|
922
|
1 /**
|
|
|
2 ******************************************************************************
|
|
|
3 * @file uart_Internal.c
|
|
|
4 * @author heinrichs weikamp gmbh
|
|
|
5 * @version V0.0.1
|
|
|
6 * @date 03-November-2044
|
|
|
7 * @brief Control functions for devices connected to the internal UART
|
|
|
8 *
|
|
|
9 @verbatim
|
|
|
10 ==============================================================================
|
|
|
11 ##### How to use #####
|
|
|
12 ==============================================================================
|
|
|
13 @endverbatim
|
|
|
14 ******************************************************************************
|
|
|
15 * @attention
|
|
|
16 *
|
|
|
17 * <h2><center>© COPYRIGHT(c) 2015 heinrichs weikamp</center></h2>
|
|
|
18 *
|
|
|
19 ******************************************************************************
|
|
|
20 */
|
|
|
21 /* Includes ------------------------------------------------------------------*/
|
|
|
22 #include "uart.h"
|
|
|
23 #include "uart_Internal.h"
|
|
|
24 #include "uartProtocol_GNSS.h"
|
|
|
25 #include "GNSS.h"
|
|
|
26 #include "externalInterface.h"
|
|
|
27 #include "data_exchange.h"
|
|
|
28 #include <string.h> /* memset */
|
|
|
29
|
|
|
30
|
|
|
31 /* Private variables ---------------------------------------------------------*/
|
|
|
32
|
|
|
33 #define REQUEST_INT_SENSOR_MS (1500) /* Minimum time interval for cyclic sensor data requests per sensor (UART mux) */
|
|
|
34 #define COMMAND_TX_DELAY (30u) /* The time the sensor needs to recover from a invalid command request */
|
|
|
35 #define TIMEOUT_SENSOR_ANSWER (300) /* Time till a request is repeated if no answer was received */
|
|
|
36
|
|
|
37 DMA_HandleTypeDef hdma_usart6_rx, hdma_usart6_tx;
|
|
|
38
|
|
|
39 uint8_t tx6Buffer[CHUNK_SIZE]; /* tx uses less bytes */
|
|
|
40
|
|
|
41 uint8_t rxBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER]; /* The complete buffer has a X * chunk size to allow variations in buffer read time */
|
|
|
42 uint8_t txBufferUart6[CHUNK_SIZE * CHUNKS_PER_BUFFER]; /* The complete buffer has a X * chunk size to allow variations in buffer read time */
|
|
|
43
|
|
932
|
44 sUartComCtrl Uart6Ctrl;
|
|
922
|
45
|
|
|
46 /* Exported functions --------------------------------------------------------*/
|
|
|
47
|
|
|
48 void GNSS_IO_init() {
|
|
|
49
|
|
|
50 GPIO_InitTypeDef GPIO_InitStruct = { 0 };
|
|
|
51 /* Peripheral clock enable */
|
|
|
52 __HAL_RCC_USART6_CLK_ENABLE()
|
|
|
53 ;
|
|
|
54
|
|
|
55 __HAL_RCC_GPIOA_CLK_ENABLE()
|
|
|
56 ;
|
|
|
57 /**USART6 GPIO Configuration
|
|
|
58 PA11 ------> USART6_TX
|
|
|
59 PA12 ------> USART6_RX
|
|
|
60 */
|
|
|
61 GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;
|
|
|
62 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|
|
63 GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
|
64 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
|
|
|
65 GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
|
|
|
66 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
1000
|
67 }
|
|
|
68
|
|
|
69 void MX_USART6_DMA_Init() {
|
|
|
70 /* DMA controller clock enable */
|
|
|
71 __HAL_RCC_DMA2_CLK_ENABLE();
|
|
|
72
|
|
|
