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Merge into default
author heinrichsweikamp
date Tue, 11 Feb 2025 18:12:00 +0100
parents 0b81ac558e89
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871:f7318457df4d 981:c6c781a2e85b
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>&copy; 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
44 sUartComCtrl Uart6Ctrl;
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);
67
68 /* USART6 DMA Init */
69 /* USART6_RX Init */
70 hdma_usart6_rx.Instance = DMA2_Stream2;
71 hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
72 hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
73 hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
74 hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
75 hdma_usart6_rx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
76 hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
77 hdma_usart6_rx.Init.Mode = DMA_NORMAL;
78 hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
79 hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
80 HAL_DMA_Init(&hdma_usart6_rx);
81
82 __HAL_LINKDMA(&huart6, hdmarx, hdma_usart6_rx);
83
84 /* USART6_TX Init */
85 hdma_usart6_tx.Instance = DMA2_Stream6;
86 hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
87 hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
88 hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
89 hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
90 hdma_usart6_tx.Init.PeriphDataAlignment = DMA_MDATAALIGN_BYTE;
91 hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
92 hdma_usart6_tx.Init.Mode = DMA_NORMAL;
93 hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
94 hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
95 HAL_DMA_Init(&hdma_usart6_tx);
96
97 __HAL_LINKDMA(&huart6, hdmatx, hdma_usart6_tx);
98
99 /* USART6 interrupt Init */
100 HAL_NVIC_SetPriority(USART6_IRQn, 0, 0);
101 HAL_NVIC_EnableIRQ(USART6_IRQn);
102
103 MX_USART6_DMA_Init();
104
105 }
106
107 void MX_USART6_DMA_Init() {
108 /* DMA controller clock enable */
109 __HAL_RCC_DMA2_CLK_ENABLE();
110
111 /* DMA interrupt init */
112 /* DMA2_Stream2_IRQn interrupt configuration */
113 HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
114 HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
115 /* DMA2_Stream6_IRQn interrupt configuration */
116 HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0, 0);
117 HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
118 }
119
120
121 void MX_USART6_UART_DeInit(void)
122 {
123 HAL_DMA_Abort(&hdma_usart6_rx);
124 HAL_DMA_DeInit(&hdma_usart6_rx);
125 HAL_DMA_Abort(&hdma_usart6_tx);
126 HAL_DMA_DeInit(&hdma_usart6_tx);
127 HAL_UART_DeInit(&huart6);
128 HAL_UART_DeInit(&huart6);
129 }
130
131 void MX_USART6_UART_Init(void) {
132 huart6.Instance = USART6;
133 huart6.Init.BaudRate = 9600;
134 huart6.Init.WordLength = UART_WORDLENGTH_8B;
135 huart6.Init.StopBits = UART_STOPBITS_1;
136 huart6.Init.Parity = UART_PARITY_NONE;
137 huart6.Init.Mode = UART_MODE_TX_RX;
138 huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
139 huart6.Init.OverSampling = UART_OVERSAMPLING_16;
140 HAL_UART_Init(&huart6);
141
142 UART_clearRxBuffer(&Uart6Ctrl);
143
144 Uart6Ctrl.pHandle = &huart6;
145 Uart6Ctrl.dmaRxActive = 0;
146 Uart6Ctrl.dmaTxActive = 0;
147 Uart6Ctrl.pRxBuffer = rxBufferUart6;
148 Uart6Ctrl.pTxBuffer = txBufferUart6;
149 Uart6Ctrl.rxReadIndex = 0;
150 Uart6Ctrl.rxWriteIndex = 0;
151 Uart6Ctrl.txBufferQueLen = 0;
152
153 UART_SetGnssCtrl(&Uart6Ctrl);
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;
161 static uint16_t timeToTrigger = 0;
162 uint32_t tick = HAL_GetTick();
163
164 uartGnssStatus_t gnssState = uartGnss_GetState();
165
166 if(gnssState != UART_GNSS_INIT)
167 {
168 UART_ReadData(SENSOR_GNSS, 0);
169 UART_WriteData(&Uart6Ctrl);
170 }
171 if(gnssState == UART_GNSS_INIT)
172 {
173 lastRequestTick = tick;
174 TriggerTick = tick - 10; /* just to make sure control is triggered */
175 timeToTrigger = 1;
176 retryRequest = 0;
177 }
178 else if((gnssState == UART_GNSS_INACTIVE) && (!uartGnss_isPowerDownRequested())) /* send dummy bytes to wakeup receiver */
179 {
180 txBufferUart6[0] = 0xFF;
181 txBufferUart6[1] = 0xFF;
182 HAL_UART_Transmit_DMA(Uart6Ctrl.pHandle, Uart6Ctrl.pTxBuffer,2);
183 timeToTrigger = 500; /* receiver needs 500ms for wakeup */
184 lastRequestTick = tick;
185 gnssState = UART_GNSS_PWRUP;
186 uartGnss_SetState(gnssState);
187 }
188 else if(((retryRequest == 0) /* timeout or error */
189 && (((time_elapsed_ms(lastRequestTick,tick) > (TIMEOUT_SENSOR_ANSWER)) && (gnssState != UART_GNSS_IDLE)) /* retry if no answer after half request interval */
190 || (gnssState == UART_GNSS_ERROR))))
191 {
192 /* The channel switch will cause the sensor to respond with an error message. */
193 /* The sensor needs ~30ms to recover before he is ready to receive the next command => transmission delay needed */
194
195 TriggerTick = tick;
196 timeToTrigger = COMMAND_TX_DELAY;
197 retryRequest = 1;
198 }
199
200 else if(time_elapsed_ms(lastRequestTick,tick) > 1000) /* switch sensor and / or trigger next request */
201 {
202 lastRequestTick = tick;
203 TriggerTick = tick;
204 retryRequest = 0;
205 timeToTrigger = 1;
206
207 if((gnssState == UART_GNSS_GET_SAT) || (gnssState == UART_GNSS_GET_PVT) || (gnssState == UART_GNSS_PWRUP)) /* timeout */
208 {
209 gnssState = UART_GNSS_IDLE;
210 uartGnss_SetState(gnssState);
211 }
212 timeToTrigger = 1;
213 }
214 if((timeToTrigger != 0) && (time_elapsed_ms(TriggerTick,tick) > timeToTrigger))
215 {
216 timeToTrigger = 0;
217 uartGnss_Control();
218 }
219
220 }
221
222
223 /************************ (C) COPYRIGHT heinrichs weikamp *****END OF FILE****/