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922
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1 /**
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2 ******************************************************************************
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3 * @file uart_Internal.c
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4 * @author heinrichs weikamp gmbh
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5 * @version V0.0.1
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6 * @date 03-November-2044
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7 * @brief Control functions for devices connected to the internal UART
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8 *
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9 @verbatim
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10 ==============================================================================
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11 ##### How to use #####
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12 ==============================================================================
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13 @endverbatim
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14 ******************************************************************************
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15 * @attention
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16 *
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17 * <h2><center>© COPYRIGHT(c) 2015 heinrichs weikamp</center></h2>
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18 *
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19 ******************************************************************************
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20 */
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21 /* Includes ------------------------------------------------------------------*/
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22 #include "uart.h"
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23 #include "uart_Internal.h"
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24 #include "uartProtocol_GNSS.h"
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25 #include "GNSS.h"
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26 #include "externalInterface.h"
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27 #include "data_exchange.h"
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28 #include <string.h> /* memset */
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29
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30
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31 static uint8_t isEndIndication6(uint8_t index);
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32 static uint8_t gnssState = UART_GNSS_INIT;
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33
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34 /* Private variables ---------------------------------------------------------*/
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35
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36
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37 #define TX_BUF_SIZE (40u) /* max length for commands */
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38 #define CHUNK_SIZE (25u) /* the DMA will handle chunk size transfers */
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39 #define CHUNKS_PER_BUFFER (6u)
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40
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41 #define REQUEST_INT_SENSOR_MS (1500) /* Minimum time interval for cyclic sensor data requests per sensor (UART mux) */
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42 #define COMMAND_TX_DELAY (30u) /* The time the sensor needs to recover from a invalid command request */
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43 #define TIMEOUT_SENSOR_ANSWER (300) /* Time till a request is repeated if no answer was received */
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44
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45
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46 static receiveStateGnss_t rxState = GNSSRX_READY;
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47 static uint8_t GnssConnected = 0; /* Binary indicator if a sensor is connected or not */
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48
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49 static uint8_t writeIndex = 0;
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50
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51 static uint8_t dataToRead = 0;
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52
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53 DMA_HandleTypeDef hdma_usart6_rx, hdma_usart6_tx;
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54
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55 uint8_t tx6Buffer[CHUNK_SIZE]; /* tx uses less bytes */
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56 uint8_t tx6BufferQue[TX_BUF_SIZE]; /* In MUX mode command may be send shortly after each other => allow q 1 entry que */
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57 uint8_t tx6BufferQueLen;
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58
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59 uint8_t rxBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER]; /* The complete buffer has a X * chunk size to allow variations in buffer read time */
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60 uint8_t txBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER]; /* The complete buffer has a X * chunk size to allow variations in buffer read time */
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61
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62 static uint8_t rx6WriteIndex; /* Index of the data item which is analysed */
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63 static uint8_t rx6ReadIndex; /* Index at which new data is stared */
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64
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65 static uint8_t dmaRx6Active; /* Indicator if DMA reception needs to be started */
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66 static uint8_t dmaTx6Active; /* Indicator if DMA reception needs to be started */
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67
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68
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69 /* Exported functions --------------------------------------------------------*/
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70
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71 void UART_clearRx6Buffer(void)
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72 {
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73 uint16_t index = 0;
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74 do
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75 {
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76 rxBufferUart6[index++] = BUFFER_NODATA_LOW;
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77 rxBufferUart6[index++] = BUFFER_NODATA_HIGH;
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78 } while (index < sizeof(rxBufferUart6));
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79
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80 rx6ReadIndex = 0;
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81 rx6WriteIndex = 0;
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82 }
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83
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84 void GNSS_IO_init() {
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85
