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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 /* Private variables ---------------------------------------------------------*/
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32
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33 #define REQUEST_INT_SENSOR_MS (1500) /* Minimum time interval for cyclic sensor data requests per sensor (UART mux) */
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34 #define COMMAND_TX_DELAY (30u) /* The time the sensor needs to recover from a invalid command request */
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35 #define TIMEOUT_SENSOR_ANSWER (300) /* Time till a request is repeated if no answer was received */
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36
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37 DMA_HandleTypeDef hdma_usart6_rx, hdma_usart6_tx;
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38
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39 uint8_t tx6Buffer[CHUNK_SIZE]; /* tx uses less bytes */
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40
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41 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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42 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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43
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932
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44 sUartComCtrl Uart6Ctrl;
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45
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46 /* Exported functions --------------------------------------------------------*/
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47
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48 void GNSS_IO_init() {
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49
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50 GPIO_InitTypeDef GPIO_InitStruct = { 0 };
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51 /* Peripheral clock enable */
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52 __HAL_RCC_USART6_CLK_ENABLE()
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53 ;
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54
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55 __HAL_RCC_GPIOA_CLK_ENABLE()
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56 ;
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57 /**USART6 GPIO Configuration
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58 PA11 ------> USART6_TX
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59 PA12 ------> USART6_RX
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60 */
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61 GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;
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62 GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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63 GPIO_InitStruct.Pull = GPIO_NOPULL;
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64 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
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65 GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
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66 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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67
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68 /* USART6 DMA Init */
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69 /* USART6_RX Init */
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70 hdma_usart6_rx.Instance = DMA2_Stream2;
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71 hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
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72 hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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73 hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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74 hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
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75 hdma_usart6_rx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
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76 hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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77 hdma_usart6_rx.Init.Mode = DMA_NORMAL;
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78 hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
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79 hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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80 HAL_DMA_Init(&hdma_usart6_rx);
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81
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82 __HAL_LINKDMA(&huart6, hdmarx, hdma_usart6_rx);
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83
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84 /* USART6_TX Init */
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85 hdma_usart6_tx.Instance = DMA2_Stream6;
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86 hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
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87 hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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88 hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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89 hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
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90 hdma_usart6_tx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
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91 hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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92 hdma_usart6_tx.Init.Mode = DMA_NORMAL;
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93 hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
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94 hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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95 HAL_DMA_Init(&hdma_usart6_tx);
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96
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97 __HAL_LINKDMA(&huart6, hdmatx, hdma_usart6_tx);
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98
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99 /* USART6 interrupt Init */
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100 HAL_NVIC_SetPriority(USART6_IRQn, 0, 0);
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101 HAL_NVIC_EnableIRQ(USART6_IRQn);
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102
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103 MX_USART6_DMA_Init();
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104
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105 }
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106
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107 void MX_USART6_DMA_Init() {
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108 /* DMA controller clock enable */
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109 __HAL_RCC_DMA2_CLK_ENABLE();
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110
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111 /* DMA interrupt init */
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112 /* DMA2_Stream2_IRQn interrupt configuration */
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113 HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
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114 HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
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115 /* DMA2_Stream6_IRQn interrupt configuration */
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116 HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0, 0);
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117 HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
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118 }
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119
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120
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121 void MX_USART6_UART_DeInit(void)
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122 {
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123 HAL_DMA_Abort(&hdma_usart6_rx);
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124 HAL_DMA_DeInit(&hdma_usart6_rx);
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125 HAL_DMA_Abort(&hdma_usart6_tx);
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126 HAL_DMA_DeInit(&hdma_usart6_tx);
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127 HAL_UART_DeInit(&huart6);
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128 HAL_UART_DeInit(&huart6);
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129 }
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130
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131 void MX_USART6_UART_Init(void) {
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132 huart6.Instance = USART6;
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133 huart6.Init.BaudRate = 9600;
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134 huart6.Init.WordLength = UART_WORDLENGTH_8B;
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135 huart6.Init.StopBits = UART_STOPBITS_1;
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136 huart6.Init.Parity = UART_PARITY_NONE;
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137 huart6.Init.Mode = UART_MODE_TX_RX;
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138 huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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139 huart6.Init.OverSampling = UART_OVERSAMPLING_16;
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140 HAL_UART_Init(&huart6);
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141
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142 UART_clearRxBuffer(&Uart6Ctrl);
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143
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144 Uart6Ctrl.pHandle = &huart6;
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145 Uart6Ctrl.dmaRxActive = 0;
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146 Uart6Ctrl.dmaTxActive = 0;
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147 Uart6Ctrl.pRxBuffer = rxBufferUart6;
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148 Uart6Ctrl.pTxBuffer = txBufferUart6;
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149 Uart6Ctrl.rxReadIndex = 0;
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150 Uart6Ctrl.rxWriteIndex = 0;
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151 Uart6Ctrl.txBufferQueLen = 0;
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152
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153 UART_SetGnssCtrl(&Uart6Ctrl);
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154 }
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155
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156 void UART6_HandleUART()
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157 {
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158 static uint8_t retryRequest = 0;
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159 static uint32_t lastRequestTick = 0;
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160 static uint32_t TriggerTick = 0;
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161 static uint8_t timeToTrigger = 0;
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162 uint32_t tick = HAL_GetTick();
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163
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164 uartGnssStatus_t gnssState = uartGnss_GetState();
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165
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166 if(gnssState != UART_GNSS_INIT)
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167 {
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168 UART_ReadData(SENSOR_GNSS);
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169 UART_WriteData(&Uart6Ctrl);
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170 }
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171 if(gnssState == UART_GNSS_INIT)
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172 {
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173 lastRequestTick = tick;
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174 TriggerTick = tick - 10; /* just to make sure control is triggered */
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175 timeToTrigger = 1;
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176 retryRequest = 0;
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177 }
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178 else if(((retryRequest == 0) /* timeout or error */
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179 && (((time_elapsed_ms(lastRequestTick,tick) > (TIMEOUT_SENSOR_ANSWER)) && (gnssState != UART_GNSS_IDLE)) /* retry if no answer after half request interval */
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180 || (gnssState == UART_GNSS_ERROR))))
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181 {
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182 /* The channel switch will cause the sensor to respond with an error message. */
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183 /* The sensor needs ~30ms to recover before he is ready to receive the next command => transmission delay needed */
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184
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185 TriggerTick = tick;
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186 timeToTrigger = COMMAND_TX_DELAY;
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187 retryRequest = 1;
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188 }
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189
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190 else if(time_elapsed_ms(lastRequestTick,tick) > 1000) /* switch sensor and / or trigger next request */
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191 {
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192 lastRequestTick = tick;
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193 TriggerTick = tick;
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194 retryRequest = 0;
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195 timeToTrigger = 1;
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196
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197 if((gnssState == UART_GNSS_GET_SAT) || (gnssState == UART_GNSS_GET_PVT)) /* timeout */
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198 {
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199 gnssState = UART_GNSS_IDLE;
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200 uartGnss_SetState(gnssState);
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201 }
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202 timeToTrigger = 1;
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203 }
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204 if((timeToTrigger != 0) && (time_elapsed_ms(TriggerTick,tick) > timeToTrigger))
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205 {
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206 timeToTrigger = 0;
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207 uartGnss_Control();
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208 }
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209
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210 }
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211
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212
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213 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/
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