73 /* DMA interrupt init */
|
|
|
74 /* DMA2_Stream2_IRQn interrupt configuration */
|
|
|
75 HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
|
|
|
76 HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
|
|
|
77 /* DMA2_Stream6_IRQn interrupt configuration */
|
|
|
78 HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0, 0);
|
|
|
79 HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
|
|
|
80 }
|
|
|
81
|
|
|
82
|
|
|
83 void MX_USART6_UART_DeInit(void)
|
|
|
84 {
|
|
|
85 HAL_DMA_Abort(&hdma_usart6_rx);
|
|
|
86 HAL_DMA_DeInit(&hdma_usart6_rx);
|
|
|
87 HAL_DMA_Abort(&hdma_usart6_tx);
|
|
|
88 HAL_DMA_DeInit(&hdma_usart6_tx);
|
|
|
89 HAL_UART_DeInit(&huart6);
|
|
|
90 //HAL_UART_DeInit(&huart6);
|
|
|
91 Uart6Ctrl.dmaRxActive = 0;
|
|
|
92 Uart6Ctrl.dmaTxActive = 0;
|
|
|
93 }
|
|
|
94
|
|
|
95 void MX_USART6_UART_Init(void) {
|
|
|
96 huart6.Instance = USART6;
|
|
|
97 huart6.Init.BaudRate = 9600;
|
|
|
98 huart6.Init.WordLength = UART_WORDLENGTH_8B;
|
|
|
99 huart6.Init.StopBits = UART_STOPBITS_1;
|
|
|
100 huart6.Init.Parity = UART_PARITY_NONE;
|
|
|
101 huart6.Init.Mode = UART_MODE_TX_RX;
|
|
|
102 huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
|
|
103 huart6.Init.OverSampling = UART_OVERSAMPLING_16;
|
|
|
104 HAL_UART_Init(&huart6);
|
|
|
105
|
|
|
106 Uart6Ctrl.pHandle = &huart6;
|
|
|
107 Uart6Ctrl.dmaRxActive = 0;
|
|
|
108 Uart6Ctrl.dmaTxActive = 0;
|
|
|
109 Uart6Ctrl.pRxBuffer = rxBufferUart6;
|
|
|
110 Uart6Ctrl.pTxBuffer = txBufferUart6;
|
|
|
111 Uart6Ctrl.rxReadIndex = 0;
|
|
|
112 Uart6Ctrl.rxWriteIndex = 0;
|
|
|
113 Uart6Ctrl.txBufferQueLen = 0;
|
|
|
114
|
|
|
115 UART_clearRxBuffer(&Uart6Ctrl);
|
|
|
116 UART_SetGnssCtrl(&Uart6Ctrl);
|
|
922
|
117
|
|
|
118 /* USART6 DMA Init */
|
|
|
119 /* USART6_RX Init */
|
|
923
|
120 hdma_usart6_rx.Instance = DMA2_Stream2;
|
|
922
|
121 hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
|
|
|
122 hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
|
|
123 hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
|
|
124 hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
|
|
|
125 hdma_usart6_rx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
|
|
|
126 hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
|
|
127 hdma_usart6_rx.Init.Mode = DMA_NORMAL;
|
|
|
128 hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
|
|
|
129 hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
|
|
130 HAL_DMA_Init(&hdma_usart6_rx);
|
|
|
131
|
|
|
132 __HAL_LINKDMA(&huart6, hdmarx, hdma_usart6_rx);
|
|
|
133
|
|
|
134 /* USART6_TX Init */
|
|
|
135 hdma_usart6_tx.Instance = DMA2_Stream6;
|
|
|
136 hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
|
|
|
137 hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
|
|
|
138 hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
|
|
|
139 hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
|
|
|
140 hdma_usart6_tx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
|
|
|
141 hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
|
|
142 hdma_usart6_tx.Init.Mode = DMA_NORMAL;
|
|
|
143 hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
|
|
|
144 hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