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86 GPIO_InitTypeDef GPIO_InitStruct = { 0 };
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87 /* Peripheral clock enable */
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88 __HAL_RCC_USART6_CLK_ENABLE()
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89 ;
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90
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91 __HAL_RCC_GPIOA_CLK_ENABLE()
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92 ;
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93 /**USART6 GPIO Configuration
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94 PA11 ------> USART6_TX
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95 PA12 ------> USART6_RX
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96 */
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97 GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;
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98 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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99 GPIO_InitStruct.Pull = GPIO_NOPULL;
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100 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
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101 GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
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102 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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103
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104 /* USART6 DMA Init */
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105 /* USART6_RX Init */
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106 hdma_usart6_rx.Instance = DMA2_Stream1;
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107 hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
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108 hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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109 hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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110 hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
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111 hdma_usart6_rx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
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112 hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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113 hdma_usart6_rx.Init.Mode = DMA_NORMAL;
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114 hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
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115 hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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116 HAL_DMA_Init(&hdma_usart6_rx);
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117
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118 __HAL_LINKDMA(&huart6, hdmarx, hdma_usart6_rx);
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119
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120 /* USART6_TX Init */
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121 hdma_usart6_tx.Instance = DMA2_Stream6;
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122 hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
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123 hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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124 hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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125 hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
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126 hdma_usart6_tx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
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127 hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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128 hdma_usart6_tx.Init.Mode = DMA_NORMAL;
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129 hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
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130 hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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131 HAL_DMA_Init(&hdma_usart6_tx);
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132
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133 __HAL_LINKDMA(&huart6, hdmatx, hdma_usart6_tx);
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134
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135 /* USART6 interrupt Init */
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136 HAL_NVIC_SetPriority(USART6_IRQn, 0, 0);
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137 HAL_NVIC_EnableIRQ(USART6_IRQn);
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138
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139 MX_USART6_DMA_Init();
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140
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141 }
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142
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143 void MX_USART6_DMA_Init() {
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144 /* DMA controller clock enable */
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145 __HAL_RCC_DMA2_CLK_ENABLE();
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146
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147 /* DMA interrupt init */
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148 /* DMA2_Stream2_IRQn interrupt configuration */
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149 HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
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150 HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
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151 /* DMA2_Stream6_IRQn interrupt configuration */
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152 HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0, 0);
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153 HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
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154 }
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155
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156
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157 void MX_USART6_UART_DeInit(void)
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158 {
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159 HAL_DMA_Abort(&hdma_usart6_rx);
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160 HAL_DMA_DeInit(&hdma_usart6_rx);
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161 HAL_DMA_Abort(&hdma_usart6_tx);
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162 HAL_DMA_DeInit(&hdma_usart6_tx);
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163 HAL_UART_DeInit(&huart6);
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164 HAL_UART_DeInit(&huart6);
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165 }
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166
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167 void MX_USART6_UART_Init(void) {
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168 huart6.Instance = USART6;
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169 huart6.Init.BaudRate = 9600;
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170 huart6.Init.WordLength = UART_WORDLENGTH_8B;
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171 huart6.Init.StopBits = UART_STOPBITS_1;
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172 huart6.Init.Parity = UART_PARITY_NONE;
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173 huart6.Init.Mode = UART_MODE_TX_RX;
