIM8.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM8.IPParameters=Channel-PWM Generation3 CH3,Prescaler,AutoReloadPreload
+TIM8.Prescaler=50
 USART2.IPParameters=VirtualMode
 USART2.VirtualMode=VM_ASYNC
 USB_OTG_FS.IPParameters=VirtualMode
@@ -653,6 +664,8 @@ VP_SYS_VS_tim7.Mode=TIM7
 VP_SYS_VS_tim7.Signal=SYS_VS_tim7
 VP_TIM10_VS_ClockSourceINT.Mode=Enable_Timer
 VP_TIM10_VS_ClockSourceINT.Signal=TIM10_VS_ClockSourceINT
+VP_TIM8_VS_ClockSourceINT.Mode=Internal
+VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
 board=STM32F407G-DISC1
 boardIOC=true
 rtos.0.ip=FREERTOS