|
|
145 HAL_DMA_Init(&hdma_usart6_tx);
|
|
|
146
|
|
|
147 __HAL_LINKDMA(&huart6, hdmatx, hdma_usart6_tx);
|
|
|
148
|
|
|
149 /* USART6 interrupt Init */
|
|
|
150 HAL_NVIC_SetPriority(USART6_IRQn, 0, 0);
|
|
|
151 HAL_NVIC_EnableIRQ(USART6_IRQn);
|
|
|
152
|
|
|
153 MX_USART6_DMA_Init();
|
|
|
154 }
|
|
|
155
|
|
|
156 void UART6_HandleUART()
|
|
|
157 {
|
|
|
158 static uint8_t retryRequest = 0;
|
|
|
159 static uint32_t lastRequestTick = 0;
|
|
|
160 static uint32_t TriggerTick = 0;
|
|
939
|
161 static uint16_t timeToTrigger = 0;
|
|
922
|
162 uint32_t tick = HAL_GetTick();
|
|
|
163
|
|
932
|
164 uartGnssStatus_t gnssState = uartGnss_GetState();
|
|
|
165
|
|
1000
|
166 if(Uart6Ctrl.pHandle != 0)
|
|
|
167 {
|
|
|
168 if((gnssState != UART_GNSS_INIT) && (gnssState != UART_GNSS_PWRUP))
|
|
922
|
169 {
|
|
976
|
170 UART_ReadData(SENSOR_GNSS, 0);
|
|
932
|
171 UART_WriteData(&Uart6Ctrl);
|
|
922
|
172 }
|
|
|
173 if(gnssState == UART_GNSS_INIT)
|
|
|
174 {
|
|
|
175 lastRequestTick = tick;
|
|
|
176 TriggerTick = tick - 10; /* just to make sure control is triggered */
|
|
|
177 timeToTrigger = 1;
|
|
|
178 retryRequest = 0;
|
|
|
179 }
|
|
939
|
180 else if((gnssState == UART_GNSS_INACTIVE) && (!uartGnss_isPowerDownRequested())) /* send dummy bytes to wakeup receiver */
|
|
|
181 {
|
|
|
182 txBufferUart6[0] = 0xFF;
|
|
|
183 txBufferUart6[1] = 0xFF;
|
|
|
184 HAL_UART_Transmit_DMA(Uart6Ctrl.pHandle, Uart6Ctrl.pTxBuffer,2);
|
|
|
185 timeToTrigger = 500; /* receiver needs 500ms for wakeup */
|
|
|
186 lastRequestTick = tick;
|
|
|
187 gnssState = UART_GNSS_PWRUP;
|
|
|
188 uartGnss_SetState(gnssState);
|
|
|
189 }
|
|
922
|
190 else if(((retryRequest == 0) /* timeout or error */
|
|
1000
|
191 && (((time_elapsed_ms(lastRequestTick,tick) > (TIMEOUT_SENSOR_ANSWER)) && (gnssState != UART_GNSS_IDLE) && (gnssState != UART_GNSS_PWRUP)) /* retry if no answer after half request interval */
|
|
922
|
192 || (gnssState == UART_GNSS_ERROR))))
|
|
|
193 {
|
|
|
194 /* The channel switch will cause the sensor to respond with an error message. */
|
|
|
195 /* The sensor needs ~30ms to recover before he is ready to receive the next command => transmission delay needed */
|
|
|
196
|
|
|
197 TriggerTick = tick;
|
|
|
198 timeToTrigger = COMMAND_TX_DELAY;
|
|
|
199 retryRequest = 1;
|
|
|
200 }
|
|
|
201
|
|
|
202 else if(time_elapsed_ms(lastRequestTick,tick) > 1000) /* switch sensor and / or trigger next request */
|
|
|
203 {
|
|
|
204 lastRequestTick = tick;
|
|
|
205 TriggerTick = tick;
|
|
|
206 retryRequest = 0;
|
|
|
207 timeToTrigger = 1;
|
|
|
208
|
|
939
|
209 if((gnssState == UART_GNSS_GET_SAT) || (gnssState == UART_GNSS_GET_PVT) || (gnssState == UART_GNSS_PWRUP)) /* timeout */
|
|
922
|
210 {
|
|
|
211 gnssState = UART_GNSS_IDLE;
|
|
932
|
212 uartGnss_SetState(gnssState);
|
|
922
|
213 }
|
|
|
214 timeToTrigger = 1;
|
|
|
215 }
|
|
|
216 if((timeToTrigger != 0) && (time_elapsed_ms(TriggerTick,tick) > timeToTrigger))
|
|
|
217 {
|
|
|
218 timeToTrigger = 0;
|
|
932
|
219 uartGnss_Control();
|
|
922
|
220 }
|
|
1000
|
221 }
|
|
922
|
222 }
|
|
|
223
|
|
|
224
|
|
|
225 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/
|