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174 huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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175 huart6.Init.OverSampling = UART_OVERSAMPLING_16;
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176 HAL_UART_Init(&huart6);
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177 }
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178
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179
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180
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181 void UART6_SendCmdUbx(const uint8_t *cmd, uint8_t len)
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182 {
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183 if(len < TX_BUF_SIZE) /* A longer string is an indication for a missing 0 termination */
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184 {
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185 if(dmaRx6Active == 0)
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186 {
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187 UART_StartDMA_Receiption();
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188 }
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189 memcpy(tx6Buffer, cmd, len);
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190 if(HAL_OK == HAL_UART_Transmit_DMA(&huart6,tx6Buffer,len))
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191 {
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192 dmaTx6Active = 1;
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193 }
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194 }
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195 }
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196
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197 uint8_t isEndIndication6(uint8_t index)
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198 {
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199 uint8_t ret = 0;
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200 if(index % 2)
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201 {
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202 if(rxBufferUart6[index] == BUFFER_NODATA_HIGH)
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203 {
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204 ret = 1;
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205 }
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206 }
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207 else
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208 {
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209 if(rxBufferUart6[index] == BUFFER_NODATA_LOW)
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210 {
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211 ret = 1;
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212 }
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213 }
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214
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215 return ret;
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216 }
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217
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218 void UART6_StartDMA_Receiption()
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219 {
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220 if(dmaRx6Active == 0)
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221 {
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222 if(((rx6WriteIndex / CHUNK_SIZE) != (rx6ReadIndex / CHUNK_SIZE)) || ((isEndIndication6(rx6WriteIndex)) && (isEndIndication6(rx6WriteIndex + 1)))) /* start next transfer if we did not catch up with read index */
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223 {
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224 if(HAL_OK == HAL_UART_Receive_DMA (&huart6, &rxBufferUart6[rx6WriteIndex], CHUNK_SIZE))
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225 {
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226 dmaRx6Active = 1;
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227 }
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228 }
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229 }
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230 }
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231
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232
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233
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234 void UART6_RxCpltCallback(UART_HandleTypeDef *huart)
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235 {
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236 if(huart == &huart6)
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237 {
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238 dmaRx6Active = 0;
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239 rx6WriteIndex+=CHUNK_SIZE;
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240 if(rx6WriteIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
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241 {
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242 rx6WriteIndex = 0;
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243 }
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244 UART6_StartDMA_Receiption();
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245 }
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246 }
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247 void UART6_TxCpltCallback(UART_HandleTypeDef *huart)
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248 {
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249 if(huart == &huart6)
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250 {
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251 dmaTx6Active = 0;
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252 UART6_WriteData();
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253 if(tx6BufferQueLen)
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254 {
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255 memcpy(tx6Buffer, tx6BufferQue, tx6BufferQueLen);
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256 HAL_UART_Transmit_DMA(&huart6,tx6Buffer,tx6BufferQueLen);
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257 dmaTx6Active = 1;
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258 tx6BufferQueLen = 0;
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259 }
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260 }
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261 }
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262
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263 void UART6_ReadData()
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264 {
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265 uint8_t localRX = rx6ReadIndex;
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266 uint8_t futureIndex = rx6ReadIndex + 1;
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267 uint8_t moreData = 0;
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268
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269 if(futureIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
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270 {
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271 futureIndex = 0;
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272 }
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273
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274 if((!isEndIndication6(localRX)) || (!isEndIndication6(futureIndex))) do
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275 {
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276 while((!isEndIndication6(localRX)) || (moreData))
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277 {
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278 moreData = 0;
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279 UART6_Gnss_ProcessData(rxBufferUart6[localRX]);
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280
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281 if(localRX % 2)
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282 {
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283 rxBufferUart6[localRX] = BUFFER_NODATA_HIGH;
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284 }
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285 else
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286 {
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287 rxBufferUart6[localRX] = BUFFER_NODATA_LOW;
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288 }
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289
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290 localRX++;
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291 rx6ReadIndex++;
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292 if(rx6ReadIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
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293 {
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294 localRX = 0;
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295 rx6ReadIndex = 0;
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296 }
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297 futureIndex++;
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298 if(futureIndex >= CHUNK_SIZE * CHUNKS_PER_BUFFER)
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299 {
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300 futureIndex = 0;
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301 }
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302 }
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303 if(!isEndIndication6(futureIndex))
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304 {
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305 moreData = 1;
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306 }
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307 } while(moreData);
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308 }
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309
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310 void UART6_WriteData(void)
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311 {
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312 if(huart6.hdmatx->State == HAL_DMA_STATE_READY)
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313 {
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314 huart6.gState = HAL_UART_STATE_READY;
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315 dmaTx6Active = 0;
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316 }
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317 if(huart6.hdmarx->State == HAL_DMA_STATE_READY)
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318 {
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319 huart6.RxState = HAL_UART_STATE_READY;
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320 dmaRx6Active = 0;
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321 }
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322 }
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323
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324 void UART6_Gnss_SendCmd(uint8_t GnssCmd)
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325 {
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326 const uint8_t* pData;
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327 uint8_t txLength = 0;
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328
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329 switch (GnssCmd)
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330 {
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331 case GNSSCMD_LOADCONF_0: pData = configUBX;
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332 txLength = sizeof(configUBX) / sizeof(uint8_t);
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333 break;
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334 case GNSSCMD_LOADCONF_1: pData = setNMEA410;
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335 txLength = sizeof(setNMEA410) / sizeof(uint8_t);
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336 break;
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337 case GNSSCMD_LOADCONF_2: pData = setGNSS;
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338 txLength = sizeof(setGNSS) / sizeof(uint8_t);
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339 break;
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340 case GNSSCMD_GET_PVT_DATA: pData = getPVTData;
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341 txLength = sizeof(getPVTData) / sizeof(uint8_t);
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342 break;
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343 case GNSSCMD_GET_NAV_DATA: pData = getNavigatorData;
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344 txLength = sizeof(getNavigatorData) / sizeof(uint8_t);
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345 break;
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346
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347 default:
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348 break;
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349 }
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350 if(txLength != 0)
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351 {
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352 UART6_SendCmdUbx(pData, txLength);
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353 }
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354 }
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355
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356 void UART6_Gnss_Control(void)
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357 {
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358 static uint32_t warmupTick = 0;
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359
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360 switch (gnssState)
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361 {
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362 case UART_GNSS_INIT: gnssState = UART_GNSS_WARMUP;
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363 warmupTick = HAL_GetTick();
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364 UART_clearRxBuffer();
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365 break;
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366 case UART_GNSS_WARMUP: if(time_elapsed_ms(warmupTick,HAL_GetTick()) > 1000)
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367 {
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368 gnssState = UART_GNSS_LOADCONF_0;
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369 }
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370 break;
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371 case UART_GNSS_LOADCONF_0: UART6_Gnss_SendCmd(GNSSCMD_LOADCONF_0);
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372 gnssState = UART_GNSS_LOADCONF_1;
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373 rxState = GNSSRX_DETECT_ACK_0;
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374 break;
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375 case UART_GNSS_LOADCONF_1: UART6_Gnss_SendCmd(GNSSCMD_LOADCONF_1);
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376 gnssState = UART_GNSS_LOADCONF_2;
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377 rxState = GNSSRX_DETECT_ACK_0;
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378 break;
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379 case UART_GNSS_LOADCONF_2: UART6_Gnss_SendCmd(GNSSCMD_LOADCONF_2);
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380 gnssState = UART_GNSS_IDLE;
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381 rxState = GNSSRX_DETECT_ACK_0;
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382 break;
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383 case UART_GNSS_IDLE: UART6_Gnss_SendCmd(GNSSCMD_GET_PVT_DATA);
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384 gnssState = UART_GNSS_GET_PVT;
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385 rxState = GNSSRX_DETECT_HEADER_0;
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386 break;
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387 default:
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388 break;
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389 }
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390 }
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391
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392 void UART6_Gnss_ProcessData(uint8_t data)
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393 {
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394 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data;
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395 switch(rxState)
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396 {
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397 case GNSSRX_DETECT_ACK_0:
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398 case GNSSRX_DETECT_HEADER_0: if(data == 0xB5)
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399 {
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400 writeIndex = 0;
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401 memset(GNSS_Handle.uartWorkingBuffer,0, sizeof(GNSS_Handle.uartWorkingBuffer));
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402 GNSS_Handle.uartWorkingBuffer[writeIndex++] = data;
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403 rxState++;
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404 }
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405 break;
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406 case GNSSRX_DETECT_ACK_1:
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407 case GNSSRX_DETECT_HEADER_1: if(data == 0x62)
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408 {
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409 rxState++;
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410 }
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411 else
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412 {
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413 rxState = GNSSRX_DETECT_HEADER_0;
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414 }
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415 break;
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416 case GNSSRX_DETECT_ACK_2: if(data == 0x05)
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417 {
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418 rxState++;
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419 }
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420 else
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421 {
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422 rxState = GNSSRX_DETECT_HEADER_0;
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423 }
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424 break;
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425 case GNSSRX_DETECT_ACK_3: if((data == 0x01) || (data == 0x00))
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426 {
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427 GnssConnected = 1;
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428 rxState = GNSSRX_READY;
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429 }
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430 else
|
|
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431 {
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432 rxState = GNSSRX_DETECT_HEADER_0;
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433 }
|
|
|
434 break;
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435 case GNSSRX_DETECT_HEADER_2: if(data == 0x01)
|
|
|
436 {
|
|
|
437 rxState++;
|
|
|
438 }
|
|
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439 else
|
|
|
440 {
|
|
|
441 rxState = GNSSRX_DETECT_HEADER_0;
|
|
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442 }
|
|
|
443 break;
|
|
|
444 case GNSSRX_DETECT_HEADER_3:
|
|
|
445 switch(data)
|
|
|
446 {
|
|
|
447 case 0x21: rxState = GNSSRX_READ_NAV_DATA;
|
|
|
448 dataToRead = 20;
|
|
|
449 break;
|
|
|
450 case 0x07: rxState = GNSSRX_READ_PVT_DATA;
|
|
|
451 dataToRead = 92;
|
|
|
452 break;
|
|
|
453 case 0x02: rxState = GNSSRX_READ_POSLLH_DATA;
|
|
|
454 break;
|
|
|
455 default: rxState = GNSSRX_DETECT_HEADER_0;
|
|
|
456 break;
|
|
|
457 }
|
|
|
458 break;
|
|
|
459 case GNSSRX_READ_NAV_DATA:
|
|
|
460 case GNSSRX_READ_PVT_DATA:
|
|
|
461 case GNSSRX_READ_POSLLH_DATA: if(dataToRead > 0)
|
|
|
462 {
|
|
|
463 dataToRead--;
|
|
|
464 }
|
|
|
465 else
|
|
|
466 {
|
|
|
467 switch(rxState)
|
|
|
468 {
|
|
|
469 case GNSSRX_READ_NAV_DATA: GNSS_ParseNavigatorData(&GNSS_Handle);
|
|
|
470 break;
|
|
|
471 case GNSSRX_READ_PVT_DATA: GNSS_ParsePVTData(&GNSS_Handle);
|
|
|
472 break;
|
|
|
473 case GNSSRX_READ_POSLLH_DATA: GNSS_ParsePOSLLHData(&GNSS_Handle);
|
|
|
474 break;
|
|
|
475 default: rxState = GNSSRX_DETECT_HEADER_0;
|
|
|
476 break;
|
|
|
477 }
|
|
|
478 rxState = GNSSRX_DETECT_HEADER_0;
|
|
|
479 gnssState = UART_GNSS_IDLE;
|
|
|
480 }
|
|
|
481 break;
|
|
|
482 default: rxState = GNSSRX_READY;
|
|
|
483 break;
|
|
|
484 }
|
|
|
485 }
|
|
|
486
|
|
|
487
|
|
|
488 void UART6_HandleUART()
|
|
|
489 {
|
|
|
490 static uint8_t retryRequest = 0;
|
|
|
491 static uint32_t lastRequestTick = 0;
|
|
|
492 static uint32_t TriggerTick = 0;
|
|
|
493 static uint8_t timeToTrigger = 0;
|
|
|
494 uint32_t tick = HAL_GetTick();
|
|
|
495
|
|
|
496 if(gnssState != UART_GNSS_INIT)
|
|
|
497 {
|
|
|
498 UART6_ReadData();
|
|
|
499 UART6_WriteData();
|
|
|
500 }
|
|
|
501 if(gnssState == UART_GNSS_INIT)
|
|
|
502 {
|
|
|
503 lastRequestTick = tick;
|
|
|
504 TriggerTick = tick - 10; /* just to make sure control is triggered */
|
|
|
505 timeToTrigger = 1;
|
|
|
506 retryRequest = 0;
|
|
|
507 }
|
|
|
508 else if(((retryRequest == 0) /* timeout or error */
|
|
|
509 && (((time_elapsed_ms(lastRequestTick,tick) > (TIMEOUT_SENSOR_ANSWER)) && (gnssState != UART_GNSS_IDLE)) /* retry if no answer after half request interval */
|
|
|
510 || (gnssState == UART_GNSS_ERROR))))
|
|
|
511 {
|
|
|
512 /* The channel switch will cause the sensor to respond with an error message. */
|
|
|
513 /* The sensor needs ~30ms to recover before he is ready to receive the next command => transmission delay needed */
|
|
|
514
|
|
|
515 TriggerTick = tick;
|
|
|
516 timeToTrigger = COMMAND_TX_DELAY;
|
|
|
517 retryRequest = 1;
|
|
|
518 }
|
|
|
519
|
|
|
520 else if(time_elapsed_ms(lastRequestTick,tick) > 1000) /* switch sensor and / or trigger next request */
|
|
|
521 {
|
|
|
522 lastRequestTick = tick;
|
|
|
523 TriggerTick = tick;
|
|
|
524 retryRequest = 0;
|
|
|
525 timeToTrigger = 1;
|
|
|
526
|
|
|
527 if((gnssState == UART_GNSS_GET_PVT)) /* timeout */
|
|
|
528 {
|
|
|
529 gnssState = UART_GNSS_IDLE;
|
|
|
530 }
|
|
|
531 timeToTrigger = 1;
|
|
|
532 }
|
|
|
533 if((timeToTrigger != 0) && (time_elapsed_ms(TriggerTick,tick) > timeToTrigger))
|
|
|
534 {
|
|
|
535 timeToTrigger = 0;
|
|
|
536 UART6_Gnss_Control();
|
|
|
537 }
|
|
|
538
|
|
|
539 }
|
|
|
540
|
|
|
541
|
|
|
542 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/
|
